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add tests for VW mode

This commit is contained in:
Matthew Kennedy 2020-07-26 03:11:56 -07:00
parent 51a69c7478
commit 2b212fbaab
1 changed files with 64 additions and 18 deletions
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82
unit_tests/tests/test_etb.cpp
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@ -32,7 +32,6 @@ TEST(etb, initializationNoPedal) {
}
TEST(etb, initializationSingleThrottle) {
StrictMock<MockEtb> mocks[ETB_COUNT];
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
@ -45,8 +44,8 @@ TEST(etb, initializationSingleThrottle) {
Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
// Expect mock0 to be init with index 0, and PID params
EXPECT_CALL(mocks[0], init(_, 0, &engineConfiguration->etb, Ne(nullptr)));
// Expect mock0 to be init with TPS 1, index 0, and PID params
EXPECT_CALL(mocks[0], init(SensorType::Tps1, _, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], start);
@ -71,19 +70,43 @@ TEST(etb, initializationDualThrottle) {
// The presence of a second TPS indicates dual throttle
Sensor::setMockValue(SensorType::Tps2, 25.0f);
// Expect mock0 to be init with index 0, and PID params
EXPECT_CALL(mocks[0], init(_, 0, &engineConfiguration->etb, Ne(nullptr)));
// Expect mock0 to be init with TPS 1, index 0, and PID params
EXPECT_CALL(mocks[0], init(SensorType::Tps1, _, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], start);
// Expect mock1 to be init with index 2, and PID params
EXPECT_CALL(mocks[1], init(_, 1, &engineConfiguration->etb, Ne(nullptr)));
// Expect mock1 to be init with TPS 2, index 1, and PID params
EXPECT_CALL(mocks[1], init(SensorType::Tps2, _, 1, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[1], reset);
EXPECT_CALL(mocks[1], start);
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
}
TEST(etb, initializationVolkswagenEtbIdleMode) {
StrictMock<MockEtb> mocks[ETB_COUNT];
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
// Enable VW idle mode
engineConfiguration->volkswagenEtbIdle = true;
for (int i = 0; i < ETB_COUNT; i++) {
engine->etbControllers[i] = &mocks[i];
}
// No accelerator pedal configured - this mode doesn't use it
// Expect mock0 to be init with TPS 2, index 0, and PID params
EXPECT_CALL(mocks[0], init(SensorType::Tps2, _, 0, &engineConfiguration->etb, Ne(nullptr)));
EXPECT_CALL(mocks[0], reset);
EXPECT_CALL(mocks[0], start);
// We do not expect throttle #2 to be initialized
doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
}
TEST(etb, idlePlumbing) {
StrictMock<MockEtb> mocks[ETB_COUNT];
@ -117,7 +140,7 @@ TEST(etb, testSetpointOnlyPedal) {
// Uninitialized ETB must return unexpected (and not deference a null pointer)
EXPECT_EQ(etb.getSetpoint(), unexpected);
etb.init(nullptr, 0, nullptr, &pedalMap);
etb.init(SensorType::Invalid, nullptr, 0, nullptr, &pedalMap);
// Check endpoints and midpoint
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
@ -167,7 +190,7 @@ TEST(etb, setpointIdle) {
.WillRepeatedly([](float xRpm, float y) {
return y;
});
etb.init(nullptr, 0, nullptr, &pedalMap);
etb.init(SensorType::Invalid, nullptr, 0, nullptr, &pedalMap);
// No idle range, should just pass pedal
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
@ -204,6 +227,29 @@ TEST(etb, setpointIdle) {
EXPECT_FLOAT_EQ(55, etb.getSetpoint().value_or(-1));
}
TEST(etb, idleVolkswagenMode) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
// In this mode the idle position should be passed thru as the setpoint directly
engineConfiguration->volkswagenEtbIdle = true;
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
etb.setIdlePosition(0);
EXPECT_FLOAT_EQ(0, etb.getSetpoint().value_or(-1));
etb.setIdlePosition(50);
EXPECT_FLOAT_EQ(50, etb.getSetpoint().value_or(-1));
etb.setIdlePosition(100);
EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
// Out of range should be clamped
etb.setIdlePosition(-10);
EXPECT_FLOAT_EQ(0, etb.getSetpoint().value_or(-1));
etb.setIdlePosition(110);
EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
}
TEST(etb, etbTpsSensor) {
// Throw some distinct values on the TPS sensors so we can identify that we're getting the correct one
Sensor::setMockValue(SensorType::Tps1, 25.0f);
@ -212,14 +258,14 @@ TEST(etb, etbTpsSensor) {
// Test first throttle
{
EtbController etb;
etb.init(nullptr, 0, nullptr, nullptr);
etb.init(SensorType::Tps1, nullptr, 0, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 25.0f);
}
// Test second throttle
{
EtbController etb;
etb.init(nullptr, 1, nullptr, nullptr);
etb.init(SensorType::Tps2, nullptr, 1, nullptr, nullptr);
EXPECT_EQ(etb.observePlant().Value, 75.0f);
}
}
@ -231,7 +277,7 @@ TEST(etb, setOutputInvalid) {
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
etb.init(&motor, 0, nullptr, nullptr);
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
// Should be disabled in case of unexpected
EXPECT_CALL(motor, disable());
@ -245,7 +291,7 @@ TEST(etb, setOutputValid) {
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
etb.init(&motor, 0, nullptr, nullptr);
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -261,7 +307,7 @@ TEST(etb, setOutputValid2) {
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
etb.init(&motor, 0, nullptr, nullptr);
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -277,7 +323,7 @@ TEST(etb, setOutputOutOfRangeHigh) {
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
etb.init(&motor, 0, nullptr, nullptr);
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -293,7 +339,7 @@ TEST(etb, setOutputOutOfRangeLow) {
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
etb.init(&motor, 0, nullptr, nullptr);
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
// Should be enabled and value set
EXPECT_CALL(motor, enable());
@ -309,7 +355,7 @@ TEST(etb, setOutputPauseControl) {
EtbController etb;
INJECT_ENGINE_REFERENCE(&etb);
etb.init(&motor, 0, nullptr, nullptr);
etb.init(SensorType::Invalid, &motor, 0, nullptr, nullptr);
// Pause control - should get no output
engineConfiguration->pauseEtbControl = true;
@ -327,7 +373,7 @@ TEST(etb, closedLoopPid) {
pid.minValue = -60;
EtbController etb;
etb.init(nullptr, 0, &pid, nullptr);
etb.init(SensorType::Invalid, nullptr, 0, &pid, nullptr);
// Disable autotune for now
Engine e;