Merge pull request #182 from ut-issl/feature/add_utl_cmd_tests

Pre Release (v3.5.0-beta.1): UTL cmd のテストを追加する

Examples/minimum_user_for_s2e/src/src_user/Test/test/src_core/System/TimeManager/test_time_manager.py

@@ -4,6 +4,7 @@
 import os
 import sys
 import time
+import random
 
 import isslwings as wings
 import pytest
@@ -18,28 +19,31 @@
 
 
 # C2Aでのdefine値
+OBCT_STEP_IN_MSEC = 1                                                    # 1 step で何 ms か
+OBCT_STEPS_PER_CYCLE = 100                                               # 何 step で 1 cycle か
+OBCT_CYCLES_PER_SEC = 1000 // OBCT_STEP_IN_MSEC // OBCT_STEPS_PER_CYCLE  # 1 s で何 cycle か
 TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL = 1577836800.0
+TL_ID_DEPLOY_FROM_GS = 0
 
+TL_DFAULT_PAGE_NO = 0
 
 @pytest.mark.sils
 @pytest.mark.real
 def test_tmgr_set_time():
 
-    ret = wings.util.send_cmd_and_confirm(
+    assert "PRM" == wings.util.send_rt_cmd_and_confirm(
         ope, c2a_enum.Cmd_CODE_TMGR_SET_TIME, (0xFFFFFFFF,), c2a_enum.Tlm_CODE_HK
     )
-    assert ret == "PRM"
 
     # TL2のテレメループが途切れないように、現在時刻より未来のTIに飛ばす
     tlm_HK = wings.util.generate_and_receive_tlm(
         ope, c2a_enum.Cmd_CODE_GENERATE_TLM, c2a_enum.Tlm_CODE_HK
     )
     target_ti = tlm_HK["HK.SH.TI"] + 1000
 
-    ret = wings.util.send_cmd_and_confirm(
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
         ope, c2a_enum.Cmd_CODE_TMGR_SET_TIME, (target_ti,), c2a_enum.Tlm_CODE_HK
     )
-    assert ret == "SUC"
     tlm_HK = wings.util.generate_and_receive_tlm(
         ope, c2a_enum.Cmd_CODE_GENERATE_TLM, c2a_enum.Tlm_CODE_HK
     )
@@ -51,57 +55,198 @@ def test_tmgr_set_time():
 @pytest.mark.real
 def test_tmgr_set_unixtime():
 
+    # unixtime_at_ti0 を current_unixtime とランダムな TI で更新
     current_unixtime = time.time()
-
-    ti = 1000
-    step = 60
-    ret = wings.util.send_cmd_and_confirm(
+    ti = random.randrange(1000)
+    step = random.randrange(OBCT_STEPS_PER_CYCLE) # step は OBCT_STEPS_PER_CYCLE 未満 とすること
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
         ope,
         c2a_enum.Cmd_CODE_TMGR_SET_UNIXTIME,
         (current_unixtime, ti, step),
         c2a_enum.Tlm_CODE_HK,
     )
-    assert ret == "SUC"
 
-    # 0.05秒の精度でunixtimeが正確に登録されているか確認
     tlm_HK = wings.util.generate_and_receive_tlm(
         ope, c2a_enum.Cmd_CODE_GENERATE_TLM, c2a_enum.Tlm_CODE_HK
     )
-    unixtime_at_ti0 = current_unixtime - (ti / 10) - (step / 1000)
-    assert tlm_HK["HK.OBC_TM_UNIXTIME_AT_TI0"] > unixtime_at_ti0 - 0.05
-    assert tlm_HK["HK.OBC_TM_UNIXTIME_AT_TI0"] < unixtime_at_ti0 + 0.05
+    unixtime_at_ti0 = current_unixtime - (ti / OBCT_CYCLES_PER_SEC) - (step / OBCT_CYCLES_PER_SEC / OBCT_STEPS_PER_CYCLE)
+    assert tlm_HK["HK.OBC_TM_UNIXTIME_AT_TI0"] < unixtime_at_ti0 + OBCT_STEP_IN_MSEC / 1000
+    assert tlm_HK["HK.OBC_TM_UNIXTIME_AT_TI0"] > unixtime_at_ti0 - OBCT_STEP_IN_MSEC / 1000
 
 
 @pytest.mark.sils
 @pytest.mark.real
 def test_tmgr_set_utl_unixtime_epoch():
 
