Ensure watchdog integration test cleans up after itself

.pre-commit-config.yaml

@@ -24,3 +24,12 @@ repos:
     - id: cpplint
       args:
         - --config=cpplint.cfg
+
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.13.2
+  hooks:
+    - id: ruff-check
+      args: [--fix]
+    - id: ruff-check
+      args: [--fix, --select, I] # import sorting
+    - id: ruff-format

FprimeZephyrReference/Components/Watchdog/Watchdog.cpp

@@ -22,8 +22,8 @@ Watchdog ::~Watchdog() {}
 // ----------------------------------------------------------------------
 
 void Watchdog ::run_handler(FwIndexType portNum, U32 context) {
-    // Only perform actions when stop not requested
-    if (!this->m_stopRequested) {
+    // Only perform actions when run is enabled
+    if (this->m_run) {
         // Toggle state every rate group call
         this->m_state = (this->m_state == Fw::On::ON) ? Fw::On::OFF : Fw::On::ON;
         this->m_transitions++;
@@ -33,17 +33,35 @@ void Watchdog ::run_handler(FwIndexType portNum, U32 context) {
     }
 }
 
+void Watchdog ::start_handler(FwIndexType portNum) {
+    // Start the watchdog
+    this->m_run = true;
+
+    // Report watchdog started
+    this->log_ACTIVITY_HI_WatchdogStart();
+}
+
 void Watchdog ::stop_handler(FwIndexType portNum) {
-    // Set the stop flag to stop watchdog petting
-    this->m_stopRequested = true;
+    // Stop the watchdog
+    this->m_run = false;
+
+    // Report watchdog stopped
     this->log_ACTIVITY_HI_WatchdogStop();
 }
 
 // ----------------------------------------------------------------------
 // Handler implementations for commands
 // ----------------------------------------------------------------------
 
-void Watchdog ::TEST_STOP_WATCHDOG_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+void Watchdog ::START_WATCHDOG_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    // call start handler
+    this->start_handler(0);
+
+    // Provide command response
+    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
+}
+
+void Watchdog ::STOP_WATCHDOG_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
     // call stop handler
     this->stop_handler(0);
 

FprimeZephyrReference/Components/Watchdog/Watchdog.fpp

@@ -1,23 +1,34 @@
 module Components {
-    @ Component to blink an LED as a watchdog petter, driven by a rate group
+    @ Component to pet the watchdog, driven by a rate group
     passive component Watchdog {
+        @ Command to start the watchdog
+        sync command START_WATCHDOG(
+        )
 
-        @ Command to stop the watchdog petter
-        sync command TEST_STOP_WATCHDOG(
+        @ Command to stop the watchdog
+        sync command STOP_WATCHDOG(
         )
 
-        @ Telemetry channel counting watchdog petter transitions
+        @ Telemetry channel counting watchdog pet transitions
         telemetry WatchdogTransitions: U32
 
-        @ Event logged when the watchdog petter LED turns on or off
+        @ Event logged when the watchdog is started
+        event WatchdogStart() \
+            severity activity high \
+            format "Watchdog started"
+
+        @ Event logged when the watchdog is stopped
         event WatchdogStop() \
             severity activity high \
-            format "Watchdog no longer being pet!"
+            format "Watchdog stopped"
 
         @ Port receiving calls from the rate group
         sync input port run: Svc.Sched
 
-        @ Port to stop the watchdog petting
+        @ Port to start the watchdog
+        sync input port start: Fw.Signal
+
+        @ Port to stop the watchdog
         sync input port stop: Fw.Signal
 
         @ Port sending calls to the GPIO driver

FprimeZephyrReference/Components/Watchdog/Watchdog.hpp

@@ -39,22 +39,40 @@ class Watchdog : public WatchdogComponentBase {
                      U32 context           //!< The call order
                      ) override;
 
+    //! Handler implementation for start
+    //!
+    //! Port to start the watchdog
+    void start_handler(FwIndexType portNum  //!< The port number
+                       ) override;
+
     //! Handler implementation for stop
     //!
-    //! Port to stop the watchdog petting
-    void stop_handler(FwIndexType portNum) override;
+    //! Port to stop the watchdog
+    void stop_handler(FwIndexType portNum  //!< The port number
+                      ) override;
 
-  private:
     // ----------------------------------------------------------------------
     // Handler implementations for commands
     // ----------------------------------------------------------------------
 
