Hands-On: Automated HIL Test Suite

#!/usr/bin/env python3
# HIL test suite using pytest framework
# Run: pytest test_abs_suite.py -v --html=report.html

import pytest, time

# ---- Fixtures ----
@pytest.fixture(scope="session")
def hil():
    """Connect to HIL platform once per test session"""
    from hil_interface import HILInterface
    h = HILInterface("SCALEXIO_01")
    h.load_model("VehicleDynamics_v2.3.sdf")
    h.start()
    yield h
    h.stop()

@pytest.fixture(autouse=True)
def reset_to_nominal(hil):
    """Before each test: reset to known initial state"""
    hil.set("Plant/Speed_kph",        0.0)
    hil.set("Plant/Brakes/PedalPct",  0.0)
    hil.clear_all_faults()
    hil.wait_stable(timeout_s=2)
    yield
    hil.clear_all_faults()  # cleanup after each test

# ---- Functional Tests ----
def test_abs_activates_on_panic_brake(hil):
    """REQ: ABS-SYS-002 - ABS shall activate within 100ms of wheel lockup"""
    hil.set("Plant/Speed_kph",       100.0)
    hil.wait(2.0)
    hil.set("Plant/Brakes/PedalPct", 100.0)

    abs_active = hil.wait_signal("ECU.ABS.Active", lambda v: v > 0.5,
                                 timeout_ms=200)
    assert abs_active, "ABS did not activate within 200 ms"

def test_abs_prevents_wheel_lockup(hil):
    """REQ: ABS-SYS-003 - Wheel speed shall remain > 5 km/h during ABS"""
    hil.set("Plant/Speed_kph",       80.0)
    hil.wait(2.0)
    hil.set("Plant/Brakes/PedalPct", 100.0)
    hil.wait(0.5)  # let ABS activate

    for _ in range(50):  # monitor for 2.5 s
        fl_speed = hil.get("Plant.Wheel.FL.SpeedKph")
        assert fl_speed > 5.0, f"Wheel locked: FL={fl_speed:.1f} km/h"
        time.sleep(0.05)

#!/usr/bin/env python3
# Parameterised fault injection tests using pytest.mark.parametrize

import pytest

SENSOR_FAULT_CASES = [
    # (sensor_channel, fault_type, expected_dtc, max_detection_ms)
    ("WSS_FL",   "SHORT_GND",     "C0035", 20),
    ("WSS_FR",   "SHORT_GND",     "C0040", 20),
    ("WSS_FL",   "OPEN_CIRCUIT",  "C0035", 20),
    ("WSS_FL",   "STUCK_HIGH",    "C0050", 50),  # plausibility check
    ("BRAKE_PR", "SHORT_GND",     "C0110", 50),
    ("BRAKE_PR", "SHORT_BAT",     "C0115", 50),
]

@pytest.mark.parametrize("channel,fault,dtc,max_ms", SENSOR_FAULT_CASES)
def test_sensor_fault_detection(hil, ecu_monitor, channel, fault, dtc, max_ms):
    f"""Fault {fault} on {channel} shall set DTC {dtc} within {max_ms} ms"""
    hil.set("Plant/Speed_kph", 50.0)
    hil.wait(2.0)

    hil.inject_fault(channel, fault)
    time.sleep(max_ms / 1000.0 + 0.05)  # wait FHTI + margin

    dtcs = ecu_monitor.read_dtcs()
    assert dtc in dtcs, f"DTC {dtc} not set after {fault} on {channel}"