From fd11cae7be5bebcae0e4483a532f407e362f1a11 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 14 Jan 2021 19:32:18 +0100
Subject: [PATCH 01/10] printer: helper macros

---
 serviceinterface/ServiceInterfacePrinter.h | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/serviceinterface/ServiceInterfacePrinter.h b/serviceinterface/ServiceInterfacePrinter.h
index fbdccdd1..e898adf6 100644
--- a/serviceinterface/ServiceInterfacePrinter.h
+++ b/serviceinterface/ServiceInterfacePrinter.h
@@ -2,6 +2,20 @@
 #include <cstdio>
 #endif
 
+//! https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format
+//! Can be used to print out binary numbers in human-readable format.
+#define BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c"
+#define BYTE_TO_BINARY(byte)  \
+  (byte & 0x80 ? '1' : '0'), \
+  (byte & 0x40 ? '1' : '0'), \
+  (byte & 0x20 ? '1' : '0'), \
+  (byte & 0x10 ? '1' : '0'), \
+  (byte & 0x08 ? '1' : '0'), \
+  (byte & 0x04 ? '1' : '0'), \
+  (byte & 0x02 ? '1' : '0'), \
+  (byte & 0x01 ? '1' : '0')
+
+
 namespace sif {
 
 enum PrintLevel {

From eb5548333ee365711f78372dd39c6bf48e10aff7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 14 Jan 2021 20:00:48 +0100
Subject: [PATCH 02/10] added missing include guards

---
 serviceinterface/ServiceInterfacePrinter.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/serviceinterface/ServiceInterfacePrinter.h b/serviceinterface/ServiceInterfacePrinter.h
index e898adf6..6b062108 100644
--- a/serviceinterface/ServiceInterfacePrinter.h
+++ b/serviceinterface/ServiceInterfacePrinter.h
@@ -1,3 +1,6 @@
+#ifndef FSFW_SERVICEINTERFACE_SERVICEINTERFACEPRINTER
+#define FSFW_SERVICEINTERFACE_SERVICEINTERFACEPRINTER
+
 #if FSFW_DISABLE_PRINTOUT == 0
 #include <cstdio>
 #endif
@@ -52,3 +55,4 @@ void printError(const char* fmt, ...);
 
 }
 
+#endif /* FSFW_SERVICEINTERFACE_SERVICEINTERFACEPRINTER */

From f69d6d49c75998d76d30bb51d3b783332283152c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 15:21:13 +0100
Subject: [PATCH 03/10] replaced zu with lu

---
 globalfunctions/arrayprinter.cpp | 3 ++-
 osal/linux/PosixThread.cpp       | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp
index 25d6fcf4..b50aeb21 100644
--- a/globalfunctions/arrayprinter.cpp
+++ b/globalfunctions/arrayprinter.cpp
@@ -10,7 +10,8 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
 	}
 	sif::info << "[";
 #else
-	sif::printInfo("Printing data with size %zu: [", size);
+	// TODO: Use %zu or %lu depending on whether C99 support is given.
+	sif::printInfo("Printing data with size %lu: [", static_cast<unsigned long>(size));
 #endif
 	if(type == OutputType::HEX) {
 		arrayprinter::printHex(data, size, maxCharPerLine);
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 2499b442..bd8e7258 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -152,7 +152,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					" the requested " << stackMb << " MB" << std::endl;
 #else
 			sif::printError("PosixThread::createTask: Insufficient memory for "
-					"the requested %zu MB\n", stackMb);
+					"the requested %lu MB\n", static_cast<unsigned long>(stackMb));
 #endif
 		}
 		else if(errno == EINVAL) {

From 05508418a793df4d4c8e1116cf15fe7cbcef5d91 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 16:32:25 +0100
Subject: [PATCH 04/10] printf support for array printer

---
 globalfunctions/arrayprinter.cpp | 134 ++++++++++++++++++++-----------
 globalfunctions/arrayprinter.h   |  12 ++-
 2 files changed, 95 insertions(+), 51 deletions(-)

diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp
index b50aeb21..6dc959d7 100644
--- a/globalfunctions/arrayprinter.cpp
+++ b/globalfunctions/arrayprinter.cpp
@@ -3,64 +3,101 @@
 #include <bitset>
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
-		bool printInfo, size_t maxCharPerLine) {
+        bool printInfo, size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	if(printInfo) {
-		sif::info << "Printing data with size " << size << ": ";
-	}
-	sif::info << "[";
+    if(printInfo) {
+        sif::info << "Printing data with size " << size << ": ";
+    }
+    sif::info << "[";
 #else
-	// TODO: Use %zu or %lu depending on whether C99 support is given.
-	sif::printInfo("Printing data with size %lu: [", static_cast<unsigned long>(size));
-#endif
-	if(type == OutputType::HEX) {
-		arrayprinter::printHex(data, size, maxCharPerLine);
-	}
-	else if (type == OutputType::DEC) {
-		arrayprinter::printDec(data, size, maxCharPerLine);
-	}
-	else if(type == OutputType::BIN) {
-	    arrayprinter::printBin(data, size);
-	}
+#if FSFW_NO_C99_IO == 1
+    sif::printInfo("Printing data with size %lu: [", static_cast<unsigned long>(size));
+#else
+    sif::printInfo("Printing data with size %zu: [", size);
+#endif /* FSFW_NO_C99_IO == 1 */
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+    if(type == OutputType::HEX) {
+        arrayprinter::printHex(data, size, maxCharPerLine);
+    }
+    else if (type == OutputType::DEC) {
+        arrayprinter::printDec(data, size, maxCharPerLine);
+    }
+    else if(type == OutputType::BIN) {
+        arrayprinter::printBin(data, size);
+    }
 }
 
 void arrayprinter::printHex(const uint8_t *data, size_t size,
-		size_t maxCharPerLine) {
+        size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::info << std::hex;
-	for(size_t i = 0; i < size; i++) {
-		sif::info << "0x" << static_cast<int>(data[i]);
-		if(i < size - 1){
-			sif::info << " , ";
-			if(i > 0 and i % maxCharPerLine == 0) {
-				sif::info << std::endl;
+    sif::info << std::hex;
+    for(size_t i = 0; i < size; i++) {
+        sif::info << "0x" << static_cast<int>(data[i]);
+        if(i < size - 1) {
+            sif::info << " , ";
+            if(i > 0 and i % maxCharPerLine == 0) {
+                sif::info << std::endl;
 
-			}
-		}
-	}
-	sif::info << std::dec;
-	sif::info << "]" << std::endl;
+            }
+        }
+    }
+    sif::info << std::dec;
+    sif::info << "]" << std::endl;
 #else
-	// how much memory to reserve for printout?
+    // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
+    // plus line break plus small safety margin.
+    char printBuffer[(size + 1) * 7 + 1];
+    size_t currentPos = 0;
+    for(size_t i = 0; i < size; i++) {
+        // To avoid buffer overflows.
+        if(sizeof(printBuffer) - currentPos <= 7) {
+            break;
+        }
+
+        currentPos += snprintf(printBuffer + currentPos, 6, "0x%02x", data[i]);
+        if(i < size - 1) {
+            currentPos += sprintf(printBuffer + currentPos, ", ");
+            if(i > 0 and i % maxCharPerLine == 0) {
+                currentPos += sprintf(printBuffer + currentPos, "\n");
+            }
+        }
+    }
 #endif
 }
 
 void arrayprinter::printDec(const uint8_t *data, size_t size,
-		size_t maxCharPerLine) {
+        size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::info << std::dec;
-	for(size_t i = 0; i < size; i++) {
-		sif::info << static_cast<int>(data[i]);
-		if(i < size - 1){
-			sif::info << " , ";
-			if(i > 0 and i % maxCharPerLine == 0) {
-				sif::info << std::endl;
-			}
-		}
-	}
-	sif::info << "]" << std::endl;
+    sif::info << std::dec;
+    for(size_t i = 0; i < size; i++) {
+        sif::info << static_cast<int>(data[i]);
+        if(i < size - 1){
+            sif::info << " , ";
+            if(i > 0 and i % maxCharPerLine == 0) {
+                sif::info << std::endl;
+            }
+        }
+    }
+    sif::info << "]" << std::endl;
 #else
-	// how much memory to reserve for printout?
+    // General format: 32, 243, -12 so it is number of chars times 5
+    // plus line break plus small safety margin.
+    char printBuffer[(size + 1) * 5 + 1];
+    size_t currentPos = 0;
+    for(size_t i = 0; i < size; i++) {
+        // To avoid buffer overflows.
+        if(sizeof(printBuffer) - currentPos <= 5) {
+            break;
+        }
+
+        currentPos += snprintf(printBuffer + currentPos, 3, "%d", data[i]);
+        if(i < size - 1) {
+            currentPos += sprintf(printBuffer + currentPos, ", ");
+            if(i > 0 and i % maxCharPerLine == 0) {
+                currentPos += sprintf(printBuffer + currentPos, "\n");
+            }
+        }
+    }
 #endif
 }
 
