MTest Sequence Report: TS_EV3Control_006 - Position calculation - drive curved

MTest Project: MTest Demo EV3Control_ec Batch Project
MTest Test Object: EV3Control (model: EV3Control_demo_ec)
MTest Test Group: Integration test - EV3Control (Test001)
MTest User: MTest Demo User
Generated at: 2019-10-29 09:46

Contents    [Requirement Catalog]    [Test Sequence Catalog]    [Signal Comparison Catalog]    [Assessment Catalog]    [Assessment Result Matrices]     <

  1. 1 TSeq006: Position calculation - drive curved
    1. 1.1 Simulation Parameters and Testbed
    2. 1.2 Structural Coverage
  2. 2 Test Input (Test Data)
  3. 3 Test Output (Test Results)
  4. 4 Local Output Data (Internal Test Results)
  5. 5 Test Release (EV3Control_Test001_TSeq006), Status:  Passed 

Version info

ToolVersion
MES Test ManagerMTest v 6.4
MATLAB9.5 (R2018b)
Simulink9.2 (R2018b)
Stateflow9.2 (R2018b)
Operating SystemMicrosoft Windows 7 Professional Version 6.1 (Build 7601: Service Pack 1)

1 TSeq006: Position calculation - drive curved    [Contents]

TestSeq ID: TS_EV3Control_006
Reqs Covered: REQ_EV3CTRL_05
Work Status: reviewed
Description: Motivation
Test if the y position changes only with nonzero input from drive motor and gyro sensor

Test description
Set gyro to ready and remote to start.
Set drive motor encoder to positiv and negative values. Ramp values for gyro sensor

Expected Result
While the encoder and gyro sensoris zero the ypositions shall not change
TestGroup
Initialization: 
// Initialization of input signals (this test group)
sensorRaw_RemoteControl = 0;
sensorRaw_SteeringMotor = 0;
sensorRaw_DriveMotor = 0;
sensorRaw_Gyro = 0;
sensorRaw_UltrasoundFront = 0;
sensorRaw_UltrasoundRight = 0;
sensorRaw_UltrasoundLeft = 0;


