Software tests - SergeGit/rc-tank-platform GitHub Wiki

Manual Mode Integration Test

Objective: ✅ Validate that in Manual Mode, commands from the PS3 controller (or Web) are correctly interpreted and sent to the turret and movement systems.

Specifically:

• PS3 controller inputs are mocked: move forward, turn right, turret slight rotate right, and aim slightly up.
• Web inputs are mocked the same way.
• Auto-aim is disabled (mocked to pass inputs unchanged).
• Firing logic is mocked to allow firing instantly (True).
• Check that i2c.send_command (mocked) would receive:

• • Turret rotation commands (10%)
• • Turret elevation commands (-5%)
• • Fire commands when fire is True.

Result: ✔️ Confirms the system reacts to manual control input properly, and no auto-aiming modifies the manual joystick/web commands.

Semi-Auto Mode Integration Test

flowchart TD
    A1[Manual Mode Start] --> A2[Read PS3 or Web Inputs]
    A2 --> A3[Use inputs directly]
    A3 --> A4[Send Turret Rotation & Elevation commands]
    A4 --> A5[Check Fire Button Pressed]
    A5 -->|Yes| A6[Send Cannon Fire Command]
    A5 -->|No| A7[No Fire]

Semi-Auto Mode Integration Test

Objective: ✅ Validate that in Semi-Auto Mode (FIRE submode):

• The turret uses real AutoAimProcessor to auto-align.
• The system only fires if the target is:
• • Detected
• • Confident (> 0.7)
• • Centered within aim tolerance
• • Tracked long enough (> 1s)

Specifically:

• A simulated target is perfectly centered (x = 0.5, y = 0.5) and confident.
• Target is assigned a tracking_id to simulate it's been locked for >2 seconds.
• Web inputs allow safety override to permit firing.
• AutoAimProcessor is active (real PID calculations based on target position).
• FireDecisionLogic is active (real logic to allow firing only if safe).

Result: ✔️ Confirms that auto-aim and fire decision work together correctly:

• Turret auto-corrects position (even though perfectly centered here).
• Cannon fires only when conditions are met (i.e., tracked target, safety confirmed).

flowchart TD
    B1[Semi-Auto Mode Start FIRE] --> B2[Read Web Inputs]
    B2 --> B3[Computer Vision detects target]
    B3 --> B4[AutoAimProcessor corrects aim]
    B4 --> B5[FireDecisionLogic checks:]
    B5 --> B6{Is target centered, confident,\nand tracked long enough?}
    B6 -->|Yes| B7[Send Cannon Fire Command]
    B6 -->|No| B8[Hold Fire]

In short

Test	What is checked?	Hardware involvement?	Fire?	Auto-aim?
Manual	Manual control flows properly	Mocked (no hardware)	Yes	No (manual)
Semi-Auto	Auto-aim and fire-decision flows correctly	Mocked (no hardware)	Yes	Yes (PID-driven)

flowchart TD
    A[Manual Mode Update]
    A --> B1[Send TURRET_ROTATE manual value]
    A --> B2[Send TURRET_ELEVATE manual value]
    A --> B3{Fire Button Pressed?}
    B3 -->|Yes| B4[Send CANNON_FIRE 100]
    B3 -->|No| B5[No Fire]

    C[Semi-Auto Mode Update]
    C --> D1[Computer Vision target]
    D1 --> D2[AutoAimProcessor adjust rotation/elevation]
    D2 --> D3[Send TURRET_ROTATE auto-aimed value]
    D2 --> D4[Send TURRET_ELEVATE auto-aimed value]
    D4 --> D5{Fire Decision Logic OK?}
    D5 -->|Yes| D6[Send CANNON_FIRE 100]
    D5 -->|No| D7[No Fire]