Update docker image, reduce binary sizes, and fix tests

.devcontainer/devcontainer.json

@@ -1,6 +1,6 @@
 {
     "name": "STS1 COBC",
-    "image": "tuwienspaceteam/sts1-cobc:1.10.0",
+    "image": "tuwienspaceteam/sts1-cobc:1.12.0",
     "customizations": {
         "vscode": {
             "extensions": [

.github/workflows/ci.yml

@@ -23,7 +23,7 @@ on:
 jobs:
   format-and-spell-check:
     runs-on: ubuntu-latest
-    container: tuwienspaceteam/sts1-cobc:1.10.0-linux-x86
+    container: tuwienspaceteam/sts1-cobc:1.12.0-linux-x86
 
     steps:
     - uses: actions/checkout@v4
@@ -43,7 +43,7 @@ jobs:
     needs: format-and-spell-check
 
     runs-on: ubuntu-latest
-    container: tuwienspaceteam/sts1-cobc:1.10.0-linux-x86
+    container: tuwienspaceteam/sts1-cobc:1.12.0-linux-x86
 
     steps:
     - uses: actions/checkout@v4
@@ -71,7 +71,7 @@ jobs:
     needs: format-and-spell-check
 
     runs-on: ubuntu-latest
-    container: tuwienspaceteam/sts1-cobc:1.10.0-linux-x86
+    container: tuwienspaceteam/sts1-cobc:1.12.0-linux-x86
 
     steps:
     - uses: actions/checkout@v4
@@ -97,7 +97,7 @@ jobs:
     needs: format-and-spell-check
 
     runs-on: ubuntu-latest
-    container: tuwienspaceteam/sts1-cobc:1.10.0
+    container: tuwienspaceteam/sts1-cobc:1.12.0
 
     steps:
     - uses: actions/checkout@v4
@@ -147,7 +147,7 @@ jobs:
     needs: format-and-spell-check
 
     runs-on: ubuntu-latest
-    container: tuwienspaceteam/sts1-cobc:1.10.0-linux-x86
+    container: tuwienspaceteam/sts1-cobc:1.12.0-linux-x86
 
     steps:
     - uses: actions/checkout@v4

CMakePresets.json

@@ -40,7 +40,7 @@
       "name": "clang-tidy",
       "hidden": true,
       "cacheVariables": {
-        "CMAKE_CXX_CLANG_TIDY": "clang-tidy;--header-filter=${sourceDir}/*"
+        "CMAKE_CXX_CLANG_TIDY": "clang-tidy;--header-filter=${sourceDir}/*;--extra-arg=-fsized-deallocation"
       }
     },
     {
@@ -81,9 +81,7 @@
       "hidden": true,
       "inherits": "warnings-unix",
       "cacheVariables": {
-        "CMAKE_CXX_FLAGS": "$env{WARNINGS}",
-        "CMAKE_CXX_FLAGS_DEBUG": "-O0 -g -DDEBUG",
-        "CMAKE_CXX_FLAGS_RELEASE": "-Os"
+        "CMAKE_CXX_FLAGS": "$env{WARNINGS}"
       }
     },
     {
@@ -95,7 +93,7 @@
         "cpp-std"
       ],
       "cacheVariables": {
-        "CMAKE_BUILD_TYPE": "Release",
+        "CMAKE_BUILD_TYPE": "MinSizeRel",
         "USE_CCACHE": "OFF"
       }
     },

Sts1CobcSw/CobcSoftware/CommandParser.cpp

@@ -3,9 +3,7 @@
 #include <Sts1CobcSw/Edu/Edu.hpp>
 #include <Sts1CobcSw/Edu/ProgramQueue.hpp>
 #include <Sts1CobcSw/Serial/Serial.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
-
-#include <strong_type/type.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 
 #include <cinttypes>  // IWYU pragma: keep
 

Sts1CobcSw/CobcSoftware/EduCommunicationErrorThread.cpp

@@ -4,7 +4,7 @@
 #include <Sts1CobcSw/Edu/Edu.hpp>
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <strong_type/difference.hpp>

Sts1CobcSw/CobcSoftware/EduHeartbeatThread.cpp

@@ -2,7 +2,7 @@
 #include <Sts1CobcSw/CobcSoftware/TopicsAndSubscribers.hpp>
 #include <Sts1CobcSw/Hal/GpioPin.hpp>
 #include <Sts1CobcSw/Hal/IoNames.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 

Sts1CobcSw/CobcSoftware/EduPowerManagementThread.cpp

@@ -4,7 +4,7 @@
 #include <Sts1CobcSw/Edu/Edu.hpp>
 #include <Sts1CobcSw/Hal/GpioPin.hpp>
 #include <Sts1CobcSw/Hal/IoNames.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 

