unit test for vehicle_speed.cpp #3081

firmware/controllers/actuators/idle_thread.cpp

@@ -478,7 +478,7 @@ float IdleController::getClosedLoop(IIdleController::Phase phase, float tpsPos,
 		float crankingTaper = getCrankingTaperFraction();
 
 		// Determine what operation phase we're in - idling or not
-		auto phase = determinePhase(rpm, targetRpm, tps, getVehicleSpeed(), crankingTaper);
+		auto phase = determinePhase(rpm, targetRpm, tps, getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE), crankingTaper);
 		m_lastPhase = phase;
 
 		engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;

firmware/controllers/algo/dynoview.cpp

@@ -18,7 +18,7 @@ void DynoView::update(vssSrc src) {
     efitimeus_t timeNow, deltaTime = 0.0;
     float speed,deltaSpeed = 0.0;
     timeNow = getTimeNowUs();
-    speed = getVehicleSpeed();
+    speed = getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
     if (src == ICU) {
         speed = efiRound(speed,1.0);
     } else {
@@ -163,4 +163,4 @@ void updateDynoViewCan(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
     dynoInstance.update(CAN);
 }
 
-#endif /* EFI_DYNO_VIEW */
+#endif /* EFI_DYNO_VIEW */

firmware/controllers/algo/launch_control.cpp

@@ -55,7 +55,7 @@ bool LaunchControlBase::isInsideSwitchCondition() const {
  * then we have to return true, and trust that we would disable by other condition!
  */ 
 bool LaunchControlBase::isInsideSpeedCondition() const {
-	int speed = getVehicleSpeed();
+	int speed = getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
 	
 	return (CONFIG(launchSpeedTreshold) > speed) || (!(CONFIG(launchActivationMode) ==  ALWAYS_ACTIVE_LAUNCH));
 }

firmware/hw_layer/hardware.cpp

@@ -395,7 +395,7 @@ void applyNewHardwareSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	}
 #endif
 
-#if EFI_VEHICLE_SPEED
+#if EFI_VEHICLE_SPEED && ! EFI_UNIT_TEST
 	startVSSPins();
 #endif /* EFI_VEHICLE_SPEED */
 

firmware/hw_layer/vehicle_speed.cpp

@@ -7,6 +7,10 @@
 
 #include "vehicle_speed.h"
 
+#define DEFAULT_MOCK_SPEED -1
+
+static float mockVehicleSpeed = DEFAULT_MOCK_SPEED; // in kilometers per hour
+
 #if EFI_VEHICLE_SPEED
 
 #include "engine.h"
@@ -15,20 +19,16 @@
 #include "pin_repository.h"
 #include "can_vss.h"
 
+
+// todo: move from static into Engine GOD object in order for tests reset
 static efitick_t lastSignalTimeNt = 0;
 static efitick_t vssDiff = 0;
 
-#define DEFAULT_MOCK_SPEED -1
-static float mockVehicleSpeed = DEFAULT_MOCK_SPEED; // in kilometers per hour
-
-void setMockVehicleSpeed(float speedKPH) {
-	mockVehicleSpeed = speedKPH;
-}
 
 /**
  * @return vehicle speed, in kilometers per hour
  */
-float getVehicleSpeed(void) {
+float getVehicleSpeed(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	if (mockVehicleSpeed != DEFAULT_MOCK_SPEED)
 		return mockVehicleSpeed;
 #if EFI_CAN_SUPPORT
@@ -36,7 +36,7 @@ float getVehicleSpeed(void) {
 		return getVehicleCanSpeed();
 	}
 #endif	/* EFI_CAN_SUPPORT */	
-	if (!hasVehicleSpeedSensor())
+	if (!hasVehicleSpeedSensor(PASS_ENGINE_PARAMETER_SIGNATURE))
 		return 0;
 	efitick_t nowNt = getTimeNowNt();
 	if (nowNt - lastSignalTimeNt > NT_PER_SECOND)
@@ -45,13 +45,20 @@ float getVehicleSpeed(void) {
 	return engineConfiguration->vehicleSpeedCoef * NT_PER_SECOND / vssDiff;
 }
 
