Update FSFW #24

Merged
muellerr merged 160 commits from mueller/master into master 2021-09-26 22:54:37 +02:00
41 changed files with 156 additions and 103 deletions
Showing only changes of commit 29abef40a4 - Show all commits

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@ -10,6 +10,7 @@ endif()
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
# Options to exclude parts of the FSFW from compilation.
option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
# Optional sources

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@ -1,6 +1,7 @@
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "UartComIF.h"
#include "OBSWConfig.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
@ -60,7 +61,13 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile();
int fd = open(deviceFile.c_str(), O_RDWR);
int flags = O_RDWR;
if(uartCookie->getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK;
}
int fd = open(deviceFile.c_str(), flags);
if (fd < 0) {
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
@ -259,23 +266,22 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(sendData == nullptr) {
sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
return RETURN_FAILED;
}
if(sendLen == 0) {
return RETURN_OK;
}
if(sendData == nullptr) {
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
return RETURN_FAILED;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
return NULLPOINTER;
}
@ -347,12 +353,13 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
size_t maxReplySize = uartCookie.getMaxReplyLen();
int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data();
iter->second.replyLen = 0;
do {
size_t allowedReadSize = 0;
if(currentBytesRead >= maxReplySize) {
// Overflow risk. Emit warning, trigger event and break. If this happens,
// the reception buffer is not large enough or data is not polled often enough.
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
@ -370,7 +377,20 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
bytesRead = read(fd, bufferPtr, allowedReadSize);
if (bytesRead < 0) {
return RETURN_FAILED;
// EAGAIN: No data available in non-blocking mode
if(errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
errno << ": " << strerror(errno) << std::endl;
#else
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
errno, strerror(errno));
#endif
#endif
return RETURN_FAILED;
}
}
else if(bytesRead > 0) {
iter->second.replyLen += bytesRead;

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@ -4,8 +4,8 @@
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen):
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate),
maxReplyLen(maxReplyLen) {
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
baudrate(baudrate), maxReplyLen(maxReplyLen) {
}
UartCookie::~UartCookie() {}

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@ -1,3 +1,16 @@
target_sources(${TARGET_NAME} PRIVATE
CatchDefinitions.cpp
CatchFactory.cpp
printChar.cpp
)
if(FSFW_CUSTOM_UNITTEST_RUNNER)
target_sources(${TARGET_NAME} PRIVATE
CatchRunner.cpp
CatchSetup.cpp
)
endif()
add_subdirectory(action)
add_subdirectory(container)
add_subdirectory(osal)

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@ -1,17 +1,21 @@
#include "CatchFactory.h"
#include "datapoollocal/LocalPoolOwnerBase.h"
#include "mocks/HkReceiverMock.h"
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/internalerror/InternalErrorReporter.h>
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/unittest/tests/datapoollocal/LocalPoolOwnerBase.h>
#include <fsfw/unittest/tests/mocks/HkReceiverMock.h>
#if FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS == 1
/**
* @brief Produces system objects.
@ -26,7 +30,7 @@
*
* @ingroup init
*/
void Factory::produce(void) {
void Factory::produceFrameworkObjects(void* args) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
@ -55,7 +59,6 @@ void Factory::produce(void) {
};
new PoolManager(objects::IPC_STORE, poolCfg);
}
}
void Factory::setStaticFrameworkObjectIds() {
@ -77,5 +80,4 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::NO_OBJECT;
}
#endif

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@ -0,0 +1,24 @@
#ifndef FSFW_CATCHFACTORY_H_
#define FSFW_CATCHFACTORY_H_
#include "TestConfig.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/objectmanager/ObjectManager.h"
// TODO: It is possible to solve this more cleanly using a special class which
// is allowed to set the object IDs and has virtual functions.
#if FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS == 1
namespace Factory {
/**
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produceFrameworkObjects(void* args);
void setStaticFrameworkObjectIds();
}
#endif /* FSFW_ADD_DEFAULT_FSFW_FACTORY == 1 */
#endif /* FSFW_CATCHFACTORY_H_ */

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@ -6,7 +6,7 @@
* from the eclipse market place to get colored characters.
*/
#include <TestsConfig.h>
#include "CatchRunner.h"
#define CATCH_CONFIG_COLOUR_WINDOWS
@ -14,11 +14,11 @@
extern int customSetup();
int main( int argc, char* argv[] ) {
int fsfwtest::customMain(int argc, char* argv[]) {
customSetup();
// Catch internal function call
int result = Catch::Session().run( argc, argv );
int result = Catch::Session().run(argc, argv);
// global clean-up
return result;

