"All" and "any" for triggers and blockers

bitcraze · May 11, 2023 · f4d0ad2 · f4d0ad2
1 parent 0f24391
commit f4d0ad2
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Showing 2 changed files with 121 additions and 10 deletions.
diff --git a/src/modules/src/supervisor_state_machine.c b/src/modules/src/supervisor_state_machine.c
@@ -54,8 +54,6 @@ static SupervisorStateTransition_t transitionsPreFlChecksNotPassed[] = {
   {
     .newState = supervisorStatePreFlChecksPassed,
 
-    .triggers = SUPERVISOR_CB_NONE,
-    .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAlways,
 
     .blockers = SUPERVISOR_CB_CHARGER_CONNECTED | SUPERVISOR_CB_IS_TUMBLED | SUPERVISOR_CB_EMERGENCY_STOP,
@@ -229,20 +227,48 @@ bool supervisorStateMachineInit() {
   return true;
 }
 
+static bool areAllSet(const supervisorConditionBits_t conditions, const supervisorConditionBits_t requirements) {
+    return (~conditions & requirements) == 0;
+}
+
+static bool isAnySet(const supervisorConditionBits_t conditions, const supervisorConditionBits_t requirements) {
+    return (conditions & requirements) != 0;
+}
+
+static bool areConditionsMet(const supervisorConditionBits_t conditions, const supervisorConditionBits_t requirements, const SupervisorConditionCombiner_t combiner) {
+  bool result = false;
+
+  switch(combiner) {
+    case supervisorAll:
+      result = areAllSet(conditions, requirements);
+      break;
+    case supervisorAny:
+      result = isAnySet(conditions, requirements);
+      break;
+    case supervisorAlways:
+      result = true;
+      break;
+    case supervisorNever:
+      result = false;
+      break;
+    default:
+      break;
+  }
+
+  return result;
+}
+
 TESTABLE_STATIC supervisorState_t findTransition(const supervisorState_t currentState, const supervisorConditionBits_t conditions, const SupervisorStateTransitionList_t* transitions) {
   supervisorState_t newState = currentState;
   for (int i = 0; i < transitions->length; i++) {
     const SupervisorStateTransition_t* transitionDef = &transitions->transitionList[i];
 
-    const supervisorConditionBits_t maskRequired = transitionDef->triggers;
-    const supervisorConditionBits_t conditionsNotMetRequired = (~conditions) & maskRequired;
-
-    const supervisorConditionBits_t maskBlocking = transitionDef->blockers;
-    const supervisorConditionBits_t conditionsNotMetBlocking = conditions & maskBlocking;
+    const bool triggerConditionsMet = areConditionsMet(conditions, transitionDef->triggers, transitionDef->triggerCombiner);
+    const bool blockerConditionsMet = areConditionsMet(conditions, transitionDef->blockers, transitionDef->blockerCombiner);
 
-    const supervisorConditionBits_t conditionsNotMet = conditionsNotMetRequired | conditionsNotMetBlocking;
+    const bool conditionsMet = triggerConditionsMet && !blockerConditionsMet;
 
-    if (conditionsNotMet == 0) {
+    if (conditionsMet) {
       newState = transitionDef->newState;
       break;
     }

diff --git a/test/modules/src/test_supervisor_state_machine.c b/test/modules/src/test_supervisor_state_machine.c
@@ -26,7 +26,7 @@ void tearDown(void) {
   // Empty
 }
 
-void testTransitionWithNoConditions(void) {
+void testTransitionWithNoConditionsTriggerAlways(void) {
   // Fixture
   supervisorConditionBits_t conditions = 123;
 
@@ -43,6 +43,40 @@ void testTransitionWithNoConditions(void) {
   assertStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
 }
 
