Merge pull request #88 from Glamhoth/ros-190/requirements

ROS#190 - Requirements coverage

demos/samv71-spi-accelerometer/mission_scenario.txt

@@ -0,0 +1,11 @@
+1. Configure data output rate
+2. Configure accelerometer scale to +/- 2
+3. Configure gyroscope scale to +/- 500
+4. Start continuous measurements
+5. Observe measurements on the plot
+7. Reconfigure accelerometer scale to +/- 16
+8. Reconfigure gyroscope scale to +/- 2000
+9. Observe measurements on the plot
+10. Stop continuous measurements
+11. Send request for execution statistics
+12. Observe execution statistics

src/aerugo.rs

@@ -1108,6 +1108,10 @@ impl RuntimeApi for Aerugo {
         self.time_source.system_time()
     }
 
+    fn get_elapsed_time(&'static self) -> Duration {
+        self.time_source.elapsed_time()
+    }
+
     fn set_system_time_offset(&'static self, offset: Duration) -> Result<(), RuntimeError> {
         // SAFETY: This is safe, because it's called from non-IRQ context, and
         // system time cannot be accessed from IRQ context

src/api/runtime_api.rs

@@ -100,6 +100,9 @@ pub trait RuntimeApi {
     /// Gets current system time timestamp.
     fn get_system_time(&'static self) -> Instant;
 
+    /// Gets time elapsed since execution started.
+    fn get_elapsed_time(&'static self) -> Duration;
+
     /// Sets system time offset.
     ///
     /// # Parameters

src/tests/mock_runtime_api.rs

@@ -54,6 +54,10 @@ impl RuntimeApi for MockRuntimeApi {
         todo!()
     }
 
+    fn get_elapsed_time(&'static self) -> Duration {
+        todo!()
+    }
+
     fn set_system_time_offset(&'static self, _offset: Duration) -> Result<(), RuntimeError> {
         todo!()
     }

src/time_source.rs

@@ -23,7 +23,7 @@ use crate::time::{Duration, Instant};
 pub(crate) struct TimeSource {
     /// Time when system scheduler started.
     system_start: OnceCell<Instant>,
-    /// Time since system's scheduler start.
+    /// Time it took to start the system scheduler.
     system_start_offset: OnceCell<Duration>,
     /// User-defined offset.
     user_offset: OnceCell<Duration>,
@@ -58,9 +58,9 @@ impl TimeSource {
     /// Return system time with offset if it was defined.
     ///
     /// # Safety
-    /// This is safe as long as it's used in single-core context, and `TimeSource` does not pass interrupt boundary.
-    /// Calling [`TimeSource::set_user_offset`] in parallel with this function (interrupt is treated as different
-    /// thread) is an undefined behavior.
+    /// This is safe as long as it's used in single-core context, and `TimeSource` does not pass
+    /// interrupt boundary. Calling [`TimeSource::set_user_offset`] in parallel with this function
+    /// (interrupt is treated as different thread) is an undefined behavior.
     pub(crate) fn system_time(&self) -> Instant {
         let start_time = self
             .time_since_start()
@@ -72,16 +72,27 @@ impl TimeSource {
         }
     }
 
-    /// Saves current timestamp as the moment of system start. Should be called by `Aerugo` right before starting
-    /// the scheduler.
+    /// Return time elapsed since scheduler start.
+    ///
+    /// # Safety
+    /// This is safe as long as it's used in single-core context, and `TimeSource` does not pass
+    /// interrupt boundary. Calling [`TimeSource::set_system_start`] in parallel with this function
+    /// (interrupt is treated as different thread) is an undefined behavior.
+    pub(crate) fn elapsed_time(&self) -> Duration {
+        Hal::get_system_time() - *self.system_start.get().expect("System not started")
+    }
+
+    /// Saves current timestamp as the moment of system start. Should be called by `Aerugo` right
+    /// before starting the scheduler.
     ///
     /// # Return
     /// `()` is was set for the first time, `RuntimeError` otherwise.
     ///
     /// # Safety
-    /// This is safe as long as it's used in single-core context, and `TimeSource` does not pass interrupt boundary.
-    /// Calling [`TimeSource::startup_duration`], [`TimeSource::calculate_absolute_time`] in parallel with this
-    /// function (interrupt is treated as different thread) is an undefined behavior.
+    /// This is safe as long as it's used in single-core context, and `TimeSource` does not pass
+    /// interrupt boundary. Calling [`TimeSource::startup_duration`],
+    /// [`TimeSource::calculate_absolute_time`], [`TimeSource::elapsed_time`] in parallel with
+    /// this function (interrupt is treated as different thread) is an undefined behavior.
     pub(crate) unsafe fn set_system_start(&self) {
         let current_time = Hal::get_system_time();
 
@@ -180,3 +191,22 @@ impl TimeSource {
         })
     }
 }
+
+#[cfg(any(doc, test))]
+mod tests {
+    use super::*;
+
+    /// @SRS{ROS-FUN-RTOS-6010}
+    #[cfg_attr(not(doc), test)]
+    #[allow(non_upper_case_globals)]
+    fn req_query_elapsed_time() {
+        let time_source = TimeSource::new();
+
+        unsafe {
+            time_source.set_system_start();
+        }
+
+        let elapsed_time = time_source.elapsed_time();
+        assert!(elapsed_time.ticks() > 0);
+    }
+}

tests/requirements/design.rs

@@ -12,13 +12,13 @@ fn des_tasklet_persistent_context_data() {}
 
 /// @SRS{ROS-FUN-RTOS-030}
 ///
-/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+/// Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
 #[cfg_attr(not(doc), test)]
 fn des_tasklet_user_data_safe_access() {}
 
