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