Setup ZTest unit testing infrastructure for f_core libraries

.github/hardware-roots.yaml

@@ -46,3 +46,15 @@ ALL:
       - "lib/f_core/**"
       - "snippets/**"
 
+# Unit Tests
+app/tests/f_core/gnss_utils:
+  - paths:
+      - "app/tests/f_core/gnss_utils/**"
+      - "include/f_core/utils/n_gnss_utils.h"
+
+app/tests/f_core/golay:
+  - paths:
+      - "app/tests/f_core/golay/**"
+      - "include/f_core/radio/protocols/horus/golay.h"
+      - "lib/f_core/radio/protocols/horus/golay.c"
+

.gitignore

@@ -77,3 +77,4 @@ __pycache__
 
 flash/
 app/payload/control_freak/flight-software/ramreport
+_codeql_detected_source_root

app/tests/f_core/README.md

@@ -0,0 +1,138 @@
+# F_Core Unit Tests
+
+This directory contains unit tests for the core library modules located in `include/f_core` and `lib/f_core`.
+
+## Test Structure
+
+Each test directory should contain:
+- `main.c` - Test implementation using ZTest framework
+- `CMakeLists.txt` - CMake configuration for the test
+- `prj.conf` - Zephyr project configuration
+- `testcase.yaml` - Test metadata for Twister discovery
+- `Kconfig` - Kconfig configuration file
+
+## Running Tests
+
+Tests are automatically discovered and run by the CI using `west twister`. The CI uses the mappings in `.github/hardware-roots.yaml` to determine which tests to run based on changed files.
+
+To run tests locally (after setting up the Zephyr environment):
+
+```bash
+# Run a specific test
+west twister -T app/tests/f_core/gnss_utils
+
+# Run all f_core tests
+west twister -T app/tests/f_core
+
+# Run tests on a specific platform
+west twister -T app/tests/f_core -p native_sim
+```
+
+## Writing New Tests
+
+### 1. Create Test Directory Structure
+
+Create a new directory under `app/tests/f_core/` for your module:
+
+```bash
+mkdir -p app/tests/f_core/<module_name>
+```
+
+### 2. Create Test Implementation (`main.c`)
+
+Use the ZTest framework. Example:
+
+```c
+#include <zephyr/ztest.h>
+#include <f_core/your/header.h>
+
+ZTEST(test_suite_name, test_case_name) {
+    // Test implementation
+    zassert_equal(actual, expected, "Error message");
+}
+
+ZTEST_SUITE(test_suite_name, NULL, NULL, NULL, NULL, NULL);
+```
+
+### 3. Create CMakeLists.txt
+
+```cmake
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr COMPONENTS unittest REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(your_test_name)
+
+# Include f_core headers
+include_directories(${ZEPHYR_BASE}/../FSW.git/include)
+
+target_sources(testbinary
+  PRIVATE
+  main.c
+  # Add any source files from lib/f_core if needed
+)
+```
+
+### 4. Create prj.conf
+
+```
+CONFIG_ZTEST=y
+# Add any additional configuration needed for your tests
+```
+
+### 5. Create testcase.yaml
+
+```yaml
+common:
+  tags:
+    - f_core
+    - <module_category>
+tests:
+  f_core.<module_name>:
+    type: unit
+```
+
+### 6. Create Kconfig
+
+```
+mainmenu "Test Configuration"
+
+source "Kconfig.zephyr"
+```
+
+### 7. Update CI Configuration
+
+Add your test to `.github/hardware-roots.yaml`:
+
+```yaml
+app/tests/f_core/<module_name>:
+  - paths:
+      - "app/tests/f_core/<module_name>/**"
+      - "include/f_core/path/to/header.h"
+      - "lib/f_core/path/to/source.c"  # if applicable
+```
+
+## ZTest Assertions
+
+Common ZTest assertions:
+- `zassert_true(condition, msg, ...)` - Assert condition is true
+- `zassert_false(condition, msg, ...)` - Assert condition is false
+- `zassert_equal(a, b, msg, ...)` - Assert a == b
+- `zassert_not_equal(a, b, msg, ...)` - Assert a != b
+- `zassert_within(actual, expected, delta, msg, ...)` - Assert |actual - expected| <= delta
+- `zassert_null(ptr, msg, ...)` - Assert pointer is NULL
+- `zassert_not_null(ptr, msg, ...)` - Assert pointer is not NULL
+
+## Examples
+
+See existing tests for reference:
+- `app/tests/utils/` - C++ debouncer tests
+- `app/tests/f_core/gnss_utils/` - GNSS utility function tests
+- `app/tests/f_core/golay/` - Golay protocol encoding/decoding tests
+
+## References
+
+- [Zephyr ZTest Documentation](https://docs.zephyrproject.org/latest/develop/test/ztest.html)
+- [Zephyr Twister Documentation](https://docs.zephyrproject.org/latest/develop/test/twister.html)

app/tests/f_core/gnss_utils/CMakeLists.txt

@@ -0,0 +1,25 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr COMPONENTS unittest REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(gnss_utils_test)
+
+# Include f_core headers
+# Try to find FSW root from Zephyr base or use current project structure
+if(EXISTS "${ZEPHYR_BASE}/../FSW.git")
+    set(FSW_ROOT "${ZEPHYR_BASE}/../FSW.git")
+elseif(EXISTS "${ZEPHYR_BASE}/../FSW")
+    set(FSW_ROOT "${ZEPHYR_BASE}/../FSW")
+else()
+    # Fallback to relative path from test directory
+    set(FSW_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../../../..")
+endif()
+
+include_directories(${FSW_ROOT}/include)
+
+target_sources(testbinary
+  PRIVATE
+  main.c
+)

