test(comdelay): host-side unit tests for latch/divider pacing (target: perf/comdelay-divider0-passthrough, stacks on #475)

.github/workflows/ci.yaml

@@ -64,15 +64,6 @@ jobs:
         run: |
           make zephyr-workspace
 
-      - name: Apply carried patches
-        # west update fetches vanilla usp_zephyr/usp/zephyr modules; the USP
-        # radio port needs the RF-switch GPIO, Zephyr 4.3 compat, wakeup-race,
-        # radio-planner failsafe, and CDC-ACM fixes carried in patches/.
-        run: |
-          make usp-patches
-          make usp-core-patches
-          make zephyr-patches
-
       - name: Setup Zephyr SDK
         if: steps.cache-zephyr-sdk.outputs.cache-hit != 'true'
         run: |

.gitmodules

@@ -1,9 +1,9 @@
 [submodule "lib/fprime"]
 	path = lib/fprime
-	url = https://github.com/nasa/fprime.git
+	url = https://github.com/Open-Source-Space-Foundation/fprime.git
 [submodule "lib/zephyr-workspace/zephyr"]
 	path = lib/zephyr-workspace/zephyr
-	url = https://github.com/zephyrproject-rtos/zephyr.git
+	url = https://github.com/Open-Source-Space-Foundation/zephyr.git
 [submodule "lib/fprime-zephyr"]
 	path = lib/fprime-zephyr
 	url = https://github.com/Open-Source-Space-Foundation/fprime-zephyr.git

.pre-commit-config.yaml

@@ -3,11 +3,10 @@ repos:
   rev: v5.0.0
   hooks:
     - id: trailing-whitespace
-      # patches/*.patch are machine-generated diffs applied via `git apply`;
+      # patches/*.patch are machine-generated diffs applied via patch tooling;
       # their context/removed lines must byte-match the real upstream files,
       # which can legitimately have trailing whitespace. Stripping it here
-      # silently breaks patch application (see: 0001-feat-sx126x patch vs
-      # usp_zephyr's semtech,sx126x-new-common.yaml).
+      # silently breaks patch application.
       exclude: ^patches/
     - id: end-of-file-fixer
       exclude: ^patches/

Makefile

@@ -11,28 +11,6 @@ help: ## Display this help.
 submodules: ## Initialize and update git submodules
 	@git submodule foreach --recursive 'git checkout -- . && git clean -fd' || true
 	@git submodule update --init --recursive
-	@echo "Applying fprime ComAggregator bounded-timeout patch (issue #432)..."
-	@cd lib/fprime && \
-		if git apply --check ../../patches/fprime-com-aggregator-bounded-timeout.patch 2>/dev/null; then \
-			git apply ../../patches/fprime-com-aggregator-bounded-timeout.patch && \
-			echo "✓ Applied ComAggregator bounded-timeout patch"; \
-		elif git apply --reverse --check ../../patches/fprime-com-aggregator-bounded-timeout.patch 2>/dev/null; then \
-			echo "⚠ Patch already applied"; \
-		else \
-			echo "❌ Error: Unable to apply ComAggregator patch. Run 'cd lib/fprime && git status' to check."; \
-			exit 1; \
-		fi
-	@echo "Applying fprime sched-tick drop patch (issue #432 class)..."
-	@cd lib/fprime && \
-		if git apply --check ../../patches/fprime-sched-tick-drop.patch 2>/dev/null; then \
-			git apply ../../patches/fprime-sched-tick-drop.patch && \
-			echo "✓ Applied sched-tick drop patch"; \
-		elif git apply --reverse --check ../../patches/fprime-sched-tick-drop.patch 2>/dev/null; then \
-			echo "⚠ Patch already applied"; \
-		else \
-			echo "❌ Error: Unable to apply sched-tick drop patch. Run 'cd lib/fprime && git status' to check."; \
-			exit 1; \
-		fi
 
 export VIRTUAL_ENV ?= $(shell pwd)/fprime-venv
 .PHONY: fprime-venv
@@ -76,72 +54,10 @@ zephyr-setup: fprime-venv ## Set up Zephyr environment
 		$(UV) pip install --prerelease=allow -r lib/zephyr-workspace/bootloader/mcuboot/zephyr/requirements.txt; \
 	}
 