@@ -68,11 +105,14 @@ void arrayprinter::printBin(const uint8_t *data, size_t size) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "\n" << std::flush;
     for(size_t i = 0; i < size; i++) {
-        sif::info << "Byte " << i + 1 << ": 0b"<<
-                std::bitset<8>(data[i]) << ",\n" << std::flush;
+        sif::info << "Byte " << i + 1 << ": 0b" <<  std::bitset<8>(data[i]) << "," << std::endl;
     }
     sif::info << "]" << std::endl;
 #else
-    // how much memory to reserve for printout?
+    sif::printInfo("\n");
+    for(size_t i = 0; i < size; i++) {
+        sif::printInfo("Byte %d: 0b" BYTE_TO_BINARY_PATTERN ",\n", BYTE_TO_BINARY(data[i]));
+    }
+    sif::printInfo("]\n");
 #endif
 }
diff --git a/globalfunctions/arrayprinter.h b/globalfunctions/arrayprinter.h
index e57d8e04..6dfa6ecd 100644
--- a/globalfunctions/arrayprinter.h
+++ b/globalfunctions/arrayprinter.h
@@ -1,20 +1,24 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
+
 #include <cstdint>
 #include <cstddef>
 
 enum class OutputType {
-	DEC,
-	HEX,
-	BIN
+    DEC,
+    HEX,
+    BIN
 };
 
+//! TODO: Write unit tests for this module.
 namespace arrayprinter {
+
 void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
-		bool printInfo = true, size_t maxCharPerLine = 12);
+        bool printInfo = true, size_t maxCharPerLine = 12);
 void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
 void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
 void printBin(const uint8_t* data, size_t size);
+
 }
 
 #endif /* FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_ */

From baba8fa5d796acc11d3a67f1f57ce427147a3fe2 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 16:34:05 +0100
Subject: [PATCH 05/10] added array printer test stubs

---
 unittest/tests/globalfunctions/CMakeLists.txt       | 3 +++
 unittest/tests/globalfunctions/TestArrayPrinter.cpp | 5 +++++
 2 files changed, 8 insertions(+)
 create mode 100644 unittest/tests/globalfunctions/CMakeLists.txt
 create mode 100644 unittest/tests/globalfunctions/TestArrayPrinter.cpp

diff --git a/unittest/tests/globalfunctions/CMakeLists.txt b/unittest/tests/globalfunctions/CMakeLists.txt
new file mode 100644
index 00000000..4ea49bf7
--- /dev/null
+++ b/unittest/tests/globalfunctions/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_sources(${TARGET_NAME} PRIVATE
+	TestArrayPrinter.cpp
+)
diff --git a/unittest/tests/globalfunctions/TestArrayPrinter.cpp b/unittest/tests/globalfunctions/TestArrayPrinter.cpp
new file mode 100644
index 00000000..59143619
--- /dev/null
+++ b/unittest/tests/globalfunctions/TestArrayPrinter.cpp
@@ -0,0 +1,5 @@
+#include <catch2/catch_test_macros.hpp>
+
+
+
+

From 73b9d058e5a9fb2b897b0a6e59cb2e51feb7dbb5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 16:56:36 +0100
Subject: [PATCH 06/10] updated internal unit test

---
 unittest/internal/InternalUnitTester.cpp          | 15 ++++++++++++++-
 unittest/internal/InternalUnitTester.h            |  2 +-
 .../internal/globalfunctions/TestArrayPrinter.cpp |  4 ++++
 .../internal/globalfunctions/TestArrayPrinter.h   | 12 ++++++++++++
 .../tests/globalfunctions/TestArrayPrinter.cpp    |  5 -----
 5 files changed, 31 insertions(+), 7 deletions(-)
 create mode 100644 unittest/internal/globalfunctions/TestArrayPrinter.cpp
 create mode 100644 unittest/internal/globalfunctions/TestArrayPrinter.h
 delete mode 100644 unittest/tests/globalfunctions/TestArrayPrinter.cpp

diff --git a/unittest/internal/InternalUnitTester.cpp b/unittest/internal/InternalUnitTester.cpp
index bd41969c..199a3cf0 100644
--- a/unittest/internal/InternalUnitTester.cpp
+++ b/unittest/internal/InternalUnitTester.cpp
@@ -5,24 +5,37 @@
 #include "osal/IntTestSemaphore.h"
 #include "osal/IntTestMutex.h"
 #include "serialize/IntTestSerialization.h"
+#include "globalfunctions/TestArrayPrinter.h"
 
