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Merge branch 'development' into mueller/countdown-improvement-upstream

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This commit is contained in:
Steffen Gaisser 2022-03-14 14:46:54 +01:00
commit 24ad858b64
22 changed files with 321 additions and 57 deletions
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14
CHANGELOG.md
View File

@ -12,17 +12,29 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
name clashes with Windows defines.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore
## Removed
- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
datapools have been implemented
datapools have been implemented.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
## Additions
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
# [v4.0.0]

1
hal/CMakeLists.txt
View File

@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
# but CMake is able to determine whether this library is installed with find_library.
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)

14
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
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@ -9,11 +9,11 @@ using gpioId_t = uint16_t;
namespace gpio {
enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
enum Direction : uint8_t { IN = 0, OUT = 1 };
enum class Direction : int { IN = 0, OUT = 1 };
enum GpioOperation { READ, WRITE };
enum class GpioOperation { READ, WRITE };
enum class GpioTypes {
NONE,
@ -80,7 +80,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
public:
GpiodRegularByChip()
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
gpio::LOW, 0) {}
gpio::Levels::LOW, 0) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_)
@ -90,7 +90,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
gpio::LOW, lineNum_),
gpio::Levels::LOW, lineNum_),
chipname(chipname_) {}
std::string chipname;
@ -106,7 +106,7 @@ class GpiodRegularByLabel : public GpiodRegularBase {
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
gpio::LOW, lineNum_),
gpio::Levels::LOW, lineNum_),
label(label_) {}
std::string label;
@ -127,7 +127,7 @@ class GpiodRegularByLineName : public GpiodRegularBase {
GpiodRegularByLineName(std::string lineName_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
gpio::LOW),
gpio::Levels::LOW),
lineName(lineName_) {}
std::string lineName;

2
hal/src/fsfw_hal/linux/CMakeLists.txt
View File

@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
)
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart)

15
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -161,11 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case (gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
case (gpio::Direction::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
static_cast<int>(regularGpio.initValue));
break;
}
case (gpio::IN): {
case (gpio::Direction::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
break;
}
@ -211,7 +212,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
@ -243,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::LOW);
return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
@ -258,11 +259,11 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
<< " to logic level " << logicLevel << std::endl;
<< " to logic level " << static_cast<int>(logicLevel) << std::endl;
#else
sif::printWarning(
"LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "

2
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -7,7 +7,7 @@
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction,
int initValue) {
gpio::Levels initValue) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

3
hal/src/fsfw_hal/linux/rpi/GpioRPi.h
View File

@ -21,7 +21,8 @@ namespace gpio {
* @return
*/
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue);
std::string consumer, gpio::Direction direction,
gpio::Levels initValue);
} // namespace gpio
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

8
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
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@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
// This updates the SPI clock default polarity. Only setting the mode does not update
// the line state, which can be an issue on mode switches because the clock line will
// switch the state after the chip select is pulled low
clockUpdateTransfer.len = 0;
retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
}

1
hal/src/fsfw_hal/linux/spi/SpiComIF.h
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@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
MutexIF* spiMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator;

4
src/fsfw/CMakeLists.txt
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@ -1,3 +1,7 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
version.cpp
)
# Core
add_subdirectory(action)

6
src/fsfw/FSFWVersion.h.in
View File

@ -2,8 +2,8 @@
#define FSFW_VERSION_H_
// Versioning is kept in project CMakeLists.txt file
#define FSFW_VERSION @FSFW_VERSION@
#define FSFW_SUBVERSION @FSFW_SUBVERSION@
#define FSFW_REVISION @FSFW_REVISION@
#define FSFW_VERSION_MAJOR @FSFW_VERSION@
#define FSFW_VERSION_MINOR @FSFW_SUBVERSION@
#define FSFW_VERSION_REVISION @FSFW_REVISION@
#endif /* FSFW_VERSION_H_ */

7
src/fsfw/osal/host/Clock.cpp
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@ -150,17 +150,14 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
time_tm.tm_hour = from->hour;
time_tm.tm_min = from->minute;
time_tm.tm_sec = from->second;
time_tm.tm_isdst = 0;
time_t seconds = mktime(&time_tm);
time_t seconds = timegm(&time_tm);
to->tv_sec = seconds;
to->tv_usec = from->usecond;
// Fails in 2038..
return HasReturnvaluesIF::RETURN_OK;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {

3
src/fsfw/osal/linux/Clock.cpp
View File

@ -140,8 +140,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
fromTm.tm_hour = from->hour;
fromTm.tm_min = from->minute;
fromTm.tm_sec = from->second;
fromTm.tm_isdst = 0;
to->tv_sec = mktime(&fromTm);
to->tv_sec = timegm(&fromTm);
to->tv_usec = from->usecond;
return HasReturnvaluesIF::RETURN_OK;
}

29
src/fsfw/timemanager/CCSDSTime.cpp
View File

@ -557,6 +557,35 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t
return RETURN_OK;
}
ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short* from) {
if (to == nullptr or from == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t days = (from->dayMSB << 8) + from->dayLSB;
if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
return INVALID_TIME_FORMAT;
}
days -= DAYS_CCSDS_TO_UNIX_EPOCH;
to->tv_sec = days * SECONDS_PER_DAY;
uint32_t msDay =
(from->msDay_hh << 24) + (from->msDay_h << 16) + (from->msDay_l << 8) + from->msDay_ll;
to->tv_sec += (msDay / 1000);
to->tv_usec = (msDay % 1000) * 1000;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime::CDS_short* from) {
if (to == nullptr or from == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeval tempTimeval;
ReturnValue_t result = convertFromCDS(&tempTimeval, from);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval);
}
ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from,
size_t* foundLength, size_t maxLength) {
uint32_t secs = 0;

2
src/fsfw/timemanager/CCSDSTime.h
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@ -180,6 +180,8 @@ class CCSDSTime : public HasReturnvaluesIF {
static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from, size_t *foundLength,
size_t maxLength);
static ReturnValue_t convertFromCDS(timeval *to, const CCSDSTime::CDS_short *from);
static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to, const CCSDSTime::CDS_short *from);
static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to, uint8_t const *from,
size_t *foundLength, size_t maxLength);

22
src/fsfw/version.cpp Normal file
View File

@ -0,0 +1,22 @@
#include "version.h"
#include "fsfw/FSFWVersion.h"
#include <cstdio>
#ifdef major
#undef major
#endif
#ifdef minor
#undef minor
#endif
const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
FSFW_VERSION_REVISION};
fsfw::Version::Version(uint32_t major, uint32_t minor, uint32_t revision)
: major(major), minor(minor), revision(revision) {}
void fsfw::Version::getVersion(char* str, size_t maxLen) const {
snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
}

64
src/fsfw/version.h Normal file
View File

@ -0,0 +1,64 @@
#ifndef FSFW_SRC_FSFW_VERSION_H_
#define FSFW_SRC_FSFW_VERSION_H_
#include "fsfw/FSFW.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iostream>
#endif
#include <cstdint>
namespace fsfw {
class Version {
public:
Version(uint32_t major, uint32_t minor, uint32_t revision);
uint32_t major = 0;
uint32_t minor = 0;
uint32_t revision = 0;
friend bool operator==(const Version& v1, const Version& v2) {
return (v1.major == v2.major and v1.minor == v2.minor and v1.revision == v2.revision);
}
friend bool operator!=(const Version& v1, const Version& v2) { return not(v1 == v2); }
friend bool operator<(const Version& v1, const Version& v2) {
return ((v1.major < v2.major) or (v1.major == v2.major and v1.minor < v2.minor) or
(v1.major == v2.major and v1.minor == v2.minor and v1.revision < v2.revision));
}
friend bool operator>(const Version& v1, const Version& v2) {
return not (v1 < v2) and not (v1 == v2);
}
friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); }
friend bool operator>=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 > v2)); }
#if FSFW_CPP_OSTREAM_ENABLED == 1
/**
* Print format to given ostream using format "major.minor.revision"
* @param os
* @param v
* @return
*/
friend std::ostream& operator<<(std::ostream& os, const Version& v) {
os << v.major << "." << v.minor << "." << v.revision;
return os;
}
#endif
/**
* Get version as format "major.minor.revision"
* @param str
* @param maxLen
*/
void getVersion(char* str, size_t maxLen) const;
};
extern const fsfw::Version FSFW_VERSION;
} // namespace fsfw
#endif /* FSFW_SRC_FSFW_VERSION_H_ */

