Fixed hysteresis test

Author: xtitoris

test/tests/test_heater.cpp

@@ -7,37 +7,36 @@
 namespace
 {
 
-constexpr float kHeaterPreheatTime = 5.0f;
-constexpr float kHeaterWarmupTimeout = 10.0f;
+    constexpr float kHeaterPreheatTime = 5.0f;
+    constexpr float kHeaterWarmupTimeout = 10.0f;
 
-constexpr float kTargetTempC = 780.0f;
-constexpr float kTargetEsr = 300.0f;
+    constexpr float kTargetTempC = 780.0f;
+    constexpr float kTargetEsr = 300.0f;
 
-constexpr float kOverTempC = kTargetTempC + 300.0f;
-constexpr float kUnderTempC = kTargetTempC - 200.0f;
+    constexpr float kOverTempC = over(kTargetTempC + 100.0f);
+    constexpr float kUnderTempC = under(kTargetTempC - 100.0f);
 
-constexpr float kGoodVoltage = 12.0f;
+    constexpr float kGoodVoltage = 12.0f;
 
-constexpr float kOffVoltage = 6.0f;
-constexpr float kOnVoltage = 11.0f;
+    constexpr float kOffVoltage = 8.0f;
+    constexpr float kOnVoltage = 9.5f;
 
-constexpr float kVoltageStabDelaySec = 0.5f;
-constexpr float kOverUnderheatFaultDelaySec = 0.5f;
-constexpr float kClosedLoopStabDelaySec = 0.5f;
+    constexpr float kVoltageStabDelaySec = 0.5f;
+    constexpr float kOverUnderheatFaultDelaySec = 0.5f;
+    constexpr float kClosedLoopStabDelaySec = 0.5f;
 
-struct MockHeater : public HeaterControllerBase
-{
-    MockHeater() : HeaterControllerBase(0, kHeaterPreheatTime, kHeaterWarmupTimeout) { }
-
-    MOCK_METHOD(void, SetDuty, (float), (const, override));
-};
+    struct MockHeater : public HeaterControllerBase
+    {
+        MockHeater() : HeaterControllerBase(0, kHeaterPreheatTime, kHeaterWarmupTimeout) { }
 
-void configureDut(MockHeater& dut)
-{
-    Timer::setMockTime(0);
-    dut.Configure(kTargetTempC, kTargetEsr);
-}
+        MOCK_METHOD(void, SetDuty, (float), (const, override));
+    };
 
+    void configureDut(MockHeater& dut)
+    {
+        Timer::setMockTime(0);
+        dut.Configure(kTargetTempC, kTargetEsr);
+    }
 
 }
 
@@ -344,19 +343,24 @@ TEST(HeaterStateMachine, Warmup_IfNoExitCondition_AndUnknown)
     Timer::setMockTime(toUs(over(kVoltageStabDelaySec)));
     EXPECT_EQ(HeaterState::WarmupRamp, dut.GetNextState(HeaterState::WarmupRamp, HeaterAllow::Unknown, over(kOnVoltage), kUnderTempC));
 
-    // issue: Voltage momentarily drops below OffVoltage because heater turned on
+    // issue: Voltage momentarily drops below OnVoltage because heater turned on
     // this resets the stability timer and drops us back to the preheat state, even though it is a transient spike
     // while it may be the indication of weak wiring or bad connection, we at least should report the condition
     // especially since this is only in the Unknown state. Allowed state does not check for that at all.
-    EXPECT_EQ(HeaterState::Preheat, dut.GetNextState(HeaterState::WarmupRamp, HeaterAllow::Unknown, under(kOffVoltage), kUnderTempC));
+    // There should be two modifications to fix this issue:
+    // 1. Introduce hysteresis by checking OffVoltage for dropping back to preheat, and OnVoltage for transitioning to warmup ramp
+    // 2. Use a timer not only for transitioning from preheat to warmup ramp, but also for dropping back to preheat
+    EXPECT_EQ(HeaterState::Preheat, dut.GetNextState(HeaterState::WarmupRamp, HeaterAllow::Unknown, under(kOnVoltage), kUnderTempC));
+
+    // Also check ClosedLoop state
+    EXPECT_EQ(HeaterState::Preheat, dut.GetNextState(HeaterState::ClosedLoop, HeaterAllow::Unknown, under(kOnVoltage), kUnderTempC));
 }
 
 
 // ====================
 // State: ClosedLoop
 // ====================
 
-
 TEST(HeaterStateMachine, ClosedLoop_WhenAllowed)
 {
     MockHeater dut;
@@ -469,7 +473,6 @@ TEST(HeaterStateMachine, ClosedLoop_NoUnderheatFaultBeforeStabilization)
     EXPECT_EQ(HeaterState::Stopped, dut.GetNextState(HeaterState::ClosedLoop, HeaterAllow::Allowed, kGoodVoltage, kUnderTempC));
 }
 
-
 TEST(HeaterStateMachine, ClosedLoop_NoOverheatFaultBeforeStabilization)
 {
     MockHeater dut;
@@ -504,6 +507,7 @@ TEST(HeaterStateMachine, ClosedLoop_RecoveryToNormalTempResetsFaultTimers)
     EXPECT_EQ(HeaterState::ClosedLoop, dut.GetNextState(HeaterState::ClosedLoop, HeaterAllow::Allowed, kGoodVoltage, kOverTempC));
 }
 
+
 // ====================
 // State: Stopped
 // ====================