 #include <cstdlib>
 
+struct TestConfig {
+    bool testArrayPrinter;
+};
 InternalUnitTester::InternalUnitTester() {}
 
 InternalUnitTester::~InternalUnitTester() {}
 
-ReturnValue_t InternalUnitTester::performTests() {
+ReturnValue_t InternalUnitTester::performTests(struct TestConfig testConfig) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::info << "Running internal unit tests.." << std::endl;
+#else
+	sif::printInfo("Running internal unit tests..\n");
 #endif
+
 	testserialize::test_serialization();
 	testmq::testMq();
 	testsemaph::testBinSemaph();
 	testsemaph::testCountingSemaph();
 	testmutex::testMutex();
+	if(testConfig.testArrayPrinter) {
+	    arrayprinter::testArrayPrinter();
+	}
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::info << "Internal unit tests finished." << std::endl;
+#else
+	sif::printInfo("Running internal unit tests..\n");
 #endif
 	return RETURN_OK;
 }
diff --git a/unittest/internal/InternalUnitTester.h b/unittest/internal/InternalUnitTester.h
index d0b1c106..e67777b9 100644
--- a/unittest/internal/InternalUnitTester.h
+++ b/unittest/internal/InternalUnitTester.h
@@ -22,7 +22,7 @@ public:
 	 * Some function which calls all other tests
 	 * @return
 	 */
-	virtual ReturnValue_t performTests();
+	virtual ReturnValue_t performTests(struct TestConfig testConfig);
 };
 
 
diff --git a/unittest/internal/globalfunctions/TestArrayPrinter.cpp b/unittest/internal/globalfunctions/TestArrayPrinter.cpp
new file mode 100644
index 00000000..078134e1
--- /dev/null
+++ b/unittest/internal/globalfunctions/TestArrayPrinter.cpp
@@ -0,0 +1,4 @@
+#include "TestArrayPrinter.cpp"
+
+void arrayprinter::testArrayPrinter() {
+}
diff --git a/unittest/internal/globalfunctions/TestArrayPrinter.h b/unittest/internal/globalfunctions/TestArrayPrinter.h
new file mode 100644
index 00000000..b77f1897
--- /dev/null
+++ b/unittest/internal/globalfunctions/TestArrayPrinter.h
@@ -0,0 +1,12 @@
+#ifndef FSFW_UNITTEST_INTERNAL_GLOBALFUNCTIONS_TESTARRAYPRINTER_H_
+#define FSFW_UNITTEST_INTERNAL_GLOBALFUNCTIONS_TESTARRAYPRINTER_H_
+
+namespace arrayprinter {
+
+void testArrayPrinter();
+
+}
+
+
+
+#endif /* FSFW_UNITTEST_INTERNAL_GLOBALFUNCTIONS_TESTARRAYPRINTER_H_ */
diff --git a/unittest/tests/globalfunctions/TestArrayPrinter.cpp b/unittest/tests/globalfunctions/TestArrayPrinter.cpp
deleted file mode 100644
index 59143619..00000000
--- a/unittest/tests/globalfunctions/TestArrayPrinter.cpp
+++ /dev/null
@@ -1,5 +0,0 @@
-#include <catch2/catch_test_macros.hpp>
-
-
-
-

From 79cf009049675f07e695fe4627b021b5912902e3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 17:06:05 +0100
Subject: [PATCH 07/10] updated internal unit tester

---
 unittest/internal/CMakeLists.txt                       | 3 ++-
 unittest/internal/InternalUnitTester.cpp               | 5 +----
 unittest/internal/InternalUnitTester.h                 | 7 ++++++-
 unittest/internal/globalfunctions/CMakeLists.txt       | 3 +++
 unittest/internal/globalfunctions/TestArrayPrinter.cpp | 2 +-
 unittest/internal/internal.mk                          | 1 +
 6 files changed, 14 insertions(+), 7 deletions(-)
 create mode 100644 unittest/internal/globalfunctions/CMakeLists.txt

diff --git a/unittest/internal/CMakeLists.txt b/unittest/internal/CMakeLists.txt
index 9c24317f..11fd2b2f 100644
--- a/unittest/internal/CMakeLists.txt
+++ b/unittest/internal/CMakeLists.txt
@@ -4,4 +4,5 @@ target_sources(${TARGET_NAME} PRIVATE
 )
 
 add_subdirectory(osal)
-add_subdirectory(serialize)
\ No newline at end of file
+add_subdirectory(serialize)
+add_subdirectory(globalfunctions)
\ No newline at end of file
diff --git a/unittest/internal/InternalUnitTester.cpp b/unittest/internal/InternalUnitTester.cpp
index 199a3cf0..f89d093a 100644
--- a/unittest/internal/InternalUnitTester.cpp
+++ b/unittest/internal/InternalUnitTester.cpp
@@ -9,14 +9,11 @@
 
