device handler unittest wip

scripts/helper.py

@@ -48,6 +48,20 @@ def main():
         action="store_true",
         help="Run valgrind on generated test binary",
     )
+    parser.add_argument(
+        "-g",
+        "--generators",
+        default = "Ninja",
+        action="store",
+        help="CMake generators",
+    )
+    parser.add_argument(
+        "-w",
+        "--windows",
+        default=False,
+        action="store_true",
+        help="Run on windows",
+    )
 
     args = parser.parse_args()
     if args.all:
@@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
     if args.create:
         if os.path.exists(UNITTEST_FOLDER_NAME):
             shutil.rmtree(UNITTEST_FOLDER_NAME)
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:
         print(
             "No valid CMake tests build directory found. "
             "Trying to set up test build system"
         )
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 1:
         build_directory = build_dir_list[0]
@@ -147,10 +161,15 @@ def handle_tests_type(args, build_dir_list: list):
         os.chdir("..")
 
 
-def create_tests_build_cfg():
+def create_tests_build_cfg(args):
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    if args.windows:
+        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON \
+        -DGCOVR_PATH="py -m gcovr" ..'
+    else:
+        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+    cmd_runner(cmake_cmd)
     os.chdir("..")
 
 

tests/src/fsfw_tests/unit/devicehandler/ComIFMock.cpp

@@ -0,0 +1,24 @@
+#include "ComIFMock.h"
+
+ComIFMock::ComIFMock(obejct_id_t objectId) {}
+
+ComIFMock::~ComIFMock() {}
+
+ReturnValue_t ComIFMock::initializeInterface(CookieIF *cookie) { return RETURN_OK; }
+
+ReturnValue_t ComIFMock::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+  rememberSentByte = *sendData;
+  return RETURN_OK;
+}
+
+ReturnValue_t ComIFMock::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
+
+ReturnValue_t ComIFMock::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return RETURN_OK;
+}
+
+ReturnValue_t ComIFMock::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+  *size = sizeof(rememberSentByte);
+  *buffer = &rememberSentByte;
+  return RETURN_OK;
+}

tests/src/fsfw_tests/unit/devicehandler/ComIFMock.h

@@ -0,0 +1,27 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COMIFMOCK_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COMIFMOCK_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
+/**
+ * @brief	The ComIFMock supports the simulation of various device communication error cases
+ * 		like incomplete or wrong replies and can be used to test the DeviceHandlerBase.
+ */
+class ComIFMock : public DeviceCommunicationIF, public SystemObject {
+ public:
+  ComIFMock(obejct_id_t objectId);
+  virtual ~ComIFMock();
+
+  virtual ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                    size_t sendLen) override;
+  virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                            size_t *size) override;
+
+ private:
+  uint8_t rememberSentByte = 0;
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COMIFMOCK_H_ */

tests/src/fsfw_tests/unit/devicehandler/CookieIFMock.cpp

@@ -0,0 +1,7 @@
+#include "CookieIFMock.h"
+
+CookieIFMock::CookieIFMock() {
+}
+
+CookieIFMock::~CookieIFMock() {
+}

tests/src/fsfw_tests/unit/devicehandler/CookieIFMock.h

@@ -0,0 +1,12 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COOKIEIFMOCK_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COOKIEIFMOCK_H_
+
+#include "fsfw/devicehandlers/CookieIF.h"
+
+class CookieIFMock {
+ public:
+  CookieIFMock();
+  virtual ~CookieIFMock();
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COOKIEIFMOCK_H_ */

