linux and FreeRTOS Unit tests and some fixes #721
@ -174,6 +174,27 @@ if(FSFW_BUILD_TESTS)
|
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configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
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configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
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if(FSFW_OSAL MATCHES "freertos")
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message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
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include(FetchContent)
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set(FreeRTOS_PORT posix)
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FetchContent_Declare(
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FreeRTOS
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GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
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GIT_TAG develop
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GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
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FetchContent_MakeAvailable(FreeRTOS)
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set(LIB_OS_NAME FreeRTOS)
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target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
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set(THREADS_PREFER_PTHREAD_FLAG ON)
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find_package(Threads REQUIRED)
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target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
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endif()
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project(${FSFW_TEST_TGT} CXX C)
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add_executable(${FSFW_TEST_TGT})
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if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
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@ -226,6 +247,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
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# GitHub issue: https://github.com/catchorg/Catch2/issues/2417
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set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
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endif()
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endif()
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set(FSFW_CORE_INC_PATH "inc")
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@ -360,6 +382,9 @@ if(FSFW_BUILD_TESTS)
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endif()
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target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
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${LIB_FSFW_NAME})
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if(FSFW_OSAL MATCHES "freertos")
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target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
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endif()
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endif()
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# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
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|
51
automation/Jenkinsfile
vendored
51
automation/Jenkinsfile
vendored
@ -1,48 +1,53 @@
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pipeline {
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environment {
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BUILDDIR = 'cmake-build-tests'
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BUILDDIR_HOST = 'cmake-build-tests-host'
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BUILDDIR_LINUX = 'cmake-build-tests-linux'
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BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
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DOCDDIR = 'cmake-build-documentation'
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}
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agent {
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docker {
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image 'fsfw-ci:d6'
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args '--network host'
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args '--network host --sysctl fs.mqueue.msg_max=100'
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}
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}
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stages {
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stage('Clean') {
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stage('Host') {
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steps {
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sh 'rm -rf $BUILDDIR'
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}
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}
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stage('Configure') {
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steps {
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dir(BUILDDIR) {
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sh 'rm -rf $BUILDDIR_HOST'
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dir(BUILDDIR_HOST) {
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sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
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}
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}
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}
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stage('Build') {
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steps {
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dir(BUILDDIR) {
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sh 'cmake --build . -j4'
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}
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}
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}
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stage('Unittests') {
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steps {
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dir(BUILDDIR) {
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sh 'cmake --build . -- fsfw-tests_coverage -j4'
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sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
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}
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}
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}
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stage('Valgrind') {
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stage('Linux') {
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steps {
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dir(BUILDDIR) {
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sh 'rm -rf $BUILDDIR_LINUX'
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dir(BUILDDIR_LINUX) {
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sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
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sh 'cmake --build . -j4'
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sh 'cmake --build . -- fsfw-tests_coverage -j4'
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sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
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}
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}
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}
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stage('FreeRTOS') {
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steps {
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sh 'rm -rf $BUILDDIR_FREERTOS'
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dir(BUILDDIR_FREERTOS) {
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sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
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sh 'cmake --build . -j4'
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sh 'cmake --build . -- fsfw-tests_coverage -j4'
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//sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
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}
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}
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}
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stage('Documentation') {
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when {
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branch 'development'
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|
@ -23,6 +23,7 @@ EventManager::EventManager(object_id_t setObjectId)
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}
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EventManager::~EventManager() {
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listenerList.clear();
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QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
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MutexFactory::instance()->deleteMutex(mutex);
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}
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@ -61,9 +62,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
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if (!result.second) {
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
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return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
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}
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ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
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return subscribeToEventRange(listener, event);
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}
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@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
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MessageQueueId_t getEventReportQueue();
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ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
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ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
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ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
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ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
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ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
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|
@ -18,6 +18,7 @@ class EventManagerIF {
