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Merge remote-tracking branch 'upstream/development' into mueller/add-tc-scheduler-pus-11

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Robin Müller 2022-05-13 11:58:41 +02:00
commit 13a34cd677
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19 changed files with 658 additions and 330 deletions
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43
CHANGELOG.md
View File

@ -25,18 +25,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now - HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore - `oneShotAction` flag in the `TestTask` class is not static anymore
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue - IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
creation call. It allows passing context information and an arbitrary user argument into creation call. It allows passing context information and an arbitrary user argument into
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
- Clock:
- `timeval` to `TimeOfDay_t` ### HAL
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
- Better check for leap seconds and mode
- Added Unittests for Clock (only getter) 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
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
### Time
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
- `timeval` to `TimeOfDay_t`
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
### Power
- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
also specify a `ReturnValue_t` return type
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
`turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
## Removed ## Removed
@ -69,6 +92,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
- Added ETL dependency and improved library dependency management - Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- New typedef for switcher type
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- `Subsystem`: New API to add table and sequence entries - `Subsystem`: New API to add table and sequence entries
## Fixed ## Fixed

517
CMakeLists.txt
View File

@ -4,10 +4,10 @@ set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME}) project(${LIB_FSFW_NAME})
if(NOT CMAKE_CXX_STANDARD) if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True) set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17) elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support") message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif() endif()
set(FSFW_VERSION 4) set(FSFW_VERSION 4)
@ -18,24 +18,28 @@ set(FSFW_REVISION 0)
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH}) set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
set(FSFW_ETL_LIB_NAME etl) set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING set(FSFW_ETL_LIB_MAJOR_VERSION
"ETL library major version requirement" 20
) CACHE STRING "ETL library major version requirement")
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING set(FSFW_ETL_LIB_VERSION
"ETL library exact version requirement" ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
) CACHE STRING "ETL library exact version requirement")
set(FSFW_ETL_LINK_TARGET etl::etl) set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING set(FSFW_CATCH2_LIB_MAJOR_VERSION
"Catch2 library major version requirement" 3
) CACHE STRING "Catch2 library major version requirement")
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING set(FSFW_CATCH2_LIB_VERSION
"Catch2 library exact version requirement" v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
) CACHE STRING "Catch2 library exact version requirement")
# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 # Keep this off by default for now. See PR:
# for information which keeping this on by default is problematic # https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF) # keeping this on by default is problematic
option(
FSFW_ENABLE_IPO
"Enable interprocedural optimization or link-time optimization if available"
OFF)
if(FSFW_ENABLE_IPO) if(FSFW_ENABLE_IPO)
include(CheckIPOSupported) include(CheckIPOSupported)
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR) check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
@ -45,13 +49,13 @@ if(FSFW_ENABLE_IPO)
endif() endif()
option(FSFW_GENERATE_SECTIONS option(FSFW_GENERATE_SECTIONS
"Generate function and data sections. Required to remove unused code" ON "Generate function and data sections. Required to remove unused code" ON)
)
if(FSFW_GENERATE_SECTIONS) if(FSFW_GENERATE_SECTIONS)
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON) option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
endif() endif()
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF) option(FSFW_BUILD_UNITTESTS
"Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF) option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON) option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@ -75,59 +79,61 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
# Contrib sources # Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF) option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(FSFW_TEST_TGT fsfw-tests) set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy) set(FSFW_DUMMY_TGT fsfw-dummy)
add_library(${LIB_FSFW_NAME}) add_library(${LIB_FSFW_NAME})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO) if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE) set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
TRUE)
endif() endif()
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
message(STATUS "Building the FSFW unittests in addition to the static library") message(
# Check whether the user has already installed Catch2 first STATUS "Building the FSFW unittests in addition to the static library")
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION}) # Check whether the user has already installed Catch2 first
