Added multiple test cases.

include/sta/config.hpp

@@ -24,6 +24,6 @@
 #include <sta/tacos/configs/default.hpp>
 
 #define STA_TACOS_WATCHDOG_FREQUENCY 1000
-#define STA_TACOS_NUM_STATES 3
+#define STA_TACOS_NUM_STATES 8
 
 #endif // STA_CONFIG_HPP

include/sta/tasty/config.hpp

@@ -1,6 +1,6 @@
 #ifndef STA_TASTY_CONFIG_HPP
 #define STA_TASTY_CONFIG_HPP
 
-#define TASTY_CASE_1
+#define TASTY_CASE_5
 
 #endif // STA_TASTY_CONFIG_HPP

include/sta/tasty/utils.hpp

@@ -18,6 +18,12 @@ namespace sta
          * @param rslt The result of the test case.
          */
         void test_case(const char * file, uint32_t line, bool rslt);
+
+        /**
+         * @brief Send a message signaling the end of a test case.
+         * 
+         */
+        void test_terminate();
     } // namespace tasty
 } // namespace sta
 
@@ -28,6 +34,12 @@ namespace sta
  */
 #define STA_TASTY_ASSERT(expr)      ( (void)( sta::tasty::test_case(__FILE__, __LINE__, expr) ) )
 
+/**
+ * @brief Send a message signaling the end of a test case.
+ * 
+ */
+#define STA_TASTY_TERMINATE()       ( (void)( sta::tasty::test_terminate() ) )
+
 
 #endif // STA_DEBUGGING_ENABLED
 

src/cases/case1.cpp

@@ -1,81 +1,54 @@
-
-
 /**
- * A simple testcase that checks if threads are correctly terminated after state transitions 
+ * Tests if the standard state transition works correctly.
- * by creating the following threads:
- * 
- * - DummyThread: A thread that does nothing and runs only for state 0.
- * - ToggleThread: A thread that switches between states 0 and 1. 
- * - Supervisor: A thread which supervises the system's behavior.
- * 
- * This test case fails if Dummy doesn't run in state 0 or runs in state 1.
  */
-
 #include <sta/tasty/config.hpp>
 #ifdef TASTY_CASE_1
 
-#include <memory>
 #include <sta/tacos.hpp>
-#include <sta/debug/debug.hpp>
 #include <sta/tasty/utils.hpp>
-#include <sta/tasty/tasks/toggle.hpp>
-#include <sta/tasty/tasks/supervisor.hpp>
 
 namespace sta
 {
 	namespace tasty
 	{
-		class DummyThread : public tacos::TacosThread
+		class DummyThread
 		{
+		private:
+			/* data */
 		public:
 			DummyThread()
-				: tacos::TacosThread("Dummy", osPriorityNormal)
+				: tacos::TacosThread{"Dummy", osPriorityNormal}
 			{}
 
-			void func() override
+			void func() override 
 			{
-				// Nothing to do here.
+				STA_TASTY_ASSERT(tacos::getState() == 0);
+
+				// Transitioning from 0 to 1 should work correclty.
+				tacos::setState(0, 1);
+				STA_TASTY_ASSERT(tacos::getState() == 1);
+
+				// Transitioning from 0 to 5 should fail because we are in state 1.
+				tacos::setState(0, 5);
+				STA_TASTY_ASSERT(tacos::getState() == 1);
+
+				// Transitioning from 7 to 0 should fail aswell
+				tacos::setState(7, 0);
+				STA_TASTY_ASSERT(tacos::getState() == 1);
+
+				// Transitioning from 4 to 5 should also fail.
+				tacos::setState(5, 4);
+				STA_TASTY_ASSERT(tacos::getState() == 1);
+
+				STA_TASTY_TERMINATE();
 			}
 		};
 
-		/**
-		 * @brief Global pointer to the dummy thread.
-		 * 
-		 */
-		std::shared_ptr<DummyThread> dummy;
-
-		/**
-		 * @brief Checker function that is called repeatedly by the supervisor thread.
-		 * 
-		 */
-		void checkDummy()
-		{
-			// Wait for the next state change to happen
-			tacos::Statemachine::stateChangeEvent.wait(tacos::EventFlags::ALL, osWaitForever);
-
-			// Wait a little bit longer because Dummy needs time to terminate.
-			osDelay(10);
-
-			// Test if dummy is only running if the state is 0.
-			if (tacos::getState() == 0)
-			{
-				STA_TASTY_ASSERT(dummy->isRunning());
-			}
-			else
-			{
-				STA_TASTY_ASSERT(!dummy->isRunning());
-			}
-		}
-
 		void onTastyInit()
 		{
-			std::list<TastyCheck> checks = { &checkDummy };
+			tacos::addThread<DummyThread>({0, 1, 2, 3, 4, 5, 6, 7});
-
-			dummy = tacos::addThread<DummyThread>({0});
-			tacos::addThread<Supervisor>({0, 1}, checks);
-			tacos::addThread<ToggleThread>({0, 1}, 1000);
 		}
-	}
+	} // namespace tasty
 } // namespace sta
 
