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fix(test): align emergency_state_ordering test with overtemp/watchdog fix

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- Rename ERROR_STEPPER_FAULT → ERROR_STEPPER_MOTOR to match main.cpp enum
- Update critical-error predicate to include ERROR_TEMPERATURE_HIGH and
  ERROR_WATCHDOG_TIMEOUT (was testing stale pre-fix logic)
- Test 4 now asserts overtemp DOES trigger e-stop (previously asserted opposite)
- Add Test 5 (watchdog triggers e-stop) and Test 6 (memory alloc does not)
- Add ERROR_MEMORY_ALLOC and ERROR_WATCHDOG_TIMEOUT to local enum
- 7 tests, all pass
This commit is contained in:
Jason
2026-04-15 13:18:07 +05:45
parent 4900282042
commit 0b25db08b5
1 changed files with 35 additions and 10 deletions
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9_Firmware/9_1_Microcontroller/tests/test_gap3_emergency_state_ordering.c
+35 -10
View File
@@ -34,22 +34,25 @@ static void Mock_Emergency_Stop(void)
state_was_true_when_estop_called = system_emergency_state;
}
/* Error codes (subset matching main.cpp) */
/* Error codes (subset matching main.cpp SystemError_t) */
typedef enum {
ERROR_NONE = 0,
ERROR_RF_PA_OVERCURRENT = 9,
ERROR_RF_PA_BIAS = 10,
ERROR_STEPPER_FAULT = 11,
ERROR_STEPPER_MOTOR = 11,
ERROR_FPGA_COMM = 12,
ERROR_POWER_SUPPLY = 13,
ERROR_TEMPERATURE_HIGH = 14,
ERROR_MEMORY_ALLOC = 15,
ERROR_WATCHDOG_TIMEOUT = 16,
} SystemError_t;
/* Extracted critical-error handling logic (post-fix ordering) */
/* Extracted critical-error handling logic (matches post-fix main.cpp predicate) */
static void simulate_handleSystemError_critical(SystemError_t error)
{
/* Only critical errors (PA overcurrent through power supply) trigger e-stop */
if (error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) {
if ((error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) ||
error == ERROR_TEMPERATURE_HIGH ||
error == ERROR_WATCHDOG_TIMEOUT) {
/* FIX 5: set flag BEFORE calling Emergency_Stop */
system_emergency_state = true;
Mock_Emergency_Stop();
@@ -93,17 +96,39 @@ int main(void)
assert(state_was_true_when_estop_called == true);
printf("PASS\n");
/* Test 4: Non-critical error → no e-stop, flag stays false */
printf(" Test 4: Non-critical error (no e-stop)... ");
/* Test 4: Overtemp → MUST trigger e-stop (was incorrectly non-critical before fix) */
printf(" Test 4: Overtemp triggers e-stop... ");
system_emergency_state = false;
emergency_stop_called = false;
state_was_true_when_estop_called = false;
simulate_handleSystemError_critical(ERROR_TEMPERATURE_HIGH);
assert(emergency_stop_called == true);
assert(system_emergency_state == true);
assert(state_was_true_when_estop_called == true);
printf("PASS\n");
/* Test 5: Watchdog timeout → MUST trigger e-stop */
printf(" Test 5: Watchdog timeout triggers e-stop... ");
system_emergency_state = false;
emergency_stop_called = false;
state_was_true_when_estop_called = false;
simulate_handleSystemError_critical(ERROR_WATCHDOG_TIMEOUT);
assert(emergency_stop_called == true);
assert(system_emergency_state == true);
assert(state_was_true_when_estop_called == true);
printf("PASS\n");
/* Test 6: Non-critical error (memory alloc) → no e-stop */
printf(" Test 6: Non-critical error (no e-stop)... ");
system_emergency_state = false;
emergency_stop_called = false;
simulate_handleSystemError_critical(ERROR_MEMORY_ALLOC);
assert(emergency_stop_called == false);
assert(system_emergency_state == false);
printf("PASS\n");
/* Test 5: ERROR_NONE → no e-stop */
printf(" Test 5: ERROR_NONE (no action)... ");
/* Test 7: ERROR_NONE → no e-stop */
printf(" Test 7: ERROR_NONE (no action)... ");
system_emergency_state = false;
emergency_stop_called = false;
simulate_handleSystemError_critical(ERROR_NONE);
@@ -111,6 +136,6 @@ int main(void)
assert(system_emergency_state == false);
printf("PASS\n");
printf("\n=== Gap-3 Fix 5: ALL TESTS PASSED ===\n\n");
printf("\n=== Gap-3 Fix 5: ALL 7 TESTS PASSED ===\n\n");
return 0;
}