CMakeLists.txt

@@ -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
@@ -38,7 +39,7 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11)
 endif()
 
 # Backwards comptability
-if(OS_FSFW)
+if(OS_FSFW AND NOT FSFW_OSAL)
     message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
     set(FSFW_OSAL OS_FSFW)
 endif()
@@ -63,18 +64,19 @@ set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
     set(OS_FSFW_NAME "Host")
+    set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
     set(OS_FSFW_NAME "Linux")
-	set(FSFW_OSAL_DEFINITION FSFW_OSAL_LINUX)
+    set(FSFW_OSAL_LINUX ON)
 elseif(FSFW_OSAL MATCHES freertos)
     set(OS_FSFW_NAME "FreeRTOS")
-	set(FSFW_OSAL_DEFINITION FSFW_OSAL_FREERTOS)
+    set(FSFW_OSAL_FREERTOS ON)
     target_link_libraries(${LIB_FSFW_NAME} PRIVATE
         ${LIB_OS_NAME}
     )
 elseif(FSFW_OSAL STREQUAL rtems)
     set(OS_FSFW_NAME "RTEMS")
-    set(FSFW_OSAL_DEFINITION FSFW_OSAL_RTEMS)
+    set(FSFW_OSAL_RTEMS ON)
 else()
     message(WARNING
         "Invalid operating system for FSFW specified! Setting to host.."
@@ -83,14 +85,6 @@ else()
     set(OS_FSFW "host")
 endif()
 
-target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_OSAL_DEFINITION}
-)
-
-target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
-    ${FSFW_OSAL_DEFINITION}
-)
-
 message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 
 add_subdirectory(src)

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -1,5 +1,10 @@
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 
+#include <cerrno>
+#include <cstring>
+
 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
         std::string diagnosticPrefix):
         fileDescriptor(fileDescriptor) {
@@ -10,12 +15,11 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
     if (*fileDescriptor < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
-                "." << std::endl;
-        sif::warning << "Error description: " << strerror(errno) << std::endl;
+        sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
+                errno << ": " << strerror(errno) << std::endl;
 #else
-        sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
-        sif::printWarning("Error description: %s\n", strerror(errno));
+        sif::printWarning("%s: Opening device failed with error code %d: %s\n",
+                diagnosticPrefix, errno, strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
         openStatus = OPEN_FILE_FAILED;

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

@@ -90,7 +90,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 
     int fileDescriptor = 0;
     UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
-            "SpiComIF::initializeInterface: ");
+            "SpiComIF::initializeInterface");
     if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return fileHelper.getOpenResult();
     }
@@ -184,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     /* Prepare transfer */
     int fileDescriptor = 0;
     std::string device = spiCookie->getSpiDevice();
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
     if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return OPENING_FILE_FAILED;
     }
@@ -273,7 +273,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     std::string device = spiCookie->getSpiDevice();
     int fileDescriptor = 0;
     UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
-            "SpiComIF::requestReceiveMessage: ");
+            "SpiComIF::requestReceiveMessage");
     if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return OPENING_FILE_FAILED;
     }

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -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;
@@ -370,8 +377,21 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
 
         bytesRead = read(fd, bufferPtr, allowedReadSize);
         if (bytesRead < 0) {
+            // 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;
             bufferPtr += bytesRead;

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -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() {}

src/fsfw/FSFW.h.in

@@ -3,6 +3,11 @@
 
 #include "FSFWConfig.h"
 
+#cmakedefine FSFW_OSAL_RTEMS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_HOST
+
 #cmakedefine FSFW_ADD_RMAP
 #cmakedefine FSFW_ADD_DATALINKLAYER
 #cmakedefine FSFW_ADD_TMSTORAGE

src/fsfw/FSFWVersion.h

@@ -1,12 +1,10 @@
-#ifndef FSFW_DEFAULTCFG_VERSION_H_
-#define FSFW_DEFAULTCFG_VERSION_H_
+#ifndef FSFW_VERSION_H_
+#define FSFW_VERSION_H_
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
 #define FSFW_VERSION        1
-#define	FSFW_SUBVERSION     0
+#define FSFW_SUBVERSION     2
 #define FSFW_REVISION       0
 
-
-
-#endif /* FSFW_DEFAULTCFG_VERSION_H_ */
+#endif /* FSFW_VERSION_H_ */

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -469,7 +469,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
     auto replyIter = deviceReplyMap.find(deviceReply);
     if (replyIter == deviceReplyMap.end()) {
         triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
-        return RETURN_FAILED;
+        return COMMAND_NOT_SUPPORTED;
     } else {
         DeviceReplyInfo *info = &(replyIter->second);
         if (maxDelayCycles != 0) {
@@ -481,6 +481,25 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
     }
 }
 
+ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply) {
+    auto replyIter = deviceReplyMap.find(deviceReply);
+    if (replyIter == deviceReplyMap.end()) {
+        triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
+        return COMMAND_NOT_SUPPORTED;
+    } else {
+        DeviceReplyInfo *info = &(replyIter->second);
+        if(not info->periodic) {
+            return COMMAND_NOT_SUPPORTED;
+        }
+        if(enable) {
+            info->delayCycles = info->maxDelayCycles;
+        }
+        else {
+            info->delayCycles = 0;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
 ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
         LocalPoolDataSetBase *dataSet) {