# Not installed, so use FetchContent to download and provide Catch2 find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
if(NOT Catch2_FOUND) # Not installed, so use FetchContent to download and provide Catch2
message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent") if(NOT Catch2_FOUND)
include(FetchContent) message(
STATUS
"Catch2 installation not found. Downloading Catch2 library with FetchContent"
)
include(FetchContent)
FetchContent_Declare( FetchContent_Declare(
Catch2 Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG ${FSFW_CATCH2_LIB_VERSION} GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
)
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2) list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif() endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h) configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h) configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
tests/TestsConfig.h)
project(${FSFW_TEST_TGT} CXX C) project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT}) add_executable(${FSFW_TEST_TGT})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO) if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE) set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
endif() TRUE)
endif()
if(FSFW_TESTS_GEN_COV) if(FSFW_TESTS_GEN_COV)
message(STATUS "Generating coverage data for the library") message(STATUS "Generating coverage data for the library")
message(STATUS "Targets linking against ${LIB_FSFW_NAME} " message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
"will be compiled with coverage data as well" "will be compiled with coverage data as well")
) include(FetchContent)
include(FetchContent) FetchContent_Declare(
FetchContent_Declare( cmake-modules GIT_REPOSITORY https://github.com/bilke/cmake-modules.git)
cmake-modules FetchContent_MakeAvailable(cmake-modules)
GIT_REPOSITORY https://github.com/bilke/cmake-modules.git set(CMAKE_BUILD_TYPE "Debug")
) list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
FetchContent_MakeAvailable(cmake-modules) include(CodeCoverage)
set(CMAKE_BUILD_TYPE "Debug") endif()
list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
include(CodeCoverage)
endif()
endif() endif()
message(STATUS "Finding and/or providing ETL library") message(STATUS "Finding and/or providing ETL library")
@ -136,34 +142,33 @@ message(STATUS "Finding and/or providing ETL library")
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
# Not installed, so use FetchContent to download and provide etl # Not installed, so use FetchContent to download and provide etl
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
message(STATUS message(
"No ETL installation was found with find_package. Installing and providing " STATUS
"etl with FindPackage" "No ETL installation was found with find_package. Installing and providing "
) "etl with FindPackage")
include(FetchContent) include(FetchContent)
FetchContent_Declare( FetchContent_Declare(
${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_NAME}
GIT_REPOSITORY https://github.com/ETLCPP/etl GIT_REPOSITORY https://github.com/ETLCPP/etl
GIT_TAG ${FSFW_ETL_LIB_VERSION} GIT_TAG ${FSFW_ETL_LIB_VERSION})
)
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME}) list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif() endif()
# The documentation for FetchContent recommends declaring all the dependencies # The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here # before making them available. We make all declared dependency available here
# after their declaration # after their declaration
if(FSFW_FETCH_CONTENT_TARGETS) if(FSFW_FETCH_CONTENT_TARGETS)
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS}) FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET ${FSFW_ETL_LIB_NAME}) if(TARGET ${FSFW_ETL_LIB_NAME})
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME}) add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
endif() endif()
if(TARGET Catch2) if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases # Fixes regression -preview4, to be confirmed in later releases Related
# Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417 # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "") set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif() endif()
endif() endif()
set(FSFW_CORE_INC_PATH "inc") set(FSFW_CORE_INC_PATH "inc")
@ -171,59 +176,51 @@ set(FSFW_CORE_INC_PATH "inc")
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos) set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
# For configure files # For configure files
target_include_directories(${LIB_FSFW_NAME} PRIVATE target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
${CMAKE_CURRENT_BINARY_DIR} target_include_directories(${LIB_FSFW_NAME}
) INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)
# Backwards comptability # Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL) if(OS_FSFW AND NOT FSFW_OSAL)
message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW") message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
set(FSFW_OSAL OS_FSFW) set(FSFW_OSAL OS_FSFW)
endif() endif()
if(NOT FSFW_OSAL) if(NOT FSFW_OSAL)
message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS") message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW # Assume host OS and autodetermine from OS_FSFW
if(UNIX) if(UNIX)
set(FSFW_OSAL "linux" set(FSFW_OSAL
CACHE STRING "linux"
"OS abstraction layer used in the FSFW" CACHE STRING "OS abstraction layer used in the FSFW")
) elseif(WIN32)
elseif(WIN32) set(FSFW_OSAL
set(FSFW_OSAL "host" "host"
CACHE STRING "OS abstraction layer used in the FSFW" CACHE STRING "OS abstraction layer used in the FSFW")