-# USP_ZEPHYR_DIR: west places usp_zephyr at this path (see west.yml).
-USP_ZEPHYR_DIR ?= $(shell pwd)/lib/zephyr-workspace/modules/lib/usp_zephyr
-
-.PHONY: usp-patches
-usp-patches: ## Apply usp_zephyr patches (RF-switch GPIO + Zephyr 4.3 compat + wakeup-busy race fix)
-	@if [ ! -d "$(USP_ZEPHYR_DIR)" ]; then \
-		echo "❌ usp_zephyr not found at $(USP_ZEPHYR_DIR) — run 'west update usp_zephyr usp' first"; \
-		exit 1; \
-	fi
-	@echo "Applying usp_zephyr patches..."
-	@cd "$(USP_ZEPHYR_DIR)" && \
-	for p in $(shell pwd)/patches/0001-feat-sx126x-add-external-RF-switch-GPIO-support-tx-r.patch \
-	          $(shell pwd)/patches/0002-fix-zephyr-4.3-remove-select-ZEPHYR_LORA_BASICS_MODE.patch \
-	          $(shell pwd)/patches/0003-fix-usp-main-2025-fix-LR_FHSS_SRC_PATH-for-flattened.patch \
-	          $(shell pwd)/patches/0006-fix-sx126x-wakeup-busy-race-add-t_woff-settle-delay.patch \
-	          $(shell pwd)/patches/0008-fix-smtc-modem-hal-implement-rac-api-mutex.patch \
-	          $(shell pwd)/patches/0010-fix-boards-xiao-nrf54l15-full_name-zephyr-4.4-schema.patch; do \
-		name=$$(basename $$p); \
-		if git apply --check "$$p" 2>/dev/null; then \
-			git apply "$$p" && echo "✓ Applied $$name"; \
-		elif git apply --reverse --check "$$p" 2>/dev/null; then \
-			echo "⚠ Already applied: $$name"; \
-		else \
-			echo "❌ Cannot apply $$name — check usp_zephyr revision"; exit 1; \
-		fi; \
-	done
-
-# USP_DIR: the Semtech smtc_rac_lib west module (radio planner lives here).
-USP_DIR ?= $(shell pwd)/lib/zephyr-workspace/modules/lib/usp
-
-.PHONY: usp-core-patches
-usp-core-patches: ## Apply usp (smtc_rac_lib) patches (radio-planner failsafe unlock exemption)
-	@cd "$(USP_DIR)" && \
-	for p in $(shell pwd)/patches/0009-fix-radio-planner-failsafe-exempt-unlock-radio-access.patch; do \
-		name=$$(basename $$p); \
-		if git apply --check "$$p" 2>/dev/null; then \
-			git apply "$$p" && echo "✓ Applied $$name"; \
-		elif git apply --reverse --check "$$p" 2>/dev/null; then \
-			echo "⚠ Already applied: $$name"; \
-		else \
-			echo "❌ Cannot apply $$name — check usp revision"; exit 1; \
-		fi; \
-	done
-
-ZEPHYR_DIR ?= $(shell pwd)/lib/zephyr-workspace/zephyr
-
-.PHONY: zephyr-patches
-zephyr-patches: ## Apply Zephyr tree patches (CDC-ACM TX fixes)
-	@if [ ! -d "$(ZEPHYR_DIR)" ]; then \
-		echo "zephyr not found at $(ZEPHYR_DIR) — run 'west update' first"; \
-		exit 1; \
-	fi
-	@echo "Applying Zephyr patches..."
-	@cd "$(ZEPHYR_DIR)" && \
-	for p in \
-		$(shell pwd)/patches/0005-fix-usbd-cdc-acm-stuck-tx-fifo-busy-on-disable-and-retry.patch \
-		$(shell pwd)/patches/0007-fix-usbd-cdc-acm-bound-poll-out-backpressure-wait.patch; do \
-		name=$$(basename $$p); \
-		if git apply --check "$$p" 2>/dev/null; then \
-			git apply "$$p" && echo "OK Applied $$name"; \
-		elif git apply --reverse --check "$$p" 2>/dev/null; then \
-			echo "Already applied: $$name"; \
-		else \
-			echo "Cannot apply $$name — check Zephyr revision"; exit 1; \
-		fi; \
-	done
+# Carried module patches (usp-patches / usp-core-patches / zephyr-patches and
+# the fprime patch steps in `submodules`) were removed 2026-07-26: all module
+# fixes now live on the Open-Source-Space-Foundation fork integration branches
+# (feat/proves-usp-radio) pinned in west.yml / .gitmodules. See patches/README.md.
 