-    void TEST_STOP_WATCHDOG_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
+    //! Handler implementation for command START_WATCHDOG
+    //!
+    //! Command to start the watchdog
+    void START_WATCHDOG_cmdHandler(FwOpcodeType opCode,  //!< The opcode
+                                   U32 cmdSeq            //!< The command sequence number
+                                   ) override;
+
+    //! Handler implementation for command STOP_WATCHDOG
+    //!
+    //! Command to stop the watchdog
+    void STOP_WATCHDOG_cmdHandler(FwOpcodeType opCode,  //!< The opcode
+                                  U32 cmdSeq            //!< The command sequence number
+                                  ) override;
 
-    std::atomic_bool m_stopRequested{false};  //! Flag to stop the watchdog petting
-    Fw::On m_state = Fw::On::OFF;             //! Keeps track of GPIO state
-    U32 m_transitions = 0;                    //! The number of on/off transitions that have occurred
-                                              //! from FSW boot up
+    std::atomic_bool m_run{true};  //! Flag to start or stop the watchdog
+    Fw::On m_state = Fw::On::OFF;  //! Keeps track of GPIO state
+    U32 m_transitions = 0;         //! The number of on/off transitions that have occurred
+                                   //! from FSW boot up
 };
 
 }  // namespace Components

FprimeZephyrReference/Components/Watchdog/docs/sdd.md

@@ -12,10 +12,12 @@ Requirement | Description | Verification Method | Verified?
 ----------- | ----------- | ------------------- | ---------
 WD-001 | The `Components::Watchdog` component shall activate upon startup. | Inspection | Yes
 WD-002 | The `Components::Watchdog` component shall oscillate the watchdog GPIO pin (24) on/off on each rategroup tick. | Inspection | Yes
-WD-003 | The `Components::Watchdog` component shall provide telemetry for watchdog transition count. | Integration Test | In Progress
-WD-004 | The `Components::Watchdog` component shall respond to stop signals to halt the watchdog petting. | Integration Test | Yes
-WD-005 | The `Components::Watchdog` component shall provide a test command to stop the watchdog petting. | Integration Test | Yes
-WD-006 | The `Components::Watchdog` component shall emit an event when the watchdog petting stops. | Integration Test | Yes
+WD-003 | The `Components::Watchdog` component shall provide telemetry for watchdog transition count. | Integration Test | Yes
+WD-004 | The `Components::Watchdog` component shall respond to stop signals to halt the watchdog. | Integration Test | Yes
+WD-005 | The `Components::Watchdog` component shall provide a test command to stop the watchdog. | Integration Test | Yes
+WD-006 | The `Components::Watchdog` component shall emit an event when the watchdog stops. | Integration Test | Yes
+WD-007 | The `Components::Watchdog` component shall provide a test command to start the watchdog. | Integration Test | Yes
+WD-008 | The `Components::Watchdog` component shall emit an event when the watchdog starts. | Integration Test | Yes
 
 ## 3. Design
 
@@ -32,20 +34,23 @@ The `Components::Watchdog` component has the following component diagram:
 Port Data Type | Name | Direction | Kind | Usage
 -------------- | ---- | --------- | ---- | -----
 [`Svc::Sched`]| run | Input | Synchronous | Receive periodic calls from rate group
-[`Fw::Signal`]| stop | Input | Synchronous | Receive stop signal to stop watchdog petter
+[`Fw::Signal`]| start | Input | Synchronous | Receive start signal to start watchdog
+[`Fw::Signal`]| stop | Input | Synchronous | Receive stop signal to stop watchdog
 [`Drv::GpioWrite`]| gpioSet | Output | n/a | Control GPIO state through driver
 
 #### 3.1.3 Commands
 
 Name | Kind | Description
 ---- | ---- | -----
-TEST_STOP_WATCHDOG | Synchronous | calls the port `stop_runhandler` to stop the watchdog petter.
+START_WATCHDOG | Synchronous | calls the port `start_runhandler` to start the watchdog.
+STOP_WATCHDOG | Synchronous | calls the port `stop_runhandler` to stop the watchdog.
 
 #### 3.1.4 Events
 
 Name | Description
 ---- | -----
-WatchdogStop | Emits once the watchdog petting has stopped. .
+WatchdogStart | Emits once the watchdog has started.
+WatchdogStop | Emits once the watchdog has stopped.
 