-    epoch_set = time.time() # 現在のunixtimeをepochに設定する
-
-    ret = wings.util.send_cmd_and_confirm(
-        ope, c2a_enum.Cmd_CODE_TMGR_SET_UTL_UNIXTIME_EPOCH, (epoch_set,), c2a_enum.Tlm_CODE_HK
+    # epoch を現在の unixtime に変更
+    new_epoch = time.time()
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope, c2a_enum.Cmd_CODE_TMGR_SET_UTL_UNIXTIME_EPOCH, (new_epoch,), c2a_enum.Tlm_CODE_HK
     )
-    assert ret == "SUC"
 
     tlm_MOBC = wings.util.generate_and_receive_tlm(
         ope, c2a_enum.Cmd_CODE_GENERATE_TLM, c2a_enum.Tlm_CODE_MOBC
     )
-    assert tlm_MOBC["MOBC.TM_UTL_UNIXTIME_EPOCH"] == epoch_set
+    assert tlm_MOBC["MOBC.TM_UTL_UNIXTIME_EPOCH"] == new_epoch
+
+
+@pytest.mark.sils
+@pytest.mark.real
+def test_tmgr_utl_cmd():
+
+    # unixtime_at_ti0 > epoch の場合（正常時）
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope, c2a_enum.Cmd_CODE_TMGR_SET_UTL_UNIXTIME_EPOCH, (TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL,), c2a_enum.Tlm_CODE_HK
+    )
+    unixtime_at_ti0 = time.time()
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TMGR_SET_UNIXTIME,
+        (unixtime_at_ti0, 0, 0),
+        c2a_enum.Tlm_CODE_HK,
+    )
+
+    test_utl_cmd_ten_times(unixtime_at_ti0, TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL)
+
+
+    # unixtime_at_ti0 < epoch の場合（TL0に登録されないことを確認する）
+    unixtime_at_ti0 = TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL - 100
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TMGR_SET_UNIXTIME,
+        (unixtime_at_ti0, 0, 0),
+        c2a_enum.Tlm_CODE_HK,
+    )
+
+    test_utl_cmd_ten_times(unixtime_at_ti0, TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL)
+
+
+    # epoch が変わった場合
+    new_epoch = time.time()
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope, c2a_enum.Cmd_CODE_TMGR_SET_UTL_UNIXTIME_EPOCH, (new_epoch,), c2a_enum.Tlm_CODE_HK
+    )
+
+    unixtime_at_ti0 = time.time() + 100
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TMGR_SET_UNIXTIME,
+        (unixtime_at_ti0, 0, 0),
+        c2a_enum.Tlm_CODE_HK,
+    )
+
+    test_utl_cmd_ten_times(unixtime_at_ti0, new_epoch)
+
+
+@pytest.mark.sils
+@pytest.mark.real
+def test_tmgr_final_check():
+    # unixtime_at_ti0 を初期化する
+    unixtime_at_ti0 = 0.0
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TMGR_SET_UNIXTIME,
+        (unixtime_at_ti0, 0, 0),
+        c2a_enum.Tlm_CODE_HK,
+    )
 
     # epochをデフォルトに戻す
-    ret = wings.util.send_cmd_and_confirm(
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
         ope, c2a_enum.Cmd_CODE_TMGR_SET_UTL_UNIXTIME_EPOCH, (TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL,), c2a_enum.Tlm_CODE_HK
     )
-    assert ret == "SUC"
 