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virtual ReturnValue_t registerListener(MessageQueueId_t listener,
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bool forwardAllButSelected = false) = 0;
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virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
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virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
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virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
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virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
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|
@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
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#endif
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return;
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}
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manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
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manager->unregisterListener(eventQueue->getId());
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QueueFactory::instance()->deleteMessageQueue(eventQueue);
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}
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@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
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MatchTree(iterator root, uint8_t maxDepth = -1)
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: BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
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MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
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virtual ~MatchTree() {}
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virtual ~MatchTree() { clear(); }
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virtual bool match(T number) override { return matchesTree(number); }
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bool matchesTree(T number) {
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iterator iter = this->begin();
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@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
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return cleanUpElement(position);
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}
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void clear() {
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Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
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if (localRoot == nullptr) {
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return;
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}
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Node* node = localRoot->left;
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while (true) {
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if (node->left != nullptr) {
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node = node->left;
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continue;
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}
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if (node->right != nullptr) {
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node = node->right;
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continue;
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}
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if (node->parent == nullptr) {
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// this is the root node with no children
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if (node->value != nullptr) {
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cleanUpElement(iterator(node));
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}
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return;
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}
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// leaf
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{
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Node* parent = node->parent;
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if (parent->left == node) {
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parent->left = nullptr;
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} else {
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parent->right = nullptr;
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}
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cleanUpElement(iterator(node));
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node = parent;
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}
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}
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}
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virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
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bool matchSubtree(iterator iter, T number) {
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|
@ -6,8 +6,6 @@
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HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
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mutex = MutexFactory::instance()->createMutex();
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;
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mapIterator = healthMap.begin();
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}
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|
@ -14,7 +14,10 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
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mutex = MutexFactory::instance()->createMutex();
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}
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InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
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InternalErrorReporter::~InternalErrorReporter() {
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MutexFactory::instance()->deleteMutex(mutex);
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QueueFactory::instance()->deleteMessageQueue(commandQueue);
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}
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void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
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this->diagnosticPrintout = enable;
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|
@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
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ObjectManager::ObjectManager() = default;
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void ObjectManager::clear() {
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if (objManagerInstance != nullptr) {
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delete objManagerInstance;
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objManagerInstance = nullptr;
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}
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}
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ObjectManager::~ObjectManager() {
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for (auto const& iter : objectList) {
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delete iter.second;
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teardown = true;
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for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
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delete iter->second;
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}
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}
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@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
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}
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ReturnValue_t ObjectManager::remove(object_id_t id) {
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||||
// this function is called during destruction of System Objects
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||||
// disabeld for teardown to avoid iterator invalidation and
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||||
// double free
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||||
if (teardown) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
if (this->getSystemObject(id) != nullptr) {
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||||
this->objectList.erase(id);
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
|
@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
|
||||
using produce_function_t = void (*)(void* args);
|
||||
|
||||
/**
|
||||
* Returns the single instance of TaskFactory.
|
||||
* Returns the single instance of ObjectManager.
|
||||
* The implementation of #instance is found in its subclasses.
|
||||
* Thus, we choose link-time variability of the instance.
|
||||
*/
|
||||
static ObjectManager* instance();
|
||||
|
||||
/**
|
||||
* Deletes the single instance of ObjectManager
|
||||
*/
|
||||
static void clear();
|
||||
|
||||
void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
|
||||
|
||||
template <typename T>
|
||||
@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
|
||||
*/
|
||||
std::map<object_id_t, SystemObjectIF*> objectList;
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||||
static ObjectManager* objManagerInstance;
|
||||
// used when the OM itself is deleted to modify behaviour of remove()
|
||||
// to avoid iterator invalidation and double free
|
||||
bool teardown = false;
|
||||
};
|
||||
|
||||
// Documentation can be found in the class method declaration above
|
||||
|
@ -1,10 +1,13 @@
|
||||
# Check the OS_FSFW variable
|
||||
if(FSFW_OSAL MATCHES "freertos")
|
||||
add_subdirectory(freertos)
|
||||
set(FSFW_OSAL_FREERTOS 1)
|
||||
elseif(FSFW_OSAL MATCHES "rtems")
|
||||
add_subdirectory(rtems)
|
||||
set(FSFW_OSAL_RTEMS 1)
|
||||
elseif(FSFW_OSAL MATCHES "linux")
|
||||
add_subdirectory(linux)
|
||||
set(FSFW_OSAL_LINUX 1)
|
||||
elseif(FSFW_OSAL MATCHES "host")
|
||||
add_subdirectory(host)
|
||||
if(WIN32)
|
||||
@ -13,16 +16,17 @@ elseif(FSFW_OSAL MATCHES "host")
|
||||
# We still need to pull in some Linux specific sources
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
|
||||
endif()
|
||||
|
||||
set(FSFW_OSAL_HOST 1)
|
||||
else()
|
||||
|
||||
message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
|
||||
# Not set. Assumuing this is a host build, try to determine host OS
|
||||
if(WIN32)
|
||||
add_subdirectory(host)
|
||||
add_subdirectory(windows)
|
||||
set(FSFW_OSAL_HOST 1)
|
||||
elseif(UNIX)
|
||||
add_subdirectory(linux)
|
||||
set(FSFW_OSAL_LINUX 1)
|
||||
else()
