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Merge branch 'development' into gaisser_compiler_flags
fsfw/fsfw/pipeline/pr-development This commit looks good Details

This commit is contained in:
Steffen Gaisser 2022-02-28 15:29:57 +01:00
parent 0e8328fca3 33e9592659
commit 68ca6fd122
18 changed files with 263 additions and 171 deletions
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11
CHANGELOG.md
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@ -8,6 +8,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v5.0.0]
## Removed
- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
datapools have been implemented
## Additions
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
# [v4.0.0]
## Additions

26
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
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@ -1,4 +1,13 @@
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "I2cComIF.h"
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
#if FSFW_HAL_I2C_WIRETAPPING == 1
#include "fsfw/globalfunctions/arrayprinter.h"
#endif
#include <errno.h>
#include <fcntl.h>
@ -8,11 +17,6 @@
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
I2cComIF::~I2cComIF() {}
@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
arrayprinter::print(sendData, sendLen);
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
return HasReturnvaluesIF::RETURN_FAILED;
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
arrayprinter::print(replyBuffer, requestLen);
#endif
i2cDeviceMapIter->second.replyLen = requestLen;
return HasReturnvaluesIF::RETURN_OK;
}

21
scripts/helper.py
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@ -97,11 +97,11 @@ def handle_docs_type(args, build_dir_list: list):
build_directory = determine_build_dir(build_dir_list)
os.chdir(build_directory)
if args.build:
os.system("cmake --build . -j")
cmd_runner("cmake --build . -j")
if args.open:
if not os.path.isfile("docs/sphinx/index.html"):
# try again..
os.system("cmake --build . -j")
cmd_runner("cmake --build . -j")
if not os.path.isfile("docs/sphinx/index.html"):
print(
"No Sphinx documentation file detected. "
@ -143,25 +143,21 @@ def handle_tests_type(args, build_dir_list: list):
if which("valgrind") is None:
print("Please install valgrind first")
sys.exit(1)
if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
# If we are in a different directory we try to switch into it but
# this might fail
os.chdir(UNITTEST_FOLDER_NAME)
os.system("valgrind --leak-check=full ./fsfw-tests")
cmd_runner("valgrind --leak-check=full ./fsfw-tests")
os.chdir("..")
def create_tests_build_cfg():
os.mkdir(UNITTEST_FOLDER_NAME)
os.chdir(UNITTEST_FOLDER_NAME)
os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
os.chdir("..")
def create_docs_build_cfg():
os.mkdir(DOCS_FOLDER_NAME)
os.chdir(DOCS_FOLDER_NAME)
os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
os.chdir("..")
@ -184,7 +180,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
def perform_lcov_operation(directory: str, chdir: bool):
if chdir:
os.chdir(directory)
os.system("cmake --build . -- fsfw-tests_coverage -j")
cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
def determine_build_dir(build_dir_list: List[str]):
@ -206,5 +202,10 @@ def determine_build_dir(build_dir_list: List[str]):
return build_directory
def cmd_runner(cmd: str):
print(f"Executing command: {cmd}")
os.system(cmd)
if __name__ == "__main__":
main()

5
src/fsfw/FSFW.h.in
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@ -69,4 +69,9 @@
#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
// Can be used for low-level debugging of the I2C bus
#ifndef FSFW_HAL_I2C_WIRETAPPING
#define FSFW_HAL_I2C_WIRETAPPING 0
#endif
#endif /* FSFW_FSFW_H_ */

1
src/fsfw/controller/ControllerBase.h
View File

@ -1,7 +1,6 @@
#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
#define FSFW_CONTROLLER_CONTROLLERBASE_H_
#include "fsfw/datapool/HkSwitchHelper.h"
#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthHelper.h"
#include "fsfw/modes/HasModesIF.h"

8
src/fsfw/datapool/CMakeLists.txt
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@ -1,6 +1,4 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
HkSwitchHelper.cpp
PoolDataSetBase.cpp
PoolEntry.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
PoolDataSetBase.cpp
PoolEntry.cpp
)

