#include "ut_fault.h"

#include "..\..\src\hw\board\utils\faults.h"

static int ut_fault_process(fault_t* fault, uint8_t w_trig, uint8_t f_trig, fault_cfg_t* cfg, uint8_t exp_out, fault_t* exp_out_fault, fault_cfg_t* exp_out_cfg)
{
    printf("W-Trig:%d F-trig:%d \n", w_trig, f_trig);
    printf("Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);
    printf("Delay:%d WtoF:%d \n", cfg->delay, cfg->wtof);

    uint8_t out = fault_process(fault, w_trig, f_trig, cfg);

    printf("Output:%d Expected:%d\n", out, exp_out);
    printf("  Output: Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);
    printf("Expected: Severity:%d W-time:%d F-time:%d \n", exp_out_fault->severity, exp_out_fault->w_time, exp_out_fault->f_time);
    printf("Delay:%d WtoF:%d \n", cfg->delay, cfg->wtof);

    if((out==exp_out)&&(fault->severity==exp_out_fault->severity)&&(fault->w_time==exp_out_fault->w_time)&&(fault->f_time==exp_out_fault->f_time)&&(cfg->delay==exp_out_cfg->delay)&&(cfg->wtof==exp_out_cfg->wtof))
    {
        printf("PASS\n\n");
        return 1;
    }
    else
    {
        printf("FAIL\n\n");
        return 0;
    }
}

int ut_fault_process_test(void)
{
    printf("******************************************************\n");
    printf("uint8_t fault_process(fault_t* fault, uint8_t w_trig, uint8_t f_trig, fault_cfg_t* cfg)\n");

    int test_res;
    int pass = 1;

    fault_t fault;
    uint8_t w_trig;
    uint8_t f_trig;
    fault_cfg_t cfg;

    uint8_t exp_out;
    fault_t exp_out_fault;
    fault_cfg_t exp_out_cfg;

    // NORMAL NO FAULT CONDITION *************************************************************************
    // No change test, start form OK
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // STARTING CONDITIONS *************************************************************************
    // Warning trigger test, start form OK
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fault trigger test, start form OK
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 1;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Warning and Fault trigger test, start form OK
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Wrong start severity WARNING, with no triggers
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Wrong start severity FAULT, with no triggers
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Wrong start times, with no triggers
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 78;
    fault.f_time = 56;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;