 ##@ Development
 

PROVESFlightControllerReference/Components/ComDelay/ComDelay.cpp

@@ -6,16 +6,13 @@
 
 #include "PROVESFlightControllerReference/Components/ComDelay/ComDelay.hpp"
 
-#include "PROVESFlightControllerReference/Components/ComDelay/FppConstantsAc.hpp"
-
 namespace Components {
 
 // ----------------------------------------------------------------------
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
-ComDelay ::ComDelay(const char* const compName)
-    : ComDelayComponentBase(compName), m_last_status_valid(false), m_last_status(Fw::Success::FAILURE) {}
+ComDelay ::ComDelay(const char* const compName) : ComDelayComponentBase(compName) {}
 
 ComDelay ::~ComDelay() {}
 
@@ -39,33 +36,26 @@ void ComDelay ::parameterUpdated(FwPrmIdType id) {
 // ----------------------------------------------------------------------
 
 void ComDelay ::comStatusIn_handler(FwIndexType portNum, Fw::Success& condition) {
-    this->m_last_status = condition;
-    this->m_last_status_valid = true;
+    this->m_logic.latchStatus(condition == Fw::Success::SUCCESS);
 }
 
 void ComDelay ::run_handler(FwIndexType portNum, U32 context) {
-    // On the cycle after the tick count is reset, attempt to output any current com status
-    if (this->m_tick_count == 0) {
-        bool expected = true;
-        // Receive the current "last status" validity flag and atomically exchange it with false. This effectively
-        // "consumes" a valid status.  When valid, the last status is sent out.
-        bool valid = this->m_last_status_valid.compare_exchange_strong(expected, false);
-        if (valid) {
-            this->comStatusOut_out(0, this->m_last_status);
-        }
-    }
-
     // Unless there is corruption, the parameter should always be valid via its default value; however, in the interest
     // of failing-safe and continuing some sort of communication we default the current_divisor to the default value.
     Fw::ParamValid is_valid;
     U16 current_divisor = this->paramGet_DIVIDER(is_valid);
-
-    // Increment and module the tick count by the divisor
-    if ((is_valid == Fw::ParamValid::INVALID) || (is_valid == Fw::ParamValid::UNINIT)) {
-        current_divisor = Components::DEFAULT_DIVIDER;
+    bool divider_valid = (is_valid != Fw::ParamValid::INVALID) && (is_valid != Fw::ParamValid::UNINIT);
+
+    // Delegate to the extracted, host-testable tick/divider/latch state machine. This preserves the exact
+    // pre-existing behavior (including the U8 tick-counter width): on the cycle the counter is at 0, attempt
+    // to consume (exactly once) any latched status and emit it, then advance/reset the counter against the
+    // current divisor (or the default divisor, if the parameter is not currently valid).
+    bool status_bit = false;
+    bool should_emit = this->m_logic.tick(current_divisor, divider_valid, status_bit);
+    if (should_emit) {
+        Fw::Success condition = status_bit ? Fw::Success::SUCCESS : Fw::Success::FAILURE;
+        this->comStatusOut_out(0, condition);
     }
-    // Count this new tick, resetting whenever the current count is at or higher than the current divider.
-    this->m_tick_count = (this->m_tick_count >= current_divisor) ? 0 : this->m_tick_count + 1;
 }
 
 }  // namespace Components

PROVESFlightControllerReference/Components/ComDelay/ComDelay.hpp

@@ -7,9 +7,8 @@
 #ifndef Components_ComDelay_HPP
 #define Components_ComDelay_HPP
 
-#include <atomic>
-
 #include "PROVESFlightControllerReference/Components/ComDelay/ComDelayComponentAc.hpp"
+#include "PROVESFlightControllerReference/Components/ComDelay/ComDelayLogic.hpp"
 
 namespace Components {
 
@@ -49,12 +48,8 @@ class ComDelay final : public ComDelayComponentBase {
                      ) override;
 
   private:
-    //! Count of incoming run ticks
-    U8 m_tick_count;
-    //! Stores if the last status is currently valid
-    std::atomic<bool> m_last_status_valid;
-    //! Stores the last status
-    Fw::Success m_last_status;
+    //! Tick-paced divider/latch state machine (host-testable; see ComDelayLogic.hpp)
+    ComDelayLogic m_logic;
 };
 