tests/src/fsfw_tests/unit/devicehandler/DeviceHandlerCommander.cpp

@@ -0,0 +1,70 @@
+#include "DeviceHandlerCommander.h"
+
+DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
+    : SystemObject(objectId), commandActionHelper(this) {
+  auto mqArgs = MqArgs(this->getObjectId());
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
+
+DeviceHandlerCommander::~DeviceHandlerCommander() {}
+
+ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
+  readCommandQueue();
+}
+
+ReturnValue_t DeviceHandlerCommander::initialize() {
+  ReturnValue_t result = commandActionHelper.initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = actionHelper.initialize(commandQueue);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* DeviceHandlerCommander::getCommandQueuePtr() { return commandQueue; }
+
+void DeviceHandlerCommander::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
+
+void DeviceHandlerCommander::stepFailedReceived(ActionId_t actionId, uint8_t step,
+                                                ReturnValue_t returnCode) {}
+
+void DeviceHandlerCommander::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+}
+
+void DeviceHandlerCommander::completionSuccessfulReceived(ActionId_t actionId) {
+  lastReplyReturnCode = RETURN_OK;
+}
+
+void DeviceHandlerCommander::completionFailedReceived(ActionId_t actionId,
+                                                      ReturnValue_t returnCode) {
+  lastReplyReturnCode = returnCode;
+}
+
+void DeviceHandlerCommander::readCommandQueue() {
+  CommandMessage message;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
+       result = commandQueue->receiveMessage(&message)) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      continue;
+    }
+    result = commandActionHelper.handleReply(&message);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      continue;
+    }
+  }
+}
+
+ReturnValue_t DeviceHandlerCommander::sendCommand(object_id_t target, ActionId_t actionId) {
+  return commandActionHelper.commandAction(target, actionId, nullptr, 0);
+}
+
+ReturnValue_t DeviceHandlerCommander::getReplyReturnCode() { return lastReplyReturnCode; }
+
+void DeviceHandlerCommander::resetReplyReturnCode() {
+  lastReplyReturnCode = RETURN_FAILED;
+}

tests/src/fsfw_tests/unit/devicehandler/DeviceHandlerCommander.h

@@ -0,0 +1,49 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERCOMMANDER_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERCOMMANDER_H_
+
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class DeviceHandlerCommander : public ExecutableObjectIF,
+                               public SystemObject,
+                               public CommandsActionsIF,
+			       public HasReturnvaluesIF {
+ public:
+  DeviceHandlerCommander(object_id_t objectId);
+  virtual ~DeviceHandlerCommander();
+
+  ReturnValue_t performOperation(uint8_t operationCode = 0);
+  ReturnValue_t initialize() override;
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
+
+  /**
+   * @brief	Calling this function will send the command to the device handler object.
+   *
+   * @param target	Object ID of the device handler
+   * @param actionId	Action ID of the command to send
+   */
+  ReturnValue_t sendCommand(object_id_t target, ActionId_t actionId);
+
+  ReturnValue_t getReplyReturnCode();
+  void resetReplyReturnCode();
+
+ private:
+
+  MessageQueueIF* commandQueue = nullptr;
+
+  CommandActionHelper commandActionHelper;
+
+  ReturnValue_t lastReplyReturnCode = RETURN_FAILED;
+
+  void readCommandQueue();
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERCOMMANDER_H_ */

tests/src/fsfw_tests/unit/devicehandler/DeviceHandlerMock.cpp

@@ -0,0 +1,70 @@
+#include "DeviceHandlerMock.h"
+
+DeviceHandlerMock::DeviceHandlerMock(object_id_t objectId, object_id_t deviceCommunication)
+    : DeviceHandlerBase(objetcId, deviceCommunication, nullptr) {}
+
+DeviceHandlerMock::~DeviceHandlerMock() {
+}
+
+void DeviceHandlerMock::doStartup() {
+  setMode(_MODE_TO_ON);
+}
+
+void DeviceHandlerMock::doShutdown() {
+  setMode(_MODE_POWER_DOWN);
+}
+
+ReturnValue_t DeviceHandlerMock::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t DeviceHandlerMock::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t DeviceHandlerMock::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                         const uint8_t *commandData,
+                                                         size_t commandDataLen) {
+  switch(deviceCommand) {
+    case PERIODIC_REPLY_TEST_COMMAND: {
+      commandBuffer[0] = periodicReplyTestData;
+      rawPacket = commandBuffer;
+      rawPacketLen = sizeof(periodicReplyTestData);
+    }
+    default:
+      WARN("DeviceHandlerMock::buildCommandFromCommand: Invalid device command");
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerMock::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                                     size_t *foundLen) {
+  switch(*start) {
+    case periodicReplyTestData: {
+      return RETURN_OK;
+      break;
+    }
+    default:
+      break;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DeviceHandlerMock::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  switch(id){
+    case PERIODIC_REPLY_TEST_COMMAND:
+      break;
+    default:
+      break;
+  }
+}
+
+void DeviceHandlerMock::fillCommandAndReplyMap() {
+  insertInCommandAndReplyMap(PERIODIC_REPLY_TEST_COMMAND, 2, nullptr, 0, true, false, 0,
+                             periodicReplyCountdown);
+}
+
+uint32_t DeviceHandlerMock::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+  return 500;
+}
+

