unit_tests/tests/util/test_closed_loop_controller.cpp

Directory:	./
File:	unit_tests/tests/util/test_closed_loop_controller.cpp
Date:	2025-10-03 00:57:22

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Lines:	100.0%	73	0	73
Functions:	100.0%	25	0	25
Branches:	100.0%	132	0	132
Decisions:	-%	0	-	0

  
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      #include "closed_loop_controller.h"
    
      #include "gmock/gmock.h"
    
      #include "gtest/gtest.h"
    
      using ::testing::StrictMock;
    
      using ::testing::Return;
    
      using ::testing::Eq;
    
      class TestController : public ClosedLoopController<float, float> {
    
      public:
    
      10
      	MOCK_METHOD(expected<float>, getSetpoint, (), (override));
    
      8
      	MOCK_METHOD(expected<float>, observePlant, (), (override));
    
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      	MOCK_METHOD(expected<float>, getOpenLoop, (float setpoint), (override));
    
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      	MOCK_METHOD(expected<float>, getClosedLoop, (float setpoint, float observation), (override));
    
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      10
      	MOCK_METHOD(void, setOutput, (expected<float> outputValue), (override));
    
      };
    
      4
      TEST(ClosedLoopController, TestSetpoint) {
    
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      	StrictMock<TestController> controller;
    
      	// If getSetpoint returns unexpected, no other functions should be called
    
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      	EXPECT_CALL(controller, getSetpoint())
    
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      		.WillOnce(Return(unexpected));
    
      	// And output should be called with unexpected
    
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      1
      	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
    
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      1
      	controller.update();
    
      2
      }
    
      4
      TEST(ClosedLoopController, TestSetpointSuccessPlantFail) {
    
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      	StrictMock<TestController> controller;
    
      	// If getSetpoint returns unexpected, no other functions should be called
    
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      	EXPECT_CALL(controller, getSetpoint())
    
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      3
      		.WillOnce(Return(25.0f));
    
      	// Fail to observe plant - exec should stop there
    
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      	EXPECT_CALL(controller, observePlant())
    
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      		.WillOnce(Return(unexpected));
    
      	// And output should be called with unexpected
    
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      1
      	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
    
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      1
      	controller.update();
    
      2
      }
    
      4
      TEST(ClosedLoopController, TestPlantSuccessOpenLoopFail) {
    
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      	StrictMock<TestController> controller;
    
      	// Return valid setpoint
    
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      	EXPECT_CALL(controller, getSetpoint())
    
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      		.WillOnce(Return(25.0f));
    
      	// Return valid observation
    
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      	EXPECT_CALL(controller, observePlant())
    
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      		.WillOnce(Return(75.0f));
    
      	// Setpoint should get passed to open loop
    
      	// It will fail, nothing else should be called
    
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      	EXPECT_CALL(controller, getOpenLoop(25.0f))
    
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      		.WillOnce(Return(unexpected));
    
      	// And output should be called with unexpected
    
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      	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
    
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      	controller.update();
    
      2
      }
    
      4
      TEST(ClosedLoopController, TestPlantOpenLoopSuccessClosedLoopFail) {
    
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      	StrictMock<TestController> controller;
    
      	// Return valid setpoint
    
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      	EXPECT_CALL(controller, getSetpoint())
    
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      		.WillOnce(Return(25.0f));
    
      	// Return valid observation
    
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      	EXPECT_CALL(controller, observePlant())
    
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      		.WillOnce(Return(75.0f));
    
      	// Setpoint should get passed to open loop
    
      	// Return something valid
    
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      	EXPECT_CALL(controller, getOpenLoop(25.0f))
    
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      		.WillOnce(Return(37.0f));
    
      	// Setpoint & observation should get passed
    
      	// But return invalid
    
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      	EXPECT_CALL(controller, getClosedLoop(25.0f, 75.0f))
    
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      		.WillOnce(Return(unexpected));
    
      	// And output should be called with unexpected
    
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      	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
    
