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Defined empty test cases. Edge cases for ignoring shift requests at N…
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…eutralState and HighGearState. Removed re-usable upshift conditions from unique NeutralState transition
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@crsz20
crsz20 committed Jul 14, 2024
1 parent 90b49fb commit a4b4c3b
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Showing 3 changed files with 176 additions and 24 deletions.
25 changes: 21 additions & 4 deletions Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,15 +51,15 @@ bool ShiftController::UpshiftConditions() {


return (gear_num < 6) && // Gear below 6th
!NeutralEngaged() && // Car not in neutral
!NeutralEngaged() && // Car not in neutral
(rpm_ > 5000) && // Engine speed above 5000
wheel_speed_close_enough; // Wheel speed close to engine speed for current gear
}


bool ShiftController::DownshiftRequested() {
return upshift_paddle_->ToggleDetected() &&
upshift_paddle_->Read();
return downshift_paddle_->ToggleDetected() &&
downshift_paddle_->Read();
}

bool ShiftController::DownshiftConditions() {
Expand All @@ -84,7 +84,19 @@ void ShiftController::LowGear::Enter(ShiftController& context) {
}

void ShiftController::LowGear::Compute(ShiftController& context) {
// TODO: Add the folllowing conditions (or actions?)
// - Wait until neutral block goes into place
// - Move slowly until neutral monitor engages
if (context.DownshiftRequested()) {

context.SetState(&context.neutral_state_);
}


if (context.UpshiftRequested() && context.UpshiftConditions()) {

context.SetState(&context.mid_gear_state_);
}
}

void ShiftController::LowGear::Exit(ShiftController& context) {
Expand All @@ -100,7 +112,12 @@ void ShiftController::Neutral::Enter(ShiftController& context) {
}

void ShiftController::Neutral::Compute(ShiftController& context) {
if (context.UpshiftRequested() && context.UpshiftConditions()) {
// TODO: Add the folllowing conditions
// - Wheel speed no higher than max for first (low) gear
// - Check for gear engagement and try again
if (context.UpshiftRequested() &&
context.NeutralEngaged()) {

context.SetState(&context.low_gear_state_);
}
}
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17 changes: 10 additions & 7 deletions Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,15 @@ class ShiftController {
virtual void Exit(ShiftController& context) override;
};

bool UpshiftConditions();
bool DownshiftConditions();

State* current_state_{&neutral_state_};
LowGear low_gear_state_;
Neutral neutral_state_;
MidGear mid_gear_state_;
HighGear high_gear_state_;



public:
Expand All @@ -88,15 +96,10 @@ class ShiftController {
void SetState(State* new_state);
bool NeutralEngaged();
bool UpshiftRequested();
bool UpshiftConditions();
bool DownshiftRequested();
bool DownshiftConditions();

LowGear low_gear_state_;
Neutral neutral_state_;
MidGear mid_gear_state_;
HighGear high_gear_state_;



int16_t& rpm_;
float& tps_;
std::array<float, 2>& wheel_speeds_;
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158 changes: 145 additions & 13 deletions Firmware/Tests/Src/Application/shift_controller_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,13 @@ class ShiftControllerWrapper : public ShiftController {
bool IsNeutralState() { return dynamic_cast<Neutral*>(current_state_) != nullptr; }
bool IsMidGearState() { return dynamic_cast<MidGear*>(current_state_) != nullptr; }
bool IsHighGearState() { return dynamic_cast<HighGear*>(current_state_) != nullptr; }

void SetLowGearState() { current_state_ = &low_gear_state_; }
void SetMidGearState() { current_state_ = &mid_gear_state_; }
void SetHighGearState() { current_state_ = &high_gear_state_; }

bool CheckUpshiftConditions() { return UpshiftConditions(); }
bool CheckDownshiftConditions() { return DownshiftConditions(); }
};


Expand All @@ -63,16 +70,20 @@ class ShiftControllerFixture : public testing::Test {
neutral_button_
};

void PerformUpshiftRequest(bool is_requested) {
void PerformAndCheckUpshiftRequest(bool is_requested) {
// Upshift interrupt. When idle, assume toggle detected in case of noise
EXPECT_CALL(*upshift_paddle_, ToggleDetected()).Times(1).WillOnce(Return(true));
EXPECT_CALL(*upshift_paddle_, Read()).Times(1).WillOnce(Return(is_requested));
}

void PerformAndCheckDownshiftRequest(bool is_requested) {
// Downshift interrupt. When idle, assume toggle detected in case of noise
EXPECT_CALL(*downshift_paddle_, ToggleDetected()).Times(1).WillOnce(Return(true));
EXPECT_CALL(*downshift_paddle_, Read()).Times(1).WillOnce(Return(is_requested));
}

void EngageNeutralMonitor(bool engage) {
EXPECT_CALL(*neutral_monitor_, Read())
.Times(1)
.WillOnce(Return(engage));
EXPECT_CALL(*neutral_monitor_, Read()).Times(1).WillOnce(Return(engage));
}
};

Expand All @@ -85,15 +96,11 @@ TEST_F(ShiftControllerFixture, Neutral_DefaultState) {
}

TEST_F(ShiftControllerFixture, Neutral_ToLowGear) {
// TODO: Update test case when UpshiftConditions() is fully implemented
EXPECT_TRUE(shift_controller_.IsNeutralState());

rpm_ = 5001;
PerformUpshiftRequest(true);