 #include <cstdlib>
 
-struct TestConfig {
-    bool testArrayPrinter;
-};
 InternalUnitTester::InternalUnitTester() {}
 
 InternalUnitTester::~InternalUnitTester() {}
 
-ReturnValue_t InternalUnitTester::performTests(struct TestConfig testConfig) {
+ReturnValue_t InternalUnitTester::performTests(struct InternalUnitTester::TestConfig& testConfig) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::info << "Running internal unit tests.." << std::endl;
 #else
diff --git a/unittest/internal/InternalUnitTester.h b/unittest/internal/InternalUnitTester.h
index e67777b9..ae954c6a 100644
--- a/unittest/internal/InternalUnitTester.h
+++ b/unittest/internal/InternalUnitTester.h
@@ -4,6 +4,7 @@
 #include "UnittDefinitions.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 
+
 /**
  * @brief	Can be used for internal testing, for example for hardware specific
  * 			tests which can not be run on a host-machine.
@@ -15,6 +16,10 @@
  */
 class InternalUnitTester: public HasReturnvaluesIF {
 public:
+    struct TestConfig {
+        bool testArrayPrinter;
+    };
+
 	InternalUnitTester();
 	virtual~ InternalUnitTester();
 
@@ -22,7 +27,7 @@ public:
 	 * Some function which calls all other tests
 	 * @return
 	 */
-	virtual ReturnValue_t performTests(struct TestConfig testConfig);
+	virtual ReturnValue_t performTests(struct InternalUnitTester::TestConfig& testConfig);
 };
 
 
diff --git a/unittest/internal/globalfunctions/CMakeLists.txt b/unittest/internal/globalfunctions/CMakeLists.txt
new file mode 100644
index 00000000..4ea49bf7
--- /dev/null
+++ b/unittest/internal/globalfunctions/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_sources(${TARGET_NAME} PRIVATE
+	TestArrayPrinter.cpp
+)
diff --git a/unittest/internal/globalfunctions/TestArrayPrinter.cpp b/unittest/internal/globalfunctions/TestArrayPrinter.cpp
index 078134e1..c26faa85 100644
--- a/unittest/internal/globalfunctions/TestArrayPrinter.cpp
+++ b/unittest/internal/globalfunctions/TestArrayPrinter.cpp
@@ -1,4 +1,4 @@
-#include "TestArrayPrinter.cpp"
+#include "TestArrayPrinter.h"
 
 void arrayprinter::testArrayPrinter() {
 }
diff --git a/unittest/internal/internal.mk b/unittest/internal/internal.mk
index 799fd796..1d4c9c99 100644
--- a/unittest/internal/internal.mk
+++ b/unittest/internal/internal.mk
@@ -1,3 +1,4 @@
 CXXSRC += $(wildcard $(CURRENTPATH)/osal/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/serialize/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/globalfunctions/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
\ No newline at end of file

From eae3175976c55ada568cc6785f10ace3eb27a9ad Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 17:25:27 +0100
Subject: [PATCH 08/10] repaired internal unit test

---
 unittest/CMakeLists.txt                 |  5 ++++-
 unittest/internal/UnittDefinitions.cpp  |  2 +-
 unittest/internal/osal/IntTestMutex.cpp | 15 ++++++++++-----
 3 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 119ef243..24f8ef6f 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -1,2 +1,5 @@
 add_subdirectory(internal)
-add_subdirectory(tests)
\ No newline at end of file
+
+if(LINK_CATCH2)
+    add_subdirectory(tests)
+endif()
\ No newline at end of file
diff --git a/unittest/internal/UnittDefinitions.cpp b/unittest/internal/UnittDefinitions.cpp
index 517f561a..ed4b59c1 100644
--- a/unittest/internal/UnittDefinitions.cpp
+++ b/unittest/internal/UnittDefinitions.cpp
@@ -5,7 +5,7 @@
 	sif::error << "Unit Tester error: Failed at test ID "
 			<< errorId << std::endl;
 #else
-	sif::printError("Unit Tester error: Failed at test ID 0x%08x", errorId);
+	sif::printError("Unit Tester error: Failed at test ID %s\n", errorId.c_str());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
index 2a1584b8..13d87a8b 100644
--- a/unittest/internal/osal/IntTestMutex.cpp
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -3,8 +3,8 @@
 #include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/unittest/internal/UnittDefinitions.h>
 