 /// @SRS{ROS-FUN-RTOS-040}
 ///
-/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+/// Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
 #[cfg_attr(not(doc), test)]
 fn des_safe_access_to_shared_data() {}
 
@@ -40,6 +40,18 @@ fn des_ros_provide_driver_nvic() {}
 #[cfg_attr(not(doc), test)]
 fn des_ros_provide_driver_scb() {}
 
+/// @SRS{ROS-FUN-BSP-SCB-060}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_ros_provide_scb_dcache_invalidation() {}
+
+/// @SRS{ROS-FUN-BSP-SCB-070}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_ros_provide_scb_dcache_clean() {}
+
 /// @SRS{ROS-FUN-BSP-SYST-010}
 ///
 /// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
@@ -88,12 +100,48 @@ fn des_ros_provide_driver_xdmac() {}
 #[cfg_attr(not(doc), test)]
 fn des_ros_provide_driver_fpu() {}
 
+/// @SRS{ROS-IF-010}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_ros_demo_exposes_cnc_interface() {}
+
+/// @SRS{ROS-IF-020}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_ros_demo_uses_ccsds_encapsulation() {}
+
+/// @SRS{ROS-IF-040}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_ros_uart_driver_implements_embedded_hal() {}
+
+/// @SRS{ROS-IF-050}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_ros_pio_driver_implements_embedded_hal() {}
+
+/// @SRS{ROS-IF-060}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_ros_spi_driver_implements_embedded_hal() {}
+
 /// @SRS{ROS-RES-010}
 ///
 /// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
 #[cfg_attr(not(doc), test)]
 fn des_bsp_target_samv71() {}
 
+/// @SRS{ROS-RES-020}
+///
+/// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.
+#[cfg_attr(not(doc), test)]
+fn des_demo_target_samv71() {}
+
 /// @SRS{ROS-DES-010}
 ///
 /// Design Analysis is described in N7S-ROS-SVSR-001, chapter 6.2.

tests/requirements/inspection.rs

@@ -4,6 +4,30 @@
 #[cfg_attr(not(doc), test)]
 fn insp_english_documentation() {}
 
+/// @SRS{ROS-OPER-010}
+///
+/// Inspection is described in N7S-ROS-SVSR-001, chapter 7.2.
+#[cfg_attr(not(doc), test)]
+fn insp_mission_scenario_established() {}
+
+/// @SRS{ROS-OPER-020}
+///
+/// Inspection is described in N7S-ROS-SVSR-001, chapter 7.2.
+#[cfg_attr(not(doc), test)]
+fn insp_mission_scenario_exercises_uart() {}
+
+/// @SRS{ROS-OPER-030}
+///
+/// Inspection is described in N7S-ROS-SVSR-001, chapter 7.2.
+#[cfg_attr(not(doc), test)]
+fn insp_mission_scenario_exercises_spi() {}
+
+/// @SRS{ROS-OPER-040}
+///
+/// Inspection is described in N7S-ROS-SVSR-001, chapter 7.2.
+#[cfg_attr(not(doc), test)]
+fn insp_mission_scenario_exercises_execution_stats() {}
+
 /// @SRS{ROS-DES-030}
 ///
 /// Inspection is described in N7S-ROS-SVSR-001, chapter 7.2.

tests/requirements/test/test_cyclic_execution.rs

@@ -1,5 +1,5 @@
-/// @SRS{ROS-FUN-RTOS-5010}
-/// @SRS{ROS-FUN-RTOS-5020}
+/// @SRS{ROS-FUN-RTOS-4010}
+/// @SRS{ROS-FUN-RTOS-4020}
 #[cfg_attr(not(doc), test)]
 #[cfg(feature = "test-aerugo-cortex-m")]
 fn req_test_cyclic_execution() {

tests/requirements/test/test_hal_scb.rs

@@ -6,8 +6,6 @@
 /// @SRS{ROS-FUN-BSP-SCB-030}
 /// @SRS{ROS-FUN-BSP-SCB-040}
 /// @SRS{ROS-FUN-BSP-SCB-050}
-/// @SRS{ROS-FUN-BSP-SCB-060}
-/// @SRS{ROS-FUN-BSP-SCB-070}
 /// @SRS{ROS-FUN-BSP-SCB-080}
 /// @SRS{ROS-FUN-BSP-SCB-090}
 #[cfg_attr(not(doc), test)]

tests/requirements/test/test_hal_xdmac.rs

@@ -7,6 +7,8 @@
 //   40, 50, 70, 80, 110)
 // * Check if per2mem transfer can be suspended and disabled using UART in loopback mode (90, 100)
 
+/// @SRS{ROS-FUN-BSP-UART-100}
+/// @SRS{ROS-FUN-BSP-UART-110}
 /// @SRS{ROS-FUN-BSP-XDMAC-020}
 /// @SRS{ROS-FUN-BSP-XDMAC-030}
 /// @SRS{ROS-FUN-BSP-XDMAC-040}