eive/eive-obsw
eive
/
eive-obsw
12
3
Fork 0
Code Issues 3 Pull Requests 1 Releases 117 Wiki Activity

Merge remote-tracking branch 'origin/develop' into mueller/system-subsystems
EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details

This commit is contained in:
Robin Müller 2022-03-03 15:50:31 +01:00
parent 261b4a808d e07713a6f7
commit 63c4095d4d
27 changed files with 482 additions and 130 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

79
CMakeLists.txt
View File

@ -13,7 +13,7 @@ cmake_minimum_required(VERSION 3.13)
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
option(EIVE_BUILD_UNITTESTS "Build Catch2 unittests" OFF)
option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
@ -52,6 +52,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED True)
set(OBSW_NAME ${CMAKE_PROJECT_NAME})
set(WATCHDOG_NAME eive-watchdog)
set(SIMPLE_OBSW_NAME eive-simple)
set(UNITTEST_NAME eive-unittest)
set(LIB_FSFW_NAME fsfw)
set(LIB_EIVE_MISSION eive-mission)
set(LIB_ETL_NAME etl)
@ -85,13 +86,6 @@ set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
set(EIVE_ADD_LINUX_FILES False)
if(EIVE_BUILD_UNITTESTS)
endif()
if(FSFW_ADD_UNITTESTS)
set(CATCH2_TARGET Catch2)
endif()
# Analyse different OS and architecture/target options, determine BSP_PATH,
# display information about compiler etc.
include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
@ -135,10 +129,6 @@ else()
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
endif()
if(EIVE_BUILD_UNITTESTS)
# configure_file(${UNITTEST_CFG_PATH}/TestsConfig.h.in TestsConfig.h)
# set(FSFW_CONFIG_PATH ${UNITTEST_CFG_PATH})
endif()
# Configuration files
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
@ -160,6 +150,9 @@ set(FSFW_ADDITIONAL_INC_PATHS
${CMAKE_CURRENT_BINARY_DIR}
)
# Check whether the user has already installed Catch2 first
find_package(Catch2 3)
################################################################################
# Executable and Sources
################################################################################
@ -173,7 +166,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
"-Wno-unused-parameter"
"-Wno-psabi"
)
# Remove unused sections.
add_compile_options(
"-ffunction-sections"
@ -189,11 +181,29 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-")
endif()
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
include(FetchContent)
FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG v3.0.0-preview4
)
FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
endif()
add_library(${LIB_EIVE_MISSION})
# Add executable
# Add main executable
add_executable(${OBSW_NAME})
if(EIVE_CREATE_UNIQUE_OBSW_BIN)
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
@ -208,11 +218,15 @@ add_subdirectory(${WATCHDOG_PATH})
target_link_libraries(${WATCHDOG_NAME} PUBLIC
${LIB_CXX_FS}
)
target_include_directories(${WATCHDOG_NAME} PUBLIC
${CMAKE_BINARY_DIR}
)
#unittests
add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
if(EIVE_ADD_ETL_LIB)
add_subdirectory(${LIB_ETL_PATH})
endif()
@ -222,16 +236,16 @@ if(EIVE_ADD_JSON_LIB)
endif()
if(NOT EIVE_BUILD_UNITTESTS)
if(EIVE_ADD_LINUX_FILES)
add_subdirectory(${LIB_ARCSEC_PATH})
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH})
if(ADD_CSP_LIB)
add_subdirectory(${LIB_CSP_PATH})
endif()
if(EIVE_ADD_LINUX_FILES)
add_subdirectory(${LIB_ARCSEC_PATH})
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH})
if(ADD_CSP_LIB)
add_subdirectory(${LIB_CSP_PATH})
endif()
add_subdirectory(${COMMON_PATH})
@ -243,10 +257,8 @@ add_subdirectory(${LIB_EIVE_MISSION_PATH})
add_subdirectory(${TEST_PATH})
if(EIVE_BUILD_UNITTESTS)
# add_subdirectory(${LIB_CATCH2_PATH})
add_subdirectory(${UNITTEST_PATH})
endif()
add_subdirectory(${UNITTEST_PATH})
################################################################################
# Post-Sources preparation
@ -272,6 +284,11 @@ if(TGT_BSP MATCHES "arm/q7s")
)
endif()
target_link_libraries(${UNITTEST_NAME} PRIVATE
Catch2
${LIB_EIVE_MISSION}
)
if(TGT_BSP MATCHES "arm/egse")
target_link_libraries(${OBSW_NAME} PRIVATE
${LIB_ARCSEC}
@ -297,12 +314,6 @@ if(EIVE_ADD_JSON_LIB)
)
endif()
if(EIVE_BUILD_UNITTESTS)
target_link_libraries(${TARGET_NAME} PRIVATE
${CATCH2_TARGET}
)
endif()
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
${LIB_CXX_FS}
)