app/tests/f_core/gnss_utils/Kconfig

@@ -0,0 +1,3 @@
+mainmenu "Test Configuration"
+
+source "Kconfig.zephyr"

app/tests/f_core/gnss_utils/main.c

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2024 RIT Launch Initiative
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <f_core/utils/n_gnss_utils.h>
+#include <math.h>
+#include <zephyr/ztest.h>
+
+ZTEST(gnss_utils, test_nanodegrees_to_degrees_float) {
+    // Test positive latitude conversion
+    int64_t nanodegrees = 45123456789LL; // 45.123456789 degrees
+    float result = NGnssUtils::NanodegreesToDegreesFloat(nanodegrees);
+    zassert_within(result, 45.123456789f, 0.0001f, "Positive float conversion failed");
+
+    // Test negative latitude conversion
+    nanodegrees = -90000000000LL; // -90.0 degrees
+    result = NGnssUtils::NanodegreesToDegreesFloat(nanodegrees);
+    zassert_within(result, -90.0f, 0.0001f, "Negative float conversion failed");
+
+    // Test zero
+    nanodegrees = 0;
+    result = NGnssUtils::NanodegreesToDegreesFloat(nanodegrees);
+    zassert_within(result, 0.0f, 0.0001f, "Zero float conversion failed");
+}
+
+ZTEST(gnss_utils, test_nanodegrees_to_degrees_double) {
+    // Test positive latitude conversion
+    int64_t nanodegrees = 45123456789LL; // 45.123456789 degrees
+    double result = NGnssUtils::NanodegreesToDegreesDouble(nanodegrees);
+    zassert_within(result, 45.123456789, 0.0000001, "Positive double conversion failed");
+
+    // Test negative latitude conversion
+    nanodegrees = -90000000000LL; // -90.0 degrees
+    result = NGnssUtils::NanodegreesToDegreesDouble(nanodegrees);
+    zassert_within(result, -90.0, 0.0000001, "Negative double conversion failed");
+
+    // Test zero
+    nanodegrees = 0;
+    result = NGnssUtils::NanodegreesToDegreesDouble(nanodegrees);
+    zassert_within(result, 0.0, 0.0000001, "Zero double conversion failed");
+}
+
+ZTEST(gnss_utils, test_millimeters_to_meters_float) {
+    // Test positive altitude conversion
+    int64_t millimeters = 1500000LL; // 1500 meters
+    float result = NGnssUtils::MillimetersToMetersFloat(millimeters);
+    zassert_within(result, 1500.0f, 0.001f, "Positive meters float conversion failed");
+
+    // Test negative altitude conversion
+    int64_t negative_mm = -500000LL; // -500 meters
+    result = NGnssUtils::MillimetersToMetersFloat(negative_mm);
+    zassert_within(result, -500.0f, 0.001f, "Negative meters float conversion failed");
+
+    // Test zero
+    millimeters = 0;
+    result = NGnssUtils::MillimetersToMetersFloat(millimeters);
+    zassert_within(result, 0.0f, 0.001f, "Zero meters float conversion failed");
+}
+
+ZTEST(gnss_utils, test_millimeters_to_meters_double) {
+    // Test positive altitude conversion
+    int64_t millimeters = 1500000LL; // 1500 meters
+    double result = NGnssUtils::MillimetersToMetersDouble(millimeters);
+    zassert_within(result, 1500.0, 0.0001, "Positive meters double conversion failed");
+
+    // Test negative altitude conversion
+    int64_t negative_mm = -500000LL; // -500 meters
+    result = NGnssUtils::MillimetersToMetersDouble(negative_mm);
+    zassert_within(result, -500.0, 0.0001, "Negative meters double conversion failed");
+
+    // Test zero
+    millimeters = 0;
+    result = NGnssUtils::MillimetersToMetersDouble(millimeters);
+    zassert_within(result, 0.0, 0.0001, "Zero meters double conversion failed");
+}
+
+ZTEST_SUITE(gnss_utils, NULL, NULL, NULL, NULL, NULL);

app/tests/f_core/gnss_utils/prj.conf

@@ -0,0 +1 @@
+CONFIG_ZTEST=y

app/tests/f_core/gnss_utils/testcase.yaml

@@ -0,0 +1,8 @@
+common:
+  tags:
+    - f_core
+    - utilities
+    - gnss
+tests:
+  f_core.gnss_utils:
+    type: unit

app/tests/f_core/golay/CMakeLists.txt

@@ -0,0 +1,27 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr COMPONENTS unittest REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(golay_test)
+
+# Include f_core headers
+# Try to find FSW root from Zephyr base or use current project structure
+if(EXISTS "${ZEPHYR_BASE}/../FSW.git")
+    set(FSW_ROOT "${ZEPHYR_BASE}/../FSW.git")
+elseif(EXISTS "${ZEPHYR_BASE}/../FSW")
+    set(FSW_ROOT "${ZEPHYR_BASE}/../FSW")
+else()
+    # Fallback to relative path from test directory
+    set(FSW_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../../../..")
+endif()
+
+include_directories(${FSW_ROOT}/include)
+
+# Add the golay.c source file to the test
+target_sources(testbinary
+  PRIVATE
+  main.c
+  ${FSW_ROOT}/lib/f_core/radio/protocols/horus/golay.c
+)

app/tests/f_core/golay/Kconfig

@@ -0,0 +1,3 @@
+mainmenu "Test Configuration"
+
+source "Kconfig.zephyr"