67
src/fsfw/datapool/HkSwitchHelper.cpp
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@ -1,67 +0,0 @@
#include "fsfw/datapool/HkSwitchHelper.h"
#include "fsfw/ipc/QueueFactory.h"
HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy)
: commandActionHelper(this), eventProxy(eventProxy) {
actionQueue = QueueFactory::instance()->createMessageQueue();
}
HkSwitchHelper::~HkSwitchHelper() { QueueFactory::instance()->deleteMessageQueue(actionQueue); }
ReturnValue_t HkSwitchHelper::initialize() {
ReturnValue_t result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
CommandMessage command;
while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = commandActionHelper.handleReply(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
command.setToUnknownCommand();
actionQueue->reply(&command);
}
return HasReturnvaluesIF::RETURN_OK;
}
void HkSwitchHelper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void HkSwitchHelper::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
}
void HkSwitchHelper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void HkSwitchHelper::completionSuccessfulReceived(ActionId_t actionId) {}
void HkSwitchHelper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
}
ReturnValue_t HkSwitchHelper::switchHK(SerializeIF* sids, bool enable) {
// ActionId_t action = HKService::DISABLE_HK;
// if (enable) {
// action = HKService::ENABLE_HK;
// }
//
// ReturnValue_t result = commandActionHelper.commandAction(
// objects::PUS_HK_SERVICE, action, sids);
//
// if (result != HasReturnvaluesIF::RETURN_OK) {
// eventProxy->forwardEvent(SWITCHING_TM_FAILED, result);
// }
// return result;
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueIF* HkSwitchHelper::getCommandQueuePtr() { return actionQueue; }

44
src/fsfw/datapool/HkSwitchHelper.h
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@ -1,44 +0,0 @@
#ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
#define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/events/EventReportingProxyIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
// TODO this class violations separation between mission and framework
// but it is only a transitional solution until the Datapool is
// implemented decentrally
class HkSwitchHelper : public ExecutableObjectIF, public CommandsActionsIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
static const Event SWITCHING_TM_FAILED =
MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2
//!< action: 0 disable / 1 enable
HkSwitchHelper(EventReportingProxyIF* eventProxy);
virtual ~HkSwitchHelper();
ReturnValue_t initialize();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
ReturnValue_t switchHK(SerializeIF* sids, bool enable);
virtual void setTaskIF(PeriodicTaskIF* task_){};
protected:
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step);
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode);
virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size);
virtual void completionSuccessfulReceived(ActionId_t actionId);
virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode);
virtual MessageQueueIF* getCommandQueuePtr();
private:
CommandActionHelper commandActionHelper;
MessageQueueIF* actionQueue;
EventReportingProxyIF* eventProxy;
};
#endif /* FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ */

4
src/fsfw/datapoollocal/LocalDataPoolManager.cpp
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@ -84,8 +84,8 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
return result;
}
printWarningOrError(sif::OutputTypes::OUT_WARNING, "initialize", HasReturnvaluesIF::RETURN_FAILED,
"The map should only be initialized once");
printWarningOrError(sif::OutputTypes::OUT_WARNING, "initializeHousekeepingPoolEntriesOnce",
HasReturnvaluesIF::RETURN_FAILED, "The map should only be initialized once");
return HasReturnvaluesIF::RETURN_OK;
}

27
src/fsfw/internalerror/InternalErrorReporter.cpp
View File

@ -57,6 +57,9 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
internalErrorDataset.storeHits.value += newStoreHits;
internalErrorDataset.tmHits.value += newTmHits;
internalErrorDataset.setValidity(true, true);
if ((newQueueHits != 0) or (newStoreHits != 0) or (newTmHits != 0)) {
internalErrorDataset.setChanged(true);
}
}
}
@ -77,14 +80,6 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
return value;
}
uint32_t InternalErrorReporter::getQueueHits() {
uint32_t value;
mutex->lockMutex(timeoutType, timeoutMs);
value = queueHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementQueueHits() {
mutex->lockMutex(timeoutType, timeoutMs);
queueHits++;
@ -100,14 +95,6 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
return value;
}
uint32_t InternalErrorReporter::getTmHits() {
uint32_t value;
mutex->lockMutex(timeoutType, timeoutMs);
value = tmHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementTmHits() {
mutex->lockMutex(timeoutType, timeoutMs);
tmHits++;
@ -125,14 +112,6 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
return value;
}
uint32_t InternalErrorReporter::getStoreHits() {
uint32_t value;
mutex->lockMutex(timeoutType, timeoutMs);
value = storeHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementStoreHits() {
mutex->lockMutex(timeoutType, timeoutMs);
storeHits++;

9
src/fsfw/internalerror/InternalErrorReporter.h
View File

@ -46,11 +46,11 @@ class InternalErrorReporter : public SystemObject,
virtual ReturnValue_t initializeAfterTaskCreation() override;
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void queueMessageNotSent();
virtual void queueMessageNotSent() override;
virtual void lostTm();
virtual void lostTm() override;
virtual void storeFull();
virtual void storeFull() override;
virtual void setTaskIF(PeriodicTaskIF* task) override;
@ -74,15 +74,12 @@ class InternalErrorReporter : public SystemObject,
uint32_t storeHits = 0;
uint32_t getAndResetQueueHits();
uint32_t getQueueHits();
void incrementQueueHits();
uint32_t getAndResetTmHits();
uint32_t getTmHits();
void incrementTmHits();
uint32_t getAndResetStoreHits();
uint32_t getStoreHits();
void incrementStoreHits();
};