-static void vsAnaWidthCallback(void) {
+// todo: make this method public and invoke this method from test
+void vsCallback(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engine->engineState.vssEventCounter++;
 	efitick_t nowNt = getTimeNowNt();
 	vssDiff = nowNt - lastSignalTimeNt;
 	lastSignalTimeNt = nowNt;
 }
 
+#if ! EFI_UNIT_TEST
+
+static void vsAnaWidthCallback() {
+	vsCallback(PASS_ENGINE_PARAMETER_SIGNATURE);
+}
+
 static void speedInfo(void) {
 	efiPrintf("VSS input at %s",
 			hwPortname(CONFIG(vehicleSpeedSensorInputPin)));
@@ -59,17 +66,18 @@ static void speedInfo(void) {
 	efiPrintf("c=%.2f eventCounter=%d speed=%.2f",
 			engineConfiguration->vehicleSpeedCoef,
 			engine->engineState.vssEventCounter,
-			getVehicleSpeed());
+			getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE));
 	efiPrintf("vss diff %d", vssDiff);
 }
+#endif // EFI_UNIT_TEST
 
-bool hasVehicleSpeedSensor() {
+bool hasVehicleSpeedSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	return (isBrainPinValid(CONFIG(vehicleSpeedSensorInputPin)));
 }
 
 #if HAL_VSS_USE_PAL
 static void vsExtiCallback(void *) {
-	vsAnaWidthCallback();
+	vsAnaWidthCallback(engine);
 }
 #endif /* HAL_VSS_USE_PAL */
 
@@ -81,6 +89,8 @@ void stopVSSPins(void) {
 #endif /* HAL_VSS_USE_PAL, HAL_USE_ICU */
 }
 
+#if ! EFI_UNIT_TEST
+
 void startVSSPins(void) {
 	if (!hasVehicleSpeedSensor()) {
 		return;
@@ -92,34 +102,41 @@ void startVSSPins(void) {
 #elif HAL_USE_ICU
 	digital_input_s* vehicleSpeedInput = startDigitalCapture("VSS", CONFIG(vehicleSpeedSensorInputPin));
 
-	vehicleSpeedInput->widthListeners.registerCallback((VoidInt) vsAnaWidthCallback, NULL);
+	vehicleSpeedInput->widthListeners.registerCallback((VoidInt) vsAnaWidthCallback, nullptr);
 #else
 	#error "HAL_USE_ICU or HAL_VSS_USE_PAL should be enabled to use EFI_VEHICLE_SPEED"
 #endif /* HAL_VSS_USE_PAL, HAL_USE_ICU */
 }
+#endif
 
 void initVehicleSpeed() {
+#if ! EFI_UNIT_TEST
 	addConsoleAction("speedinfo", speedInfo);
 	startVSSPins();
+#endif // EFI_UNIT_TEST
 }
 #else  /* EFI_VEHICLE_SPEED */
 
 #if EFI_UNIT_TEST
-static float mockVehicleSpeed = 0.0; // in kilometers per hour
 
-void setMockVehicleSpeed(float speedKPH) {
+float getVehicleSpeed(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	mockVehicleSpeed = speedKPH;
-}
-float getVehicleSpeed(void) {
 	
 	// Mock return to be used in unit tests
 	return mockVehicleSpeed;	
 }
 #else
-float getVehicleSpeed(void) {
+float getVehicleSpeed(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	
 	// no VSS support
 	return 0;	
 }
 #endif /* EFI_UNIT_TEST */
 #endif /* EFI_VEHICLE_SPEED */
+
+
+
+
+void setMockVehicleSpeed(float speedKPH) {
+	mockVehicleSpeed = speedKPH;
+}
+

firmware/hw_layer/vehicle_speed.h

@@ -12,9 +12,9 @@
 /**
  * @return vehicle speed, in kilometers per hour
  */
-float getVehicleSpeed(void);
+float getVehicleSpeed(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void initVehicleSpeed();
 void setMockVehicleSpeed(float speedKPH);
-bool hasVehicleSpeedSensor();
+bool hasVehicleSpeedSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void stopVSSPins(void);
 void startVSSPins(void);