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Fix and optimize tilt test case issues

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Tilt tests started to fail after the latest changes. Had to make
some fixes and optimizations so that the test code resets the
tilt controls correctly and aligns with relay_chn's timing requirements.

Fixes #1115
This commit is contained in:
Ismail Sahillioglu
2025-09-13 09:52:09 +03:00
parent 95ca976bc6
commit 497f45e336
2 changed files with 123 additions and 69 deletions
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68
test_apps/main/test_relay_chn_tilt_single.c
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@@ -30,19 +30,15 @@ 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
relay_chn_stop(); // Stop it to set last_run_cmd but return to FREE for next test
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());
relay_chn_state_t expect_state = initial_cmd == RELAY_CHN_CMD_FORWARD ? RELAY_CHN_STATE_FORWARD : RELAY_CHN_STATE_REVERSE;
TEST_ASSERT_EQUAL(expect_state, relay_chn_get_state());
}
// Test transition from running forward to tilt forward
// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_tilt_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_FORWARD
TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][tilt][inertia]")
{
// Prepare channel by running forward first to set last_run_cmd
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
// 1. Start in forward direction
relay_chn_run_forward();
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -63,9 +59,6 @@ TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][ti
// Scenario: RELAY_CHN_STATE_REVERSE -> (relay_chn_tilt_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_REVERSE
TEST_CASE("Run Reverse to Tilt Reverse transition with inertia", "[relay_chn][tilt][inertia]")
{
// Prepare channel by running reverse first to set last_run_cmd
prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
// 1. Start in reverse direction
relay_chn_run_reverse();
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -86,6 +79,9 @@ TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn
{
// Prepare channel by running forward first to set last_run_cmd
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_stop(); // Stop to trigger IDLE
// Wait for the channel to transition to IDLE
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()); // Ensure we are back to FREE
// Issue tilt forward command
@@ -101,6 +97,9 @@ TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn
{
// Prepare channel by running reverse first to set last_run_cmd
prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
relay_chn_stop(); // Stop to trigger IDLE
// Wait for the channel to transition to IDLE
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()); // Ensure we are back to FREE
// Issue tilt reverse command
@@ -183,7 +182,8 @@ 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));
// Should incur inertia timer
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());
relay_chn_tilt_stop();
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -191,7 +191,8 @@ TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][au
// Prepare REVERSE
prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
relay_chn_tilt_auto();
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
// Should incur inertia timer
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());
}
@@ -237,31 +238,25 @@ TEST_CASE("relay_chn_tilt_set_sensitivity handles upper boundary", "[relay_chn][
// Test tilt counter logic: forward x3, reverse x3, extra reverse fails
TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][tilt][counter]")
{
// Tilt execution time at 100% sensitivity in milliseconds (10 + 90)
#define TEST_TILT_EXECUTION_TIME_MS 100
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
// Tilt forward 3 times
for (int i = 0; i < 3; ++i) {
relay_chn_tilt_forward();
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));
}
relay_chn_tilt_forward();
vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS * 3 + TEST_DELAY_MARGIN_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
relay_chn_tilt_stop();
// 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));
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));
}
}
// Extra reverse tilt should fail (counter exhausted)
relay_chn_tilt_reverse();
vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
// Let it execute one time
vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS));
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
// Let it execute 2 at least, or more
vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS * 3));
// 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);
@@ -289,12 +284,12 @@ TEST_CASE("run command during active tilt cycle stops tilt", "[relay_chn][tilt][
// Set a known sensitivity for predictable timing.
// For sensitivity=50, move_time=30ms, pause_time=270ms.
relay_chn_tilt_set_sensitivity(50);
const uint32_t move_time_ms = 30;
// --- Test interrupting during MOVE step ---
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_tilt_forward();
vTaskDelay(pdMS_TO_TICKS(move_time_ms / 2)); // Wait for half of the move time
// Should incur inertia timer
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());
// Interrupt with run_reverse while in the MOVE part of the cycle
@@ -304,9 +299,14 @@ TEST_CASE("run command during active tilt cycle stops tilt", "[relay_chn][tilt][
TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
// --- Test interrupting during PAUSE step ---
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
relay_chn_stop(); // Stop the reverse run
// Wait the channel to be IDLE
vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD); // Prepare channel again
relay_chn_tilt_forward();
vTaskDelay(pdMS_TO_TICKS(move_time_ms + TEST_DELAY_MARGIN_MS)); // Wait past MOVE, into PAUSE
// Should incur inertia timer
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());
// Interrupt with run_forward while in the PAUSE part of the cycle