diff --git a/CHANGELOG.md b/CHANGELOG.md index 20cdd2ef..c7d3b90b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,22 +12,29 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Changes -- GPIO HAL: Renamed entries of enumerations to avoid nameclashes with Windows defines. - `IN` and `OUT` in `Direction` changed to `DIR_IN` and `DIR_OUT`. - `CALLBACK` in `GpioTypes` changed to `TYPE_CALLBACK` +- HAL Linux SPI: Set the Clock Default State when setting new SPI speed + and mode + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573 +- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents + name clashes with Windows defines. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572 +- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572 - HAL Devicehandlers: Periodic printout is run-time configurable now - `oneShotAction` flag in the `TestTask` class is not static anymore ## Removed - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local - datapools have been implemented + datapools have been implemented. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557 ## Additions - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information inside `fsfw/version.h` + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559 # [v4.0.0] diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in index 953677bd..0eeb00eb 100644 --- a/src/fsfw/FSFW.h.in +++ b/src/fsfw/FSFW.h.in @@ -31,7 +31,7 @@ #endif /* FSFW_VERBOSE_LEVEL */ #ifndef FSFW_DISABLE_PRINTOUT -#define FSFW_DISABLE_PRINTOUT 0 +#define FSFW_DISABLE_PRINTOUT 0 #endif #ifndef FSFW_USE_REALTIME_FOR_LINUX diff --git a/src/fsfw/events/Event.h b/src/fsfw/events/Event.h index edc1d838..ecab0493 100644 --- a/src/fsfw/events/Event.h +++ b/src/fsfw/events/Event.h @@ -8,16 +8,11 @@ #include using EventId_t = uint16_t; -using EventSeverity_t = uint8_t ; +using EventSeverity_t = uint8_t; using UniqueEventId_t = uint8_t; namespace severity { -enum Severity: EventSeverity_t { - INFO = 1, - LOW = 2, - MEDIUM = 3, - HIGH = 4 -}; +enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 }; } // namespace severity diff --git a/src/fsfw/osal/host/Clock.cpp b/src/fsfw/osal/host/Clock.cpp index 62f9d9d5..d0acdfdf 100644 --- a/src/fsfw/osal/host/Clock.cpp +++ b/src/fsfw/osal/host/Clock.cpp @@ -150,17 +150,14 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* time_tm.tm_hour = from->hour; time_tm.tm_min = from->minute; time_tm.tm_sec = from->second; + time_tm.tm_isdst = 0; - time_t seconds = mktime(&time_tm); + time_t seconds = timegm(&time_tm); to->tv_sec = seconds; to->tv_usec = from->usecond; // Fails in 2038.. return HasReturnvaluesIF::RETURN_OK; -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl; -#endif - return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) { diff --git a/src/fsfw/osal/linux/Clock.cpp b/src/fsfw/osal/linux/Clock.cpp index 7092e6b2..61eb970f 100644 --- a/src/fsfw/osal/linux/Clock.cpp +++ b/src/fsfw/osal/linux/Clock.cpp @@ -140,8 +140,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* fromTm.tm_hour = from->hour; fromTm.tm_min = from->minute; fromTm.tm_sec = from->second; + fromTm.tm_isdst = 0; - to->tv_sec = mktime(&fromTm); + to->tv_sec = timegm(&fromTm); to->tv_usec = from->usecond; return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/timemanager/CCSDSTime.cpp b/src/fsfw/timemanager/CCSDSTime.cpp index 290d58dc..c5132cbb 100644 --- a/src/fsfw/timemanager/CCSDSTime.cpp +++ b/src/fsfw/timemanager/CCSDSTime.cpp @@ -557,6 +557,35 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t return RETURN_OK; } +ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short* from) { + if (to == nullptr or from == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + uint16_t days = (from->dayMSB << 8) + from->dayLSB; + if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) { + return INVALID_TIME_FORMAT; + } + days -= DAYS_CCSDS_TO_UNIX_EPOCH; + to->tv_sec = days * SECONDS_PER_DAY; + uint32_t msDay = + (from->msDay_hh << 24) + (from->msDay_h << 16) + (from->msDay_l << 8) + from->msDay_ll; + to->tv_sec += (msDay / 1000); + to->tv_usec = (msDay % 