Sts1CobcSw/CobcSoftware/EduProgramQueueThread.cpp

@@ -8,7 +8,7 @@
 #include <Sts1CobcSw/Edu/Types.hpp>
 #include <Sts1CobcSw/FramSections/RingArray.hpp>
 #include <Sts1CobcSw/ProgramId/ProgramId.hpp>  // IWYU pragma: keep
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RealTime.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>

Sts1CobcSw/CobcSoftware/FlashStartupTestThread.cpp

@@ -4,15 +4,16 @@
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Periphery/Flash.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <rodos_no_using_namespace.h>
 
 
 namespace sts1cobcsw
 {
-constexpr auto stackSize = 100U;
+// Running the SpiSupervisor HW test showed that the minimum required stack size is ~560 bytes
+constexpr auto stackSize = 600;
 
 
 class FlashStartupTestThread : public RODOS::StaticThread<stackSize>

Sts1CobcSw/CobcSoftware/FramEpsStartupTestThread.cpp

@@ -5,7 +5,7 @@
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Periphery/Eps.hpp>
 #include <Sts1CobcSw/Periphery/Fram.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/ErrorDetectionAndCorrection.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 
@@ -17,7 +17,8 @@
 
 namespace sts1cobcsw
 {
-constexpr auto stackSize = 100U;
+// Running the SpiSupervisor HW test showed that the minimum required stack size is ~800 bytes
+constexpr auto stackSize = 850;
 
 
 class FramEpsStartupTestThread : public RODOS::StaticThread<stackSize>

Sts1CobcSw/CobcSoftware/RfStartupTestThread.cpp

@@ -4,15 +4,16 @@
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Periphery/Rf.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <rodos_no_using_namespace.h>
 
 
 namespace sts1cobcsw
 {
-constexpr auto stackSize = 100U;
+// Running the SpiSupervisor HW test showed that the minimum required stack size is ~765 bytes
+constexpr auto stackSize = 800;
 
 
 class RfStartupTestThread : public RODOS::StaticThread<stackSize>

Sts1CobcSw/CobcSoftware/SpiStartupTestAndSupervisorThread.cpp

@@ -8,9 +8,8 @@
 #include <Sts1CobcSw/Hal/Spi.hpp>
 #include <Sts1CobcSw/Periphery/Fram.hpp>
 #include <Sts1CobcSw/Periphery/Spis.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/ErrorDetectionAndCorrection.hpp>
-#include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 
 #include <strong_type/affine_point.hpp>
@@ -25,11 +24,10 @@
 
 namespace sts1cobcsw
 {
-// Running the integration test for the supervisor thread showed that at least 850 bytes are needed
-constexpr auto stackSize = 900U + EXTRA_SANITIZER_STACK_SIZE;
-constexpr auto initialSleepTime = 10 * ms;
-// TODO: Measure how long the startup tests really take to determine the correct timeout
-constexpr auto startupTestTimeout = 100 * ms;
+// Running the golden test for the supervisor thread showed that at least 850 bytes are needed
+constexpr auto stackSize = 900 + EXTRA_SANITIZER_STACK_SIZE;
+
+inline constexpr auto initialSleepTime = 10 * ms;
 // TODO: Think about how often the supervision should run
 constexpr auto supervisionPeriod = 1 * s;
 
@@ -95,6 +93,8 @@ class SpiStartupTestAndSupervisorThread : public RODOS::StaticThread<stackSize>
             DEBUG_PRINT("%s", errorMessage);
             persistentVariables.template Store<"rfIsWorking">(false);
             persistentVariables.template Increment<"nRfErrors">();
+            DEBUG_PRINT("Resetting and rebooting in 2 s\n");
+            // TODO: Add a named constant for this delay
             SuspendFor(2 * s);
             RODOS::hwResetAndReboot();
         }

Sts1CobcSw/CobcSoftware/SpiStartupTestAndSupervisorThread.hpp

@@ -1,7 +1,15 @@
 #pragma once
 
 
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
+
+#include <strong_type/difference.hpp>
+
+
 namespace sts1cobcsw
 {
+// TODO: Measure how long the startup tests really take to determine the correct timeouts
+inline constexpr auto startupTestTimeout = 100 * ms;
+inline constexpr auto totalStartupTestTimeout = 3 * startupTestTimeout + 50 * ms;
 auto ResumeSpiStartupTestAndSupervisorThread() -> void;
 }

Sts1CobcSw/CobcSoftware/StartupTestThreadStubs.cpp

@@ -3,7 +3,7 @@
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Periphery/Fram.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/ErrorDetectionAndCorrection.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 

Sts1CobcSw/Edu/Edu.cpp

@@ -9,7 +9,7 @@
 #include <Sts1CobcSw/Serial/Byte.hpp>
 #include <Sts1CobcSw/Serial/Serial.hpp>
 #include <Sts1CobcSw/Utility/Crc32Software.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/Span.hpp>
 