) endif()
endif()
endif() endif()
set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST) set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
if(FSFW_OSAL MATCHES host) if(FSFW_OSAL MATCHES host)
set(FSFW_OS_NAME "Host") set(FSFW_OS_NAME "Host")
set(FSFW_OSAL_HOST ON) set(FSFW_OSAL_HOST ON)
elseif(FSFW_OSAL MATCHES linux) elseif(FSFW_OSAL MATCHES linux)
set(FSFW_OS_NAME "Linux") set(FSFW_OS_NAME "Linux")
set(FSFW_OSAL_LINUX ON) set(FSFW_OSAL_LINUX ON)
elseif(FSFW_OSAL MATCHES freertos) elseif(FSFW_OSAL MATCHES freertos)
set(FSFW_OS_NAME "FreeRTOS") set(FSFW_OS_NAME "FreeRTOS")
set(FSFW_OSAL_FREERTOS ON) set(FSFW_OSAL_FREERTOS ON)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
${LIB_OS_NAME}
)
elseif(FSFW_OSAL STREQUAL rtems) elseif(FSFW_OSAL STREQUAL rtems)
set(FSFW_OS_NAME "RTEMS") set(FSFW_OS_NAME "RTEMS")
set(FSFW_OSAL_RTEMS ON) set(FSFW_OSAL_RTEMS ON)
else() else()
message(WARNING message(
"Invalid operating system for FSFW specified! Setting to host.." WARNING "Invalid operating system for FSFW specified! Setting to host..")
) set(FSFW_OS_NAME "Host")
set(FSFW_OS_NAME "Host") set(OS_FSFW "host")
set(OS_FSFW "host")
endif() endif()
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h) configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
@ -234,206 +231,178 @@ message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
add_subdirectory(src) add_subdirectory(src)
add_subdirectory(tests) add_subdirectory(tests)
if(FSFW_ADD_HAL) if(FSFW_ADD_HAL)
add_subdirectory(hal) add_subdirectory(hal)
endif() endif()
add_subdirectory(contrib) add_subdirectory(contrib)
if(FSFW_BUILD_DOCS) if(FSFW_BUILD_DOCS)
add_subdirectory(docs) add_subdirectory(docs)
endif() endif()
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
if(FSFW_TESTS_GEN_COV) if(FSFW_TESTS_GEN_COV)
if(CMAKE_COMPILER_IS_GNUCXX) if(CMAKE_COMPILER_IS_GNUCXX)
include(CodeCoverage) include(CodeCoverage)
# Remove quotes. # Remove quotes.
separate_arguments(COVERAGE_COMPILER_FLAGS separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}" "${COVERAGE_COMPILER_FLAGS}")
)
# Add compile options manually, we don't want coverage for Catch2 # Add compile options manually, we don't want coverage for Catch2
target_compile_options(${FSFW_TEST_TGT} PRIVATE target_compile_options(${FSFW_TEST_TGT}
"${COVERAGE_COMPILER_FLAGS}" PRIVATE "${COVERAGE_COMPILER_FLAGS}")
) target_compile_options(${LIB_FSFW_NAME}
target_compile_options(${LIB_FSFW_NAME} PRIVATE PRIVATE "${COVERAGE_COMPILER_FLAGS}")
"${COVERAGE_COMPILER_FLAGS}"
)
# Exclude directories here # Exclude directories here
if(WIN32) if(WIN32)
set(GCOVR_ADDITIONAL_ARGS set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
"--exclude-throw-branches" "--exclude-unreachable-branches")
"--exclude-unreachable-branches" set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
) elseif(UNIX)
set(COVERAGE_EXCLUDES set(COVERAGE_EXCLUDES
"/c/msys64/mingw64/*" "*/fsfw_hal/*" "/usr/include/*"
) "/usr/bin/*"
elseif(UNIX) "Catch2/*"
set(COVERAGE_EXCLUDES "/usr/local/include/*"
"/usr/include/*" "/usr/bin/*" "Catch2/*" "*/fsfw_tests/*"
"/usr/local/include/*" "*/fsfw_tests/*" "*/catch2-src/*"
"*/catch2-src/*" "*/fsfw_hal/*" "*/fsfw_hal/*")
) endif()
endif()
target_link_options(${FSFW_TEST_TGT} PRIVATE target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-fprofile-arcs -ftest-coverage)
-ftest-coverage target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
) -ftest-coverage)
target_link_options(${LIB_FSFW_NAME} PRIVATE # Need to specify this as an interface, otherwise there will the compile
-fprofile-arcs # issues
-ftest-coverage target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
) -ftest-coverage)
# Need to specify this as an interface, otherwise there will the compile issues
target_link_options(${LIB_FSFW_NAME} INTERFACE
-fprofile-arcs
-ftest-coverage
)
if(WIN32) if(WIN32)
setup_target_for_coverage_gcovr_html( setup_target_for_coverage_gcovr_html(
NAME ${FSFW_TEST_TGT}_coverage NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
EXECUTABLE ${FSFW_TEST_TGT} DEPENDENCIES ${FSFW_TEST_TGT})
DEPENDENCIES ${FSFW_TEST_TGT} else()
) setup_target_for_coverage_lcov(
else() NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
setup_target_for_coverage_lcov( DEPENDENCIES ${FSFW_TEST_TGT})
NAME ${FSFW_TEST_TGT}_coverage endif()
EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT}
)
endif()
endif()
endif() endif()
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME}) endif()
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
${LIB_FSFW_NAME})
endif() endif()
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
# If this is not given, we include the default configuration and emit a warning. # this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH) if(NOT FSFW_CONFIG_PATH)
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig) set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
if(NOT FSFW_BUILD_DOCS) if(NOT FSFW_BUILD_DOCS)
message(WARNING "Flight Software Framework configuration path not set!") message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..") message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
endif() endif()
add_subdirectory(${DEF_CONF_PATH}) add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH}) set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
endif() endif()
# FSFW might be part of a possibly complicated folder structure, so we # FSFW might be part of a possibly complicated folder structure, so we extract
# extract the absolute path of the fsfwconfig folder. # the absolute path of the fsfwconfig folder.
if(IS_ABSOLUTE ${FSFW_CONFIG_PATH}) if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH}) set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
else() else()