24
src/fsfw/internalerror/InternalErrorReporterIF.h
View File

@ -1,22 +1,34 @@
#ifndef INTERNALERRORREPORTERIF_H_
#define INTERNALERRORREPORTERIF_H_
/**
* @brief Interface which is used to report internal errors like full message queues or stores.
* @details
* This interface smust be used for the InteralErrorReporter object.
* It should be used to indicate that there was a Problem with Queues or Stores.
*
* It can be used to report missing Telemetry which could not be sent due to a internal problem.
*
*/
class InternalErrorReporterIF {
public:
virtual ~InternalErrorReporterIF() {}
/**
* Thread safe
* @brief Function to be called if a message queue could not be sent.
* @details OSAL Implementations should call this function to indicate that
* a message was lost.
*
* Implementations are required to be Thread safe
*/
virtual void queueMessageNotSent() = 0;
/**
* Thread safe
* @brief Function to be called if Telemetry could not be sent
* @details Implementations must be Thread safe
*/
virtual void lostTm() = 0;
/**
* Thread safe
* @brief Function to be called if a onboard storage is full
* @details Implementations must be Thread safe
*/
virtual void storeFull() = 0;
};

7
src/fsfw/osal/host/MessageQueue.cpp
View File

@ -125,6 +125,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
memcpy(targetQueue->messageQueue.back().data(), message->getBuffer(),
message->getMaximumMessageSize());
} else {
if (not ignoreFault) {
InternalErrorReporterIF* internalErrorReporter =
ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;

1
tests/src/fsfw_tests/unit/CMakeLists.txt
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@ -23,3 +23,4 @@ add_subdirectory(timemanager)
add_subdirectory(tmtcpacket)
add_subdirectory(cfdp)
add_subdirectory(hal)
add_subdirectory(internalerror)

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

118
tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp Normal file
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@ -0,0 +1,118 @@
#include <fsfw/housekeeping/HousekeepingSnapshot.h>
#include <fsfw/internalerror/InternalErrorReporter.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/timemanager/CCSDSTime.h>
#include <array>
#include <catch2/catch_test_macros.hpp>
#include "fsfw/action/ActionMessage.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/objectmanager/frameworkObjects.h"
#include "fsfw_tests/unit/CatchDefinitions.h"
#include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
PeriodicTaskMock task(10);
ObjectManagerIF* manager = ObjectManager::instance();
if (manager == nullptr) {
FAIL();
}
InternalErrorReporter* internalErrorReporter = dynamic_cast<InternalErrorReporter*>(
ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER));
if (internalErrorReporter == nullptr) {
FAIL();
}
task.addComponent(objects::INTERNAL_ERROR_REPORTER);
MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(
InternalErrorDataset::ERROR_SET_ID, objects::NO_OBJECT, hkQueue->getId(), true);
StorageManagerIF* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
SECTION("MessageQueueFull") {
CommandMessage message;
ActionMessage::setCompletionReply(&message, 10, true);
auto result = hkQueue->sendMessage(testQueue->getId(), &message);
REQUIRE(result == retval::CATCH_OK);
uint32_t queueHits = 0;
uint32_t lostTm = 0;
uint32_t storeHits = 0;
/* We don't know if another test caused a queue Hit so we will enforce one,
then remeber the queueHit count and force another hit */
internalErrorReporter->queueMessageNotSent();
internalErrorReporter->performOperation(0);
{
CommandMessage hkMessage;
result = hkQueue->receiveMessage(&hkMessage);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
REQUIRE(hkMessage.getCommand() == HousekeepingMessage::UPDATE_SNAPSHOT_SET);
store_address_t storeAddress;
gp_id_t gpid =
HousekeepingMessage::getUpdateSnapshotVariableCommand(&hkMessage, &storeAddress);
REQUIRE(gpid.objectId == objects::INTERNAL_ERROR_REPORTER);
// We need the object ID of the reporter here (NO_OBJECT)
InternalErrorDataset dataset(objects::INTERNAL_ERROR_REPORTER);
CCSDSTime::CDS_short time;
ConstAccessorPair data = ipcStore->getData(storeAddress);
REQUIRE(data.first == HasReturnvaluesIF::RETURN_OK);
HousekeepingSnapshot hkSnapshot(&time, &dataset);
const uint8_t* buffer = data.second.data();
size_t size = data.second.size();
result = hkSnapshot.deSerialize(&buffer, &size, SerializeIF::Endianness::MACHINE);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
// Remember the amount of queueHits before to see the increase
queueHits = dataset.queueHits.value;
lostTm = dataset.tmHits.value;
storeHits = dataset.storeHits.value;
}
result = hkQueue->sendMessage(testQueue->getId(), &message);
REQUIRE(result == MessageQueueIF::FULL);
internalErrorReporter->lostTm();
internalErrorReporter->storeFull();
{
internalErrorReporter->performOperation(0);
CommandMessage hkMessage;
result = hkQueue->receiveMessage(&hkMessage);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
REQUIRE(hkMessage.getCommand() == HousekeepingMessage::UPDATE_SNAPSHOT_SET);
store_address_t storeAddress;
gp_id_t gpid =
HousekeepingMessage::getUpdateSnapshotVariableCommand(&hkMessage, &storeAddress);
REQUIRE(gpid.objectId == objects::INTERNAL_ERROR_REPORTER);
ConstAccessorPair data = ipcStore->getData(storeAddress);
REQUIRE(data.first == HasReturnvaluesIF::RETURN_OK);
CCSDSTime::CDS_short time;
// We need the object ID of the reporter here (NO_OBJECT)
InternalErrorDataset dataset(objects::INTERNAL_ERROR_REPORTER);
HousekeepingSnapshot hkSnapshot(&time, &dataset);
const uint8_t* buffer = data.second.data();
size_t size = data.second.size();
result = hkSnapshot.deSerialize(&buffer, &size, SerializeIF::Endianness::MACHINE);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
// Test that we had one more queueHit
REQUIRE(dataset.queueHits.value == (queueHits + 1));
REQUIRE(dataset.tmHits.value == (lostTm + 1));
REQUIRE(dataset.storeHits.value == (storeHits + 1));
}
// Complete Coverage
internalErrorReporter->setDiagnosticPrintout(true);
internalErrorReporter->setMutexTimeout(MutexIF::TimeoutType::BLOCKING, 0);
{
// Message Queue Id
MessageQueueId_t id = internalErrorReporter->getCommandQueue();
REQUIRE(id != MessageQueueIF::NO_QUEUE);
CommandMessage message;
sid_t sid(objects::INTERNAL_ERROR_REPORTER, InternalErrorDataset::ERROR_SET_ID);
HousekeepingMessage::setToggleReportingCommand(&message, sid, true, false);
result = hkQueue->sendMessage(id, &message);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
internalErrorReporter->performOperation(0);
}
}
QueueFactory::instance()->deleteMessageQueue(testQueue);
QueueFactory::instance()->deleteMessageQueue(hkQueue);
}