tests/src/fsfw_tests/unit/devicehandler/DeviceHandlerMock.h

@@ -0,0 +1,36 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class DeviceHandlerMock : public DeviceHandlerBase {
+ public:
+
+  static const DeviceCommandId_t PERIODIC_REPLY_TEST_COMMAND = 1;
+
+  DeviceHandlerMock(object_id_t objectId, object_id_t deviceCommunication);
+  virtual ~DeviceHandlerMock();
+
+protected:
+  void doStartUp() override;
+  void doStartShutdown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                                       size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+
+private:
+
+  uint8_t periodicReplyTestData = 1;
+
+  Countdown periodicReplyCountdown = Countdown(10);
+
+  uint8_t commandBuffer[1];
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_ */

tests/src/fsfw_tests/unit/devicehandler/TestDeviceHandlerBase.cpp

@@ -0,0 +1,36 @@
+#include "TestDeviceHandlerBase.h"
+
+#include <catch2/catch_test_macros.hpp>
+#include "ComIFMock.h"
+
+#include "fsfw_tests/unit/devicehandler/DeviceHandlerMock.h"
+#include "fsfw_tests/unit/devicehandler/DeviceHandlerCommander.h"
+#include "fsfw_tests/unit/devicehandler/CookieIFMock.h"
+#include "fsfw_tests/unit/testcfg/objects/systemObjectList.h"
+
+TEST_CASE("Device Handler Base", "[DeviceHandlerBase]") {
+
+  SECTION("Periodic reply with countdown based timeout success") {
+    CookieIFMock cookieIFMock;
+    ComIFperiodicMock comIFperiodic(objects::COM_IF_MOCK);
+    DeviceHandlerMock deviceHandlerMock(objects::DEVICE_HANDLER_MOCK, objects::COM_IF_MOCK,
+                                        &cookieIFMock);
+    ReturnValue_t result = deviceHandlerMock.initialize();
+    REQUIRE(result == RETURN_OK);
+    DeviceHandlerCommander deviceHandlerCommander(objects::DEVICE_HANDLER_COMMANDER);
+    result = deviceHandlerCommander.initialize();
+    REQUIRE(result == RETURN_OK);
+    result = deviceHandlerCommander.sendCommand(objects::DEVICE_HANDLER_MOCK,
+                                                DeviceHandlerMock::PERIODIC_REPLY_TEST_COMMAND);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_READ);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_READ);
+    result = deviceHandlerCommander.getReplyReturnCode();
+    REQUIRE(result == RETURN_OK);
+  }
+//  SECTION("Periodic reply with countdown based timeout failed") {
+//
+//  }
+}

tests/src/fsfw_tests/unit/devicehandler/TestDeviceHandlerBase.h

@@ -0,0 +1,49 @@
+#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
+#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+
+#include <cstring>
+
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+class ActionHelperOwnerMockBase : public HasActionsIF {
+ public:
+  bool getCommandQueueCalled = false;
+  bool executeActionCalled = false;
+  static const size_t MAX_SIZE = 3;
+  uint8_t buffer[MAX_SIZE] = {0, 0, 0};
+  size_t size = 0;
+
+  MessageQueueId_t getCommandQueue() const override { return tconst::testQueueId; }
+
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override {
+    executeActionCalled = true;
+    if (size > MAX_SIZE) {
+      return 0xAFFE;
+    }
+    this->size = size;
+    memcpy(buffer, data, size);
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  void clearBuffer() {
+    this->size = 0;
+    for (size_t i = 0; i < MAX_SIZE; i++) {
+      buffer[i] = 0;
+    }
+  }
+
+  void getBuffer(const uint8_t** ptr, size_t* size) {
+    if (size != nullptr) {
+      *size = this->size;
+    }
+    if (ptr != nullptr) {
+      *ptr = buffer;
+    }
+  }
+};
+
+#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */

tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h

@@ -1,29 +1,32 @@
-#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
-#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
-
-#include <cstdint>
-
-#include "fsfw/objectmanager/frameworkObjects.h"
-
-// 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,
-
-  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_ */
+#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+
+#include "fsfw/objectmanager/frameworkObjects.h"
+
+// 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,
+
+  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,
+
+  DEVICE_HANDLER_MOCK = 27,
+  COM_IF_MOCK = 28,
+  DEVICE_HANDLER_COMMANDER = 29,
+};
+}
+
+#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */