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langroodilangroodi
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🍺 Introduce ElemetarySupervision abstract class:
- Corresponding unit tests are added to the test project.
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‎CMakeLists.txt‎

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${source_ara_phm_dir}/supervised_entity.cpp
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${source_ara_phm_dir}/recovery_action.h
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${source_ara_phm_dir}/recovery_action.cpp
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${source_ara_phm_supervisors_dir}/elementary_supervision.h
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${source_ara_phm_supervisors_dir}/elementary_supervision.cpp
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${source_ara_phm_supervisors_dir}/alive_supervision.h
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${source_ara_phm_supervisors_dir}/alive_supervision.cpp
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${source_ara_phm_supervisors_dir}/deadline_supervision.h
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${test_ara_phm_dir}/recovery_action_test.cpp
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${test_ara_phm_dir}/mocked_checkpoint_communicator.h
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${test_ara_phm_dir}/supervised_entity_test.cpp
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${test_ara_phm_supervisors_dir}/dummy_supervision.h
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${test_ara_phm_supervisors_dir}/elementary_supervision_test.cpp
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${test_ara_phm_supervisors_dir}/alive_supervision_test.cpp
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${test_ara_phm_supervisors_dir}/deadline_supervision_test.cpp
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)

‎src/ara/phm/supervisors/elementary_supervision.cpp‎

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#include <stdexcept>
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#include "./elementary_supervision.h"
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namespace ara
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{
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namespace phm
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{
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namespace supervisors
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{
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ElementarySupervision::ElementarySupervision(
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std::function<void(SupervisionStatus)> &&callback) : mOnStatusChanged{std::move(callback)},
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mStatus{SupervisionStatus::kDeactivated}
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{
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}
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void ElementarySupervision::Report(SupervisionStatus status)
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{
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if (mStatus != status)
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{
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switch (status)
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{
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case SupervisionStatus::kDeactivated:
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case SupervisionStatus::kExpired:
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mStatus = status;
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mOnStatusChanged(mStatus);
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break;
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case SupervisionStatus::kOk:
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case SupervisionStatus::kFailed:
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// Transition from the expired status is only allowed to the deactivated status.
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if (mStatus != SupervisionStatus::kExpired)
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{
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mStatus = status;
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mOnStatusChanged(mStatus);
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}
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break;
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default:
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throw std::out_of_range("The reported status is not handled!");
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}
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}
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}
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SupervisionStatus ElementarySupervision::GetStatus() const noexcept
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{
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return mStatus;
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}
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}
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}
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}

‎src/ara/phm/supervisors/elementary_supervision.h‎

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#ifndef ELEMENTARY_SUPERVISION_H
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#define ELEMENTARY_SUPERVISION_H
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#include <functional>
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namespace ara
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{
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namespace phm
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{
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namespace supervisors
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{
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/// @brief Supervision finite state machine status
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enum class SupervisionStatus
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{
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kDeactivated, ///!< Supervision has not been started or has been terminated
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kOk, ///!< Supervision is correct
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kFailed, ///!< Supervision is incorrect but does not exceed the tolerance
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kExpired ///!< Supervision is incorrect and also exceeding the tolerance
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};
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/// @brief An abstract class the enables a supervision method to report its elementary supervion status
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class ElementarySupervision
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{
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private:
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const std::function<void(SupervisionStatus)> mOnStatusChanged;
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SupervisionStatus mStatus;
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protected:
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/// @brief Constructor
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/// @param callback Callback to be invoked on the supervision status change
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ElementarySupervision(
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std::function<void(SupervisionStatus)> &&callback);
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/// @brief Report the new supervision status
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/// @param status New status of the supervision method
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void Report(SupervisionStatus status);
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public:
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ElementarySupervision() = delete;
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virtual ~ElementarySupervision() noexcept = default;
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/// @brief Get the supervision status
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/// @returns Current elementary supervision status
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SupervisionStatus GetStatus() const noexcept;
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};
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}
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}
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}
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#endif