8
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
View File

@ -208,7 +208,7 @@ ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand
const uint8_t* commandData,
size_t commandDataLen) {
if (fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
#else
@ -351,7 +351,7 @@ ReturnValue_t TestDevice::scanForReply(const uint8_t* start, size_t len, DeviceC
switch (pendingCmd) {
case (TEST_NORMAL_MODE_CMD): {
if (fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID "
<< TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
@ -678,7 +678,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
int32_t newValue = 0;
ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
if (result == HasReturnvaluesIF::RETURN_OK) {
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx
<< "::getParameter: Setting parameter 1 to "
@ -688,7 +687,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
}
parameterWrapper->set(testParameter1);
@ -702,7 +700,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx
<< "::getParameter: Setting parameter 3 to "
@ -715,7 +712,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
"[%f, %f, %f]\n",
deviceIdx, newVector[0], newVector[1], newVector[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
parameterWrapper->setVector(vectorFloatParams2);
break;

11
tests/src/fsfw_tests/unit/CMakeLists.txt
View File

@ -2,14 +2,13 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
CatchDefinitions.cpp
CatchFactory.cpp
printChar.cpp
version.cpp
)
# if(FSFW_CUSTOM_UNITTEST_RUNNER)
target_sources(${FSFW_TEST_TGT} PRIVATE
CatchRunner.cpp
CatchSetup.cpp
)
# endif()
target_sources(${FSFW_TEST_TGT} PRIVATE
CatchRunner.cpp
CatchSetup.cpp
)
add_subdirectory(testcfg)
add_subdirectory(action)

30
tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp
View File

@ -1,6 +1,7 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/globalfunctions/timevalOperations.h>
#include <fsfw/housekeeping/HousekeepingSnapshot.h>
#include <fsfw/ipc/CommandMessageCleaner.h>
#include <fsfw/objectmanager/ObjectManager.h>
@ -93,10 +94,8 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
poolOwner->dataset.setChanged(true);
/* Store current time, we are going to check the (approximate) time equality later */
CCSDSTime::CDS_short timeCdsNow;
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::convertToCcsds(&timeCdsNow, &now);
/* Trigger generation of snapshot */
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
@ -131,13 +130,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
CHECK(newSet.localPoolUint16Vec.value[2] == 42932);
/* Now we check that both times are equal */
CHECK(cdsShort.pField == timeCdsNow.pField);
CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
timeval timeFromHK;
auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
CHECK(result == HasReturnvaluesIF::RETURN_OK);
timeval difference = timeFromHK - now;
CHECK(timevalOperations::toDouble(difference) < 1.0);
}
SECTION("VariableSnapshotTest") {
@ -158,13 +155,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
}
poolVar->setChanged(true);
/* Store current time, we are going to check the (approximate) time equality later */
CCSDSTime::CDS_short timeCdsNow;
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::convertToCcsds(&timeCdsNow, &now);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Check update snapshot was sent. */
@ -193,13 +187,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
CHECK(varCopy.value == 25);
/* Now we check that both times are equal */
CHECK(cdsShort.pField == timeCdsNow.pField);
CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
timeval timeFromHK;
auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
CHECK(result == HasReturnvaluesIF::RETURN_OK);
timeval difference = timeFromHK - now;
CHECK(timevalOperations::toDouble(difference) < 1.0);
}
SECTION("VariableNotificationTest") {

