diff --git a/CMakeLists.txt b/CMakeLists.txt index ed5c5409..54915f2c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -60,26 +60,34 @@ set(LIB_LWGPS_NAME lwgps) set(LIB_ARCSEC wire) set(THIRD_PARTY_FOLDER thirdparty) set(LIB_CXX_FS -lstdc++fs) +set(LIB_CATCH2 Catch2) set(LIB_JSON_NAME nlohmann_json::nlohmann_json) # Set path names set(FSFW_PATH fsfw) set(MISSION_PATH mission) set(TEST_PATH test/testtasks) +set(UNITTEST_PATH unittest) set(LINUX_PATH linux) set(COMMON_PATH common) set(WATCHDOG_PATH watchdog) set(COMMON_CONFIG_PATH ${COMMON_PATH}/config) -set(FSFW_HAL_LIB_PATH fsfw_hal) -set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp) -set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl) -set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps) -set(ARCSEC_LIB_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker) +set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp) +set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl) +set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2) +set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps) +set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker) set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json) set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF) -set(ADD_LINUX_FILES False) +set(EIVE_ADD_LINUX_FILES False) + +if(FSFW_CUSTOM_UNITTEST_RUNNER OR FSFW_ADD_UNITTESTS) + set(CATCH2_TARGET Catch2) +else() + set(CATCH2_TARGET Catch2WithMain) +endif() # Analyse different OS and architecture/target options, determine BSP_PATH, # display information about compiler etc. @@ -92,7 +100,7 @@ if(TGT_BSP) ) set(FSFW_CONFIG_PATH "linux/fsfwconfig") if(NOT BUILD_Q7S_SIMPLE_MODE) - set(ADD_LINUX_FILES TRUE) + set(EIVE_ADD_LINUX_FILES TRUE) set(ADD_CSP_LIB TRUE) set(FSFW_HAL_ADD_LINUX ON) endif() @@ -145,7 +153,7 @@ set(FSFW_ADDITIONAL_INC_PATHS add_executable(${TARGET_NAME}) if(EIVE_ADD_ETL_LIB) - add_subdirectory(${ETL_LIB_PATH}) + add_subdirectory(${LIB_ETL_PATH}) endif() if(EIVE_ADD_JSON_LIB) @@ -153,22 +161,26 @@ if(EIVE_ADD_JSON_LIB) endif() if(NOT EIVE_BUILD_WATCHDOG) - if(ADD_LINUX_FILES) + if(EIVE_ADD_LINUX_FILES) add_subdirectory(${LINUX_PATH}) endif() add_subdirectory(${BSP_PATH}) add_subdirectory(${COMMON_PATH}) if(ADD_CSP_LIB) - add_subdirectory(${CSP_LIB_PATH}) + add_subdirectory(${LIB_CSP_PATH}) endif() endif() if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG)) - add_subdirectory(${LWGPS_LIB_PATH}) + add_subdirectory(${LIB_LWGPS_PATH}) add_subdirectory(${FSFW_PATH}) add_subdirectory(${MISSION_PATH}) add_subdirectory(${TEST_PATH}) - add_subdirectory(${ARCSEC_LIB_PATH}) + add_subdirectory(${LIB_ARCSEC_PATH}) +endif() + +if(EIVE_BUILD_UNITTEST) + add_subdirectory(${UNITTEST_PATH}) endif() if(EIVE_BUILD_WATCHDOG) @@ -196,6 +208,7 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG)) endif() endif() + if(NOT EIVE_BUILD_WATCHDOG) if(ADD_CSP_LIB) target_link_libraries(${TARGET_NAME} PRIVATE @@ -216,6 +229,12 @@ if(EIVE_ADD_JSON_LIB) ) endif() +if(EIVE_BUILD_UNITTEST) + target_link_libraries(${TARGET_NAME} PRIVATE + ${CATCH2_TARGET} + ) +endif() + target_link_libraries(${TARGET_NAME} PRIVATE ${LIB_CXX_FS} ) @@ -225,7 +244,7 @@ target_include_directories(${TARGET_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH} ${CMAKE_CURRENT_BINARY_DIR} - ${ARCSEC_LIB_PATH} + ${LIB_ARCSEC_PATH} ) if(TGT_BSP MATCHES "arm/q7s") diff --git a/fsfw b/fsfw index 5ee315f8..354e158c 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 5ee315f8ca3b0bb27d5a368948ecd115c6a055c9 +Subproject commit 354e158cc196d7deaf7de24ebcc96f5f6f5f20eb diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt new file mode 100644 index 00000000..ce562b28 --- /dev/null +++ b/unittest/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory(testcfg) diff --git a/unittest/testcfg/CMakeLists.txt b/unittest/testcfg/CMakeLists.txt new file mode 100644 index 00000000..50d13663 --- /dev/null +++ b/unittest/testcfg/CMakeLists.txt @@ -0,0 +1,9 @@ +target_sources(${TARGET_NAME} PRIVATE + ipc/MissionMessageTypes.cpp + pollingsequence/PollingSequenceFactory.cpp +) + +# Add include paths for the executable +target_include_directories(${TARGET_NAME} PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR} +) diff --git a/unittest/testcfg/FSFWConfig.h.in b/unittest/testcfg/FSFWConfig.h.in new file mode 