|
||||
# MacOS or other OSes have not been tested yet / are not supported.
|
||||
message(FATAL_ERROR "The host OS could not be determined! Aborting.")
|
||||
@ -31,3 +35,5 @@ else()
|
||||
endif()
|
||||
|
||||
add_subdirectory(common)
|
||||
|
||||
configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)
|
||||
|
@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
|
||||
void refreshTaskHandle();
|
||||
|
||||
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
|
||||
uint32_t timeoutMs = portMAX_DELAY) override;
|
||||
uint32_t timeoutMs = 0) override;
|
||||
ReturnValue_t release() override;
|
||||
uint8_t getSemaphoreCounter() const override;
|
||||
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
|
||||
|
@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
|
||||
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
|
||||
*/
|
||||
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
|
||||
uint32_t timeoutMs = portMAX_DELAY) override;
|
||||
uint32_t timeoutMs = 0) override;
|
||||
|
||||
/**
|
||||
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
|
||||
|
@ -110,11 +110,13 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
|
||||
time_tm.tm_min = from->minute;
|
||||
time_tm.tm_sec = from->second;
|
||||
|
||||
time_t seconds = mktime(&time_tm);
|
||||
time_tm.tm_isdst = 0;
|
||||
|
||||
time_t seconds = timegm(&time_tm);
|
||||
|
||||
to->tv_sec = seconds;
|
||||
to->tv_usec = from->usecond;
|
||||
// Fails in 2038..
|
||||
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
|
@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
|
||||
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
|
||||
*/
|
||||
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
|
||||
uint32_t timeoutMs = portMAX_DELAY) override;
|
||||
uint32_t timeoutMs = 0) override;
|
||||
|
||||
/**
|
||||
* Release a semaphore, increasing the number of available counting
|
||||
|
@ -56,7 +56,9 @@ ReturnValue_t FixedTimeslotTask::startTask() {
|
||||
// start time for the first entry.
|
||||
auto slotListIter = pollingSeqTable.current;
|
||||
|
||||
pollingSeqTable.intializeSequenceAfterTaskCreation();
|
||||
ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
|
||||
// Ignore returnvalue for now
|
||||
static_cast<void>(result);
|
||||
|
||||
// The start time for the first entry is read.
|
||||
uint32_t intervalMs = slotListIter->pollingTimeMs;
|
||||
|
@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
|
||||
return MutexIF::MUTEX_NOT_FOUND;
|
||||
}
|
||||
// If the timeout type is BLOCKING, this will be the correct value.