6
automation/Dockerfile-q7s → automation/Dockerfile
View File

@ -2,7 +2,9 @@ FROM ubuntu:focal
RUN apt-get update
RUN apt-get --yes upgrade
RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
#tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev
# Q7S root filesystem, required for cross-compilation.
RUN mkdir -p /usr/rootfs; \
@ -15,4 +17,4 @@ curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-ar
| tar -xz -C /usr/tools
ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

55
automation/Jenkinsfile vendored
View File

@ -1,51 +1,36 @@
pipeline {
agent any
stages {
stage('Build Container') {
when {
anyOf {
changeset "automation/Dockerfile-q7s"
branch 'develop';
changelog 'cleanDocker'
}
}
steps {
sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
}
environment {
BUILDDIR_Q7 = 'build_q7'
BUILDDIR_LINUX = 'build_linux'
}
agent {
docker {
image 'eive-obsw-ci:d2'
args '--sysctl fs.mqueue.msg_max=100'
}
}
stages {
stage('Clean') {
when {
anyOf {
changelog 'cleanCI'
changeset '*.cmake'
changeset 'CMakeLists.txt'
}
}
steps {
sh 'rm -rf build-q7s-debug'
sh 'rm -rf $BUILDDIR_Q7'
sh 'rm -rf $BUILDDIR_LINUX'
}
}
stage('Build Q7S') {
agent {
docker {
image 'eive-fsw-build-q7s:gcc8'
reuseNode true
}
}
steps {
dir('build-q7s-debug') {
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
dir(BUILDDIR_Q7) {
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
sh 'cmake --build . -j'
}
}
}
stage('Deploy') {
when {
tag 'v*.*.*'
}
stage('Unittests') {
steps {
sh 'echo Deploying'
dir(BUILDDIR_LINUX) {
sh 'cmake ..'
sh 'cmake --build . -t eive-unittest -j'
sh './eive-unittest'
}
}
}
}

6
bsp_hosted/fsfwconfig/CMakeLists.txt
View File

@ -11,6 +11,9 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE
objects/translateObjects.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
objects/translateObjects.cpp
)
endif()
# If a special translation file for events exists, compile it.
@ -18,4 +21,7 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE
events/translateEvents.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
events/translateEvents.cpp
)
endif()

5
bsp_hosted/fsfwconfig/devices/gpioIds.h
View File

@ -47,7 +47,10 @@ enum gpioId_t {
SPI_MUX_BIT_3,
SPI_MUX_BIT_4,
SPI_MUX_BIT_5,
SPI_MUX_BIT_6
SPI_MUX_BIT_6,
CS_RAD_SENSOR,
ENABLE_RADFET
};
}

1
common/config/commonClassIds.h
View File

@ -27,6 +27,7 @@ enum commonClassIds: uint8_t {
RATE_SETTER, //RS
ARCSEC_JSON_BASE, //JSONBASE
NVM_PARAM_BASE, //NVMB
SA_DEPL_HANDLER, //SADPL
COMMON_CLASS_ID_END // [EXPORT] : [END]
};