37
tests/src/fsfw_tests/unit/mocks/PeriodicTaskIFMock.h Normal file
View File

@ -0,0 +1,37 @@
#ifndef FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
#define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
class PeriodicTaskMock : public PeriodicTaskIF {
public:
PeriodicTaskMock(uint32_t period = 5) : period(period) {}
/**
* @brief A virtual destructor as it is mandatory for interfaces.
*/
virtual ~PeriodicTaskMock() {}
/**
* @brief With the startTask method, a created task can be started
* for the first time.
*/
virtual ReturnValue_t startTask() override { return HasReturnvaluesIF::RETURN_OK; };
virtual ReturnValue_t addComponent(object_id_t object) override {
ExecutableObjectIF* executableObject =
ObjectManager::instance()->get<ExecutableObjectIF>(objects::INTERNAL_ERROR_REPORTER);
if (executableObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
executableObject->setTaskIF(this);
executableObject->initializeAfterTaskCreation();
return HasReturnvaluesIF::RETURN_OK;
};
virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
virtual uint32_t getPeriodMs() const override { return period; };
uint32_t period;
};
#endif // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_

21
tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp
View File

@ -35,4 +35,25 @@ TEST_CASE("MessageQueue Basic Test", "[TestMq]") {
senderId = testReceiverMq->getLastPartner();
CHECK(senderId == testSenderMqId);
}
SECTION("Test Full") {
auto result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
REQUIRE(result == retval::CATCH_OK);
result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
REQUIRE(result == MessageQueueIF::FULL);
// We try another message
result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
REQUIRE(result == MessageQueueIF::FULL);
MessageQueueMessage recvMessage;
result = testReceiverMq->receiveMessage(&recvMessage);
REQUIRE(result == retval::CATCH_OK);
CHECK(recvMessage.getData()[0] == 42);
result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
REQUIRE(result == retval::CATCH_OK);
result = testReceiverMq->receiveMessage(&recvMessage);
REQUIRE(result == retval::CATCH_OK);
CHECK(recvMessage.getData()[0] == 42);
}
// We have to clear MQs ourself ATM
QueueFactory::instance()->deleteMessageQueue(testSenderMq);
QueueFactory::instance()->deleteMessageQueue(testReceiverMq);
}