 #### 3.1.5 Telemetry
 

FprimeZephyrReference/test/int/watchdog_test.py

@@ -0,0 +1,86 @@
+"""
+watchdog_test.py:
+
+Integration tests for the Watchdog component.
+"""
+
+import time
+
+import pytest
+from fprime_gds.common.data_types.ch_data import ChData
+from fprime_gds.common.testing_fw.api import IntegrationTestAPI
+
+
+@pytest.fixture(autouse=True)
+def ensure_watchdog_running(fprime_test_api: IntegrationTestAPI):
+    """Fixture to ensure watchdog is started before and after each test"""
+    start_watchdog(fprime_test_api)
+    yield
+    start_watchdog(fprime_test_api)
+
+
+def start_watchdog(fprime_test_api: IntegrationTestAPI):
+    """Helper function to start the watchdog"""
+    fprime_test_api.send_and_assert_command(
+        "ReferenceDeployment.watchdog.START_WATCHDOG", max_delay=2
+    )
+    fprime_test_api.assert_event(
+        "ReferenceDeployment.watchdog.WatchdogStart", timeout=2
+    )
+
+
+def get_watchdog_transitions(fprime_test_api: IntegrationTestAPI) -> int:
+    """Helper function to request packet and get fresh WatchdogTransitions telemetry"""
+    fprime_test_api.clear_histories()
+    fprime_test_api.send_and_assert_command(
+        "CdhCore.tlmSend.SEND_PKT", ["5"], max_delay=2
+    )
+    result: ChData = fprime_test_api.assert_telemetry(
+        "ReferenceDeployment.watchdog.WatchdogTransitions", start="NOW", timeout=3
+    )
+    return result.get_val()
+
+
+def test_01_watchdog_telemetry_basic(fprime_test_api: IntegrationTestAPI):
+    """Test that we can read WatchdogTransitions telemetry"""
+    value = get_watchdog_transitions(fprime_test_api)
+    assert value >= 0, f"WatchdogTransitions should be >= 0, got {value}"
+
+
+def test_02_watchdog_increments(fprime_test_api: IntegrationTestAPI):
+    """Test that WatchdogTransitions increments over time"""
+
+    initial_value = get_watchdog_transitions(fprime_test_api)
+    time.sleep(2.0)  # Wait for watchdog to run more cycles
+    updated_value = get_watchdog_transitions(fprime_test_api)
+
+    assert updated_value > initial_value, (
+        f"WatchdogTransitions should increase. Initial: {initial_value}, Updated: {updated_value}"
+    )
+
+
+def test_03_stop_watchdog_command(fprime_test_api: IntegrationTestAPI):
+    """
+    Test STOP_WATCHDOG command sends and emits WatchdogStop
+    event and WatchdogTransitions stops incrementing
+    """
+    fprime_test_api.clear_histories()
+
+    # Send stop command
+    fprime_test_api.send_and_assert_command(
+        "ReferenceDeployment.watchdog.STOP_WATCHDOG", max_delay=2
+    )
+
+    # Check for watchdog stop event
+    fprime_test_api.assert_event("ReferenceDeployment.watchdog.WatchdogStop", timeout=2)
+
+    # Get watchdog transition count
+    initial_value = get_watchdog_transitions(fprime_test_api)
+
+    # Wait and check that it's no longer incrementing
+    time.sleep(2.0)
+    final_value = get_watchdog_transitions(fprime_test_api)
+
+    assert final_value == initial_value, (
+        f"Watchdog should remain stopped. Initial: {initial_value}, Final: {final_value}"
+    )

Makefile

@@ -55,6 +55,10 @@ build: submodules zephyr-setup fprime-venv generate-if-needed ## Build FPrime-Ze
 	@echo "Building..."
 	@$(UV) run fprime-util build
 
+.PHONY: test-integration
+test-integration:
+	@$(UV) run pytest FprimeZephyrReference/test/int --deployment build-artifacts/zephyr/fprime-zephyr-deployment
+
 .PHONY: clean
 clean: ## Remove all gitignored files
 	git clean -dfX

README.md

@@ -60,3 +60,15 @@ Finally, run the fprime-gds.
 ```shell
 make gds
 ```
+
+## Running Integration Tests
+
+First, start GDS with:
+```sh
+make gds
+```
+
+Then, in another terminal, run the following command to execute the integration tests:
+```sh
+make test-integration
+```