Merge pull request #14 from dfeen87/flight-ready-rollback-17323931531489441353

Make rollback execution logic flight-ready

Author: dfeen87

src/raps/rollback_execution.hpp

@@ -1,14 +1,42 @@
 #pragma once
 
 #include <string>
+#include <cmath>
+#include <limits>
+
+#include "raps/core/raps_core_types.hpp"
+#include "platform/platform_hal.hpp"
 
 // Executes a rollback plan via the actuator interface.
 // Returns true if execution succeeded.
 inline bool execute_rollback_plan(
     const RollbackPlan& rollback,
     std::string& out_tx_id) {
 
+    // 1. Validate the plan itself
+    if (!rollback.valid) {
+        return false;
+    }
+
+    // 2. Validate control inputs (Sanity Checks)
+    // Thrust cannot be negative
+    if (rollback.thrust_magnitude_kN < 0.0f) {
+        return false;
+    }
+
+    // Gimbal angles must be finite numbers
+    if (!std::isfinite(rollback.gimbal_theta_rad)) {
+        return false;
+    }
+
+    if (!std::isfinite(rollback.gimbal_phi_rad)) {
+        return false;
+    }
+
     out_tx_id = PlatformHAL::generate_tx_id();
+    if (out_tx_id.empty()) {
+        return false;
+    }
 
     return PlatformHAL::actuator_execute(
         out_tx_id.c_str(),

tests/sil/CMakeLists.txt

@@ -93,3 +93,39 @@ add_test(
     NAME raps_sil_fault_injection
     COMMAND raps_sil_fault_tests
 )
+
+# ------------------------------------------------------------
+# Rollback Execution Tests
+# ------------------------------------------------------------
+
+add_executable(raps_sil_rollback_tests
+    test_rollback_execution.cpp
+    ../../src/platform/platform_hal.cpp
+)
+
+target_include_directories(raps_sil_rollback_tests PRIVATE
+    ${PROJECT_SOURCE_DIR}/../../include
+    ${PROJECT_SOURCE_DIR}/../../src
+)
+
+if (RAPS_ENABLE_SIL_FAULTS)
+    target_compile_definitions(raps_sil_rollback_tests PRIVATE
+        RAPS_ENABLE_SIL_FAULTS=1
+    )
+endif()
+
+if (CMAKE_CXX_COMPILER_ID MATCHES "Clang|GNU")
+    target_compile_options(raps_sil_rollback_tests PRIVATE
+        -Wall
+        -Wextra
+        -Wpedantic
+        -Wshadow
+        -Wconversion
+        -Wno-unused-parameter
+    )
+endif()
+
+add_test(
+    NAME raps_sil_rollback_test
+    COMMAND raps_sil_rollback_tests
+)

tests/sil/test_rollback_execution.cpp

@@ -0,0 +1,96 @@
+// ============================================================
+// SIL Test: Rollback Execution Logic
+// - Verifies rollback plan validation
+// - Verifies correct actuator dispatch
+// ============================================================
+
+#include <iostream>
+#include <cmath>
+#include <limits>
+#include <string>
+
+#include "raps/core/raps_core_types.hpp"
+#include "platform/platform_hal.hpp"
+
+// We include the implementation-under-test directly because it is a header-only library
+#include "raps/rollback_execution.hpp"
+
+static int g_failures = 0;
+
+static void expect_true(bool cond, const char* msg) {
+    if (!cond) {
+        ++g_failures;
+        std::cerr << "❌ " << msg << "\n";
+    } else {
+        std::cout << "✅ " << msg << "\n";
+    }
+}
+
+static void expect_false(bool cond, const char* msg) {
+    if (cond) {
+        ++g_failures;
+        std::cerr << "❌ " << msg << "\n";
+    } else {
+        std::cout << "✅ " << msg << "\n";
+    }
+}
+
+void test_rollback_validation() {
+    RollbackPlan plan{};
+    std::string tx_id;
+
+    std::cout << "--- Testing Rollback Validation ---\n";
+
+    // 1. Invalid plan
+    // By default, the struct is zero-initialized, so valid might be false depending on compiler/initialization,
+    // but we explicitly set it to false to be sure.
+    plan.valid = false;
+    // We expect this to fail (return false) once validation is added.
+    // Currently, without validation, it might succeed if PlatformHAL succeeds with 0 values.
+    bool res1 = execute_rollback_plan(plan, tx_id);
+    // Note: In current implementation, this will likely return TRUE because there is no check.
+    // So this expectation will fail until I fix the code.
+    // But for TDD, I write the test expecting the CORRECT behavior.
+    expect_false(res1, "execute_rollback_plan fails for invalid plan (valid=false)");
+
+
+    // 2. Negative thrust
+    plan.valid = true;
+    plan.thrust_magnitude_kN = -1.0f;
+    plan.gimbal_theta_rad = 0.0f;
+    bool res2 = execute_rollback_plan(plan, tx_id);
+    expect_false(res2, "execute_rollback_plan fails for negative thrust");
+
+    // 3. Infinite gimbal
+    plan.thrust_magnitude_kN = 100.0f;
+    plan.gimbal_theta_rad = std::numeric_limits<float>::infinity();
+    bool res3 = execute_rollback_plan(plan, tx_id);
+    expect_false(res3, "execute_rollback_plan fails for infinite gimbal");
+
+    // 4. Valid plan
+    plan.valid = true;
+    plan.thrust_magnitude_kN = 50.0f;
+    plan.gimbal_theta_rad = 0.1f;
+    bool res4 = execute_rollback_plan(plan, tx_id);
+    expect_true(res4, "execute_rollback_plan succeeds for valid inputs");
+    expect_true(tx_id.length() > 0, "tx_id is generated");
+}
+
+int main() {
+    std::cout << "========================================================\n";
+    std::cout << " SIL TEST: Rollback Execution Logic\n";
+    std::cout << "========================================================\n";
+
+    // Seed RNG for deterministic behavior of PlatformHAL
+    PlatformHAL::seed_rng_for_stubs(12345);
+
+    test_rollback_validation();
+
+    std::cout << "--------------------------------------------------------\n";
+    if (g_failures == 0) {
+        std::cout << "✅ ALL ROLLBACK TESTS PASSED\n";
+        return 0;
+    }
+    std::cout << "❌ FAILURES: " << g_failures << "\n";
+    return 1;
+}