|
||||
uint32_t timeout = portMAX_DELAY;
|
||||
TickType_t timeout = portMAX_DELAY;
|
||||
if (timeoutType == TimeoutType::POLLING) {
|
||||
timeout = 0;
|
||||
} else if (timeoutType == TimeoutType::WAITING) {
|
||||
|
@ -3,16 +3,16 @@
|
||||
void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
|
||||
|
||||
void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
|
||||
if (callContext == CallContext::ISR) {
|
||||
// This function depends on the partmacro.h definition for the specific device
|
||||
vRequestContextSwitchFromISR();
|
||||
} else {
|
||||
vRequestContextSwitchFromTask();
|
||||
}
|
||||
// if (callContext == CallContext::ISR) {
|
||||
// // This function depends on the partmacro.h definition for the specific device
|
||||
// vRequestContextSwitchFromISR();
|
||||
// } else {
|
||||
vRequestContextSwitchFromTask();
|
||||
// }
|
||||
}
|
||||
|
||||
TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
|
||||
|
||||
size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
|
||||
return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
|
||||
}
|
||||
// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
|
||||
// return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
|
||||
// }
|
||||
|
@ -11,7 +11,7 @@
|
||||
* Architecture dependant portmacro.h function call.
|
||||
* Should be implemented in bsp.
|
||||
*/
|
||||
extern "C" void vRequestContextSwitchFromISR();
|
||||
// extern "C" void vRequestContextSwitchFromISR();
|
||||
|
||||
/*!
|
||||
* Used by functions to tell if they are being called from
|
||||
@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
|
||||
* @return Smallest value of stack remaining since the task was started in
|
||||
* words.
|
||||
*/
|
||||
size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
|
||||
// size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
|
||||
|
||||
}; // namespace TaskManagement
|
||||
|
||||
|
@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
|
||||
attributes.mq_msgsize = maxMessageSize;
|
||||
attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open
|
||||
// Set the name of the queue. The slash is mandatory!
|
||||
sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
|
||||
sprintf(name, "/FSFW_MQ%u", queueCounter++);
|
||||
|
||||
// Create a nonblocking queue if the name is available (the queue is read
|
||||
// and writable for the owner as well as the group)
|
||||
|
36
src/fsfw/osal/osal.h.in
Normal file
36
src/fsfw/osal/osal.h.in
Normal file
@ -0,0 +1,36 @@
|
||||
#pragma once
|
||||
|
||||
namespace osal {
|
||||
enum osalTarget{
|
||||
HOST,
|
||||
LINUX,
|
||||
WINDOWS,
|
||||
FREERTOS,
|
||||
RTEMS,
|
||||
};
|
||||
|
||||
#cmakedefine FSFW_OSAL_HOST
|
||||
#cmakedefine FSFW_OSAL_LINUX
|
||||
#cmakedefine FSFW_OSAL_WINDOWS
|
||||
#cmakedefine FSFW_OSAL_FREERTOS
|
||||
#cmakedefine FSFW_OSAL_RTEMS
|
||||
|
||||
|
||||
constexpr osalTarget getTarget() {
|
||||
#ifdef FSFW_OSAL_HOST
|
||||
return HOST;
|
||||
#endif
|
||||
#ifdef FSFW_OSAL_LINUX
|
||||
return LINUX;
|
||||
#endif
|
||||
#ifdef FSFW_OSAL_WINDOWS
|
||||
return WINDOWS;
|
||||
#endif
|
||||
#ifdef FSFW_OSAL_FREERTOS
|
||||
return FREERTOS;
|
||||
#endif
|
||||
#ifdef FSFW_OSAL_RTEMS
|
||||
return RTEMS;
|
||||
#endif
|
||||
}
|
||||
};
|
@ -2,12 +2,12 @@
|
||||
|
||||
#include <cstddef>
|
||||
|
||||
#include "fsfw/globalfunctions/CRC.h"
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/serialize/SerializeAdapter.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
|
||||
#include "fsfw/globalfunctions/CRC.h"
|
||||
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
|
||||
|
||||
static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
|
||||
|
||||
@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
|
||||
if (CRC::crc16ccitt(data, size) != 0) {
|
||||
return CONTAINED_TC_CRC_MISSMATCH;
|
||||
}
|
||||
|
||||
|
||||
// store currentPacket and receive the store address
|
||||
store_address_t addr{};
|
||||
if (tcStore->addData(&addr, data, size) != returnvalue::OK ||
|
||||
|
@ -552,10 +552,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short*
|
||||