    // TIME INCREASE TESTS - SECOND ITERATION WITH TRIGGER ACTIVE *************************************************************************
    // Warning time increase with continuing warning condition
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 45;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 46;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fault and warning time increase with continuing fault only condition
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 78;
    fault.f_time = 23;
    w_trig = 0;
    f_trig = 1;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 79;
    exp_out_fault.f_time = 24;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fault and warning time increase with continuing both triggers condition
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 57;
    fault.f_time = 12;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 58;
    exp_out_fault.f_time = 13;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Time increase and transition to fault with both triggers
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 1;
    exp_out_fault.f_time = 1;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Warning time increase and transition to fault with only fault trigger
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 1;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 1;
    exp_out_fault.f_time = 1;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Time saturation
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 65535;
    fault.f_time = 65535;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 65535;
    exp_out_fault.f_time = 65535;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fallback to warning and time increase
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 784;
    fault.f_time = 457;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 785;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fallback to OK and time reset from fault
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 784;
    fault.f_time = 457;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fallback to OK and time reset from warning
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 479;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // FAULT DELAY TESTS *************************************************************************
    // Not transition to fault
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Not transition to fault second time
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 1;
    exp_out_fault.f_time = 1;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Not transition to fault before limit
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 128;
    fault.f_time = 98;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 129;
    exp_out_fault.f_time = 99;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Transition to fault at limit
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 358;
    fault.f_time = 99;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 359;
    exp_out_fault.f_time = 100;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Transition to fault after limit
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 786;
    fault.f_time = 100;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 787;
    exp_out_fault.f_time = 101;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Continued fault condition
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 101;
    fault.f_time = 101;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 102;
    exp_out_fault.f_time = 102;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fallback to warning
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 101;
    fault.f_time = 101;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 102;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fallback to OK
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 101;
    fault.f_time = 101;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Allready was fault condition, with lower time - fixes to correct state
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 45;
    fault.f_time = 45;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 100;
    cfg.wtof = 0;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 46;
    exp_out_fault.f_time = 46;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // WARNING TO FAULT TRANSITION TESTS *************************************************************************
    // Not transition to fault
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Not transition to fault
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 1;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Not transition to fault before limit
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 198;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 199;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Not Transition to fault at limit
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 199;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 200;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Transition to fault after limit
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 200;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 200;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 201;
    exp_out_fault.f_time = 1;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Continued fault
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 201;
    fault.f_time = 1;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 200;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 202;
    exp_out_fault.f_time = 2;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Fallback to ok
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 247;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 0;
    cfg.delay = 0;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // WARNING TO FAULT TRANSITION WITH FAULT DELAY TESTS *************************************************************************
    // Not transition to fault
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Not transition to fault
    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    w_trig = 0;
    f_trig = 1;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Transition to fault at delay
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 49;
    fault.f_time = 49;
    w_trig = 1;
    f_trig = 1;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 50;
    exp_out_fault.f_time = 50;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // No Transition to fault at wtof
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 200;
    fault.f_time = 0;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 201;
    exp_out_fault.f_time = 1;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // No Transition to fault before wtof + delay
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 248;
    fault.f_time = 48;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 0;
    exp_out_fault.severity = FAULT_LVL_WARNING;
    exp_out_fault.w_time = 249;
    exp_out_fault.f_time = 49;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Transition to fault before wtof + delay
    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 249;
    fault.f_time = 49;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 250;
    exp_out_fault.f_time = 50;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Continued wtof fault condition
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 250;
    fault.f_time = 50;
    w_trig = 1;
    f_trig = 0;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 251;
    exp_out_fault.f_time = 51;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    // Continued wtof fault condition, without warning trigger
    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 350;
    fault.f_time = 150;
    w_trig = 0;
    f_trig = 1;
    cfg.delay = 50;
    cfg.wtof = 200;
    exp_out = 1;
    exp_out_fault.severity = FAULT_LVL_FAULT;
    exp_out_fault.w_time = 351;
    exp_out_fault.f_time = 151;
    exp_out_cfg.delay = cfg.delay;
    exp_out_cfg.wtof = cfg.wtof;
    test_res = ut_fault_process(&fault, w_trig, f_trig, &cfg, exp_out, &exp_out_fault, &exp_out_cfg);
    if(!test_res) pass = 0;

    return pass;
}

static int ut_fault_is_active(fault_t* fault, uint8_t exp_out, fault_t* exp_out_fault)
{
    printf("Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);

    uint8_t out = fault_is_active(fault);

    printf("Output:%d Expected:%d\n", out, exp_out);
    printf("  Output: Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);
    printf("Expected: Severity:%d W-time:%d F-time:%d \n", exp_out_fault->severity, exp_out_fault->w_time, exp_out_fault->f_time);

    if((out==exp_out)&&(fault->severity==exp_out_fault->severity)&&(fault->w_time==exp_out_fault->w_time)&&(fault->f_time==exp_out_fault->f_time))
    {
        printf("PASS\n\n");
        return 1;
    }
    else
    {
        printf("FAIL\n\n");
        return 0;
    }
}

int ut_fault_is_active_test(void)
{
    printf("******************************************************\n");
    printf("uint8_t fault_is_active(fault_t* fault)\n");

    int test_res;
    int pass = 1;

    fault_t fault;

    uint8_t exp_out;
    fault_t exp_out_fault;

    fault.severity = FAULT_LVL_OK;
    fault.w_time = 500;
    fault.f_time = 300;
    exp_out = 0;
    exp_out_fault.severity = fault.severity;
    exp_out_fault.w_time = fault.w_time;
    exp_out_fault.f_time = fault.f_time;
    test_res = ut_fault_is_active(&fault, exp_out, &exp_out_fault);
    if(!test_res) pass = 0;

    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 500;
    fault.f_time = 300;
    exp_out = 0;
    exp_out_fault.severity = fault.severity;
    exp_out_fault.w_time = fault.w_time;
    exp_out_fault.f_time = fault.f_time;
    test_res = ut_fault_is_active(&fault, exp_out, &exp_out_fault);
    if(!test_res) pass = 0;