-    tlm_MOBC = wings.util.generate_and_receive_tlm(
-        ope, c2a_enum.Cmd_CODE_GENERATE_TLM, c2a_enum.Tlm_CODE_MOBC
+
+def test_utl_cmd_ten_times(unixtime_at_ti0, utl_unixtime_epoch):
+    # 最初にTL0をクリアしておく
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TLCD_CLEAR_ALL_TIMELINE,
+        (TL_ID_DEPLOY_FROM_GS, ),
+        c2a_enum.Tlm_CODE_HK,
+    )
+
+    tlm_HK = wings.util.generate_and_receive_tlm(
+        ope, c2a_enum.Cmd_CODE_GENERATE_TLM, c2a_enum.Tlm_CODE_HK
     )
-    assert tlm_MOBC["MOBC.TM_UTL_UNIXTIME_EPOCH"] == TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL
+    unixtime_now = unixtime_at_ti0 + tlm_HK["HK.SH.TI"] / OBCT_CYCLES_PER_SEC
+
+    # NOP を10個, 未来のランダムな unixtime で登録する
+    unixtime_of_cmds = generate_random_unixtime(unixtime_now, 10)
+    send_utl_nops(unixtime_of_cmds)
+
+    # 重複を削除して時刻順に並べ替え
+    unixtime_of_cmds = list(set(unixtime_of_cmds))
+    unixtime_of_cmds.sort()
+
+
+    # TL0 に正しく登録されているか確認
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TLCD_SET_LINE_NO_FOR_TIMELINE_TLM,
+        (TL_ID_DEPLOY_FROM_GS, ),
+        c2a_enum.Tlm_CODE_HK,
+    )
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TLCD_SET_PAGE_FOR_TLM,
+        (TL_DFAULT_PAGE_NO, ),
+        c2a_enum.Tlm_CODE_HK,
+    )
+
+    tlm_TL = wings.util.generate_and_receive_tlm(
+        ope, c2a_enum.Cmd_CODE_GENERATE_TLM, c2a_enum.Tlm_CODE_TL
+    )
+    assert tlm_TL["TL.LINE_NO"] == TL_ID_DEPLOY_FROM_GS
+    assert tlm_TL["TL.PAGE_NO"] == TL_DFAULT_PAGE_NO
+
+    for i, unixtime in enumerate(unixtime_of_cmds):
+        tlm_name = "TL.CMD" + str(i) + "_TI"
+        ti = calc_ti_from_unixtime(unixtime, unixtime_at_ti0, utl_unixtime_epoch)
+
+        assert tlm_TL[tlm_name] > ti - 1
+        assert tlm_TL[tlm_name] < ti + 1
+
+    # 最後にTL0をもう一度クリアする
+    assert "SUC" == wings.util.send_rt_cmd_and_confirm(
+        ope,
+        c2a_enum.Cmd_CODE_TLCD_CLEAR_ALL_TIMELINE,
+        (TL_ID_DEPLOY_FROM_GS, ),
+        c2a_enum.Tlm_CODE_HK,
+    )
+
+
+# 未来のランダムな時刻の unixtime を num 個生成する
+def generate_random_unixtime(unixtime_now, num):
+    # TODO: wingsがutl_cmdの時刻引数を0.1秒刻みで受け付けるように改修されたら, 整数縛りをなくす
+    unixtime_future = (int)(unixtime_now) + 1000
+
+    return [unixtime_future + random.randrange(100) for i in range(num)]
+
+
+def send_utl_nops(unixtime_of_cmds):
+    for unixtime in unixtime_of_cmds:
+        # utl_cmd のwings側の時刻引数は一般の unixtime であることに注意
+        wings.util.send_utl_cmd(
+            ope, unixtime, c2a_enum.Cmd_CODE_NOP, (),
+        )
+
+
+def calc_ti_from_unixtime(unixtime, unixtime_at_ti0, epoch):
+    if unixtime_at_ti0 <= epoch:
+        # この場合, 意図した TI で登録できないので C2A では実行時刻 TI = 0 が返され, TL0 には登録されない
+        # TLM_TL の TI の値はデフォルト値のゼロになっているべきなので, 整合するようにゼロを返す
+        return 0
+
+    ti = (unixtime - unixtime_at_ti0) * OBCT_CYCLES_PER_SEC  # 概算値なので小数のまま
+
+    # utl_unixtime_epoch をデフォルトから変更した場合, wings側とずれが生じる
+    # epoch が増えた分だけ, C2A 上では utl_unixtime_at_ti0 が小さくなり, 実行時刻 TI は大きく見積もられる
+    return ti + (epoch - TMGR_DEFAULT_UNIXTIME_EPOCH_FOR_UTL) * OBCT_CYCLES_PER_SEC
 
 
 if __name__ == "__main__":
     # test_tmgr_set_time()
     # test_tmgr_set_unixtime()
     # test_tmgr_set_utl_unixtime_epoch()
+    # test_tmgr_utl_cmd()
     pass

System/TimeManager/time_manager.c

@@ -156,6 +156,13 @@ cycle_t TMGR_get_utl_unixtime_from_unixtime(const double unixtime)
 cycle_t TMGR_get_ti_from_utl_unixtime(const cycle_t utl_unixtime)
 {
   cycle_t utl_unixtime_at_ti0 = TMGR_get_utl_unixtime_from_unixtime(time_manager_.unixtime_info_.unixtime_at_ti0);
+
+  // unixtime_at_ti0 <= epoch となるのはおかしいのでゼロを返す
+  if (utl_unixtime_at_ti0 == 0) return 0;
+
+  // unixtime_at_ti0 より小さい実行時刻は無効なのでゼロを返す
+  if (utl_unixtime < utl_unixtime_at_ti0) return 0;
+
   return utl_unixtime - utl_unixtime_at_ti0;
 }
 

System/TimeManager/time_manager.h

@@ -154,7 +154,8 @@ cycle_t TMGR_get_utl_unixtime_from_unixtime(const double unixtime);
  * @brief 引数で指定された utl_unixtime に対応する TI を返す
  * @note UTL_cmd で実行時刻情報を TI に変換する際に用いる
  * @param[in] utl_unixtime
- * @return TI (total_cycleのこと)
+ * @retval 0 : "unixtime_at_ti0 <= utl_unixtime_epoch" or "utl_unixtime < utl_unixtime_at_ti0" の場合
+ * @retval TI (total_cycleのこと) : それ以外の場合
  */
 cycle_t TMGR_get_ti_from_utl_unixtime(const cycle_t utl_unixtime);
 

c2a_core_main.h

@@ -10,6 +10,6 @@ void C2A_core_main(void);
 #define C2A_CORE_VER_MAJOR (3)
 #define C2A_CORE_VER_MINOR (5)
 #define C2A_CORE_VER_PATCH (0)
-#define C2A_CORE_VER_PRE   ("beta.0")
+#define C2A_CORE_VER_PRE   ("beta.1")
 
 #endif