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Cleanup and replace constants

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- Delete unused declaration of `g_is_component_initialized`.
- Replace the following constants with approprite config options:
  + `relay_chn_count` > `CONFIG_RELAY_CHN_COUNT`
  + `opposite_inerta_ms` > `CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS`
- Replace the definition of the `test_delay_margin_ms` constant with  `#define TEST_DELAY_MARGIN_MS 50` for preprocessor calculations.
This commit is contained in:
Ismail Sahillioglu
2025-08-26 09:23:06 +03:00
parent 3831384169
commit 396a02b5ae
8 changed files with 160 additions and 169 deletions
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58
test_apps/main/test_relay_chn_tilt_single.c
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@@ -16,7 +16,7 @@
void prepare_channel_for_tilt(int initial_cmd) {
// Ensure the channel reset tilt control
relay_chn_tilt_stop();
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
// Ensure the channel has had a 'last_run_cmd'
if (initial_cmd == RELAY_CHN_CMD_FORWARD) {
@@ -24,9 +24,9 @@ void prepare_channel_for_tilt(int initial_cmd) {
} else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
relay_chn_run_reverse();
}
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Allow command to process
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Allow command to process
relay_chn_stop(); // Stop it to set last_run_cmd but return to FREE for next test
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state());
}
@@ -38,17 +38,17 @@ TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][ti
// 1. Start in forward direction
relay_chn_run_forward();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
// 2. Issue tilt forward command
relay_chn_tilt_forward();
// After tilt command, it should immediately stop and then trigger inertia.
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state());
// Wait for the inertia period (after which the tilt command will be dispatched)
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
}
@@ -60,15 +60,15 @@ TEST_CASE("Run Reverse to Tilt Reverse transition with inertia", "[relay_chn][ti
// 1. Start in reverse direction
relay_chn_run_reverse();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
// 2. Issue tilt reverse command
relay_chn_tilt_reverse();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state());
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
}
@@ -82,7 +82,7 @@ TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn
// Issue tilt forward command
relay_chn_tilt_forward();
// From FREE state, tilt command should still incur the inertia due to the internal timer logic
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
}
@@ -95,7 +95,7 @@ TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn
// Issue tilt reverse command
relay_chn_tilt_reverse();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
}
@@ -105,14 +105,14 @@ TEST_CASE("Tilt Forward to Run Forward transition with inertia", "[relay_chn][ti
// Prepare channel by running forward first to set last_run_cmd, then tilt
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_tilt_forward(); // Go to tilt state
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
// 2. Issue run forward command
relay_chn_run_forward();
// From Tilt to Run in the same logical name but in the opposite direction, inertia is expected.
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD_PENDING, relay_chn_get_state());
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
}
@@ -122,13 +122,13 @@ TEST_CASE("Tilt Reverse to Run Reverse transition with inertia", "[relay_chn][ti
// Prepare channel by running reverse first to set last_run_cmd, then tilt
prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
relay_chn_tilt_reverse(); // Go to tilt state
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
// 2. Issue run reverse command
relay_chn_run_reverse();
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE_PENDING, relay_chn_get_state());
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
}
@@ -138,12 +138,12 @@ TEST_CASE("Tilt Forward to Run Reverse transition without inertia", "[relay_chn]
// Prepare channel by running forward first to set last_run_cmd, then tilt
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_tilt_forward(); // Go to tilt state
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
// 2. Issue run reverse command (opposite direction)
relay_chn_run_reverse();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
}
@@ -153,13 +153,13 @@ TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_
// Prepare channel by running forward first to set last_run_cmd, then tilt
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_tilt_forward(); // Go to tilt state
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
// 2. Issue stop command
relay_chn_stop();
// Stop command should apply immediately, setting state to FREE since last state was tilt.
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state());
}
@@ -168,15 +168,15 @@ TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][au
// Prepare FORWARD
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_tilt_auto();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
relay_chn_tilt_stop();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
// Prepare REVERSE
prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
relay_chn_tilt_auto();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
}
@@ -202,26 +202,26 @@ TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][ti
// Tilt forward 3 times
for (int i = 0; i < 3; ++i) {
relay_chn_tilt_forward();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
relay_chn_tilt_stop();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
}
// Now tilt reverse 3 times (should succeed)
for (int i = 0; i < 3; ++i) {
relay_chn_tilt_reverse();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
if (i < 3) {
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
relay_chn_tilt_stop();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
}
}
// Extra reverse tilt should fail (counter exhausted)
relay_chn_tilt_reverse();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
// Should not enter TILT_REVERSE, should remain FREE or STOPPED
relay_chn_state_t state = relay_chn_get_state();
TEST_ASSERT(state != RELAY_CHN_STATE_TILT_REVERSE);
@@ -231,12 +231,12 @@ TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][ti
TEST_CASE("run command during TILT state transitions correctly", "[relay_chn][tilt][run-during-tilt]") {
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_tilt_forward();
vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
// Issue run reverse while in TILT_FORWARD
relay_chn_run_reverse();
vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
// Should transition to REVERSE or REVERSE_PENDING depending on inertia logic
relay_chn_state_t state = relay_chn_get_state();
TEST_ASSERT(state == RELAY_CHN_STATE_REVERSE || state == RELAY_CHN_STATE_REVERSE_PENDING);