Sts1CobcSw/Edu/EduMock.cpp

@@ -1,8 +1,6 @@
 #include <Sts1CobcSw/Edu/Edu.hpp>  // IWYU pragma: associated
 #include <Sts1CobcSw/Edu/Types.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
-
-#include <strong_type/type.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 
 #include <cinttypes>  // IWYU pragma: keep
 

Sts1CobcSw/FramSections/RingArray.ipp

@@ -2,7 +2,7 @@
 
 
 #include <Sts1CobcSw/FramSections/RingArray.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/Span.hpp>
 
 

Sts1CobcSw/HelloDummy.cpp

@@ -1,5 +1,5 @@
 #include <Sts1CobcSw/Dummy.hpp>
-#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/DebugPrint.hpp>
 
 #include <rodos_no_using_namespace.h>
 

Sts1CobcSw/Utility/CMakeLists.txt

@@ -3,6 +3,9 @@ target_link_libraries(
     Sts1CobcSw_Utility PUBLIC etl::etl rodos::without_main_on_linux strong_type::strong_type
                               Sts1CobcSw_Serial
 )
+target_compile_definitions(
+    Sts1CobcSw_Utility PUBLIC $<$<CONFIG:Debug,RelWithDebInfo>:ENABLE_DEBUG_PRINT>
+)
 
 if(CMAKE_SYSTEM_NAME STREQUAL Generic)
     target_sources(Sts1CobcSw_Utility PRIVATE Crc32Hardware.cpp)

Sts1CobcSw/Utility/Debug.hpp → Sts1CobcSw/Utility/DebugPrint.hpp

@@ -8,7 +8,7 @@
 #include <cinttypes>
 
 
-#ifdef DEBUG
+#ifdef ENABLE_DEBUG_PRINT
     #pragma GCC diagnostic push
     #pragma GCC diagnostic ignored "-Wpedantic"
     // NOLINTNEXTLINE(cppcoreguidelines-macro-usage, *variadic-macro-arguments)

Tests/GoldenTests/SpiSupervisor.test.cpp

@@ -1,3 +1,4 @@
+#include <Sts1CobcSw/CobcSoftware/SpiStartupTestAndSupervisorThread.hpp>
 #include <Sts1CobcSw/Hal/Spi.hpp>
 #include <Sts1CobcSw/Hal/SpiMock.hpp>
 #include <Sts1CobcSw/Periphery/Fram.hpp>
@@ -61,7 +62,7 @@ class SpiSupervisorTest : public RODOS::StaticThread<>
 
     void run() override
     {
-        SuspendFor(100 * ms);
+        SuspendFor(totalStartupTestTimeout);
 
         PRINTF("\nSPI supervisor test\n\n");
 

Tests/HardwareTests/Littlefs.test.cpp

@@ -39,8 +39,7 @@ class LittlefsTest : public RODOS::StaticThread<stackSize>
     {
         EnableRfLatchupProtection();
 
-        PRINTF("\n\n");
-        PRINTF("littlefs test\n");
+        PRINTF("\n\nlittlefs test\n");
 
         PRINTF("\n");
         auto lfs = lfs_t{};
@@ -56,7 +55,6 @@ class LittlefsTest : public RODOS::StaticThread<stackSize>
         PRINTF("Creating directory '%s' ...\n", directoryPath);
         errorCode = lfs_mkdir(&lfs, directoryPath);
         Check(errorCode == 0);
-
         PRINTF("\n");
         auto const * filePath = "MyFolder/MyFile";
         PRINTF("Creating file '%s' ...\n", filePath);
@@ -92,6 +90,33 @@ class LittlefsTest : public RODOS::StaticThread<stackSize>
         PRINTF("Closing file ...\n");
         errorCode = lfs_file_close(&lfs, &file);
         Check(errorCode == 0);
+
+        PRINTF("\n");
+        PRINTF("Removing the non-empty directory '%s' should fail ...\n", directoryPath);
+        errorCode = lfs_remove(&lfs, directoryPath);
+        PRINTF("Error code = %d == %d\n", errorCode, LFS_ERR_NOTEMPTY);
+        Check(errorCode == LFS_ERR_NOTEMPTY);
+        PRINTF("Removing the file '%s' ...\n", filePath);
+        errorCode = lfs_remove(&lfs, filePath);
+        Check(errorCode == 0);
+        PRINTF("Removing the empty directory '%s' ...\n", directoryPath);
+        errorCode = lfs_remove(&lfs, directoryPath);
+        Check(errorCode == 0);
+
+        PRINTF("\n");
+        PRINTF("Unmounting ...\n");
+        errorCode = lfs_unmount(&lfs);
+        Check(errorCode == 0);
+
+        PRINTF("\n");
+        if(AllChecksPassed())
+        {
+            PRINTF("ALL CHECKS PASSED :)\n");
+        }
+        else
+        {
+            PRINTF("SOME CHECKS FAILED :(\n");
+        }
     }
 } littlefsTest;
 }