Merge branch 'development' into mueller/event-update

CHANGELOG.md

@@ -12,17 +12,29 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
 
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
-  datapools have been implemented
+  datapools have been implemented.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
 
 ## Additions
 
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
+- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
+  inside `fsfw/version.h`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 
 # [v4.0.0]
 

hal/CMakeLists.txt

@@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
 # Linux. The only exception from this is the gpiod library which requires a dedicated installation,
 # but CMake is able to determine whether this library is installed with find_library.
 option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
 
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -9,11 +9,11 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
 
-enum Direction : uint8_t { IN = 0, OUT = 1 };
+enum class Direction : int { IN = 0, OUT = 1 };
 
-enum GpioOperation { READ, WRITE };
+enum class GpioOperation { READ, WRITE };
 
 enum class GpioTypes {
   NONE,
@@ -80,7 +80,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
  public:
   GpiodRegularByChip()
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
-                         gpio::LOW, 0) {}
+                         gpio::Levels::LOW, 0) {}
 
   GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
                      gpio::Direction direction_, gpio::Levels initValue_)
@@ -90,7 +90,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
 
   GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
-                         gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
         chipname(chipname_) {}
 
   std::string chipname;
@@ -106,7 +106,7 @@ class GpiodRegularByLabel : public GpiodRegularBase {
 
   GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
-                         gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
         label(label_) {}
 
   std::string label;
@@ -127,7 +127,7 @@ class GpiodRegularByLineName : public GpiodRegularBase {
 
   GpiodRegularByLineName(std::string lineName_, std::string consumer_)
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
-                         gpio::LOW),
+                         gpio::Levels::LOW),
         lineName(lineName_) {}
 
   std::string lineName;

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
 )
 
 if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
+endif()
 	add_subdirectory(spi)
 	add_subdirectory(i2c)
 	add_subdirectory(uart)

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -161,11 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   consumer = regularGpio.consumer;
   /* Configure direction and add a description to the GPIO */
   switch (direction) {
-    case (gpio::OUT): {
+    case (gpio::Direction::OUT): {
-      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                                         static_cast<int>(regularGpio.initValue));
       break;
     }
-    case (gpio::IN): {
+    case (gpio::Direction::IN): {
       result = gpiod_line_request_input(lineHandle, consumer.c_str());
       break;
     }
@@ -211,7 +212,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::HIGH);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -243,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::LOW);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -258,11 +259,11 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
                                         gpio::Levels logicLevel) {
-  int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+  int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
   if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
-                 << " to logic level " << logicLevel << std::endl;
+                 << " to logic level " << static_cast<int>(logicLevel) << std::endl;
 #else
     sif::printWarning(
         "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -7,7 +7,7 @@
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
                                         std::string consumer, gpio::Direction direction,
-                                        int initValue) {
+                                        gpio::Levels initValue) {
   if (cookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }

hal/src/fsfw_hal/linux/rpi/GpioRPi.h

@@ -21,7 +21,8 @@ namespace gpio {
  * @return
  */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-                                  std::string consumer, gpio::Direction direction, int initValue);
+                                  std::string consumer, gpio::Direction direction,
+                                  gpio::Levels initValue);
 }  // namespace gpio
 
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
 }

hal/src/fsfw_hal/linux/spi/SpiComIF.h

@@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
   using SpiDeviceMapIter = SpiDeviceMap::iterator;

src/fsfw/CMakeLists.txt

@@ -1,3 +1,7 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    version.cpp
+)
+
 # Core
 
 add_subdirectory(action)

src/fsfw/FSFWVersion.h.in

@@ -2,8 +2,8 @@
 #define FSFW_VERSION_H_
 
 // Versioning is kept in project CMakeLists.txt file
-#define FSFW_VERSION @FSFW_VERSION@
+#define FSFW_VERSION_MAJOR @FSFW_VERSION@
-#define FSFW_SUBVERSION @FSFW_SUBVERSION@
+#define FSFW_VERSION_MINOR @FSFW_SUBVERSION@
-#define FSFW_REVISION @FSFW_REVISION@
+#define FSFW_VERSION_REVISION @FSFW_REVISION@
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/osal/host/Clock.cpp

@@ -150,17 +150,14 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   time_tm.tm_hour = from->hour;
   time_tm.tm_min = from->minute;
   time_tm.tm_sec = from->second;
+  time_tm.tm_isdst = 0;
 