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      	controller.update();
    
      2
      }
    
      4
      TEST(ClosedLoopController, TestAllSuccess) {
    
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      	StrictMock<TestController> controller;
    
      	// Return valid setpoint
    
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      	EXPECT_CALL(controller, getSetpoint())
    
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      		.WillOnce(Return(25.0f));
    
      	// Return valid observation
    
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      	EXPECT_CALL(controller, observePlant())
    
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      		.WillOnce(Return(75.0f));
    
      	// Setpoint should get passed to open loop
    
      	// Return something valid
    
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      	EXPECT_CALL(controller, getOpenLoop(25.0f))
    
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      		.WillOnce(Return(37.0f));
    
      	// Setpoint & observation should get passed
    
      	// Return something valid
    
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      	EXPECT_CALL(controller, getClosedLoop(25.0f, 75.0f))
    
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      		.WillOnce(Return(22.0f));
    
      	// Output should get called with sum of open & closed loop
    
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      	EXPECT_CALL(controller, setOutput(expected<float>(59.0f)));
    
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      	controller.update();
    
      2
      }

Line	Branch	Exec	Source
1			#include "closed_loop_controller.h"
2
3			#include "gmock/gmock.h"
4			#include "gtest/gtest.h"
5
6			using ::testing::StrictMock;
7			using ::testing::Return;
8			using ::testing::Eq;
9
10			class TestController : public ClosedLoopController<float, float> {
11			public:
12		10	MOCK_METHOD(expected<float>, getSetpoint, (), (override));
13		8	MOCK_METHOD(expected<float>, observePlant, (), (override));
14	2/2 ✓ Branch 3 taken 3 times. ✓ Branch 6 taken 3 times.	6	MOCK_METHOD(expected<float>, getOpenLoop, (float setpoint), (override));
15	3/3 ✓ Branch 3 taken 2 times. ✓ Branch 7 taken 2 times. ✓ Branch 10 taken 2 times.	4	MOCK_METHOD(expected<float>, getClosedLoop, (float setpoint, float observation), (override));
16	2/2 ✓ Branch 3 taken 5 times. ✓ Branch 6 taken 5 times.	10	MOCK_METHOD(void, setOutput, (expected<float> outputValue), (override));
17			};
18
19		4	TEST(ClosedLoopController, TestSetpoint) {
20	1/1 ✓ Branch 2 taken 1 time.	1	StrictMock<TestController> controller;
21
22			// If getSetpoint returns unexpected, no other functions should be called
23	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, getSetpoint())
24	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(unexpected));
25
26			// And output should be called with unexpected
27	5/5 ✓ Branch 4 taken 1 time. ✓ Branch 7 taken 1 time. ✓ Branch 10 taken 1 time. ✓ Branch 14 taken 1 time. ✓ Branch 18 taken 1 time.	1	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
28
29	1/1 ✓ Branch 1 taken 1 time.	1	controller.update();
30		2	}
31
32		4	TEST(ClosedLoopController, TestSetpointSuccessPlantFail) {
33	1/1 ✓ Branch 2 taken 1 time.	1	StrictMock<TestController> controller;
34
35			// If getSetpoint returns unexpected, no other functions should be called
36	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, getSetpoint())
37	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(25.0f));
38
39			// Fail to observe plant - exec should stop there
40	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, observePlant())
41	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(unexpected));
42
43			// And output should be called with unexpected
44	5/5 ✓ Branch 4 taken 1 time. ✓ Branch 7 taken 1 time. ✓ Branch 10 taken 1 time. ✓ Branch 14 taken 1 time. ✓ Branch 18 taken 1 time.	1	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
45
46	1/1 ✓ Branch 1 taken 1 time.	1	controller.update();
47		2	}
48