if (to == nullptr or from == nullptr) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
uint16_t days = (from->dayMSB << 8) + from->dayLSB;
|
||||
if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
|
||||
return INVALID_TIME_FORMAT;
|
||||
}
|
||||
int32_t days = (from->dayMSB << 8) + from->dayLSB;
|
||||
days -= DAYS_CCSDS_TO_UNIX_EPOCH;
|
||||
to->tv_sec = days * SECONDS_PER_DAY;
|
||||
uint32_t msDay =
|
||||
|
@ -10,16 +10,60 @@
|
||||
|
||||
#define CATCH_CONFIG_COLOUR_WINDOWS
|
||||
|
||||
#include <fsfw/osal/osal.h>
|
||||
|
||||
#include <catch2/catch_session.hpp>
|
||||
|
||||
#ifdef FSFW_OSAL_FREERTOS
|
||||
#include <FreeRTOS.h>
|
||||
|
||||
#include "task.h"
|
||||
#endif
|
||||
|
||||
extern int customSetup();
|
||||
extern int customTeardown();
|
||||
|
||||
#ifdef FSFW_OSAL_FREERTOS
|
||||
struct Taskparameters {
|
||||
int argc;
|
||||
char** argv;
|
||||
TaskHandle_t catchTask;
|
||||
} taskParameters;
|
||||
|
||||
void unittestTaskFunction(void* pvParameters) {
|
||||
Taskparameters* parameters = (Taskparameters*)pvParameters;
|
||||
|
||||
int result = Catch::Session().run(parameters->argc, parameters->argv);
|
||||
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
vTaskSuspendAll();
|
||||
vTaskDelete(parameters->catchTask);
|
||||
customTeardown();
|
||||
exit(result);
|
||||
}
|
||||
#endif
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
customSetup();
|
||||
|
||||
int result = 0;
|
||||
|
||||
#ifdef FSFW_OSAL_FREERTOS
|
||||
xTaskCreate(
|
||||
unittestTaskFunction, /* The function that implements the task. */
|
||||
"Unittests", /* The text name assigned to the task - for debug only as it is not used by the
|
||||
kernel. */
|
||||
configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
|
||||
&taskParameters, /* The parameter passed to the task - not used in this simple case. */
|
||||
1, /* The priority assigned to the task. */
|
||||
&taskParameters.catchTask); /* The task handle is not required, so NULL is passed. */
|
||||
taskParameters.argc = argc;
|
||||
taskParameters.argv = argv;
|
||||
vTaskStartScheduler();
|
||||
#else
|
||||
// Catch internal function call
|
||||
int result = Catch::Session().run(argc, argv);
|
||||
result = Catch::Session().run(argc, argv);
|
||||
#endif
|
||||
|
||||
// global clean-up
|
||||
customTeardown();
|
||||
|
@ -31,4 +31,7 @@ int customSetup() {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int customTeardown() { return 0; }
|
||||
int customTeardown() {
|
||||
ObjectManager::clear();
|
||||
return 0;
|
||||
}
|
||||
|
@ -9,7 +9,9 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
|
||||
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
|
||||
}
|
||||
|
||||
DeviceHandlerCommander::~DeviceHandlerCommander() {}
|
||||
DeviceHandlerCommander::~DeviceHandlerCommander() {
|
||||
QueueFactory::instance()->deleteMessageQueue(commandQueue);
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
|
||||
readCommandQueue();
|
||||
|
@ -1,5 +1,6 @@
|
||||
#include <fsfw/globalfunctions/timevalOperations.h>
|
||||
#include <fsfw/timemanager/Clock.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <array>
|
||||
#include <catch2/catch_approx.hpp>
|
||||
|
@ -1,46 +1,38 @@
|
||||
|
||||
#ifdef LINUX
|
||||
|
||||
/*
|
||||
#include <fsfw/osal/osal.h>
|
||||
#include <fsfw/tasks/SemaphoreFactory.h>
|
||||
#include <fsfw/timemanager/Stopwatch.h>
|
||||
|
||||
#include "catch.hpp"
|
||||
#include "core/CatchDefinitions.h"
|
||||
#include <catch2/catch_test_macros.hpp>
|
||||
|
||||
TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") {
|
||||
//perform set-up here
|
||||
SemaphoreIF* binSemaph = SemaphoreFactory::instance()->
|
||||
createBinarySemaphore();
|
||||
REQUIRE(binSemaph != nullptr);
|
||||
SECTION("Simple Test") {
|
||||
// set-up is run for each section
|
||||
REQUIRE(binSemaph->getSemaphoreCounter() == 1);
|
||||
REQUIRE(binSemaph->release() ==
|
||||
static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
|
||||
REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) ==
|
||||
result::OK);
|
||||
{
|
||||
// not precise enough on linux.. should use clock instead..