1000) * 1000; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime::CDS_short* from) { + if (to == nullptr or from == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + timeval tempTimeval; + ReturnValue_t result = convertFromCDS(&tempTimeval, from); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval); +} + ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from, size_t* foundLength, size_t maxLength) { uint32_t secs = 0; diff --git a/src/fsfw/timemanager/CCSDSTime.h b/src/fsfw/timemanager/CCSDSTime.h index 4a0e1bfc..9de41e09 100644 --- a/src/fsfw/timemanager/CCSDSTime.h +++ b/src/fsfw/timemanager/CCSDSTime.h @@ -180,6 +180,8 @@ class CCSDSTime : public HasReturnvaluesIF { static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from, size_t *foundLength, size_t maxLength); + static ReturnValue_t convertFromCDS(timeval *to, const CCSDSTime::CDS_short *from); + static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to, const CCSDSTime::CDS_short *from); static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to, uint8_t const *from, size_t *foundLength, size_t maxLength); diff --git a/src/fsfw/version.h b/src/fsfw/version.h index 598a7aef..7cddf193 100644 --- a/src/fsfw/version.h +++ b/src/fsfw/version.h @@ -28,7 +28,9 @@ class Version { (v1.major == v2.major and v1.minor == v2.minor and v1.revision < v2.revision)); } - friend bool operator>(const Version& v1, const Version& v2) { return not(v1 < v2); } + friend bool operator>(const Version& v1, const Version& v2) { + return not (v1 < v2) and not (v1 == v2); + } friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); } diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp index fb22972e..07762595 100644 --- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp +++ b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp @@ -1,6 +1,7 @@ #include #include #include +#include #include #include #include @@ -93,10 +94,8 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") { poolOwner->dataset.setChanged(true); /* Store current time, we are going to check the (approximate) time equality later */ - CCSDSTime::CDS_short timeCdsNow; timeval now; Clock::getClock_timeval(&now); - CCSDSTime::convertToCcsds(&timeCdsNow, &now); /* Trigger generation of snapshot */ REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); @@ -131,13 +130,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") { CHECK(newSet.localPoolUint16Vec.value[2] == 42932); /* Now we check that both times are equal */ - CHECK(cdsShort.pField == timeCdsNow.pField); - CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1)); - CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1)); - CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1)); - CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1)); - CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1)); - CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5)); + timeval timeFromHK; + auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort); + CHECK(result == HasReturnvaluesIF::RETURN_OK); + timeval difference = timeFromHK - now; + CHECK(timevalOperations::toDouble(difference) < 1.0); } SECTION("VariableSnapshotTest") { @@ -158,13 +155,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") { } poolVar->setChanged(true); - /* Store current time, we are going to check the (approximate) time equality later */ CCSDSTime::CDS_short timeCdsNow; timeval now; Clock::getClock_timeval(&now); - CCSDSTime::convertToCcsds(&timeCdsNow, &now); - REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); /* Check update snapshot was sent. */ @@ -193,13 +187,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") { CHECK(varCopy.value == 25); /* Now we check that both times are equal */ - CHECK(cdsShort.pField == timeCdsNow.pField); - CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1)); - CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1)); - CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1)); - CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1)); - CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1)); - CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5)); + timeval