3 lines
927 B
C++
3 lines
927 B
C++
|
#include "workflow_fixture.hpp"
|
||
|
|
int main(){Fixture f("refresh_readiness");auto r=f.runner();r.update_safety({true,true,Holding::EMPTY,1000000,9000000000});assert(r.tick(Stage::PREFLIGHT,SteadyTime{},1000000)==TickStatus::RUNNING);assert(r.tick(Stage::PREFLIGHT,SteadyTime{}+Milliseconds(1),2000000)==TickStatus::SUCCESS);f.driver.unavailable_skill=Skill::NAVIGATE;TickStatus status=TickStatus::RUNNING;for(int i=1;i<=60&&status==TickStatus::RUNNING;++i){f.driver.now=2000000+i*100000000LL;r.update_safety({true,true,Holding::EMPTY,f.driver.now,f.driver.now+1000000000});status=r.tick(Stage::NAVIGATE_OBSERVE,SteadyTime{}+Milliseconds(i*100),f.driver.now);}assert(status==TickStatus::FAILURE);assert(f.count(Skill::NAVIGATE)==0);std::cout<<"after 6000ms unavailable navigation: still_running="<<(status==TickStatus::RUNNING)<<" verify_empty_calls="<<f.count(Skill::VERIFY_EMPTY)<<" nav_calls="<<f.count(Skill::NAVIGATE)<<"\n";}
|