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR} BASE_DIR ${CMAKE_SOURCE_DIR})
)
endif() endif()
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS}) foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
if(IS_ABSOLUTE ${INCLUDE_PATH}) if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}") set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
else() else()
get_filename_component(CURR_ABS_INC_PATH get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}) ${CMAKE_SOURCE_DIR})
endif() endif()
if(CMAKE_VERBOSE) if(CMAKE_VERBOSE)
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}") message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
endif() endif()
list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH}) list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
endforeach() endforeach()
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
if(NOT DEFINED FSFW_WARNING_FLAGS) if(NOT DEFINED FSFW_WARNING_FLAGS)
set(FSFW_WARNING_FLAGS set(FSFW_WARNING_FLAGS
-Wall -Wall
-Wextra -Wextra
-Wimplicit-fallthrough=1 -Wimplicit-fallthrough=1
-Wno-unused-parameter -Wno-unused-parameter
-Wno-psabi -Wno-psabi
-Wduplicated-cond # check for duplicate conditions -Wduplicated-cond # check for duplicate conditions
-Wduplicated-branches # check for duplicate branches -Wduplicated-branches # check for duplicate branches
-Wlogical-op # Search for bitwise operations instead of logical -Wlogical-op # Search for bitwise operations instead of logical
-Wnull-dereference # Search for NULL dereference -Wnull-dereference # Search for NULL dereference
-Wundef # Warn if undefind marcos are used -Wundef # Warn if undefind marcos are used
-Wformat=2 # Format string problem detection -Wformat=2 # Format string problem detection
-Wformat-overflow=2 # Formatting issues in printf -Wformat-overflow=2 # Formatting issues in printf
-Wformat-truncation=2 # Formatting issues in printf -Wformat-truncation=2 # Formatting issues in printf
-Wformat-security # Search for dangerous printf operations -Wformat-security # Search for dangerous printf operations
-Wstrict-overflow=3 # Warn if integer overflows might happen -Wstrict-overflow=3 # Warn if integer overflows might happen
-Warray-bounds=2 # Some array bounds violations will be found -Warray-bounds=2 # Some array bounds violations will be found
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14) -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-Wcast-qual # Warn if the constness is cast away -Wcast-qual # Warn if the constness is cast away
-Wstringop-overflow=4 -Wstringop-overflow=4
# -Wstack-protector # Emits a few false positives for low level access # -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives # -Wconversion # Creates many false positives -Warith-conversion # Use
# -Warith-conversion # Use with Wconversion to find more implicit conversions # with Wconversion to find more implicit conversions -fanalyzer # Should
# -fanalyzer # Should be used to look through problems # be used to look through problems
) )
endif() endif()
if(FSFW_GENERATE_SECTIONS) if(FSFW_GENERATE_SECTIONS)
target_compile_options(${LIB_FSFW_NAME} PRIVATE target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
"-ffunction-sections" "-fdata-sections")
"-fdata-sections" endif()
)
endif()
if(FSFW_REMOVE_UNUSED_CODE) if(FSFW_REMOVE_UNUSED_CODE)
target_link_options(${LIB_FSFW_NAME} PRIVATE target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
"Wl,--gc-sections" endif()
)
endif()
if(FSFW_WARNING_SHADOW_LOCAL_GCC) if(FSFW_WARNING_SHADOW_LOCAL_GCC)
list(APPEND WARNING_FLAGS "-Wshadow=local") list(APPEND WARNING_FLAGS "-Wshadow=local")
endif() endif()
endif() endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC") if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-") set(COMPILER_FLAGS "/permissive-")
endif() endif()
# Required include paths to compile the FSFW # Required include paths to compile the FSFW
target_include_directories(${LIB_FSFW_NAME} INTERFACE target_include_directories(
${CMAKE_SOURCE_DIR} ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CONFIG_PATH_ABSOLUTE} ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
${FSFW_CORE_INC_PATH}
${FSFW_ADD_INC_PATHS_ABS}
)
# Includes path required to compile FSFW itself as well # Includes path required to compile FSFW itself as well We assume that the
# We assume that the fsfwconfig folder uses include relative to the project # fsfwconfig folder uses include relative to the project root here!
# root here! target_include_directories(
target_include_directories(${LIB_FSFW_NAME} PRIVATE ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
${CMAKE_SOURCE_DIR} ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CORE_INC_PATH}
${FSFW_ADD_INC_PATHS_ABS}
)
target_compile_options(${LIB_FSFW_NAME} PRIVATE target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
${FSFW_WARNING_FLAGS} ${COMPILER_FLAGS})
${COMPILER_FLAGS}
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
${FSFW_ETL_LINK_TARGET} ${FSFW_ADDITIONAL_LINK_LIBS})
${FSFW_ADDITIONAL_LINK_LIBS}
)
string(CONCAT POST_BUILD_COMMENT string(
CONCAT
POST_BUILD_COMMENT
"######################################################################\n" "######################################################################\n"
"Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, " "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
"Target OSAL: ${FSFW_OS_NAME}\n" "Target OSAL: ${FSFW_OS_NAME}\n"
"######################################################################\n" "######################################################################\n")
)
add_custom_command( add_custom_command(
TARGET ${LIB_FSFW_NAME} TARGET ${LIB_FSFW_NAME}
POST_BUILD POST_BUILD
COMMENT ${POST_BUILD_COMMENT} COMMENT ${POST_BUILD_COMMENT})
)