-  time_t seconds = mktime(&time_tm);
+  time_t seconds = timegm(&time_tm);
 
   to->tv_sec = seconds;
   to->tv_usec = from->usecond;
   // Fails in 2038..
   return HasReturnvaluesIF::RETURN_OK;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {

src/fsfw/osal/linux/Clock.cpp

@@ -140,8 +140,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   fromTm.tm_hour = from->hour;
   fromTm.tm_min = from->minute;
   fromTm.tm_sec = from->second;
+  fromTm.tm_isdst = 0;
 
-  to->tv_sec = mktime(&fromTm);
+  to->tv_sec = timegm(&fromTm);
   to->tv_usec = from->usecond;
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/timemanager/CCSDSTime.cpp

@@ -557,6 +557,35 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t
   return RETURN_OK;
 }
 
+ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short* from) {
+  if (to == nullptr or from == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
+  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
+    return INVALID_TIME_FORMAT;
+  }
+  days -= DAYS_CCSDS_TO_UNIX_EPOCH;
+  to->tv_sec = days * SECONDS_PER_DAY;
+  uint32_t msDay =
+      (from->msDay_hh << 24) + (from->msDay_h << 16) + (from->msDay_l << 8) + from->msDay_ll;
+  to->tv_sec += (msDay / 1000);
+  to->tv_usec = (msDay % 1000) * 1000;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime::CDS_short* from) {
+  if (to == nullptr or from == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  timeval tempTimeval;
+  ReturnValue_t result = convertFromCDS(&tempTimeval, from);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval);
+}
+
 ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from,
                                         size_t* foundLength, size_t maxLength) {
   uint32_t secs = 0;

src/fsfw/timemanager/CCSDSTime.h

@@ -180,6 +180,8 @@ class CCSDSTime : public HasReturnvaluesIF {
 
   static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from, size_t *foundLength,
                                       size_t maxLength);
+  static ReturnValue_t convertFromCDS(timeval *to, const CCSDSTime::CDS_short *from);
+  static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to, const CCSDSTime::CDS_short *from);
 
   static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to, uint8_t const *from,
                                       size_t *foundLength, size_t maxLength);

src/fsfw/timemanager/Countdown.cpp

@@ -1,6 +1,8 @@
 #include "fsfw/timemanager/Countdown.h"
 
-Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {}
+Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
+  setTimeout(initialTimeout);
+}
 
 Countdown::~Countdown() {}
 

src/fsfw/version.cpp

@@ -0,0 +1,22 @@
+#include "version.h"
+#include "fsfw/FSFWVersion.h"
+
+#include <cstdio>
+
+#ifdef major
+#undef major
+#endif
+
+#ifdef minor
+#undef minor
+#endif
+
+const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
+                                          FSFW_VERSION_REVISION};
+
+fsfw::Version::Version(uint32_t major, uint32_t minor, uint32_t revision)
+    : major(major), minor(minor), revision(revision) {}
+
+void fsfw::Version::getVersion(char* str, size_t maxLen) const {
+  snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
+}

src/fsfw/version.h

@@ -0,0 +1,64 @@
+#ifndef FSFW_SRC_FSFW_VERSION_H_
+#define FSFW_SRC_FSFW_VERSION_H_
+
+#include "fsfw/FSFW.h"
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#include <iostream>
+#endif
+#include <cstdint>
+
+namespace fsfw {
+
+class Version {
+ public:
+  Version(uint32_t major, uint32_t minor, uint32_t revision);
+  uint32_t major = 0;
+  uint32_t minor = 0;
+  uint32_t revision = 0;
+
+  friend bool operator==(const Version& v1, const Version& v2) {
+    return (v1.major == v2.major and v1.minor == v2.minor and v1.revision == v2.revision);
+  }
+
+  friend bool operator!=(const Version& v1, const Version& v2) { return not(v1 == v2); }
+
+  friend bool operator<(const Version& v1, const Version& v2) {
+    return ((v1.major < v2.major) or (v1.major == v2.major and v1.minor < v2.minor) or
+            (v1.major == v2.major and v1.minor == v2.minor and v1.revision < v2.revision));
+  }
+
+  friend bool operator>(const Version& v1, const Version& v2) {
+    return not (v1 < v2) and not (v1 == v2);
+  }
+
+  friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); }
+
+  friend bool operator>=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 > v2)); }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  /**
+   * Print format to given ostream using format "major.minor.revision"
+   * @param os
+   * @param v
+   * @return
+   */
+  friend std::ostream& operator<<(std::ostream& os, const Version& v) {
+    os << v.major << "." << v.minor << "." << v.revision;
+    return os;
+  }
+#endif
+
+  /**
+   * Get version as format "major.minor.revision"
+   * @param str
+   * @param maxLen
+   */
+  void getVersion(char* str, size_t maxLen) const;
+};
+
+extern const fsfw::Version FSFW_VERSION;
+
+}  // namespace fsfw
+
+#endif /* FSFW_SRC_FSFW_VERSION_H_ */

tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp

@@ -208,7 +208,7 @@ ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand
                                                  const uint8_t* commandData,
                                                  size_t commandDataLen) {
   if (fullInfoPrintout) {
-#if OBSW_VERBOSE_LEVEL >= 3
+#if FSFW_VERBOSE_LEVEL >= 3
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
 #else
@@ -351,7 +351,7 @@ ReturnValue_t TestDevice::scanForReply(const uint8_t* start, size_t len, DeviceC
   switch (pendingCmd) {
     case (TEST_NORMAL_MODE_CMD): {
       if (fullInfoPrintout) {
-#if OBSW_VERBOSE_LEVEL >= 3
+#if FSFW_VERBOSE_LEVEL >= 3
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID "
                   << TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
@@ -678,7 +678,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
         int32_t newValue = 0;
         ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
         if (result == HasReturnvaluesIF::RETURN_OK) {
-#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
           sif::info << "TestDevice" << deviceIdx
                     << "::getParameter: Setting parameter 1 to "
@@ -688,7 +687,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
           sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
                          deviceIdx, static_cast<unsigned long>(newValue));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
         }
       }
       parameterWrapper->set(testParameter1);
@@ -702,7 +700,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
             newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
           return HasReturnvaluesIF::RETURN_FAILED;
         }
-#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::info << "TestDevice" << deviceIdx
                   << "::getParameter: Setting parameter 3 to "
@@ -715,7 +712,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
             "[%f, %f, %f]\n",
             deviceIdx, newVector[0], newVector[1], newVector[2]);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
       }
       parameterWrapper->setVector(vectorFloatParams2);
       break;

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -2,14 +2,13 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
     CatchDefinitions.cpp
     CatchFactory.cpp
     printChar.cpp
+    version.cpp
 )
 
-# if(FSFW_CUSTOM_UNITTEST_RUNNER)
+target_sources(${FSFW_TEST_TGT} PRIVATE
-    target_sources(${FSFW_TEST_TGT} PRIVATE
     CatchRunner.cpp
     CatchSetup.cpp
-    )
+)
-# endif()
 
 add_subdirectory(testcfg)
 add_subdirectory(action)

tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp

@@ -1,6 +1,7 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
 #include <fsfw/ipc/CommandMessageCleaner.h>
 #include <fsfw/objectmanager/ObjectManager.h>
@@ -93,10 +94,8 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
 
     /* Store current time, we are going to check the (approximate) time equality later */
-    CCSDSTime::CDS_short timeCdsNow;
     timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::convertToCcsds(&timeCdsNow, &now);
 
     /* Trigger generation of snapshot */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
@@ -131,13 +130,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(newSet.localPoolUint16Vec.value[2] == 42932);
 
     /* Now we check that both times are equal */
-    CHECK(cdsShort.pField == timeCdsNow.pField);
+    timeval timeFromHK;
-    CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
+    auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
-    CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
-    CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
+    timeval difference = timeFromHK - now;
-    CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
+    CHECK(timevalOperations::toDouble(difference) < 1.0);
-    CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
-    CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
   }
 
   SECTION("VariableSnapshotTest") {
@@ -158,13 +155,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     }
 
     poolVar->setChanged(true);
-
     /* Store current time, we are going to check the (approximate) time equality later */
     CCSDSTime::CDS_short timeCdsNow;
     timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::convertToCcsds(&timeCdsNow, &now);
-
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update snapshot was sent. */
@@ -193,13 +187,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(varCopy.value == 25);
 
     /* Now we check that both times are equal */
-    CHECK(cdsShort.pField == timeCdsNow.pField);
+    timeval timeFromHK;
-    CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
+    auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
-    CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
-    CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
+    timeval difference = timeFromHK - now;
-    CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
+    CHECK(timevalOperations::toDouble(difference) < 1.0);
-    CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
-    CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
   }
 