timeFromHK; + auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort); + CHECK(result == HasReturnvaluesIF::RETURN_OK); + timeval difference = timeFromHK - now; + CHECK(timevalOperations::toDouble(difference) < 1.0); } SECTION("VariableNotificationTest") { diff --git a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp b/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp index 89713488..2e80487a 100644 --- a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp +++ b/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp @@ -1,3 +1,4 @@ +#include #include #include @@ -89,4 +90,43 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") { REQUIRE(timeTo.second == 59); REQUIRE(timeTo.usecond == Catch::Approx(123000)); } + + SECTION("CDS Conversions") { + // Preperation + Clock::TimeOfDay_t time; + time.year = 2020; + time.month = 2; + time.day = 29; + time.hour = 13; + time.minute = 24; + time.second = 45; + time.usecond = 123456; + timeval timeAsTimeval; + auto result = Clock::convertTimeOfDayToTimeval(&time, &timeAsTimeval); + CHECK(result == HasReturnvaluesIF::RETURN_OK); + CHECK(timeAsTimeval.tv_sec == 1582982685); + CHECK(timeAsTimeval.tv_usec == 123456); + + // Conversion to CDS Short + CCSDSTime::CDS_short cdsTime; + result = CCSDSTime::convertToCcsds(&cdsTime, &timeAsTimeval); + CHECK(result == HasReturnvaluesIF::RETURN_OK); + // Days in CCSDS Epoch 22704 (0x58B0) + CHECK(cdsTime.dayMSB == 0x58); + CHECK(cdsTime.dayLSB == 0xB0); + // MS of day 48285123.456 (floored here) + CHECK(cdsTime.msDay_hh == 0x2); + CHECK(cdsTime.msDay_h == 0xE0); + CHECK(cdsTime.msDay_l == 0xC5); + CHECK(cdsTime.msDay_ll == 0xC3); + + // Conversion back to timeval + timeval timeReturnAsTimeval; + result = CCSDSTime::convertFromCDS(&timeReturnAsTimeval, &cdsTime); + CHECK(result == HasReturnvaluesIF::RETURN_OK); + // micro seconds precision is lost + timeval difference = timeAsTimeval - timeReturnAsTimeval; + CHECK(difference.tv_usec == 456); + CHECK(difference.tv_sec == 0); + } } \ No newline at end of file diff --git a/tests/src/fsfw_tests/unit/version.cpp b/tests/src/fsfw_tests/unit/version.cpp index bca89692..92a930dc 100644 --- a/tests/src/fsfw_tests/unit/version.cpp +++ b/tests/src/fsfw_tests/unit/version.cpp @@ -17,10 +17,15 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") { fsfw::Version v1 = fsfw::Version(1, 1, 1); fsfw::Version v2 = fsfw::Version(1, 1, 1); REQUIRE(v1 == v2); + REQUIRE(not (v1 < v2)); + REQUIRE(not (v1 > v2)); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); v1.revision -= 1; REQUIRE(v1 != v2); + REQUIRE(not (v1 == v2)); + REQUIRE(not (v1 > v2)); + REQUIRE(not (v1 >= v2)); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); v1.revision += 1; @@ -28,35 +33,54 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") { REQUIRE(v1 != v2); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); + REQUIRE(not (v1 == v2)); + REQUIRE(not (v1 > v2)); + REQUIRE(not (v1 >= v2)); v1.minor += 1; v1.major -= 1; REQUIRE(v1 != v2); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); + REQUIRE(not (v1 == v2)); + REQUIRE(not (v1 > v2)); + REQUIRE(not (v1 >= v2)); v1.major += 1; REQUIRE(v1 == v2); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); + REQUIRE(not (v1 != v2)); + REQUIRE(not (v1 > v2)); + REQUIRE(not (v1 < v2)); v1.major += 1; v1.minor -= 1; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); + REQUIRE(not (v1 == v2)); + REQUIRE(not (v1 < v2)); + REQUIRE(not (v1 <= v2)); v1.major -= 1; v1.minor += 2; v1.revision -= 1; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); + REQUIRE(not (v1 == v2)); + REQUIRE(not (v1 < v2)); + REQUIRE(not (v1 <= v2)); v1.minor -= 1; v1.revision += 2; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); + REQUIRE(not (v1 == v2)); + REQUIRE(not (v1 < v2)); + REQUIRE(not (v1 <= v2)); v1.revision -= 1; REQUIRE(v1 == v2); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); + REQUIRE(not (v1 != v2)); #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "v" << fsfw::FSFW_VERSION << std::endl; #endif