49		4	TEST(ClosedLoopController, TestPlantSuccessOpenLoopFail) {
50	1/1 ✓ Branch 2 taken 1 time.	1	StrictMock<TestController> controller;
51
52			// Return valid setpoint
53	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, getSetpoint())
54	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(25.0f));
55
56			// Return valid observation
57	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, observePlant())
58	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(75.0f));
59
60			// Setpoint should get passed to open loop
61			// It will fail, nothing else should be called
62	4/4 ✓ Branch 2 taken 1 time. ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 12 taken 1 time.	3	EXPECT_CALL(controller, getOpenLoop(25.0f))
63	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(unexpected));
64
65			// And output should be called with unexpected
66	5/5 ✓ Branch 4 taken 1 time. ✓ Branch 7 taken 1 time. ✓ Branch 10 taken 1 time. ✓ Branch 14 taken 1 time. ✓ Branch 18 taken 1 time.	1	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
67
68	1/1 ✓ Branch 1 taken 1 time.	1	controller.update();
69		2	}
70
71
72		4	TEST(ClosedLoopController, TestPlantOpenLoopSuccessClosedLoopFail) {
73	1/1 ✓ Branch 2 taken 1 time.	1	StrictMock<TestController> controller;
74
75			// Return valid setpoint
76	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, getSetpoint())
77	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(25.0f));
78
79			// Return valid observation
80	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, observePlant())
81	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(75.0f));
82
83			// Setpoint should get passed to open loop
84			// Return something valid
85	4/4 ✓ Branch 2 taken 1 time. ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 12 taken 1 time.	3	EXPECT_CALL(controller, getOpenLoop(25.0f))
86	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(37.0f));
87
88			// Setpoint & observation should get passed
89			// But return invalid
90	5/5 ✓ Branch 2 taken 1 time. ✓ Branch 6 taken 1 time. ✓ Branch 9 taken 1 time. ✓ Branch 12 taken 1 time. ✓ Branch 16 taken 1 time.	3	EXPECT_CALL(controller, getClosedLoop(25.0f, 75.0f))
91	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(unexpected));
92
93			// And output should be called with unexpected
94	5/5 ✓ Branch 4 taken 1 time. ✓ Branch 7 taken 1 time. ✓ Branch 10 taken 1 time. ✓ Branch 14 taken 1 time. ✓ Branch 18 taken 1 time.	1	EXPECT_CALL(controller, setOutput(Eq(unexpected)));
95
96	1/1 ✓ Branch 1 taken 1 time.	1	controller.update();
97		2	}
98
99		4	TEST(ClosedLoopController, TestAllSuccess) {
100	1/1 ✓ Branch 2 taken 1 time.	1	StrictMock<TestController> controller;
101
102			// Return valid setpoint
103	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, getSetpoint())
104	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(25.0f));
105
106			// Return valid observation
107	3/3 ✓ Branch 1 taken 1 time. ✓ Branch 4 taken 1 time. ✓ Branch 8 taken 1 time.	3	EXPECT_CALL(controller, observePlant())
108	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(75.0f));
109
110			// Setpoint should get passed to open loop
111			// Return something valid
112	4/4 ✓ Branch 2 taken 1 time. ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 12 taken 1 time.	3	EXPECT_CALL(controller, getOpenLoop(25.0f))
113	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(37.0f));
114
115			// Setpoint & observation should get passed
116			// Return something valid
117	5/5 ✓ Branch 2 taken 1 time. ✓ Branch 6 taken 1 time. ✓ Branch 9 taken 1 time. ✓ Branch 12 taken 1 time. ✓ Branch 16 taken 1 time.	3	EXPECT_CALL(controller, getClosedLoop(25.0f, 75.0f))
118	3/3 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 11 taken 1 time.	3	.WillOnce(Return(22.0f));
119
120			// Output should get called with sum of open & closed loop
121	4/4 ✓ Branch 5 taken 1 time. ✓ Branch 8 taken 1 time. ✓ Branch 12 taken 1 time. ✓ Branch 16 taken 1 time.	1	EXPECT_CALL(controller, setOutput(expected<float>(59.0f)));
122
123	1/1 ✓ Branch 1 taken 1 time.	1	controller.update();
124		2	}
125