-#if defined(hosted)
-#include <fsfw/osal/hosted/Mutex.h>
+#if defined(WIN32) || defined(UNIX)
+#include <fsfw/osal/host/Mutex.h>
 #include <thread>
 #include <future>
 #endif
@@ -19,10 +19,11 @@ void testmutex::testMutex() {
 	}
 	// timed_mutex from the C++ library specifies undefined behaviour if
 	// the timed mutex is locked twice from the same thread.
-#if defined(hosted)
+    // TODO: we should pass a define like FSFW_OSAL_HOST to the build.
+#if defined(WIN32) || defined(UNIX)
 	// This calls the function from
 	// another thread and stores the returnvalue in a future.
-	auto future = std::async(&MutexIF::lockMutex, mutex, 1);
+	auto future = std::async(&MutexIF::lockMutex, mutex, MutexIF::TimeoutType::WAITING, 1);
 	result = future.get();
 #else
 	result = mutex->lockMutex(MutexIF::TimeoutType::WAITING, 1);
@@ -35,8 +36,12 @@ void testmutex::testMutex() {
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 		unitt::put_error(id);
 	}
-	result = mutex->unlockMutex();
+
+	// TODO: we should pass a define like FSFW_OSAL_HOST to the build.
+#if !defined(WIN32) && !defined(UNIX)
+    result = mutex->unlockMutex();
 	if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
 		unitt::put_error(id);
 	}
+#endif
 }

From 38dd2308879d37ca666b308cda743e2c9079c464 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 17:28:31 +0100
Subject: [PATCH 09/10] fixed syntax error

---
 unittest/internal/globalfunctions/TestArrayPrinter.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/unittest/internal/globalfunctions/TestArrayPrinter.h b/unittest/internal/globalfunctions/TestArrayPrinter.h
index b77f1897..714c3aed 100644
--- a/unittest/internal/globalfunctions/TestArrayPrinter.h
+++ b/unittest/internal/globalfunctions/TestArrayPrinter.h
@@ -7,6 +7,4 @@ void testArrayPrinter();
 
 }
 
-
-
 #endif /* FSFW_UNITTEST_INTERNAL_GLOBALFUNCTIONS_TESTARRAYPRINTER_H_ */

From a9135696a58b8ec783ffa46770c4869541d21846 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 15 Jan 2021 18:07:32 +0100
Subject: [PATCH 10/10] array printer tests complete

---
 globalfunctions/arrayprinter.cpp              | 57 +++++++++++--------
 globalfunctions/arrayprinter.h                |  9 +--
 serviceinterface/ServiceInterfaceBuffer.cpp   |  4 +-
 serviceinterface/ServiceInterfaceBuffer.h     |  2 +
 serviceinterface/ServiceInterfaceStream.cpp   |  4 ++
 serviceinterface/ServiceInterfaceStream.h     |  2 +
 unittest/internal/InternalUnitTester.cpp      |  2 +-
 .../globalfunctions/TestArrayPrinter.cpp      | 25 ++++++++
 .../globalfunctions/TestArrayPrinter.h        |  3 +
 9 files changed, 77 insertions(+), 31 deletions(-)

diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp
index 6dc959d7..7dc056b0 100644
--- a/globalfunctions/arrayprinter.cpp
+++ b/globalfunctions/arrayprinter.cpp
@@ -2,20 +2,21 @@
 #include "../serviceinterface/ServiceInterface.h"
 #include <bitset>
 