// Default definition of parameters
// p CL_EST_STEER_ANGLE_RAD = [ -0.785398 -0.392699 0.392699 0.785398 ];
// p CL_EST_STEER_ENC_DEG = [ -235 -150 150 235 ];
// p CTRL_TRK_LOOKAHEAD = 40;
// p CTRL_TRK_METHOD = 1;
// p CTRL_TRK_STEER_ANGLE_DEADZONE_RAD = 0.0349066;
// p DEG2RAD = 0.0174533;
// p DIST_OBSTACLE_EVADE = 40;
 p DIST_OBSTACLE_STOP = 15;
// p LATERAL_EVADE_INCREMENT = 100;
// p MOTOR_DRIVE_DEFAULT_FWD = 60;
// p MOTOR_DRIVE_DEFAULT_REV = -45;
// p MOTOR_DRIVE_MAX = 100;
// p MOTOR_DRIVE_MIN = -100;
// p MOTOR_DRIVE_TRANSMISSION_RATIO = 0.454545;
// p MOTOR_STEER_AUTO_LEFT = 60;
// p MOTOR_STEER_AUTO_RIGHT = -60;
// p MOTOR_STEER_MANUAL_LEFT = 50;
// p MOTOR_STEER_MANUAL_RIGHT = -50;
// p MOTOR_STEER_MAX = 100;
// p MOTOR_STEER_MIN = -100;
// p PATH_COORDS_XY = [ 100 0; 99.2115 12.4345; 96.8583 24.0877; 92.9776 34.2274; 87.6307 42.2164; 80.9017 47.5528; 72.8969 49.9013; 63.7424 49.1144; 53.5827 45.2414; 42.5779 38.5257; 30.9017 29.3893; 18.7381 18.4062; 6.27905 6.26666; -6.27905 -6.26666; -18.7381 -18.4062; -30.9017 -29.3893; -42.5779 -38.5257; -53.5827 -45.2414; -63.7424 -49.1144; -72.8969 -49.9013; -80.9017 -47.5528; -87.6307 -42.2164; -92.9776 -34.2274; -96.8583 -24.0877; -99.2115 -12.4345; -100 -1.22465e-14; -99.2115 12.4345; -96.8583 24.0877; -92.9776 34.2274; -87.6307 42.2164; -80.9017 47.5528; -72.8969 49.9013; -63.7424 49.1144; -53.5827 45.2414; -42.5779 38.5257; -30.9017 29.3893; -18.7381 18.4062; -6.27905 6.26666; 6.27905 -6.26666; 18.7381 -18.4062; 30.9017 -29.3893; 42.5779 -38.5257; 53.5827 -45.2414; 63.7424 -49.1144; 72.8969 -49.9013; 80.9017 -47.5528; 87.6307 -42.2164; 92.9776 -34.2274; 96.8583 -24.0877; 99.2115 -12.4345; 100 -2.44929e-14 ];
// p REMOTE_DRIVE_AUTO_OFF = 11;
 p REMOTE_DRIVE_AUTO_ON = 10;
 p REMOTE_DRIVE_FWD = 5;
 p REMOTE_DRIVE_REV = 8;
 p REMOTE_START = 1;
 p REMOTE_STEER_LEFT = 2;
 p REMOTE_STEER_RIGHT = 4;
 p REMOTE_STOP = 3;
TestSequence
Initialization: 
sensorRaw_UltrasoundFront = DIST_OBSTACLE_STOP + 100;     Action:  [+1.0s] // System initialization
  sensorRaw_RemoteControl = REMOTE_START;
[+0.1s]
  sensorRaw_DriveMotor = 30;
[+1s]
   sensorRaw_Gyro = ramp(45);
[+1s]
   sensorRaw_Gyro = 0;
[+1.0s] // start vehicle control
   sensorRaw_RemoteControl = REMOTE_DRIVE_REV;
[+0.1s]
   sensorRaw_DriveMotor = -30;
[+1s]
   sensorRaw_Gyro = ramp(-45);
[+0.5s] // drive rev
   sensorRaw_RemoteControl = REMOTE_DRIVE_AUTO_ON;
[+0.5s] // drive in autopilot
   sensorRaw_RemoteControl = REMOTE_STOP;
   sensorRaw_DriveMotor = 0;
[+2s] // stop vehicle
  sensorRaw_RemoteControl = REMOTE_START;
[+3s]

1.1 Simulation Parameters and Testbed

Start Time Stop Time Cycle Time Solver
011.20.05FixedStepDiscrete

 

Simulation Mode Simulation Time Testbed Name Testbed Path Testbed Date
ECModelFloat 29-Oct-2019 09:44:19 Frame_EV3C_ec Test/Test_EV3Control_demo_ec/EV3Control/ 29-Oct-2019 09:44:45
ECModelFixed 29-Oct-2019 09:45:08 Frame_EV3C_ec Test/Test_EV3Control_demo_ec/EV3Control/ 29-Oct-2019 09:44:45

1.2 Structural Coverage

ToolMetricPercentageTargetTotalReachedUnreached
Model Coverage Condition 73.2%
80% 56 41 15
Decision 62.0%
80% 108 67 41
Lookup 20.0%
100% 5 1 4

Aggregated coverage results: Test Sequence Catalog

2 Test Input (Test Data)    [Contents]

   [Go to Parameter Report of Test Object]

Input SignalConstant Signal
sensorRaw_DriveMotor  no
sensorRaw_Gyro  no
sensorRaw_RemoteControl  no
sensorRaw_SteeringMotor  value:  0
sensorRaw_UltrasoundFront  value:  115
sensorRaw_UltrasoundLeft  value:  0
sensorRaw_UltrasoundRight  value:  0
Signal sensorRaw_DriveMotor / EV3Control_Test001_TSeq006 Signal sensorRaw_Gyro / EV3Control_Test001_TSeq006 Signal sensorRaw_RemoteControl / EV3Control_Test001_TSeq006