-#endif // TASTY_CASE_1
+#endif // TASTY_CASE_1

src/cases/case2.cpp

@@ -1,16 +1,57 @@
+/**
+ * Check if timed transitions work correctly.
+ */
 #include <sta/tasty/config.hpp>
-
 #ifdef TASTY_CASE_2
 
 #include <sta/tacos.hpp>
+#include <sta/tasty/utils.hpp>
 
 namespace sta
 {
 	namespace tasty
 	{
+		class DummyThread
+		{
+		private:
+			/* data */
+		public:
+			DummyThread()
+				: tacos::TacosThread{"Dummy", osPriorityNormal}
+			{}
+
+			void func() override 
+			{
+				STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                // Schedule a state transition in 100 ticks.
+                tacos::setStateTimed(0, 1, 100);
+
+                // The state transition shouldn't have happened yet...
+                STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                this->sleep(50);
+
+                // ... and still not
+                STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                this->sleep(48);
+
+                // ... and still not
+                STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                this->sleep(3);
+
+                // Now it should have happened
+                STA_TASTY_ASSERT(tacos::getState() == 1);
+
+                STA_TASTY_TERMINATE();
+			}
+		};
+
 		void onTastyInit()
 		{
-			
+			tacos::addThread<DummyThread>({0, 1, 2, 3, 4, 5, 6, 7});
 		}
 	} // namespace tasty
 } // namespace sta

src/cases/case3.cpp

@@ -0,0 +1,66 @@
+/**
+ * Check if the lockout timer works correctly.
+ */
+#include <sta/tasty/config.hpp>
+#ifdef TASTY_CASE_3
+
+#include <sta/tacos.hpp>
+#include <sta/tasty/utils.hpp>
+
+namespace sta
+{
+	namespace tasty
+	{
+		class DummyThread
+		{
+		private:
+			/* data */
+		public:
+			DummyThread()
+				: tacos::TacosThread{"Dummy", osPriorityNormal}
+			{}
+
+			void func() override 
+			{
+				STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                // Trigger a state transition with lockout of 100 ticks.
+                tacos::setState(0, 1, 100);
+
+                // The state transition should have been executed correctly.
+                STA_TASTY_ASSERT(tacos::getState() == 1);
+
+                // This state transition should get blocked.
+                tacos::setState(1, 3);
+                STA_TASTY_ASSERT(tacos::getState() == 1);
+
+                this->sleep(50);
+
+                // This state transition should get blocked.
+                tacos::setState(1, 4);
+                STA_TASTY_ASSERT(tacos::getState() == 1);
+
+                this->sleep(48);
+
+                // This state transition should get blocked.
+                tacos::setState(1, 2);
+                STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                this->sleep(3);
+
+                // This state transition should get executed correctly.
+                tacos::setState(1, 7);
+                STA_TASTY_ASSERT(tacos::getState() == 7);
+
+                STA_TASTY_TERMINATE();
+			}
+		};
+
+		void onTastyInit()
+		{
+			tacos::addThread<DummyThread>({0, 1, 2, 3, 4, 5, 6, 7});
+		}
+	} // namespace tasty
+} // namespace sta
+
+#endif // TASTY_CASE_3

src/cases/case4.cpp

@@ -0,0 +1,61 @@
+/**
+ * Test lockout timers in combination with timed transitions.
+ */
+#include <sta/tasty/config.hpp>
+#ifdef TASTY_CASE_4
+
+#include <sta/tacos.hpp>
+#include <sta/tasty/utils.hpp>
+
+namespace sta
+{
+	namespace tasty
+	{
+		class DummyThread
+		{
+		private:
+			/* data */
+		public:
+			DummyThread()
+				: tacos::TacosThread{"Dummy", osPriorityNormal}
+			{}
+
+			void func() override 
+			{
+				STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                // Trigger a state transition with lockout of 100 ticks.
+                tacos::setState(0, 1, 100);
+
+				// Schedule a state transition to be executed after 50 ticks.
+				tacos::setStateTimed(1, 2, 50);
+
+				// This should have no effect.
+				STA_TASTY_ASSERT(tacos::getState() == 1);
+
+				// Wait for 50 ticks.
+				this->sleep(50);
+				
+                // The state transition should have been blocked by the lockout timer
+                STA_TASTY_ASSERT(tacos::getState() == 1);
+
+				// Schedule a state transition to be executed in 51 ticks.
+				tacos::setStateTimed(1, 2, 51);
+
+				this->sleep(51);
+
+				// This state transition should get through.
+				STA_TASTY_ASSERT(tacos::getState() == 2);
+
+                STA_TASTY_TERMINATE();
+			}
+		};
+
+		void onTastyInit()
+		{
+			tacos::addThread<DummyThread>({0, 1, 2, 3, 4, 5, 6, 7});
+		}
+	} // namespace tasty
+} // namespace sta
+
+#endif // TASTY_CASE_4