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@ -0,0 +1,14 @@
#ifndef FSFW_TESTS_USER_UNITTEST_CORE_CATCHRUNNER_H_
#define FSFW_TESTS_USER_UNITTEST_CORE_CATCHRUNNER_H_
namespace fsfwtest {
/**
* Can be called by upper level main() if default Catch2 main is overriden
* @return
*/
int customMain(int argc, char* argv[]);
}
#endif /* FSFW_TESTS_USER_UNITTEST_CORE_CATCHRUNNER_H_ */

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@ -5,10 +5,9 @@
#include <gcov.h>
#endif
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/storagemanager/StorageManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
/* Global instantiations normally done in main.cpp */
@ -24,13 +23,11 @@ ServiceInterfaceStream warning("WARNING");
}
#endif
/* Global object manager */
ObjectManagerIF *objectManager;
int customSetup() {
// global setup
objectManager = new ObjectManager(Factory::produce);
objectManager -> initialize();
ObjectManager* objMan = ObjectManager::instance();
objMan->setObjectFactoryFunction(Factory::produceFrameworkObjects, nullptr);
objMan->initialize();
return 0;
}

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@ -1,13 +1,10 @@
#include "TestActionHelper.h"
#include <unittest/core/CatchDefinitions.h>
#include "fsfw_tests/unit/mocks/MessageQueueMockBase.h"
#include <fsfw/action/ActionHelper.h>
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/tests/unit/mocks/MessageQueueMockBase.h>
#include <catch2/catch_test_macros.hpp>
#include <array>

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@ -1,12 +1,11 @@
#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/action/HasActionsIF.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <unittest/core/CatchDefinitions.h>
#include <cstring>
class ActionHelperOwnerMockBase: public HasActionsIF {
public:
bool getCommandQueueCalled = false;

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@ -1,4 +1,4 @@
#include <unittest/core/CatchDefinitions.h>
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/SimpleRingBuffer.h>
#include <catch2/catch_test_macros.hpp>

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@ -1,8 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/ArrayList.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
/**
* @brief Array List test

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@ -1,9 +1,10 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/DynamicFIFO.h>
#include <fsfw/container/FIFO.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
TEST_CASE( "Dynamic Fifo Tests", "[TestDynamicFifo]") {
INFO("Dynamic Fifo Tests");

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@ -1,9 +1,10 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/DynamicFIFO.h>
#include <fsfw/container/FIFO.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
TEST_CASE( "Static Fifo Tests", "[TestFifo]") {
INFO("Fifo Tests");

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@ -1,8 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/FixedArrayList.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
TEST_CASE( "FixedArrayList Tests", "[TestFixedArrayList]") {

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@ -1,8 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/FixedMap.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
template class FixedMap<unsigned int, unsigned short>;

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@ -1,8 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/FixedOrderedMultimap.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
TEST_CASE( "FixedOrderedMultimap Tests", "[TestFixedOrderedMultimap]") {
INFO("FixedOrderedMultimap Tests");

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@ -1,10 +1,11 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/container/PlacementFactory.h>
#include <fsfw/storagemanager/LocalPool.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/container/ArrayList.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
TEST_CASE( "PlacementFactory Tests", "[TestPlacementFactory]") {
INFO("PlacementFactory Tests");

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@ -1,7 +1,5 @@
#include "LocalPoolOwnerBase.h"
#include <catch2/catch_test_macros.hpp>
#include <catch2/catch_approx.hpp>
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
@ -10,7 +8,8 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/bitutility.h>
#include <unittest/core/CatchDefinitions.h>
#include <catch2/catch_test_macros.hpp>
#include <catch2/catch_approx.hpp>
TEST_CASE("DataSetTest" , "[DataSetTest]") {
LocalPoolOwnerBase* poolOwner = ObjectManager::instance()->

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@ -1,7 +1,5 @@
#include "LocalPoolOwnerBase.h"
#include <catch2/catch_test_macros.hpp>
#include <catch2/catch_approx.hpp>
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/datapool/PoolReadGuard.h>
@ -10,7 +8,10 @@
#include <fsfw/housekeeping/HousekeepingSnapshot.h>
#include <fsfw/ipc/CommandMessageCleaner.h>
#include <fsfw/timemanager/CCSDSTime.h>
#include <unittest/core/CatchDefinitions.h>
#include <catch2/catch_test_macros.hpp>
#include <catch2/catch_approx.hpp>
#include <iostream>