100644 index 00000000..d38f0648 --- /dev/null +++ b/unittest/testcfg/FSFWConfig.h.in @@ -0,0 +1,78 @@ +#ifndef CONFIG_FSFWCONFIG_H_ +#define CONFIG_FSFWCONFIG_H_ + +#include +#include + +//! Used to determine whether C++ ostreams are used which can increase +//! the binary size significantly. If this is disabled, +//! the C stdio functions can be used alternatively +#define FSFW_CPP_OSTREAM_ENABLED 0 + +//! More FSFW related printouts. Useful for development. +#define FSFW_ENHANCED_PRINTOUT 0 + +//! Can be used to completely disable printouts, even the C stdio ones. +//! By default, printouts will be disabled for the unit tests. +#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0 + #ifndef FSFW_DISABLE_PRINTOUT + #define FSFW_DISABLE_PRINTOUT 1 + #endif +#endif + +//! Can be used to enable additional debugging printouts for developing the FSFW +#define FSFW_PRINT_VERBOSITY_LEVEL 0 + +//! Can be used to disable the ANSI color sequences for C stdio. +#define FSFW_COLORED_OUTPUT 0 + +//! If FSFW_OBJ_EVENT_TRANSLATION is set to one, +//! additional output which requires the translation files translateObjects +//! and translateEvents (and their compiled source files) +#define FSFW_OBJ_EVENT_TRANSLATION 0 + +#if FSFW_OBJ_EVENT_TRANSLATION == 1 +//! Specify whether info events are printed too. +#define FSFW_DEBUG_INFO 1 +#include "objects/translateObjects.h" +#include "events/translateEvents.h" +#else +#endif + +//! When using the newlib nano library, C99 support for stdio facilities +//! will not be provided. This define should be set to 1 if this is the case. +#define FSFW_NO_C99_IO 1 + +//! Specify whether a special mode store is used for Subsystem components. +#define FSFW_USE_MODESTORE 0 + +//! Defines if the real time scheduler for linux should be used. +//! If set to 0, this will also disable priority settings for linux +//! as most systems will not allow to set nice values without privileges +//! For embedded linux system set this to 1. +//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run +#define FSFW_USE_REALTIME_FOR_LINUX 1 + +namespace fsfwconfig { +//! Default timestamp size. The default timestamp will be an eight byte CDC +//! short timestamp. +static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8; + +//! Configure the allocated pool sizes for the event manager. +static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240; +static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120; +static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; + +//! Defines the FIFO depth of each commanding service base which +//! also determines how many commands a CSB service can handle in one cycle +//! simulataneously. This will increase the required RAM for +//! each CSB service ! +static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; + +static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; + +static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 1500; + +} + +#endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/unittest/testcfg/OBSWConfig.h.in b/unittest/testcfg/OBSWConfig.h.in new file mode 100644 index 00000000..34eda31f --- /dev/null +++ b/unittest/testcfg/OBSWConfig.h.in @@ -0,0 +1,8 @@ +#ifndef TESTCFG_OBSWCONFIG_H_ +#define TESTCFG_OBSWCONFIG_H_ + + + + + +#endif /* TESTCFG_OBSWCONFIG_H_ */ diff --git a/unittest/testcfg/TestsConfig.h.in b/unittest/testcfg/TestsConfig.h.in new file mode 100644 index 00000000..7d950070 --- /dev/null +++ b/unittest/testcfg/TestsConfig.h.in @@ -0,0 +1,21 @@ +#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ +#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ + +#define FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS 1 + +#ifdef __cplusplus + +#include "objects/systemObjectList.h" +#include "events/subsystemIdRanges.h" +#include "returnvalues/classIds.h" + +namespace config { +#endif + +/* Add mission configuration flags here */ + +#ifdef __cplusplus +} +#endif + +#endif /* FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ */ diff --git a/unittest/testcfg/devices/logicalAddresses.cpp b/unittest/testcfg/devices/logicalAddresses.cpp new file mode 100644 index 00000000..c7ce314d --- /dev/null +++ b/unittest/testcfg/devices/logicalAddresses.cpp @@ -0,0 +1,5 @@ +#include "logicalAddresses.h" + + + + diff --git a/unittest/testcfg/devices/logicalAddresses.h