src/cases/case5.cpp

@@ -0,0 +1,52 @@
+/**
+ * 
+ */
+#include <sta/tasty/config.hpp>
+#ifdef TASTY_CASE_5
+
+#include <sta/tacos.hpp>
+#include <sta/tasty/utils.hpp>
+
+namespace sta
+{
+	namespace tasty
+	{
+		class DummyThread
+		{
+		private:
+			/* data */
+		public:
+			DummyThread()
+				: tacos::TacosThread{"Dummy", osPriorityNormal}
+			{}
+
+			void func() override 
+			{
+				STA_TASTY_ASSERT(tacos::getState() == 0);
+
+                // Schedule a state transition in 50 ticks.
+                tacos::setStateTimed(0, 1, 50);
+
+                this->sleep(10);
+
+                // Force a state transition now. This should override the timed transition.
+                tacos::setState(0, 2);
+                STA_TASTY_ASSERT(tacos::getState() == 2);
+
+                this->sleep(41);
+
+                // The timed transition should have triggered now but shouldn't have any effect.
+                STA_TASTY_ASSERT(tacos::getState() == 2);
+
+                STA_TASTY_TERMINATE();
+			}
+		};
+
+		void onTastyInit()
+		{
+			tacos::addThread<DummyThread>({0, 1, 2, 3, 4, 5, 6, 7});
+		}
+	} // namespace tasty
+} // namespace sta
+
+#endif // TASTY_CASE_5

src/cases/case7.cpp

@@ -0,0 +1,79 @@
+/**
+ * A simple testcase that checks if threads are correctly terminated after state transitions 
+ * by creating the following threads:
+ * 
+ * - DummyThread: A thread that does nothing and runs only for state 0.
+ * - ToggleThread: A thread that switches between states 0 and 1. 
+ * - Supervisor: A thread which supervises the system's behavior.
+ * 
+ * This test case fails if Dummy doesn't run in state 0 or runs in state 1.
+ */
+
+#include <sta/tasty/config.hpp>
+#ifdef TASTY_CASE_7
+
+#include <memory>
+#include <sta/tacos.hpp>
+#include <sta/debug/debug.hpp>
+#include <sta/tasty/utils.hpp>
+#include <sta/tasty/tasks/toggle.hpp>
+#include <sta/tasty/tasks/supervisor.hpp>
+
+namespace sta
+{
+	namespace tasty
+	{
+		class DummyThread : public tacos::TacosThread
+		{
+		public:
+			DummyThread()
+				: tacos::TacosThread("Dummy", osPriorityNormal)
+			{}
+
+			void func() override
+			{
+				// Nothing to do here.
+			}
+		};
+
+		/**
+		 * @brief Global pointer to the dummy thread.
+		 * 
+		 */
+		std::shared_ptr<DummyThread> dummy;
+
+		/**
+		 * @brief Checker function that is called repeatedly by the supervisor thread.
+		 * 
+		 */
+		void checkDummy()
+		{
+			// Wait for the next state change to happen
+			tacos::Statemachine::stateChangeEvent.wait(tacos::EventFlags::ALL, osWaitForever);
+
+			// Wait a little bit longer because Dummy needs time to terminate.
+			osDelay(10);
+
+			// Test if dummy is only running if the state is 0.
+			if (tacos::getState() == 0)
+			{
+				STA_TASTY_ASSERT(dummy->isRunning());
+			}
+			else
+			{
+				STA_TASTY_ASSERT(!dummy->isRunning());
+			}
+		}
+
+		void onTastyInit()
+		{
+			std::list<TastyCheck> checks = { &checkDummy };
+
+			dummy = tacos::addThread<DummyThread>({0});
+			tacos::addThread<Supervisor>({0, 1}, checks);
+			tacos::addThread<ToggleThread>({0, 1}, 1000);
+		}
+	}
+} // namespace sta
+
+#endif // TASTY_CASE_7

src/utils.cpp

@@ -12,6 +12,11 @@ namespace sta
         {
             STA_DEBUG_PRINTF("[%s|%d|%d]", file, line, rslt);
         }
+
+        void test_terminate()
+        {
+            STA_DEBUG_PRINTLN("[T]");
+        }
     } // namespace tasty    
 } // namespace sta