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@ -2,6 +2,7 @@
#define FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_
#include "objects/systemObjectList.h"
#include "../mocks/MessageQueueMockBase.h"
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <fsfw/datapoollocal/LocalDataSet.h>
@ -10,7 +11,6 @@
#include <fsfw/datapoollocal/LocalPoolVector.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/tests/unit/mocks/MessageQueueMockBase.h>
#include <fsfw/datapool/PoolReadGuard.h>
namespace lpool {

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@ -1,10 +1,10 @@
#include "LocalPoolOwnerBase.h"
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <catch2/catch_test_macros.hpp>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <unittest/core/CatchDefinitions.h>
#include <catch2/catch_test_macros.hpp>
TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") {
LocalPoolOwnerBase* poolOwner = ObjectManager::instance()->

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@ -1,9 +1,10 @@
#include "LocalPoolOwnerBase.h"
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <catch2/catch_test_macros.hpp>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <unittest/core/CatchDefinitions.h>
TEST_CASE("LocalPoolVector" , "[LocPoolVecTest]") {
LocalPoolOwnerBase* poolOwner = ObjectManager::instance()->

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@ -1,9 +1,12 @@
#ifndef FSFW_UNITTEST_TESTS_MOCKS_MESSAGEQUEUEMOCKBASE_H_
#define FSFW_UNITTEST_TESTS_MOCKS_MESSAGEQUEUEMOCKBASE_H_
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/MessageQueueMessage.h>
#include <unittest/core/CatchDefinitions.h>
#include "fsfw_tests/unit/CatchDefinitions.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include <cstring>
#include <queue>

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@ -1,8 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
#include <array>

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@ -1,7 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/serialize/SerialBufferAdapter.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
#include <array>

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@ -1,10 +1,9 @@
#include "TestSerialLinkedPacket.h"
#include <unittest/core/CatchDefinitions.h>
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/globalfunctions/arrayprinter.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
#include <array>

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@ -1,8 +1,8 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/serialize/SerializeAdapter.h>
#include <catch2/catch_test_macros.hpp>
#include <catch2/catch_approx.hpp>
#include <unittest/core/CatchDefinitions.h>
#include <array>

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@ -1,6 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/storagemanager/LocalPool.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
#include <array>
#include <cstring>

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@ -1,8 +1,9 @@
#include "fsfw_tests/unit/CatchDefinitions.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/storagemanager/LocalPool.h>
#include <catch2/catch_test_macros.hpp>
#include <unittest/core/CatchDefinitions.h>
#include <cstring>

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@ -32,7 +32,7 @@ if(NOT FSFW_OSAL)
set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
endif()
option(CUSTOM_UNITTEST_RUNNER
option(FSFW_CUSTOM_UNITTEST_RUNNER
"Specify whether custom main or Catch2 main is used" TRUE
)
@ -49,7 +49,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED True)
# Set names and variables
set(TARGET_NAME ${CMAKE_PROJECT_NAME})
if(CUSTOM_UNITTEST_RUNNER)
if(FSFW_CUSTOM_UNITTEST_RUNNER)
set(CATCH2_TARGET Catch2)
else()
set(CATCH2_TARGET Catch2WithMain)

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@ -1,6 +1,8 @@
#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#define FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS 1
#ifdef __cplusplus
#include "objects/systemObjectList.h"

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@ -1 +0,0 @@
add_subdirectory(core)

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@ -1,13 +0,0 @@
target_sources(${TARGET_NAME} PRIVATE
CatchDefinitions.cpp
CatchFactory.cpp
CatchRunner.cpp
CatchSetup.cpp
printChar.cpp
)
if(CUSTOM_UNITTEST_RUNNER)
target_sources(${TARGET_NAME} PRIVATE
CatchRunner.cpp
)
endif()

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@ -1,16 +0,0 @@
#ifndef FSFW_CATCHFACTORY_H_
#define FSFW_CATCHFACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
namespace Factory {
/**
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produce(void* args);
void setStaticFrameworkObjectIds();
}
#endif /* FSFW_CATCHFACTORY_H_ */

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@ -1,3 +0,0 @@
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
INCLUDES += $(CURRENTPATH)