b/unittest/testcfg/devices/logicalAddresses.h new file mode 100644 index 00000000..cdf87025 --- /dev/null +++ b/unittest/testcfg/devices/logicalAddresses.h @@ -0,0 +1,15 @@ +#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_ +#define CONFIG_DEVICES_LOGICALADDRESSES_H_ + +#include +#include +#include + +namespace addresses { + /* Logical addresses have uint32_t datatype */ + enum logicalAddresses: address_t { + }; +} + + +#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */ diff --git a/unittest/testcfg/devices/powerSwitcherList.cpp b/unittest/testcfg/devices/powerSwitcherList.cpp new file mode 100644 index 00000000..343f78d0 --- /dev/null +++ b/unittest/testcfg/devices/powerSwitcherList.cpp @@ -0,0 +1,4 @@ +#include "powerSwitcherList.h" + + + diff --git a/unittest/testcfg/devices/powerSwitcherList.h b/unittest/testcfg/devices/powerSwitcherList.h new file mode 100644 index 00000000..86ddea57 --- /dev/null +++ b/unittest/testcfg/devices/powerSwitcherList.h @@ -0,0 +1,12 @@ +#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_ +#define CONFIG_DEVICES_POWERSWITCHERLIST_H_ + +namespace switches { + /* Switches are uint8_t datatype and go from 0 to 255 */ + enum switcherList { + }; + +} + + +#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */ diff --git a/unittest/testcfg/events/subsystemIdRanges.h b/unittest/testcfg/events/subsystemIdRanges.h new file mode 100644 index 00000000..24eee819 --- /dev/null +++ b/unittest/testcfg/events/subsystemIdRanges.h @@ -0,0 +1,18 @@ +#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ +#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ + +#include +#include + +/** + * @brief Custom subsystem IDs can be added here + * @details + * Subsystem IDs are used to create unique events. + */ +namespace SUBSYSTEM_ID { +enum: uint8_t { + SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE, +}; +} + +#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */ diff --git a/unittest/testcfg/ipc/MissionMessageTypes.cpp b/unittest/testcfg/ipc/MissionMessageTypes.cpp new file mode 100644 index 00000000..d68cb58c --- /dev/null +++ b/unittest/testcfg/ipc/MissionMessageTypes.cpp @@ -0,0 +1,12 @@ +#include "MissionMessageTypes.h" + +#include + +void messagetypes::clearMissionMessage(CommandMessage* message) { + switch(message->getMessageType()) { + default: + break; + } +} + + diff --git a/unittest/testcfg/ipc/MissionMessageTypes.h b/unittest/testcfg/ipc/MissionMessageTypes.h new file mode 100644 index 00000000..832d8e58 --- /dev/null +++ b/unittest/testcfg/ipc/MissionMessageTypes.h @@ -0,0 +1,22 @@ +#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_ +#define CONFIG_IPC_MISSIONMESSAGETYPES_H_ + +#include + +class CommandMessage; + +/** + * Custom command messages are specified here. + * Most messages needed to use FSFW are already located in + * + * @param message Generic Command Message + */ +namespace messagetypes{ +enum MESSAGE_TYPE { + MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT, +}; + +void clearMissionMessage(CommandMessage* message); +} + +#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */ diff --git a/unittest/testcfg/objects/systemObjectList.h b/unittest/testcfg/objects/systemObjectList.h new file mode 100644 index 00000000..efd21e0d --- /dev/null +++ b/unittest/testcfg/objects/systemObjectList.h @@ -0,0 +1,32 @@ +#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ +#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ + +#include +#include + +// The objects will be instantiated in the ID order +namespace objects { + enum sourceObjects: uint32_t { + /* All addresses between start and end are reserved for the FSFW */ + FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION, + FSFW_CONFIG_RESERVED_END = TM_STORE, + + CCSDS_DISTRIBUTOR = 10, + PUS_DISTRIBUTOR = 11, + TM_FUNNEL = 12, + + UDP_BRIDGE = 15, + UDP_POLLING_TASK = 16, + + TEST_ECHO_COM_IF = 20, + TEST_DEVICE = 21, + + HK_RECEIVER_MOCK = 22, + TEST_LOCAL_POOL_OWNER_BASE = 25, + + SHARED_SET_ID = 26 + + }; +} + +#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */ diff --git a/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp b/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp new file mode 100644 index 00000000..e3ee874a --- /dev/null +++ b/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp @@ -0,0 +1,39 @@ +#include "PollingSequenceFactory.h" + +#include + +#include +#include +#include + +ReturnValue_t pst::pollingSequenceInitDefault( + FixedTimeslotTaskIF *thisSequence) { + /* Length of a communication cycle */ + uint32_t length = thisSequence->getPeriodMs(); + + /* Add polling sequence table here */ + thisSequence->addSlot(objects::TEST_DEVICE, 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::TEST_DEVICE, 0.3, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::TEST_DEVICE, 0.45 * length, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::TEST_DEVICE, 0.6 * length, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::TEST_DEVICE, 0.8 * length, + DeviceHandlerIF::GET_READ); + + if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { + return HasReturnvaluesIF::RETURN_OK; + } + else { +#if FSFW_CPP_OSTREAM_ENABLED + sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" + << std::endl; +#else + sif::printError("pst::pollingSequenceInitDefault: Sequence invalid!"); +#endif + return HasReturnvaluesIF::RETURN_FAILED; + } +} + diff --git a/unittest/testcfg/pollingsequence/PollingSequenceFactory.h b/unittest/testcfg/pollingsequence/PollingSequenceFactory.h new file mode 100644 index 00000000..c5d41b7d --- /dev/null +++ b/unittest/testcfg/pollingsequence/PollingSequenceFactory.h @@ -0,0 +1,32 @@ +#ifndef POLLINGSEQUENCEFACTORY_H_ +#define POLLINGSEQUENCEFACTORY_H_ + +#include + +class FixedTimeslotTaskIF; + +/** + * All device handlers are scheduled by adding them into Polling Sequence Tables (PST) + * to satisfy stricter timing requirements of device communication, + * A device handler has four different communication steps: + * 1. DeviceHandlerIF::SEND_WRITE -> Send write via interface + * 2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write + * 3. DeviceHandlerIF::SEND_READ -> Send read request + * 4. DeviceHandlerIF::GET_READ -> Read from interface + * The PST specifies precisely when the respective ComIF functions are called + * during the communication cycle time. + * The task is created using the FixedTimeslotTaskIF, + * which utilises the underlying Operating System Abstraction Layer (OSAL) + * + * @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST + * @return + */ +namespace pst { + +/* Default PST */ +ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence); + + +} + +#endif /* POLLINGSEQUENCEINIT_H_ */ diff --git a/unittest/testcfg/returnvalues/classIds.h b/unittest/testcfg/returnvalues/classIds.h new file mode 100644 index 00000000..606cc60b --- /dev/null +++ b/unittest/testcfg/returnvalues/classIds.h @@ -0,0 +1,16 @@ +#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_ +#define CONFIG_RETURNVALUES_CLASSIDS_H_ + +#include + +/** + * @brief CLASS_ID defintions which are required for custom returnvalues. + */ +namespace CLASS_ID { +enum { + MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT, +}; +} + + +#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */ diff --git a/unittest/testcfg/tmtc/apid.h b/unittest/testcfg/tmtc/apid.h new file mode 100644 index 00000000..c0231bca --- /dev/null +++ b/unittest/testcfg/tmtc/apid.h @@ -0,0 +1,18 @@ +#ifndef CONFIG_TMTC_APID_H_ +#define CONFIG_TMTC_APID_H_ + +#include + +/** + * Application Process Definition: entity, uniquely identified by an + * application process ID (APID), capable of generating telemetry source + * packets and receiving telecommand packets. + * + * Chose APID(s) for mission and define it here. + */ +namespace apid { + static const uint16_t DEFAULT_APID = 0x00; +} + + +#endif /* CONFIG_TMTC_APID_H_ */ diff --git a/unittest/testcfg/tmtc/pusIds.h b/unittest/testcfg/tmtc/pusIds.h new file mode 100644 index 00000000..821a9982 --- /dev/null +++ b/unittest/testcfg/tmtc/pusIds.h @@ -0,0 +1,25 @@ +#ifndef CONFIG_TMTC_PUSIDS_HPP_ +#define CONFIG_TMTC_PUSIDS_HPP_ + +#include + +namespace pus { +enum Ids: uint8_t { + PUS_SERVICE_1 = 1, + PUS_SERVICE_2 = 2, + PUS_SERVICE_3 = 3, + PUS_SERVICE_5 = 5, + PUS_SERVICE_6 = 6, + PUS_SERVICE_8 = 8, + PUS_SERVICE_9 = 9, + PUS_SERVICE_11 = 11, + PUS_SERVICE_17 = 17, + PUS_SERVICE_19 = 19, + PUS_SERVICE_20 = 20, + PUS_SERVICE_23 = 23, + PUS_SERVICE_200 = 200, + PUS_SERVICE_201 = 201, +}; +}; + +#endif /* CONFIG_TMTC_PUSIDS_HPP_ */ diff --git a/unittest/unittest.mk b/unittest/unittest.mk deleted file mode 100644 index e69de29b..00000000