13
scripts/apply-clang-format.sh
View File

@ -3,6 +3,13 @@ if [[ ! -f README.md ]]; then
cd .. cd ..
fi fi
find ./src -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp | xargs clang-format --style=file -i cmake_fmt="cmake-format"
find ./hal -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp | xargs clang-format --style=file -i if command -v ${cmake_fmt} &> /dev/null; then
find ./tests -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp | xargs clang-format --style=file -i cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
eval ${cmake_fmt_cmd}
fi
file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
find ./src ${file_selectors} | xargs clang-format --style=file -i
find ./hal ${file_selectors} | xargs clang-format --style=file -i
find ./tests ${file_selectors} | xargs clang-format --style=file -i

12
src/fsfw/power/CMakeLists.txt
View File

@ -1,7 +1,7 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME} PRIVATE
PRIVATE Fuse.cpp
Fuse.cpp PowerComponent.cpp
PowerComponent.cpp PowerSensor.cpp
PowerSensor.cpp PowerSwitcher.cpp
PowerSwitcher.cpp DummyPowerSwitcher.cpp
) )

47
src/fsfw/power/DummyPowerSwitcher.cpp Normal file
View File

@ -0,0 +1,47 @@
#include "DummyPowerSwitcher.h"
DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
size_t numberOfFuses, bool registerGlobally,
uint32_t switchDelayMs)
: SystemObject(objectId, registerGlobally),
switcherList(numberOfSwitches),
fuseList(numberOfFuses),
switchDelayMs(switchDelayMs) {}
void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
this->switcherList = switcherList;
}
void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
this->fuseList = fuseList;
}
ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
if (switchNr < switcherList.capacity()) {
switcherList[switchNr] = onOff;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
if (fuseNr < fuseList.capacity()) {
fuseList[fuseNr] = FUSE_ON;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
if (switchNr < switcherList.capacity()) {
return switcherList[switchNr];
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
if (fuseNr < fuseList.capacity()) {
return fuseList[fuseNr];
}
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return switchDelayMs; }

38
src/fsfw/power/DummyPowerSwitcher.h Normal file
View File

@ -0,0 +1,38 @@
#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
#include <cstddef>
#include <vector>
#include "PowerSwitchIF.h"
#include "definitions.h"
#include "fsfw/objectmanager/SystemObject.h"
/**
* @brief This component can be used to simulate a power switcher like a
* Power Control Distribution Unit (PCDU)
* @details
* The dummy switcher will simply cache the commanded fuse and switch states and return them
* in the according switch getter functions. In that sense, it simulates an ideal PCDU.
*/
class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
public:
DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
bool registerGlobally = true, uint32_t switchDelayMs = 5000);
void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
virtual uint32_t getSwitchDelayMs(void) const override;
private:
std::vector<ReturnValue_t> switcherList;
std::vector<ReturnValue_t> fuseList;
uint32_t switchDelayMs = 5000;
};
#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */

16
src/fsfw/power/Fuse.h
View File

@ -34,14 +34,14 @@ class Fuse : public SystemObject,
}; };
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
static const Event FUSE_CURRENT_HIGH = MAKE_EVENT( //! PSS detected that current on a fuse is totally out of bounds.
1, severity::LOW); //!< PSS detected that current on a fuse is totally out of bounds. static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
static const Event FUSE_WENT_OFF = //! PSS detected a fuse that went off.
MAKE_EVENT(2, severity::LOW); //!< PSS detected a fuse that went off. static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
static const Event POWER_ABOVE_HIGH_LIMIT = //! PSS detected a fuse that violates its limits.
MAKE_EVENT(4, severity::LOW); //!< PSS detected a fuse that violates its limits. static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
static const Event POWER_BELOW_LOW_LIMIT = //! PSS detected a fuse that violates its limits.
MAKE_EVENT(5, severity::LOW); //!< PSS detected a fuse that violates its limits. static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
typedef std::list<PowerComponentIF *> DeviceList; typedef std::list<PowerComponentIF *> DeviceList;
Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids, Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,

3
src/fsfw/power/PowerSensor.cpp
View File

@ -15,7 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh), limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount, voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) { limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
commandQueue = QueueFactory::instance()->createMessageQueue(); commandQueue =
QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE);
} }
PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

7
src/fsfw/power/PowerSwitchIF.h
View File

@ -3,6 +3,7 @@
#include "../events/Event.h" #include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
#include "definitions.h"
/** /**
* *
* @brief This interface defines a connection to a device that is capable of * @brief This interface defines a connection to a device that is capable of
@ -37,11 +38,11 @@ class PowerSwitchIF : public HasReturnvaluesIF {
* @param switchNr * @param switchNr
* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
*/ */
virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0; virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) = 0;
/** /**
* Sends a command to the Power Unit to enable a certain fuse. * Sends a command to the Power Unit to enable a certain fuse.
*/ */
virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0; virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0;
/** /**
* get the state of the Switches. * get the state of the Switches.
@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
* - @c SWITCH_OFF if the specified switch is off. * - @c SWITCH_OFF if the specified switch is off.
* - @c RETURN_FAILED if an error occured * - @c RETURN_FAILED if an error occured
*/ */
virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0; virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
/** /**
* get state of a fuse. * get state of a fuse.
* @param fuseNr * @param fuseNr

40
src/fsfw/power/PowerSwitcher.cpp
View File

@ -1,19 +1,12 @@
#include "fsfw/power/PowerSwitcher.h" #include "fsfw/power/PowerSwitcher.h"
#include "definitions.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2, PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
PowerSwitcher::State_t setStartState) power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
: state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {} : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
if (power == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PowerSwitcher::getStateOfSwitches() { ReturnValue_t PowerSwitcher::getStateOfSwitches() {
SwitchReturn_t result = howManySwitches(); SwitchReturn_t result = howManySwitches();
@ -52,18 +45,37 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
return; return;
} }
void PowerSwitcher::turnOn() { void PowerSwitcher::turnOn(bool checkCurrentState) {
if (checkCurrentState) {
if (getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
state = SWITCH_IS_ON;
return;
}
}
commandSwitches(PowerSwitchIF::SWITCH_ON); commandSwitches(PowerSwitchIF::SWITCH_ON);
state = WAIT_ON; state = WAIT_ON;
} }
void PowerSwitcher::turnOff() { void PowerSwitcher::turnOff(bool checkCurrentState) {
if (checkCurrentState) {
if (getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
state = SWITCH_IS_OFF;
return;
}
}
commandSwitches(PowerSwitchIF::SWITCH_OFF); commandSwitches(PowerSwitchIF::SWITCH_OFF);
state = WAIT_OFF; state = WAIT_OFF;
} }
bool PowerSwitcher::active() {
if (state == WAIT_OFF or state == WAIT_ON) {
return true;
}
return false;
}
PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() { PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
if (secondSwitch == NO_SWITCH) { if (secondSwitch == power::NO_SWITCH) {
return ONE_SWITCH; return ONE_SWITCH;
} else { } else {
return TWO_SWITCHES; return TWO_SWITCHES;

21
src/fsfw/power/PowerSwitcher.h
View File

@ -14,28 +14,29 @@ class PowerSwitcher : public HasReturnvaluesIF {
SWITCH_IS_OFF, SWITCH_IS_OFF,
SWITCH_IS_ON, SWITCH_IS_ON,
}; };
State_t state;
static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER; static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1); static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2); static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH, PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
power::Switch_t setSwitch2 = power::NO_SWITCH,
State_t setStartState = SWITCH_IS_OFF); State_t setStartState = SWITCH_IS_OFF);
ReturnValue_t initialize(object_id_t powerSwitchId); void turnOn(bool checkCurrentState = true);
void turnOn(); void turnOff(bool checkCurrentState = true);
void turnOff(); bool active();
void doStateMachine(); void doStateMachine();
State_t getState(); State_t getState();
ReturnValue_t checkSwitchState(); ReturnValue_t checkSwitchState();
uint32_t getSwitchDelay(); uint32_t getSwitchDelay();
uint8_t getFirstSwitch() const; power::Switch_t getFirstSwitch() const;
uint8_t getSecondSwitch() const; power::Switch_t getSecondSwitch() const;
private: private:
uint8_t firstSwitch;
uint8_t secondSwitch;
PowerSwitchIF* power = nullptr; PowerSwitchIF* power = nullptr;
State_t state;
power::Switch_t firstSwitch = power::NO_SWITCH;
power::Switch_t secondSwitch = power::NO_SWITCH;
static const uint8_t NO_SWITCH = 0xFF;
enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 }; enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 };
ReturnValue_t getStateOfSwitches(); ReturnValue_t getStateOfSwitches();
void commandSwitches(ReturnValue_t onOff); void commandSwitches(ReturnValue_t onOff);