+
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
         bool printInfo, size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     if(printInfo) {
-        sif::info << "Printing data with size " << size << ": ";
+         sif::info << "Printing data with size " << size << ": " << std::endl;
     }
-    sif::info << "[";
 #else
 #if FSFW_NO_C99_IO == 1
-    sif::printInfo("Printing data with size %lu: [", static_cast<unsigned long>(size));
+    sif::printInfo("Printing data with size %lu: \n", static_cast<unsigned long>(size));
 #else
-    sif::printInfo("Printing data with size %zu: [", size);
+    sif::printInfo("Printing data with size %zu: \n", size);
 #endif /* FSFW_NO_C99_IO == 1 */
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
     if(type == OutputType::HEX) {
         arrayprinter::printHex(data, size, maxCharPerLine);
     }
@@ -30,19 +31,23 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
 void arrayprinter::printHex(const uint8_t *data, size_t size,
         size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << std::hex;
+    if(sif::info.crAdditionEnabled()) {
+        std::cout << "\r" << std::endl;
+    }
+
+    std::cout << "[" << std::hex;
     for(size_t i = 0; i < size; i++) {
-        sif::info << "0x" << static_cast<int>(data[i]);
+        std::cout << "0x" << static_cast<int>(data[i]);
         if(i < size - 1) {
-            sif::info << " , ";
-            if(i > 0 and i % maxCharPerLine == 0) {
-                sif::info << std::endl;
+            std::cout << " , ";
+            if(i > 0 and (i + 1) % maxCharPerLine == 0) {
+                std::cout << std::endl;
 
             }
         }
     }
-    sif::info << std::dec;
-    sif::info << "]" << std::endl;
+    std::cout << std::dec;
+    std::cout << "]" << std::endl;
 #else
     // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
     // plus line break plus small safety margin.
@@ -57,28 +62,33 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
         currentPos += snprintf(printBuffer + currentPos, 6, "0x%02x", data[i]);
         if(i < size - 1) {
             currentPos += sprintf(printBuffer + currentPos, ", ");
-            if(i > 0 and i % maxCharPerLine == 0) {
+            if(i > 0 and (i + 1) % maxCharPerLine == 0) {
                 currentPos += sprintf(printBuffer + currentPos, "\n");
             }
         }
     }
+    printf("[%s]\n", printBuffer);
 #endif
 }
 
 void arrayprinter::printDec(const uint8_t *data, size_t size,
         size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << std::dec;
+    if(sif::info.crAdditionEnabled()) {
+        std::cout << "\r" << std::endl;
+    }
+
+    std::cout << "[" << std::dec;
     for(size_t i = 0; i < size; i++) {
-        sif::info << static_cast<int>(data[i]);
+        std::cout << static_cast<int>(data[i]);
         if(i < size - 1){
-            sif::info << " , ";
-            if(i > 0 and i % maxCharPerLine == 0) {
-                sif::info << std::endl;
+            std::cout << " , ";
+            if(i > 0 and (i + 1) % maxCharPerLine == 0) {
+                std::cout << std::endl;
             }
         }
     }
-    sif::info << "]" << std::endl;
+    std::cout << "]" << std::endl;
 #else
     // General format: 32, 243, -12 so it is number of chars times 5
     // plus line break plus small safety margin.
@@ -93,26 +103,23 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
         currentPos += snprintf(printBuffer + currentPos, 3, "%d", data[i]);
         if(i < size - 1) {
             currentPos += sprintf(printBuffer + currentPos, ", ");
-            if(i > 0 and i % maxCharPerLine == 0) {
+            if(i > 0 and (i + 1) % maxCharPerLine == 0) {
                 currentPos += sprintf(printBuffer + currentPos, "\n");
             }
         }
     }
+    printf("[%s]\n", printBuffer);
 #endif
 }
 
 void arrayprinter::printBin(const uint8_t *data, size_t size) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "\n" << std::flush;
     for(size_t i = 0; i < size; i++) {
-        sif::info << "Byte " << i + 1 << ": 0b" <<  std::bitset<8>(data[i]) << "," << std::endl;
+        sif::info << "Byte " << i + 1 << ": 0b" <<  std::bitset<8>(data[i]) << std::endl;
     }
-    sif::info << "]" << std::endl;
 #else
-    sif::printInfo("\n");
     for(size_t i = 0; i < size; i++) {
-        sif::printInfo("Byte %d: 0b" BYTE_TO_BINARY_PATTERN ",\n", BYTE_TO_BINARY(data[i]));
+        sif::printInfo("Byte %d: 0b" BYTE_TO_BINARY_PATTERN "\n", i + 1, BYTE_TO_BINARY(data[i]));
     }
-    sif::printInfo("]\n");
 #endif
 }
diff --git a/globalfunctions/arrayprinter.h b/globalfunctions/arrayprinter.h
index 6dfa6ecd..e6b3ea6b 100644
--- a/globalfunctions/arrayprinter.h
+++ b/globalfunctions/arrayprinter.h
@@ -10,13 +10,14 @@ enum class OutputType {
     BIN
 };
 