6
linux/fsfwconfig/CMakeLists.txt
View File

@ -12,6 +12,9 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE
objects/translateObjects.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
objects/translateObjects.cpp
)
endif()
# If a special translation file for events exists, compile it.
@ -19,4 +22,7 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE
events/translateEvents.cpp
)
target_sources(${UNITTEST_NAME} PRIVATE
events/translateEvents.cpp
)
endif()

1
linux/fsfwconfig/returnvalues/classIds.h
View File

@ -12,7 +12,6 @@
namespace CLASS_ID {
enum {
CLASS_ID_START = COMMON_CLASS_ID_END,
SA_DEPL_HANDLER, // SADPL
SD_CARD_MANAGER, // SDMA
SCRATCH_BUFFER, // SCBU
CLASS_ID_END // [EXPORT] : [END]

1
mission/CMakeLists.txt
View File

@ -1,3 +1,4 @@
add_subdirectory(controller)
add_subdirectory(core)
add_subdirectory(devices)
add_subdirectory(utility)

3
mission/controller/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE
ThermalController.cpp
)

70
mission/controller/ThermalController.cpp
View File

@ -1,42 +1,48 @@
#include "ThermalController.h"
#include <mission/devices/devicedefinitions/ThermalSensorPacket.h>
ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
: ExtendedControllerBase(objectId, parentId),
sensorTemperatures(this),
componentTemperatures(this) {}
ThermalController::ThermalController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), thermalControllerSet(objectId) {}
ReturnValue_t ThermalController::initialize() { return ControllerBase::initialize(); }
ReturnValue_t ThermalController::handleCommandMessage(CommandMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
return RETURN_FAILED;
}
void ThermalController::performControlOperation() {
ReturnValue_t result = sensorTemperatures.read();
if (result != RETURN_OK) {
return;
}
result = componentTemperatures.read();
if (result != RETURN_OK) {
return;
}
componentTemperatures.rw = (sensorTemperatures.rw.value + sensorTemperatures.gps.value) / 2;
sensorTemperatures.commit();
componentTemperatures.commit();
}
void ThermalController::performControlOperation() {}
ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_GPS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));
void ThermalController::handleChangedDataset(sid_t sid, store_address_t storeId) {
if (sid == sid_t(TSensorDefinitions::ObjIds::TEST_HKB_HANDLER,
TSensorDefinitions::THERMAL_SENSOR_SET_ID)) {
sif::info << "Update registered!" << std::endl;
}
}
ReturnValue_t ThermalController::initializeAfterTaskCreation() {
ReturnValue_t result = ExtendedControllerBase::initializeAfterTaskCreation();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "ThermalController::initializeAfterTaskCreation: Base"
<< " class initialization failed!" << std::endl;
}
HasLocalDataPoolIF *testHkbHandler = ObjectManager::instance()->get<HasLocalDataPoolIF>(
TSensorDefinitions::ObjIds::TEST_HKB_HANDLER);
if (testHkbHandler == nullptr) {
sif::warning << "ThermalController::initializeAfterTaskCreation: Test"
<< " HKB Handler invalid!" << std::endl;
}
// Test normal notifications without data packet first.
testHkbHandler->getHkManagerHandle()->subscribeForSetUpdateMessages(
TSensorDefinitions::THERMAL_SENSOR_SET_ID, this->getObjectId(), commandQueue->getId(), false);
return result;
return RETURN_OK;
}
LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) { return nullptr; }
ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t* msToReachTheMode) {
if (submode != SUBMODE_NONE) {
return INVALID_SUBMODE;
}
if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
return INVALID_MODE;
}
return RETURN_OK;
}