// Car not in neutral
EXPECT_CALL(*neutral_monitor_, Read())
.Times(1)
.WillOnce(Return(false));
PerformAndCheckUpshiftRequest(true);
EngageNeutralMonitor(true);

shift_controller_.Run();
EXPECT_TRUE(shift_controller_.IsLowGearState());
Expand All @@ -102,13 +109,138 @@ TEST_F(ShiftControllerFixture, Neutral_ToLowGear) {
TEST_F(ShiftControllerFixture, Neutral_NoUpshiftRequest) {
EXPECT_TRUE(shift_controller_.IsNeutralState());

PerformUpshiftRequest(false);
PerformAndCheckUpshiftRequest(false);

// No request occurred, so upshift conditions are not checked
// No request occurred, so neutral engagement is not checked
EXPECT_CALL(*neutral_monitor_, Read()).Times(0);

shift_controller_.Run();
EXPECT_TRUE(shift_controller_.IsNeutralState());
}

TEST_F(ShiftControllerFixture, Neutral_IgnoreDownshiftRequest) {
EXPECT_TRUE(shift_controller_.IsNeutralState());

// User may possibly request a down shift, but the downshift_paddle
// is ignored during Neutral state
EXPECT_CALL(*downshift_paddle_, ToggleDetected()).Times(0);
EXPECT_CALL(*downshift_paddle_, Read()).Times(0);

shift_controller_.Run();
EXPECT_TRUE(shift_controller_.IsNeutralState());
}



//**************************************************************************
// LowGear State Cases
//**************************************************************************
TEST_F(ShiftControllerFixture, LowGear_ToNeutral) {
shift_controller_.SetLowGearState();
EXPECT_TRUE(shift_controller_.IsLowGearState());

PerformAndCheckDownshiftRequest(true);

shift_controller_.Run();
EXPECT_TRUE(shift_controller_.IsNeutralState());
}

TEST_F(ShiftControllerFixture, LowGear_ToMidGear) {
shift_controller_.SetLowGearState();
EXPECT_TRUE(shift_controller_.IsLowGearState());

rpm_ = 5001;
PerformAndCheckUpshiftRequest(true);

shift_controller_.Run();
EXPECT_TRUE(shift_controller_.IsMidGearState());
}


//**************************************************************************
// MidGear State Cases
//**************************************************************************
TEST_F(ShiftControllerFixture, MidGear_ToLowGear) {
GTEST_SKIP() << "TODO:"
<< "\nImplement downshift."
<< "Track current physical gear. Must be at 2.";
}

TEST_F(ShiftControllerFixture, MidGear_ToHighGear) {
GTEST_SKIP() << "TODO:"
<< "\nImplement upshift."
<< "Track current physical gear. Must be at 5.";
}


//**************************************************************************
// HighGear State Cases
//**************************************************************************
TEST_F(ShiftControllerFixture, HighGear_IgnoreUpshiftRequest) {
shift_controller_.SetHighGearState();
EXPECT_TRUE(shift_controller_.IsHighGearState());

// Ignore upshift paddle
EXPECT_CALL(*upshift_paddle_, ToggleDetected()).Times(0);
EXPECT_CALL(*upshift_paddle_, Read()).Times(0);

shift_controller_.Run();
EXPECT_TRUE(shift_controller_.IsHighGearState());
}

TEST_F(ShiftControllerFixture, HighGear_ToMidGear) {
GTEST_SKIP() << "TODO: \nImplement downshift.";
}

//**************************************************************************
// Upshift Conditions
//**************************************************************************
TEST_F(ShiftControllerFixture, UpshiftConditions_Satisfied) {
// TODO: Update test case when UpshiftConditions() is fully implemented
rpm_ = 5001;
EXPECT_TRUE(shift_controller_.CheckUpshiftConditions());
}

TEST_F(ShiftControllerFixture, UpshiftConditions_GearAboveThreshold) {
GTEST_SKIP() << "TODO: Set gear to 6 and above. Should fail.";
}

TEST_F(ShiftControllerFixture, UpshiftConditions_InNeutral) {
GTEST_SKIP() << "TODO: Set car to neutral. Should fail.";
}

TEST_F(ShiftControllerFixture, UpshiftConditions_RpmTooLow) {
GTEST_SKIP() << "TODO: Set rpm to 5000 and above. Should fail.";
}

TEST_F(ShiftControllerFixture, UpshiftConditions_WheelSpeedNotCloseEnough) {
GTEST_SKIP() << "TODO: Set wheel speed and rpm far apart from each. Should fail.";
}

//**************************************************************************
// Downshift Conditions
//**************************************************************************
TEST_F(ShiftControllerFixture, DownshiftConditions_Satisfied) {
// TODO: Update test case when DownshiftConditions() is fully implemented
rpm_ = 8999;
tps_ = 31.0f;
EXPECT_TRUE(shift_controller_.CheckDownshiftConditions());
}

TEST_F(ShiftControllerFixture, DownshiftConditions_RpmTooHigh) {
GTEST_SKIP() << "TODO: Set rpm at 9000 and above. Should fail.";
}

TEST_F(ShiftControllerFixture, DownshiftConditions_WheelSpeedNotCloseEnough) {
GTEST_SKIP() << "TODO: Set wheel speed and rpm far apart from each. Should fail.";
}

TEST_F(ShiftControllerFixture, DownshiftConditions_TpsTooLow) {
GTEST_SKIP() << "TODO: Set tps at 30.0f and below. Should fail.";
}

TEST_F(ShiftControllerFixture, DownshiftConditions_GearDisengaged) {
GTEST_SKIP() << "TODO: Set tps at 30.0f and below. Should fail.";
}

} // namespace application

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