    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 500;
    fault.f_time = 300;
    exp_out = 1;
    exp_out_fault.severity = fault.severity;
    exp_out_fault.w_time = fault.w_time;
    exp_out_fault.f_time = fault.f_time;
    test_res = ut_fault_is_active(&fault, exp_out, &exp_out_fault);
    if(!test_res) pass = 0;

    return pass;
}

static int ut_fault_is_warning(fault_t* fault, uint8_t exp_out, fault_t* exp_out_fault)
{
    printf("Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);

    uint8_t out = fault_is_warning(fault);

    printf("Output:%d Expected:%d\n", out, exp_out);
    printf("  Output: Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);
    printf("Expected: Severity:%d W-time:%d F-time:%d \n", exp_out_fault->severity, exp_out_fault->w_time, exp_out_fault->f_time);

    if((out==exp_out)&&(fault->severity==exp_out_fault->severity)&&(fault->w_time==exp_out_fault->w_time)&&(fault->f_time==exp_out_fault->f_time))
    {
        printf("PASS\n\n");
        return 1;
    }
    else
    {
        printf("FAIL\n\n");
        return 0;
    }
}

int ut_fault_is_warning_test(void)
{
    printf("******************************************************\n");
    printf("uint8_t fault_is_warning(fault_t* fault)\n");

    int test_res;
    int pass = 1;

    fault_t fault;

    uint8_t exp_out;
    fault_t exp_out_fault;

    fault.severity = FAULT_LVL_OK;
    fault.w_time = 500;
    fault.f_time = 300;
    exp_out = 0;
    exp_out_fault.severity = fault.severity;
    exp_out_fault.w_time = fault.w_time;
    exp_out_fault.f_time = fault.f_time;
    test_res = ut_fault_is_warning(&fault, exp_out, &exp_out_fault);
    if(!test_res) pass = 0;

    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 500;
    fault.f_time = 300;
    exp_out = 1;
    exp_out_fault.severity = fault.severity;
    exp_out_fault.w_time = fault.w_time;
    exp_out_fault.f_time = fault.f_time;
    test_res = ut_fault_is_warning(&fault, exp_out, &exp_out_fault);
    if(!test_res) pass = 0;

    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 500;
    fault.f_time = 300;
    exp_out = 1;
    exp_out_fault.severity = fault.severity;
    exp_out_fault.w_time = fault.w_time;
    exp_out_fault.f_time = fault.f_time;
    test_res = ut_fault_is_warning(&fault, exp_out, &exp_out_fault);
    if(!test_res) pass = 0;

    return pass;
}

static int ut_fault_reset(fault_t* fault, fault_t* exp_out_fault)
{
    printf("Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);

    fault_reset(fault);

    printf("  Output: Severity:%d W-time:%d F-time:%d \n", fault->severity, fault->w_time, fault->f_time);
    printf("Expected: Severity:%d W-time:%d F-time:%d \n", exp_out_fault->severity, exp_out_fault->w_time, exp_out_fault->f_time);

    if((fault->severity==exp_out_fault->severity)&&(fault->w_time==exp_out_fault->w_time)&&(fault->f_time==exp_out_fault->f_time))
    {
        printf("PASS\n\n");
        return 1;
    }
    else
    {
        printf("FAIL\n\n");
        return 0;
    }
}

int ut_fault_reset_test(void)
{
    printf("******************************************************\n");
    printf("void fault_reset(fault_t* fault)\n");

    int test_res;
    int pass = 1;

    fault_t fault;

    fault_t exp_out_fault;

    fault.severity = FAULT_LVL_OK;
    fault.w_time = 0;
    fault.f_time = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    test_res = ut_fault_reset(&fault, &exp_out_fault);
    if(!test_res) pass = 0;

    fault.severity = FAULT_LVL_WARNING;
    fault.w_time = 500;
    fault.f_time = 0;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    test_res = ut_fault_reset(&fault, &exp_out_fault);
    if(!test_res) pass = 0;

    fault.severity = FAULT_LVL_FAULT;
    fault.w_time = 1000;
    fault.f_time = 500;
    exp_out_fault.severity = FAULT_LVL_OK;
    exp_out_fault.w_time = 0;
    exp_out_fault.f_time = 0;
    test_res = ut_fault_reset(&fault, &exp_out_fault);
    if(!test_res) pass = 0;

    return pass;
}