+void testTransitionWithNoConditionsTriggerNever(void) {
+  // Fixture
+  supervisorConditionBits_t conditions = 123;
+
+  supervisorConditionBits_t triggers = SUPERVISOR_CB_NONE;
+  supervisorConditionBits_t negatedTriggers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t triggerCombiner = supervisorNever;
+
+  supervisorConditionBits_t blockers = SUPERVISOR_CB_NONE;
+  supervisorConditionBits_t negatedBlockers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t blockerCombiner = supervisorNever;
+
+  // Test
+  // Assert
+  assertNoStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
+}
+
+void testTransitionWithNoConditionsBlockAlways(void) {
+  // Fixture
+  supervisorConditionBits_t conditions = 123;
+
+  supervisorConditionBits_t triggers = SUPERVISOR_CB_NONE;
+  supervisorConditionBits_t negatedTriggers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t triggerCombiner = supervisorAlways;
+
+  supervisorConditionBits_t blockers = SUPERVISOR_CB_NONE;
+  supervisorConditionBits_t negatedBlockers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t blockerCombiner = supervisorAlways;
+
+  // Test
+  // Assert
+  assertNoStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
+}
+
 void testTransitionOneRequiredConditionMet(void) {
   // Fixture
   supervisorConditionBits_t conditions = SUPERVISOR_CB_CHARGER_CONNECTED;
@@ -128,6 +162,23 @@ void testTransitionMultiRequiredConditionsOneMissing(void) {
   assertNoStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
 }
 
+void testTransitionMultiRequiredConditionsOneMet(void) {
+  // Fixture
+  supervisorConditionBits_t conditions = SUPERVISOR_CB_CHARGER_CONNECTED;
+
+  supervisorConditionBits_t triggers = SUPERVISOR_CB_CHARGER_CONNECTED | SUPERVISOR_CB_ARMED;
+  supervisorConditionBits_t negatedTriggers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t triggerCombiner = supervisorAny;
+
+  supervisorConditionBits_t blockers = SUPERVISOR_CB_NONE;
+  supervisorConditionBits_t negatedBlockers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t blockerCombiner = supervisorNever;
+
+  // Test
+  // Assert
+  assertStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
+}
+
 void testTransitionMultiRequiredConditionsOneMissingButOtherBitsSet(void) {
   // Fixture
   supervisorConditionBits_t conditions = SUPERVISOR_CB_CHARGER_CONNECTED | SUPERVISOR_CB_IS_TUMBLED;
@@ -230,6 +281,40 @@ void testTransitionMultiProhibitedConditionsOneNotMet(void) {
   assertNoStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
 }
 
+void testTransitionMultiProhibitedConditionsAllNotMet(void) {
+  // Fixture
+  supervisorConditionBits_t conditions = SUPERVISOR_CB_CHARGER_CONNECTED;
+
+  supervisorConditionBits_t triggers = SUPERVISOR_CB_NONE;
+  supervisorConditionBits_t negatedTriggers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t triggerCombiner = supervisorAlways;
+
+  supervisorConditionBits_t blockers = SUPERVISOR_CB_CHARGER_CONNECTED | SUPERVISOR_CB_IS_TUMBLED;
+  supervisorConditionBits_t negatedBlockers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t blockerCombiner = supervisorAll;
+
+  // Test
+  // Assert
+  assertStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
+}
+
+void testTransitionMultiProhibitedConditionsAllMet(void) {
+  // Fixture
+  supervisorConditionBits_t conditions = SUPERVISOR_CB_CHARGER_CONNECTED | SUPERVISOR_CB_IS_TUMBLED;
+
+  supervisorConditionBits_t triggers = SUPERVISOR_CB_NONE;
+  supervisorConditionBits_t negatedTriggers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t triggerCombiner = supervisorAlways;
+
+  supervisorConditionBits_t blockers = SUPERVISOR_CB_CHARGER_CONNECTED | SUPERVISOR_CB_IS_TUMBLED;
+  supervisorConditionBits_t negatedBlockers = SUPERVISOR_CB_NONE;
+  SupervisorConditionCombiner_t blockerCombiner = supervisorAll;
+
+  // Test
+  // Assert
+  assertNoStateTransition(conditions, triggers, negatedTriggers, triggerCombiner, blockers, negatedBlockers, blockerCombiner);
+}
+
 void testTransitionMultiRequiredAndProhibitedConditionsMet(void) {
   // Fixture
   supervisorConditionBits_t conditions = SUPERVISOR_CB_ARMED | SUPERVISOR_CB_IS_TUMBLED;