 }  // namespace Components

PROVESFlightControllerReference/Components/ComDelay/ComDelayLogic.hpp

@@ -0,0 +1,79 @@
+// ======================================================================
+// \title  ComDelayLogic.hpp
+// \brief  hpp file for ComDelayLogic class
+//
+// Host-testable extraction of the ComDelay tick/divider/latch state
+// machine. This class holds no F' or Zephyr dependencies so it can be
+// compiled and unit tested directly on the host (see
+// PROVESFlightControllerReference/test/unit-tests/test_ComDelay_ComDelayLogic.cpp).
+//
+// The ComDelay component (ComDelay.cpp) delegates to this class; the
+// behavior here must remain identical to what the component previously
+// implemented inline.
+// ======================================================================
+
+#pragma once
+
+#include <atomic>
+#include <cstdint>
+
+namespace Components {
+
+//! Default divider value: on a 1Hz input tick, this releases a latched
+//! status roughly every 30s (299 + 1 ticks).
+constexpr std::uint16_t COM_DELAY_DEFAULT_DIVIDER = 299;
+
+class ComDelayLogic {
+  public:
+    ComDelayLogic() : m_tick_count(0), m_last_status_valid(false), m_last_status(false) {}
+
+    ~ComDelayLogic() = default;
+
+    //! Latch an incoming status, overwriting any status not yet consumed.
+    void latchStatus(bool status) {
+        this->m_last_status = status;
+        this->m_last_status_valid = true;
+    }
+
+    //! Advance one tick. If the internal counter is currently at 0, attempt to
+    //! consume (exactly once) any latched status and report it for emission.
+    //! The counter is then advanced/reset against `divider` (or the default
+    //! divider, if `dividerValid` is false).
+    //!
+    //! Returns true if a latched status should be emitted this tick, and
+    //! writes the value to consume into `outStatus`.
+    bool tick(std::uint16_t divider, bool dividerValid, bool& outStatus) {
+        bool shouldEmit = false;
+        if (this->m_tick_count == 0) {
+            bool expected = true;
+            // Atomically consume the latched status flag, mirroring the
+            // production compare_exchange_strong "consume once" semantics.
+            bool valid = this->m_last_status_valid.compare_exchange_strong(expected, false);
+            if (valid) {
+                outStatus = this->m_last_status;
+                shouldEmit = true;
+            }
+        }
+
+        std::uint16_t current_divisor = dividerValid ? divider : COM_DELAY_DEFAULT_DIVIDER;
+        this->m_tick_count = (this->m_tick_count >= current_divisor) ? 0 : this->m_tick_count + 1;
+
+        return shouldEmit;
+    }
+
+    //! Test/introspection helper: current tick counter value.
+    std::uint8_t tickCount() const { return this->m_tick_count; }
+
+    //! Test/introspection helper: whether a status is currently latched.
+    bool hasLatchedStatus() const { return this->m_last_status_valid; }
+
+  private:
+    //! Count of incoming run ticks
+    std::uint8_t m_tick_count;
+    //! Stores if the last status is currently valid (not yet consumed)
+    std::atomic<bool> m_last_status_valid;
+    //! Stores the last latched status
+    bool m_last_status;
+};
+
+}  // namespace Components

PROVESFlightControllerReference/test/unit-tests/CMakeLists.txt

@@ -117,6 +117,12 @@ target_include_directories(proves_router_bypasser PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/../../..
 )
 
+# ComDelay ComDelayLogic (header-only tick/divider/latch state machine)
+add_library(comdelay_logic INTERFACE)
+target_include_directories(comdelay_logic INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../..
+)
+
 # Find PSA provider (we use libmbedcrypto) and ensure PSA headers exist
 find_path(PSA_CRYPTO_H psa/crypto.h)
 find_library(MBEDCRYPTO_LIB mbedcrypto)
@@ -150,6 +156,7 @@ foreach(test_src ${TEST_SOURCES})
         security_deframer_authenticator
         rtc_manager_rtc_helper
         proves_router_bypasser
+        comdelay_logic
     )
 
     add_test(NAME ${test_name} COMMAND ${test_name})