36
mission/controller/ThermalController.h
View File

@ -2,30 +2,28 @@
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
#include <fsfw/controller/ExtendedControllerBase.h>
#include "ctrldefinitions/ThermalCtrlPackets.h"
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
class ThermalController : public ExtendedControllerBase {
public:
ThermalController(object_id_t objectId);
ThermalController(object_id_t objectId, object_id_t parentId);
ReturnValue_t initialize() override;
protected:
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
virtual void performControlOperation() override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
// Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
private:
// TODO: Add stubs for thermal components. Each device / assembly with one
// or multiple redundant sensors will have a thermal component.
/** ExtendedControllerBase overrides */
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override;
virtual void performControlOperation() override;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override;
ReturnValue_t initializeAfterTaskCreation() override;
void handleChangedDataset(sid_t sid, store_address_t storeId) override;
ThermalCtrl::ThermalControllerTemperatureSet thermalControllerSet;
thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
thermalControllerDefinitions::ComponentTemperatures componentTemperatures;
};
#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

43
mission/controller/controllerdefinitions/ThermalControllerDefinitions.h Normal file
View File

@ -0,0 +1,43 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
namespace thermalControllerDefinitions {
enum SetIds : uint32_t { SENSOR_TEMPERATURES, COMPONENT_TEMPERATURES };
enum PoolIds : lp_id_t { SENSOR_RW, SENSOR_GPS, COMPONENT_RW };
/**
* @brief This dataset can be used to store the collected temperatures of all temperature sensors
*/
class SensorTemperatures : public StaticLocalDataSet<2> {
public:
SensorTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
SensorTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW, this);
lp_var_t<float> gps = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_GPS, this);
};
/**
* @brief This dataset can be used to store the collected temperatures of all components
*/
class ComponentTemperatures : public StaticLocalDataSet<2> {
public:
ComponentTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
ComponentTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::COMPONENT_RW, this);
};
} // namespace thermalControllerDefinitions
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

2
mission/devices/RadiationSensorHandler.h
View File

@ -3,8 +3,8 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
class GpioIF;
/**
* @brief This is the device handler class for radiation sensor on the OBC IF Board. The

7
unittest/CMakeLists.txt
View File

@ -1,5 +1,8 @@
add_subdirectory(testcfg)
add_subdirectory(controller)
add_subdirectory(mocks)
target_sources(${TARGET_NAME} PRIVATE
target_sources(${UNITTEST_NAME} PRIVATE
main.cpp
testEnvironment.cpp
printChar.cpp
)

3
unittest/controller/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${UNITTEST_NAME} PRIVATE
testThermalController.cpp
)

45
unittest/controller/testThermalController.cpp Normal file
View File

@ -0,0 +1,45 @@
#include <fsfw/ipc/QueueFactory.h>
#include <mission/controller/ThermalController.h>
#include <catch2/catch_test_macros.hpp>
#include "../testEnvironment.h"
TEST_CASE("Thermal Controller", "[ThermalController]") {
const object_id_t THERMAL_CONTROLLER_ID = 0x123;
ThermalController controller(THERMAL_CONTROLLER_ID, objects::NO_OBJECT);
testEnvironment::initialize();
REQUIRE(controller.initializeAfterTaskCreation() == HasReturnvaluesIF::RETURN_OK);
testEnvironment::eventManager->clearEventList();
MessageQueueId_t controllerQueue = controller.getCommandQueue();
CommandMessage modeMessage;
ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
ControllerBase::MODE_NORMAL, HasModesIF::SUBMODE_NONE);
MessageQueueIF* commandQueue =
QueueFactory::instance()->createMessageQueue(5, MessageQueueMessage::MAX_MESSAGE_SIZE);
commandQueue->sendMessage(controllerQueue, &modeMessage);
REQUIRE(controller.performOperation(0) == HasReturnvaluesIF::RETURN_OK);
REQUIRE(testEnvironment::eventManager->isEventInEventList(
THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, ControllerBase::MODE_NORMAL,
HasModesIF::SUBMODE_NONE) == true);
thermalControllerDefinitions::ComponentTemperatures componentTemperatures(THERMAL_CONTROLLER_ID);
componentTemperatures.read();
REQUIRE(componentTemperatures.rw == 0);
componentTemperatures.commit();
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}