|
||||
//Stopwatch stopwatch(false);
|
||||
//REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
|
||||
// SemaphoreIF::SEMAPHORE_TIMEOUT);
|
||||
//dur_millis_t time = stopwatch.stop();
|
||||
//CHECK(time == 5);
|
||||
}
|
||||
REQUIRE(binSemaph->getSemaphoreCounter() == 0);
|
||||
REQUIRE(binSemaph->release() == result::OK);
|
||||
}
|
||||
SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
|
||||
// perform tear-down here
|
||||
// binary semaphores currently only supported on linux
|
||||
#if defined(FSFW_OSAL_LINUX) || defined(FSFW_OSAL_FREERTOS)
|
||||
|
||||
TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
|
||||
// perform set-up here
|
||||
SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore();
|
||||
REQUIRE(binSemaph != nullptr);
|
||||
SECTION("Simple Test") {
|
||||
// set-up is run for each section
|
||||
REQUIRE(binSemaph->getSemaphoreCounter() == 1);
|
||||
REQUIRE(binSemaph->release() == static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
|
||||
REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK);
|
||||
{
|
||||
// not precise enough on linux.. should use clock instead..
|
||||
// Stopwatch stopwatch(false);
|
||||
// REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
|
||||
// SemaphoreIF::SEMAPHORE_TIMEOUT);
|
||||
// dur_millis_t time = stopwatch.stop();
|
||||
// CHECK(time == 5);
|
||||
}
|
||||
REQUIRE(binSemaph->getSemaphoreCounter() == 0);
|
||||
REQUIRE(binSemaph->release() == returnvalue::OK);
|
||||
}
|
||||
SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
|
||||
// perform tear-down here
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") {
|
||||
SECTION("Simple Test") {
|
||||
|
||||
}
|
||||
TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") {
|
||||
SECTION("Simple Test") {}
|
||||
}
|
||||
*/
|
||||
|
||||
#endif
|
||||
#endif
|
102
unittests/testcfg/freertos/FreeRTOSConfig.h
Normal file
102
unittests/testcfg/freertos/FreeRTOSConfig.h
Normal file
@ -0,0 +1,102 @@
|
||||
#ifndef FREERTOS_CONFIG_H
|
||||
#define FREERTOS_CONFIG_H
|
||||
|
||||
#define configUSE_PREEMPTION 1
|
||||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
|
||||
#define configUSE_TICKLESS_IDLE 0
|
||||
#define configTICK_RATE_HZ 1000
|
||||
#define configMAX_PRIORITIES 5
|
||||
#define configMINIMAL_STACK_SIZE ((unsigned short)PTHREAD_STACK_MIN)
|
||||
#define configMAX_TASK_NAME_LEN 16
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
#define configIDLE_SHOULD_YIELD 1
|
||||
#define configUSE_TASK_NOTIFICATIONS 1
|
||||
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
|
||||
#define configUSE_MUTEXES 1
|
||||
#define configUSE_RECURSIVE_MUTEXES 0
|
||||
#define configUSE_COUNTING_SEMAPHORES 1
|
||||
#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
|
||||
#define configQUEUE_REGISTRY_SIZE 20
|
||||
#define configUSE_QUEUE_SETS 0
|
||||
#define configUSE_TIME_SLICING 0
|
||||
#define configUSE_NEWLIB_REENTRANT 0
|
||||
#define configENABLE_BACKWARD_COMPATIBILITY 1
|
||||
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
|
||||
#define configUSE_MINI_LIST_ITEM 1
|
||||
#define configSTACK_DEPTH_TYPE uint16_t
|
||||
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
|
||||
#define configHEAP_CLEAR_MEMORY_ON_FREE 1
|