13
src/fsfw/power/definitions.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
#include <cstdint>
namespace power {
using Switch_t = uint8_t;
static constexpr Switch_t NO_SWITCH = 0xFF;
} // namespace power
#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */

3
tests/src/fsfw_tests/unit/CMakeLists.txt
View File

@ -11,7 +11,10 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
) )
add_subdirectory(testcfg) add_subdirectory(testcfg)
add_subdirectory(mocks)
add_subdirectory(action) add_subdirectory(action)
add_subdirectory(power)
add_subdirectory(container) add_subdirectory(container)
add_subdirectory(osal) add_subdirectory(osal)
add_subdirectory(serialize) add_subdirectory(serialize)

3
tests/src/fsfw_tests/unit/mocks/CMakeLists.txt Normal file
View File

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

77
tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp Normal file
View File

@ -0,0 +1,77 @@
#include "PowerSwitcherMock.h"
static uint32_t SWITCH_REQUEST_UPDATE_VALUE = 0;
PowerSwitcherMock::PowerSwitcherMock() {}
ReturnValue_t PowerSwitcherMock::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
if (switchMap.count(switchNr) == 0) {
switchMap.emplace(switchNr, SwitchInfo(switchNr, onOff));
} else {
SwitchInfo& info = switchMap.at(switchNr);
info.currentState = onOff;
if (onOff == PowerSwitchIF::SWITCH_ON) {
info.timesCalledOn++;
} else {
info.timesCalledOff++;
}
}
return RETURN_OK;
}
ReturnValue_t PowerSwitcherMock::sendFuseOnCommand(uint8_t fuseNr) {
if (fuseMap.count(fuseNr) == 0) {
fuseMap.emplace(fuseNr, FuseInfo(fuseNr));
} else {
FuseInfo& info = fuseMap.at(fuseNr);
info.timesCalled++;
}
return RETURN_OK;
}
ReturnValue_t PowerSwitcherMock::getSwitchState(power::Switch_t switchNr) const {
if (switchMap.count(switchNr) == 1) {
auto& info = switchMap.at(switchNr);
SWITCH_REQUEST_UPDATE_VALUE++;
return info.currentState;
}
return RETURN_FAILED;
}
ReturnValue_t PowerSwitcherMock::getFuseState(uint8_t fuseNr) const {
if (fuseMap.count(fuseNr) == 1) {
return FUSE_ON;
} else {
return FUSE_OFF;
}
return RETURN_FAILED;
}
uint32_t PowerSwitcherMock::getSwitchDelayMs(void) const { return 5000; }
SwitchInfo::SwitchInfo() : switcher(0) {}
SwitchInfo::SwitchInfo(power::Switch_t switcher, ReturnValue_t initState)
: switcher(switcher), currentState(initState) {}
FuseInfo::FuseInfo(uint8_t fuse) : fuse(fuse) {}
void PowerSwitcherMock::getSwitchInfo(power::Switch_t switcher, SwitchInfo& info) {
if (switchMap.count(switcher) == 1) {
info = switchMap.at(switcher);
}
}
void PowerSwitcherMock::getFuseInfo(uint8_t fuse, FuseInfo& info) {
if (fuseMap.count(fuse) == 1) {
info = fuseMap.at(fuse);
}
}
uint32_t PowerSwitcherMock::getAmountSwitchStatWasRequested() {
return SWITCH_REQUEST_UPDATE_VALUE;
}
void PowerSwitcherMock::initSwitch(power::Switch_t switchNr) {
switchMap.emplace(switchNr, SwitchInfo(switchNr, PowerSwitchIF::SWITCH_OFF));
}