3 Test Output (Test Results)    [Contents]

Output SignalConstant SignalDifference
EmergencyStop  value:  0no
VehicleControlOff  nono
VehicleControlOn  nono
VehicleIdle  nono
driveMotor  nono
frequency  value:  440no
posGlobal_1  nono
posGlobal_2  nono
statusLight  nono
steeringAngleCmdRad  nono
steeringMotor  nono
volume  value:  0no
Signal VehicleControlOff / EV3Control_Test001_TSeq006 Signal VehicleControlOn / EV3Control_Test001_TSeq006 Signal VehicleIdle / EV3Control_Test001_TSeq006 Signal driveMotor / EV3Control_Test001_TSeq006 Signal posGlobal_1 / EV3Control_Test001_TSeq006 Signal posGlobal_2 / EV3Control_Test001_TSeq006 Signal statusLight / EV3Control_Test001_TSeq006 Signal steeringAngleCmdRad / EV3Control_Test001_TSeq006 Signal steeringMotor / EV3Control_Test001_TSeq006

4 Local Output Data (Internal Test Results)    [Contents]

Local SignalConstant SignalDifference
ControlledDrive  nono
FWD  nono
REV  nono
driveMotor  nono
frequency  value:  127no
gyroReady  nono
prevXPosGlobal  nono
prevYPosGlobal  nono
s_k  nono
statusLight  nono
steeringMotor  nono
volume  value:  0no
x_k  nono
y_k  nono
Signal ControlledDrive / EV3Control_Test001_TSeq006 Signal FWD / EV3Control_Test001_TSeq006 Signal REV / EV3Control_Test001_TSeq006 Signal driveMotor / EV3Control_Test001_TSeq006 Signal gyroReady / EV3Control_Test001_TSeq006 Signal prevXPosGlobal / EV3Control_Test001_TSeq006 Signal prevYPosGlobal / EV3Control_Test001_TSeq006 Signal s_k / EV3Control_Test001_TSeq006 Signal statusLight / EV3Control_Test001_TSeq006 Signal steeringMotor / EV3Control_Test001_TSeq006 Signal x_k / EV3Control_Test001_TSeq006 Signal y_k / EV3Control_Test001_TSeq006

5 Test Release (EV3Control_Test001_TSeq006), Status:  Passed     [Contents]

Evaluation Result: Passed 
automatically evaluated by:MTest Demo User    (29-Oct-2019 09:45:33)
Assessment Results: Assessment evaluation in sim mode Global:  Passed 

   Passed  mars_REQ_EV3CTRL_011: OK.
   Passed  mars_REQ_EV3CTRL_012: OK.
   NotTriggered  mars_REQ_EV3CTRL_021: Not triggered.
   NotTriggered  mars_REQ_EV3CTRL_022: Not triggered.
   Passed  mars_REQ_EV3CTRL_031: OK.
   Passed  mars_REQ_EV3CTRL_032: OK.
   Passed  mars_REQ_EV3CTRL_041: OK.
   Passed  mars_REQ_EV3CTRL_042: OK.
   Passed  mars_REQ_EV3CTRL_05: OK.
Back2Back Results: Back2Back signal comparison of sim mode SiL (EC)/out vs. MiL (EC)/out:  Passed 

   Passed  EmergencyStop: OK
   Passed  VehicleControlOff: OK
   Passed  VehicleControlOn: OK
   Passed  VehicleIdle: OK
   Passed  driveMotor: OK
   Passed  frequency: OK
   Passed  posGlobal_1: OK
   Passed  posGlobal_2: OK
   Passed  statusLight: OK
   Passed  steeringAngleCmdRad: OK
   Passed  steeringMotor: OK
   Passed  volume: OK