||||
|
||||
/* Memory allocation related definitions. */
|
||||
#define configSUPPORT_STATIC_ALLOCATION 0
|
||||
#define configSUPPORT_DYNAMIC_ALLOCATION 1
|
||||
#define configTOTAL_HEAP_SIZE ((size_t)(1024 * 1024))
|
||||
#define configAPPLICATION_ALLOCATED_HEAP 1
|
||||
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
|
||||
|
||||
/* Hook function related definitions. */
|
||||
#define configUSE_IDLE_HOOK 0
|
||||
#define configUSE_TICK_HOOK 0
|
||||
#define configCHECK_FOR_STACK_OVERFLOW 0
|
||||
#define configUSE_MALLOC_FAILED_HOOK 0
|
||||
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
|
||||
#define configUSE_SB_COMPLETED_CALLBACK 0
|
||||
|
||||
/* Run time and task stats gathering related definitions. */
|
||||
#define configGENERATE_RUN_TIME_STATS 0
|
||||
#define configUSE_TRACE_FACILITY 0
|
||||
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
|
||||
|
||||
/* Co-routine related definitions. */
|
||||
#define configUSE_CO_ROUTINES 0
|
||||
#define configMAX_CO_ROUTINE_PRIORITIES 1
|
||||
|
||||
/* Software timer related definitions. */
|
||||
#define configUSE_TIMERS 1
|
||||
#define configTIMER_TASK_PRIORITY 3
|
||||
#define configTIMER_QUEUE_LENGTH 10
|
||||
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
|
||||
|
||||
/* Interrupt nesting behaviour configuration. */
|
||||
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
|
||||
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
|
||||
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
|
||||
|
||||
/* Define to trap errors during development. */
|
||||
//#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
|
||||
|
||||
/* FreeRTOS MPU specific definitions. */
|
||||
#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
|
||||
#define configTOTAL_MPU_REGIONS 8 /* Default value. */
|
||||
#define configTEX_S_C_B_FLASH 0x07UL /* Default value. */
|
||||
#define configTEX_S_C_B_SRAM 0x07UL /* Default value. */
|
||||
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
|
||||
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
|
||||
#define configENABLE_ERRATA_837070_WORKAROUND 1
|
||||
|
||||
/* ARMv8-M secure side port related definitions. */
|
||||
#define secureconfigMAX_SECURE_CONTEXTS 5
|
||||
|
||||
/* Optional functions - most linkers will remove unused functions anyway. */
|
||||
#define INCLUDE_vTaskPrioritySet 1
|
||||
#define INCLUDE_uxTaskPriorityGet 1
|
||||
#define INCLUDE_vTaskDelete 1
|
||||
#define INCLUDE_vTaskSuspend 1
|
||||
#define INCLUDE_xResumeFromISR 1
|
||||
#define INCLUDE_vTaskDelayUntil 1
|
||||
#define INCLUDE_vTaskDelay 1
|
||||
#define INCLUDE_xTaskGetSchedulerState 1
|
||||
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark 0
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark2 0
|
||||
#define INCLUDE_xTaskGetIdleTaskHandle 0
|
||||
#define INCLUDE_eTaskGetState 0
|
||||
#define INCLUDE_xEventGroupSetBitFromISR 1
|
||||
#define INCLUDE_xTimerPendFunctionCall 0
|
||||
#define INCLUDE_xTaskAbortDelay 0
|
||||
#define INCLUDE_xTaskGetHandle 0
|
||||
#define INCLUDE_xTaskResumeFromISR 1
|
||||
|
||||
/* A header file that defines trace macro can be included here. */
|
||||
|
||||
#endif /* FREERTOS_CONFIG_H */
|
Loading…
x
Reference in New Issue
Block a user