52
tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h Normal file
View File

@ -0,0 +1,52 @@
#ifndef FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
#define FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
#include <fsfw/power/PowerSwitchIF.h>
#include <map>
#include <utility>
struct SwitchInfo {
public:
SwitchInfo();
SwitchInfo(power::Switch_t switcher, ReturnValue_t initState);
power::Switch_t switcher;
ReturnValue_t currentState = PowerSwitchIF::SWITCH_OFF;
uint32_t timesCalledOn = 0;
uint32_t timesCalledOff = 0;
uint32_t timesStatusRequested = 0;
};
struct FuseInfo {
public:
FuseInfo(uint8_t fuse);
uint8_t fuse;
uint32_t timesCalled = 0;
};
class PowerSwitcherMock : public PowerSwitchIF {
public:
PowerSwitcherMock();
ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
ReturnValue_t getFuseState(uint8_t fuseNr) const override;
uint32_t getSwitchDelayMs(void) const override;
void getSwitchInfo(power::Switch_t switcher, SwitchInfo& info);
void getFuseInfo(uint8_t fuse, FuseInfo& info);
uint32_t getAmountSwitchStatWasRequested();
void initSwitch(power::Switch_t switchNr);
private:
using SwitchOnOffPair = std::pair<power::Switch_t, ReturnValue_t>;
using FuseOnOffPair = std::pair<uint8_t, ReturnValue_t>;
std::map<power::Switch_t, SwitchInfo> switchMap;
std::map<uint8_t, FuseInfo> fuseMap;
};
#endif /* FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_ */

3
tests/src/fsfw_tests/unit/power/CMakeLists.txt Normal file
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@ -0,0 +1,3 @@
target_sources(${FSFW_TEST_TGT} PRIVATE
testPowerSwitcher.cpp
)

73
tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp Normal file
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@ -0,0 +1,73 @@
#include <fsfw/power/DummyPowerSwitcher.h>
#include <fsfw/power/PowerSwitcher.h>
#include <fsfw_tests/unit/mocks/PowerSwitcherMock.h>
#include <catch2/catch_test_macros.hpp>
#include "objects/systemObjectList.h"
TEST_CASE("Power Switcher", "[power-switcher]") {
PowerSwitcherMock mock;
PowerSwitcher switcher(&mock, 1);
DummyPowerSwitcher dummySwitcher(objects::DUMMY_POWER_SWITCHER, 5, 5, false);
PowerSwitcher switcherUsingDummy(&dummySwitcher, 1);
SwitchInfo switchInfo;
mock.initSwitch(1);
SECTION("Basic Tests") {
REQUIRE(switcher.getFirstSwitch() == 1);
REQUIRE(switcher.getSecondSwitch() == power::NO_SWITCH);
// Default start state
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
switcher.turnOn(true);
REQUIRE(mock.getAmountSwitchStatWasRequested() == 1);
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_ON);
REQUIRE(switcher.checkSwitchState() == PowerSwitcher::IN_POWER_TRANSITION);
REQUIRE(switcher.active());
switcher.doStateMachine();
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_ON);
mock.getSwitchInfo(1, switchInfo);
REQUIRE(switchInfo.timesCalledOn == 1);
REQUIRE(not switcher.active());
REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
REQUIRE(switcher.checkSwitchState() == HasReturnvaluesIF::RETURN_OK);
REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
switcher.turnOff(false);
REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
REQUIRE(switcher.active());
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
switcher.doStateMachine();
mock.getSwitchInfo(1, switchInfo);
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
REQUIRE(switchInfo.timesCalledOn == 1);
REQUIRE(switchInfo.timesCalledOff == 1);
REQUIRE(not switcher.active());
REQUIRE(mock.getAmountSwitchStatWasRequested() == 4);
}
SECTION("Dummy Test") {
// Same tests, but we can't really check the dummy
REQUIRE(switcherUsingDummy.getFirstSwitch() == 1);
REQUIRE(switcherUsingDummy.getSecondSwitch() == power::NO_SWITCH);
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
switcherUsingDummy.turnOn(true);
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_ON);
REQUIRE(switcherUsingDummy.active());
switcherUsingDummy.doStateMachine();
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_ON);
REQUIRE(not switcherUsingDummy.active());
switcherUsingDummy.turnOff(false);
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
REQUIRE(switcherUsingDummy.active());
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
switcherUsingDummy.doStateMachine();
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
REQUIRE(not switcherUsingDummy.active());
}
SECTION("More Dummy Tests") {
}
}

3
tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h
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@ -21,8 +21,9 @@ enum sourceObjects : uint32_t {
HK_RECEIVER_MOCK = 22, HK_RECEIVER_MOCK = 22,
TEST_LOCAL_POOL_OWNER_BASE = 25, TEST_LOCAL_POOL_OWNER_BASE = 25,
SHARED_SET_ID = 26 SHARED_SET_ID = 26,
DUMMY_POWER_SWITCHER = 27
}; };
} }