   SECTION("VariableNotificationTest") {

tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/timemanager/CCSDSTime.h>
 
 #include <array>
@@ -89,4 +90,43 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
     REQUIRE(timeTo.second == 59);
     REQUIRE(timeTo.usecond == Catch::Approx(123000));
   }
+
+  SECTION("CDS Conversions") {
+    // Preperation
+    Clock::TimeOfDay_t time;
+    time.year = 2020;
+    time.month = 2;
+    time.day = 29;
+    time.hour = 13;
+    time.minute = 24;
+    time.second = 45;
+    time.usecond = 123456;
+    timeval timeAsTimeval;
+    auto result = Clock::convertTimeOfDayToTimeval(&time, &timeAsTimeval);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(timeAsTimeval.tv_sec == 1582982685);
+    CHECK(timeAsTimeval.tv_usec == 123456);
+
+    // Conversion to CDS Short
+    CCSDSTime::CDS_short cdsTime;
+    result = CCSDSTime::convertToCcsds(&cdsTime, &timeAsTimeval);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    // Days in CCSDS Epoch 22704 (0x58B0)
+    CHECK(cdsTime.dayMSB == 0x58);
+    CHECK(cdsTime.dayLSB == 0xB0);
+    // MS of day 48285123.456 (floored here)
+    CHECK(cdsTime.msDay_hh == 0x2);
+    CHECK(cdsTime.msDay_h == 0xE0);
+    CHECK(cdsTime.msDay_l == 0xC5);
+    CHECK(cdsTime.msDay_ll == 0xC3);
+
+    // Conversion back to timeval
+    timeval timeReturnAsTimeval;
+    result = CCSDSTime::convertFromCDS(&timeReturnAsTimeval, &cdsTime);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    // micro seconds precision is lost
+    timeval difference = timeAsTimeval - timeReturnAsTimeval;
+    CHECK(difference.tv_usec == 456);
+    CHECK(difference.tv_sec == 0);
+  }
 }

tests/src/fsfw_tests/unit/version.cpp

@@ -0,0 +1,92 @@
+
+#include "fsfw/version.h"
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+TEST_CASE("Version API Tests", "[TestVersionAPI]") {
+  // Check that major version is non-zero
+  REQUIRE(fsfw::FSFW_VERSION.major > 0);
+  uint32_t fsfwMajor = fsfw::FSFW_VERSION.major;
+  REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION);
+  fsfw::Version v1 = fsfw::Version(1, 1, 1);
+  fsfw::Version v2 = fsfw::Version(1, 1, 1);
+  REQUIRE(v1 == v2);
+  REQUIRE(not (v1 < v2));
+  REQUIRE(not (v1 > v2));
+  REQUIRE(v1 <= v2);
+  REQUIRE(v1 >= v2);
+  v1.revision -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(not (v1 == v2));
+  REQUIRE(not (v1 > v2));
+  REQUIRE(not (v1 >= v2));
+  REQUIRE(v1 < v2);
+  REQUIRE(v1 <= v2);
+  v1.revision += 1;
+  v1.minor -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 < v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(not (v1 == v2));
+  REQUIRE(not (v1 > v2));
+  REQUIRE(not (v1 >= v2));
+  v1.minor += 1;
+  v1.major -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 < v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(not (v1 == v2));
+  REQUIRE(not (v1 > v2));
+  REQUIRE(not (v1 >= v2));
+  v1.major += 1;
+  REQUIRE(v1 == v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not (v1 != v2));
+  REQUIRE(not (v1 > v2));
+  REQUIRE(not (v1 < v2));
+  v1.major += 1;
+  v1.minor -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 > v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not (v1 == v2));
+  REQUIRE(not (v1 < v2));
+  REQUIRE(not (v1 <= v2));
+  v1.major -= 1;
+  v1.minor += 2;
+  v1.revision -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 > v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not (v1 == v2));
+  REQUIRE(not (v1 < v2));
+  REQUIRE(not (v1 <= v2));
+  v1.minor -= 1;
+  v1.revision += 2;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 > v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not (v1 == v2));
+  REQUIRE(not (v1 < v2));
+  REQUIRE(not (v1 <= v2));
+  v1.revision -= 1;
+  REQUIRE(v1 == v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not (v1 != v2));
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "v" << fsfw::FSFW_VERSION << std::endl;
+#endif
+  char verString[10] = {};
+  fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString));
+#if FSFW_DISABLE_PRINTOUT == 0
+  printf("v%s\n",verString);
+#endif
+}