-//! TODO: Write unit tests for this module.
 namespace arrayprinter {
 
+
+
 void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
-        bool printInfo = true, size_t maxCharPerLine = 12);
-void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
-void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+        bool printInfo = true, size_t maxCharPerLine = 10);
+void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 10);
+void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 10);
 void printBin(const uint8_t* data, size_t size);
 
 }
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 1a02d6e9..3f624564 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -167,7 +167,9 @@ std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	return &preamble;
 }
 
-
+bool ServiceInterfaceBuffer::crAdditionEnabled() const {
+    return addCrToPreamble;
+}
 
 #ifdef UT699
 #include "../osal/rtems/Interrupt.h"
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index b1a50848..9d3ce069 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -70,6 +70,8 @@ private:
 	void putChars(char const* begin, char const* end);
 
 	std::string* getPreamble(size_t * preambleSize = nullptr);
+
+	bool crAdditionEnabled() const;
 };
 
 #endif
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 59526536..ad14cd04 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -15,5 +15,9 @@ std::string* ServiceInterfaceStream::getPreamble() {
 	return streambuf.getPreamble();
 }
 
+bool ServiceInterfaceStream::crAdditionEnabled() const {
+    return streambuf.crAdditionEnabled();
+}
+
 #endif
 
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index f3cb2cd0..e3c0ea7a 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -39,6 +39,8 @@ public:
 	 */
 	std::string* getPreamble();
 
+	bool crAdditionEnabled() const;
+
 protected:
 	ServiceInterfaceBuffer streambuf;
 };
diff --git a/unittest/internal/InternalUnitTester.cpp b/unittest/internal/InternalUnitTester.cpp
index f89d093a..a9394ad3 100644
--- a/unittest/internal/InternalUnitTester.cpp
+++ b/unittest/internal/InternalUnitTester.cpp
@@ -32,7 +32,7 @@ ReturnValue_t InternalUnitTester::performTests(struct InternalUnitTester::TestCo
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::info << "Internal unit tests finished." << std::endl;
 #else
-	sif::printInfo("Running internal unit tests..\n");
+	sif::printInfo("Internal unit tests finished.\n");
 #endif
 	return RETURN_OK;
 }
diff --git a/unittest/internal/globalfunctions/TestArrayPrinter.cpp b/unittest/internal/globalfunctions/TestArrayPrinter.cpp
index c26faa85..de016d19 100644
--- a/unittest/internal/globalfunctions/TestArrayPrinter.cpp
+++ b/unittest/internal/globalfunctions/TestArrayPrinter.cpp
@@ -1,4 +1,29 @@
 #include "TestArrayPrinter.h"
 
 void arrayprinter::testArrayPrinter() {
+    {
+        const std::array<uint8_t, 5> testDataSmall = {0x01, 0x02, 0x03, 0x04, 0x05};
+        arrayprinter::print(testDataSmall.data(), testDataSmall.size());
+        arrayprinter::print(testDataSmall.data(), testDataSmall.size(), OutputType::DEC);
+        arrayprinter::print(testDataSmall.data(), testDataSmall.size(), OutputType::BIN);
+    }
+
+    {
+        std::array<uint8_t, 16> testDataMed;
+        for(size_t idx = 0; idx < testDataMed.size(); idx ++) {
+            testDataMed[idx] = testDataMed.size() - idx;
+        }
+        arrayprinter::print(testDataMed.data(), testDataMed.size());
+        arrayprinter::print(testDataMed.data(), testDataMed.size(), OutputType::DEC, 8);
+    }
+
+    {
+        std::array<uint8_t, 32> testDataLarge;
+        for(size_t idx = 0; idx < testDataLarge.size(); idx ++) {
+            testDataLarge[idx] = idx;
+        }
+        arrayprinter::print(testDataLarge.data(), testDataLarge.size());
+        arrayprinter::print(testDataLarge.data(), testDataLarge.size(), OutputType::DEC);
+    }
+
 }
diff --git a/unittest/internal/globalfunctions/TestArrayPrinter.h b/unittest/internal/globalfunctions/TestArrayPrinter.h
index 714c3aed..50b82ca0 100644
--- a/unittest/internal/globalfunctions/TestArrayPrinter.h
+++ b/unittest/internal/globalfunctions/TestArrayPrinter.h
@@ -1,6 +1,9 @@
 #ifndef FSFW_UNITTEST_INTERNAL_GLOBALFUNCTIONS_TESTARRAYPRINTER_H_
 #define FSFW_UNITTEST_INTERNAL_GLOBALFUNCTIONS_TESTARRAYPRINTER_H_
 
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <array>
+
 namespace arrayprinter {
 
 void testArrayPrinter();