40
tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp
View File

@ -1,3 +1,4 @@
#include <fsfw/globalfunctions/timevalOperations.h>
#include <fsfw/timemanager/CCSDSTime.h>
#include <array>
@ -89,4 +90,43 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
REQUIRE(timeTo.second == 59);
REQUIRE(timeTo.usecond == Catch::Approx(123000));
}
SECTION("CDS Conversions") {
// Preperation
Clock::TimeOfDay_t time;
time.year = 2020;
time.month = 2;
time.day = 29;
time.hour = 13;
time.minute = 24;
time.second = 45;
time.usecond = 123456;
timeval timeAsTimeval;
auto result = Clock::convertTimeOfDayToTimeval(&time, &timeAsTimeval);
CHECK(result == HasReturnvaluesIF::RETURN_OK);
CHECK(timeAsTimeval.tv_sec == 1582982685);
CHECK(timeAsTimeval.tv_usec == 123456);
// Conversion to CDS Short
CCSDSTime::CDS_short cdsTime;
result = CCSDSTime::convertToCcsds(&cdsTime, &timeAsTimeval);
CHECK(result == HasReturnvaluesIF::RETURN_OK);
// Days in CCSDS Epoch 22704 (0x58B0)
CHECK(cdsTime.dayMSB == 0x58);
CHECK(cdsTime.dayLSB == 0xB0);
// MS of day 48285123.456 (floored here)
CHECK(cdsTime.msDay_hh == 0x2);
CHECK(cdsTime.msDay_h == 0xE0);
CHECK(cdsTime.msDay_l == 0xC5);
CHECK(cdsTime.msDay_ll == 0xC3);
// Conversion back to timeval
timeval timeReturnAsTimeval;
result = CCSDSTime::convertFromCDS(&timeReturnAsTimeval, &cdsTime);
CHECK(result == HasReturnvaluesIF::RETURN_OK);
// micro seconds precision is lost
timeval difference = timeAsTimeval - timeReturnAsTimeval;
CHECK(difference.tv_usec == 456);
CHECK(difference.tv_sec == 0);
}
}

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#include "fsfw/version.h"
#include <catch2/catch_test_macros.hpp>
#include "fsfw/serviceinterface.h"
#include "fsfw_tests/unit/CatchDefinitions.h"
TEST_CASE("Version API Tests", "[TestVersionAPI]") {
// Check that major version is non-zero
REQUIRE(fsfw::FSFW_VERSION.major > 0);
uint32_t fsfwMajor = fsfw::FSFW_VERSION.major;
REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION);
fsfw::Version v1 = fsfw::Version(1, 1, 1);
fsfw::Version v2 = fsfw::Version(1, 1, 1);
REQUIRE(v1 == v2);
REQUIRE(not (v1 < v2));
REQUIRE(not (v1 > v2));
REQUIRE(v1 <= v2);
REQUIRE(v1 >= v2);
v1.revision -= 1;
REQUIRE(v1 != v2);
REQUIRE(not (v1 == v2));
REQUIRE(not (v1 > v2));
REQUIRE(not (v1 >= v2));
REQUIRE(v1 < v2);
REQUIRE(v1 <= v2);
v1.revision += 1;
v1.minor -= 1;
REQUIRE(v1 != v2);
REQUIRE(v1 < v2);
REQUIRE(v1 <= v2);
REQUIRE(not (v1 == v2));
REQUIRE(not (v1 > v2));
REQUIRE(not (v1 >= v2));
v1.minor += 1;
v1.major -= 1;
REQUIRE(v1 != v2);
REQUIRE(v1 < v2);
REQUIRE(v1 <= v2);
REQUIRE(not (v1 == v2));
REQUIRE(not (v1 > v2));
REQUIRE(not (v1 >= v2));
v1.major += 1;
REQUIRE(v1 == v2);
REQUIRE(v1 <= v2);
REQUIRE(v1 >= v2);
REQUIRE(not (v1 != v2));
REQUIRE(not (v1 > v2));
REQUIRE(not (v1 < v2));
v1.major += 1;
v1.minor -= 1;
REQUIRE(v1 != v2);
REQUIRE(v1 > v2);
REQUIRE(v1 >= v2);
REQUIRE(not (v1 == v2));
REQUIRE(not (v1 < v2));
REQUIRE(not (v1 <= v2));
v1.major -= 1;
v1.minor += 2;
v1.revision -= 1;
REQUIRE(v1 != v2);
REQUIRE(v1 > v2);
REQUIRE(v1 >= v2);
REQUIRE(not (v1 == v2));
REQUIRE(not (v1 < v2));
REQUIRE(not (v1 <= v2));
v1.minor -= 1;
v1.revision += 2;
REQUIRE(v1 != v2);
REQUIRE(v1 > v2);
REQUIRE(v1 >= v2);
REQUIRE(not (v1 == v2));
REQUIRE(not (v1 < v2));
REQUIRE(not (v1 <= v2));
v1.revision -= 1;
REQUIRE(v1 == v2);
REQUIRE(v1 <= v2);
REQUIRE(v1 >= v2);
REQUIRE(not (v1 != v2));
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "v" << fsfw::FSFW_VERSION << std::endl;
#endif
char verString[10] = {};
fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString));
#if FSFW_DISABLE_PRINTOUT == 0
printf("v%s\n",verString);
#endif
}