13
unittest/main.cpp
View File

@ -1,6 +1,13 @@
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw_tests/unit/CatchRunner.h"
#include <catch2/catch_session.hpp>
#include "testEnvironment.h"
int main(int argc, char* argv[]) {
// fsfwtest::customMain(argc, argv);
testEnvironment::setup();
// Catch internal function call
int result = Catch::Session().run(argc, argv);
// global clean-up
return result;
}

4
unittest/mocks/CMakeLists.txt Normal file
View File

@ -0,0 +1,4 @@
target_sources(${UNITTEST_NAME} PRIVATE
EventManagerMock.cpp
HouseKeepingMock.cpp
)

63
unittest/mocks/EventManagerMock.cpp Normal file
View File

@ -0,0 +1,63 @@
#include "EventManagerMock.h"
#include <fsfw/ipc/QueueFactory.h>
EventManagerMock::EventManagerMock() : EventManager(objects::EVENT_MANAGER) {}
ReturnValue_t EventManagerMock::performOperation(uint8_t opCode) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
while (result == HasReturnvaluesIF::RETURN_OK) {
EventMessage message;
result = eventReportQueue->receiveMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
notifyListeners(&message);
eventList.emplace_back(message);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
const std::list<EventMessage>* EventManagerMock::getEventList() {
// call performOperation() to get all events still in the message Queue into the list
this->performOperation(0);
return &eventList;
}
void EventManagerMock::clearEventList() { // call performOperation() to get all events still in the
// message Queue into the list
this->performOperation(0);
eventList.clear();
}
bool EventManagerMock::isEventInEventList(object_id_t object, Event event) {
return isEventInEventList(object, event::getEventId(event));
}
bool EventManagerMock::isEventInEventList(object_id_t object, EventId_t eventId) {
// call performOperation() to get all events still in the message Queue into the list
this->performOperation(0);
for (auto iter = eventList.begin(); iter != eventList.end(); iter++) {
if ((iter->getReporter() == object) && (iter->getEventId() == eventId)) {
return true;
}
}
return false;
}
bool EventManagerMock::isEventInEventList(object_id_t object, Event event, uint32_t parameter1,
uint32_t parameter2) {
return isEventInEventList(object, event::getEventId(event), parameter1, parameter2);
}
bool EventManagerMock::isEventInEventList(object_id_t object, EventId_t eventId,
uint32_t parameter1, uint32_t parameter2) {
// call performOperation() to get all events still in the message Queue into the list
this->performOperation(0);
for (auto iter = eventList.begin(); iter != eventList.end(); iter++) {
if ((iter->getReporter() == object) && (iter->getEventId() == eventId) &&
(iter->getParameter1() == parameter1) && (iter->getParameter2() == parameter2)) {
return true;
}
}
return false;
}

27
unittest/mocks/EventManagerMock.h Normal file
View File

@ -0,0 +1,27 @@
#ifndef EVENTMANAGERMOCK_H_
#define EVENTMANAGERMOCK_H_
#include <fsfw/events/EventManager.h>
#include <list>
class EventManagerMock : public EventManager {
public:
EventManagerMock();
virtual ReturnValue_t performOperation(uint8_t opCode) override;
const std::list<EventMessage>* getEventList();
void clearEventList();
bool isEventInEventList(object_id_t object, Event event);
bool isEventInEventList(object_id_t object, Event event, uint32_t parameter1, uint32_t parameter2);
bool isEventInEventList(object_id_t object, EventId_t eventId);
bool isEventInEventList(object_id_t object, EventId_t eventId, uint32_t parameter1, uint32_t parameter2);
private:
std::list<EventMessage> eventList;
};
#endif /* EVENTMANAGERMOCK_H_ */

8
unittest/mocks/HouseKeepingMock.cpp Normal file
View File

@ -0,0 +1,8 @@
#include "HouseKeepingMock.h"
#include <fsfw/objectmanager/frameworkObjects.h>
HouseKeepingMock::HouseKeepingMock() : SystemObject(objects::PUS_SERVICE_3_HOUSEKEEPING) {}
MessageQueueId_t HouseKeepingMock::getHkQueue() const { return MessageQueueIF::NO_QUEUE; }

16
unittest/mocks/HouseKeepingMock.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef HOUSEKEEPINGMOCK_H_
#define HOUSEKEEPINGMOCK_H_
#include <fsfw/housekeeping/AcceptsHkPacketsIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/ipc/MessageQueueIF.h>
class HouseKeepingMock : public SystemObject, public AcceptsHkPacketsIF {
public:
HouseKeepingMock();
virtual MessageQueueId_t getHkQueue() const;
};
#endif /*HOUSEKEEPINGMOCK_H_*/

11
unittest/printChar.cpp Normal file
View File

@ -0,0 +1,11 @@
#include "printChar.h"
#include <cstdio>
void printChar(const char* character, bool errStream) {
if (errStream) {
std::putc(*character, stderr);
return;
}
std::putc(*character, stdout);
}

6
unittest/printChar.h Normal file
View File

@ -0,0 +1,6 @@
#ifndef FSFW_UNITTEST_CORE_PRINTCHAR_H_
#define FSFW_UNITTEST_CORE_PRINTCHAR_H_
extern "C" void printChar(const char*, bool errStream);
#endif /* FSFW_UNITTEST_CORE_PRINTCHAR_H_ */

59
unittest/testEnvironment.cpp Normal file
View File

@ -0,0 +1,59 @@
#include "testEnvironment.h"
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/housekeeping/AcceptsHkPacketsIF.h>
#include <fsfw/internalerror/InternalErrorReporter.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/timemanager/TimeStamper.h>
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG ");
ServiceInterfaceStream sif::info("INFO ");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR ", false, true, true);
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
namespace testEnvironment {
void factory(void* args) {
new HouseKeepingMock();
eventManager = new EventManagerMock();
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
new TimeStamper(objects::TIME_STAMPER);
{
PoolManager::LocalPoolConfig poolCfg = {{300, 16}, {200, 32}, {150, 64}, {150, 128},
{100, 256}, {50, 512}, {50, 1024}, {10, 2048}};
new PoolManager(objects::IPC_STORE, poolCfg);
}
}
void setup() { ObjectManager::instance()->setObjectFactoryFunction(factory, nullptr); }
void initialize() { ObjectManager::instance()->initialize(); }
} // namespace testEnvironment
EventManagerMock* testEnvironment::eventManager = nullptr;
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/ipc/FwMessageTypes.h>
namespace messagetypes {
enum MESSAGE_TYPE {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
};
void clearMissionMessage(CommandMessage* message);
} // namespace messagetypes
void messagetypes::clearMissionMessage(CommandMessage* message) {}

36
unittest/testEnvironment.h Normal file
View File

@ -0,0 +1,36 @@
#ifndef UNITTEST_TESTENVIRONMENT_H_
#define UNITTEST_TESTENVIRONMENT_H_
#include "mocks/EventManagerMock.h"
#include "mocks/HouseKeepingMock.h"
/*
* This namespace sets up a general environment for unittests
*
* Only objects generally used in all unittest are created here. Objects needed for
* individual tests are to be contstructed in the individual tests.
*
* The object manager can be initialized by the initialize() call
*
* It also caches pointers to generally useful objects so they do
* not need to be gotten from the object manager each time
*/
namespace testEnvironment {
/*
* Setup code goes here, called by main() befor any tests
*/
void setup();
/*
* Initializes the object manager, to be called at the start of each test, after test specific
* objects are constructed
*
* All objects defined in the factory method are created here
*/
void initialize();
extern EventManagerMock* eventManager;
} // namespace testEnvironment
#endif /*UNITTEST_TESTENVIRONMENT_H_*/