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Merged
johnpolymath merged 1 commit into from
May 1, 2026
Merged

Adding more unit tests #7

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2 changes: 2 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -69,4 +69,6 @@ mkdir build
cd build
cmake ..
make

./pstop/pstop_test
```
2 changes: 1 addition & 1 deletion pstop_c/pstop/include/pstop/machine.h
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Expand Up @@ -77,6 +77,6 @@ typedef struct pstop_machine_t {

void machine_init(pstop_machine_t *machine, pstop_application_t *app, pstop_client_data_t *clients, uint16_t max_clients);

void machine_stop_robot(pstop_machine_t *machine, pstop_client_data_t *client);
void machine_stop_robot(pstop_machine_t *machine);

#endif /* PSTOP_MACHINE_H */
16 changes: 4 additions & 12 deletions pstop_c/pstop/src/pstop/machine.c
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Expand Up @@ -176,7 +176,7 @@ handle_unbond_msg(pstop_machine_t *machine, pstop_client_data_t *client, const p

// if this is the last client then stop the robot
if((pstop_client_num_active(&(machine->pstops)) == 0U) || (machine->robot_state.robot_state == ROBOT_STATE_STOPPED)) {
machine_stop_robot(machine, NULL);
machine_stop_robot(machine);
}

return PSTOP_OK;
Expand Down Expand Up @@ -270,8 +270,6 @@ machine_check_heartbeats(pstop_machine_t *machine)
continue;
}

//client->missed_heartbeats_counter++;

// problem! this client hasn't talked to us in a while
// if we're still within the window of missed heartbeats then we're OK

Expand All @@ -284,7 +282,7 @@ machine_check_heartbeats(pstop_machine_t *machine)
}

if(needsStop != 0) {
machine_stop_robot(machine, NULL);
machine_stop_robot(machine);
return PSTOP_MISSED_HEARTBEATS;
}

Expand All @@ -310,17 +308,11 @@ machine_init(pstop_machine_t *machine, pstop_application_t *app, pstop_client_da
}

void
machine_stop_robot(pstop_machine_t *machine, pstop_client_data_t *client)
machine_stop_robot(pstop_machine_t *machine)
{
machine->robot_state.robot_state = ROBOT_STATE_STOPPED;
machine->robot_state.restart_state = ROBOT_RESTART_STATE_NEED_STOP;

if(client != NULL) {
machine->robot_state.client_stop_id = client->local_client_id;
}
else {
machine->robot_state.client_stop_id = 0U;
}
machine->robot_state.client_stop_id = 0U;

machine->application->status_cb(PSTOP_STATUS_STOP);
}
2 changes: 1 addition & 1 deletion pstop_c/pstop/src/pstop/protocol.c
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Expand Up @@ -49,7 +49,7 @@ validate_message(pstop_machine_t *machine, pstop_client_data_t *client, const ps
// too many lost messages
// clean up this client
*resp = NULL;
machine_stop_robot(machine, NULL);
machine_stop_robot(machine);
return PSTOP_MSG_LOST;
}
}
Expand Down
7 changes: 0 additions & 7 deletions pstop_c/pstop/src/pstop/pstop_client.c
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Expand Up @@ -24,13 +24,6 @@ pstop_client_init(pstop_client_data_t *client)
client->local_client_id = next_client_id++;
}

static
void
pstop_client_copy(pstop_client_data_t *dest, pstop_client_data_t *src)
{
memcpy(dest, src, sizeof(pstop_client_data_t));
}

void
pstop_clients_init(pstop_clients_t *clients)
{
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2 changes: 2 additions & 0 deletions pstop_c/pstop/test/src/pstop/machine_timeout_test.c
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Expand Up @@ -180,6 +180,8 @@ test_bond_stop_timeout_2_missed_timeouts(void)

current_time = 222U; // now two missed heartbeats
TEST_ASSERT_EQUAL(PSTOP_MISSED_HEARTBEATS, machine.check_heartbeats_cb(&machine));
TEST_ASSERT_EQUAL(ROBOT_STATE_STOPPED, machine.robot_state.robot_state);
TEST_ASSERT_EQUAL(ROBOT_RESTART_STATE_NEED_STOP, machine.robot_state.restart_state);
}

void
Expand Down
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