‎test/ara/phm/supervisors/dummy_supervision.h‎

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#ifndef DUMMY_SUPERVISION_H
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#define DUMMY_SUPERVISION_H
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#include "../../../../src/ara/phm/supervisors/elementary_supervision.h"
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namespace ara
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{
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namespace phm
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{
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namespace supervisors
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{
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class DummySupervision : public ElementarySupervision
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{
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public:
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DummySupervision() : ElementarySupervision([](SupervisionStatus status) {})
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{
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}
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inline void ReportStatus(SupervisionStatus status)
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{
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Report(status);
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}
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};
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}
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}
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}
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#endif

‎test/ara/phm/supervisors/elementary_supervision_test.cpp‎

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#include <gtest/gtest.h>
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#include "./dummy_supervision.h"
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namespace ara
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{
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namespace phm
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{
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namespace supervisors
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{
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TEST(ElementarySupervisionTest, Constructor)
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{
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const SupervisionStatus cExpectedResult{SupervisionStatus::kDeactivated};
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const DummySupervision cSupervision;
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const SupervisionStatus cActualResult{cSupervision.GetStatus()};
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EXPECT_EQ(cExpectedResult, cActualResult);
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}
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TEST(ElementarySupervisionTest, TransitionToOkScenario)
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{
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const SupervisionStatus cExpectedResult{SupervisionStatus::kOk};
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DummySupervision _supervision;
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_supervision.ReportStatus(cExpectedResult);
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SupervisionStatus _actualResult{_supervision.GetStatus()};
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to Failed and then to OK
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_supervision.ReportStatus(SupervisionStatus::kFailed);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to Expired and then to OK
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_supervision.ReportStatus(SupervisionStatus::kExpired);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_NE(cExpectedResult, _actualResult);
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}
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TEST(ElementarySupervisionTest, TransitionToFailedScenario)
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{
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const SupervisionStatus cExpectedResult{SupervisionStatus::kFailed};
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DummySupervision _supervision;
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_supervision.ReportStatus(cExpectedResult);
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SupervisionStatus _actualResult{_supervision.GetStatus()};
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to OK and then to Failed
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_supervision.ReportStatus(SupervisionStatus::kOk);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to Expired and then to Failed
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_supervision.ReportStatus(SupervisionStatus::kExpired);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_NE(cExpectedResult, _actualResult);
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}
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TEST(ElementarySupervisionTest, TransitionToExpiredScenario)
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{
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const SupervisionStatus cExpectedResult{SupervisionStatus::kExpired};
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DummySupervision _supervision;
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_supervision.ReportStatus(cExpectedResult);
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SupervisionStatus _actualResult{_supervision.GetStatus()};
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to OK and then to Expired
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_supervision.ReportStatus(SupervisionStatus::kOk);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to Failed and then to Expired
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_supervision.ReportStatus(SupervisionStatus::kFailed);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_EQ(cExpectedResult, _actualResult);
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}
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TEST(ElementarySupervisionTest, TransitionToDeactivatedScenario)
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{
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const SupervisionStatus cExpectedResult{SupervisionStatus::kDeactivated};
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DummySupervision _supervision;
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_supervision.ReportStatus(cExpectedResult);
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SupervisionStatus _actualResult{_supervision.GetStatus()};
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to OK and then to Deactivated
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_supervision.ReportStatus(SupervisionStatus::kOk);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to Failed and then to Deactivated
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_supervision.ReportStatus(SupervisionStatus::kFailed);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_EQ(cExpectedResult, _actualResult);
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// Transit to Expired and then to Deactivated
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_supervision.ReportStatus(SupervisionStatus::kExpired);
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_supervision.ReportStatus(cExpectedResult);
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_actualResult = _supervision.GetStatus();
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EXPECT_EQ(cExpectedResult, _actualResult);
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}
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}
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}
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}

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