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -449,7 +449,9 @@ protected:
      * @param replyLen Will be supplied to the requestReceiveMessage call of
      * the communication interface.
      * @param periodic	Indicates if the command is periodic (i.e. it is sent
-     * by the device repeatedly without request) or not. Default is aperiodic (0)
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
+     * Please note that periodic replies are disabled by default. You can enable them with
+     * #updatePeriodicReply
      * @return	- @c RETURN_OK when the command was successfully inserted,
      *          - @c RETURN_FAILED else.
      */
@@ -464,7 +466,9 @@ protected:
      * @param maxDelayCycles The maximum number of delay cycles the reply waits
      * until it times out.
      * @param periodic	Indicates if the command is periodic (i.e. it is sent
-     * by the device repeatedly without request) or not. Default is aperiodic (0)
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
+     * Please note that periodic replies are disabled by default. You can enable them with
+     * #updatePeriodicReply
      * @return	- @c RETURN_OK when the command was successfully inserted,
      *          - @c RETURN_FAILED else.
      */
@@ -480,6 +484,14 @@ protected:
      */
     ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
 
+    /**
+     * Enables a periodic reply for a given command. It sets to delay cycles to the specified
+     * maximum delay cycles for a given reply ID if enabled or to 0 if disabled.
+     * @param enable Specify whether to enable or disable a given periodic reply
+     * @return
+     */
+    ReturnValue_t updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply);
+
     /**
      * @brief   This function returns the reply length of the next reply to read.
      *
@@ -493,12 +505,10 @@ protected:
     virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand);
 
     /**
-     * @brief 	This is a helper method to facilitate updating entries
-     *        	in the reply map.
+     * @brief 	This is a helper method to facilitate updating entries in the reply map.
      * @param deviceCommand	Identifier of the reply to update.
-     * @param delayCycles The current number of delay cycles to wait.
-     * As stated in #fillCommandAndCookieMap, to disable periodic commands,
-     * this is set to zero.
+     * @param delayCycles The current number of delay cycles to wait. As stated in
+     * #fillCommandAndReplyMap, to disable periodic commands, this is set to zero.
      * @param maxDelayCycles The maximum number of delay cycles the reply waits
      * until it times out. By passing 0 the entry remains untouched.
      * @param periodic Indicates if the command is periodic (i.e. it is sent

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -1,6 +1,5 @@
 #include "fsfw/platform.h"
 #include "fsfw/osal/common/TcpTmTcBridge.h"
-#include "fsfw/osal/common/tcpipHelpers.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/ipc/MutexGuard.h"
@@ -17,8 +16,6 @@
 
 #endif
 
-const std::string TcpTmTcBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
-
 TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
         object_id_t tmStoreId, object_id_t tcStoreId):
         TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {

src/fsfw/osal/common/TcpTmTcBridge.h

@@ -2,7 +2,7 @@
 #define FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_
 
 #include "TcpIpBase.h"
-#include "../../tmtcservices/TmTcBridge.h"
+#include "fsfw/tmtcservices/TmTcBridge.h"
 
 #ifdef _WIN32
 
@@ -29,8 +29,6 @@ class TcpTmTcBridge:
         public TmTcBridge {
     friend class TcpTmTcServer;
 public:
-    /* The ports chosen here should not be used by any other process. */
-    static const std::string DEFAULT_UDP_SERVER_PORT;
 
     /**
      * Constructor

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -22,14 +22,14 @@
 #define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
 #endif
 
-const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT =  "7303";
+const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
         size_t receptionBufferSize, std::string customTcpServerPort):
         SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge),
         tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) {
     if(tcpPort == "") {
-        tcpPort = DEFAULT_TCP_SERVER_PORT;
+        tcpPort = DEFAULT_SERVER_PORT;
     }
 }
 
@@ -200,6 +200,10 @@ void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) {
     this->tcpBacklog = tcpBacklog;
 }
 
+std::string TcpTmTcServer::getTcpPort() const {
+    return tcpPort;
+}
+
 ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
     // Access to the FIFO is mutex protected because it is filled by the bridge
     MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);

src/fsfw/osal/common/TcpTmTcServer.h

@@ -3,13 +3,14 @@
 
 #include "TcpIpBase.h"
 
-#include "../../platform.h"
-#include "../../ipc/messageQueueDefinitions.h"
-#include "../../ipc/MessageQueueIF.h"
-#include "../../objectmanager/frameworkObjects.h"
-#include "../../objectmanager/SystemObject.h"
-#include "../../storagemanager/StorageManagerIF.h"
-#include "../../tasks/ExecutableObjectIF.h"
+#include "fsfw/platform.h"
+#include "fsfw/osal/common/tcpipHelpers.h"
+#include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/objectmanager/frameworkObjects.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 
 #ifdef PLATFORM_UNIX
 #include <sys/socket.h>
@@ -41,8 +42,7 @@ class TcpTmTcServer:
         public TcpIpBase,
         public ExecutableObjectIF {
 public:
-    /* The ports chosen here should not be used by any other process. */
-    static const std::string DEFAULT_TCP_SERVER_PORT;
+    static const std::string DEFAULT_SERVER_PORT;
 
     static constexpr size_t ETHERNET_MTU_SIZE = 1500;
 
@@ -65,6 +65,8 @@ public:
     ReturnValue_t performOperation(uint8_t opCode) override;
     ReturnValue_t initializeAfterTaskCreation() override;
 
+    std::string getTcpPort() const;
+
 protected:
     StorageManagerIF* tcStore = nullptr;
     StorageManagerIF* tmStore = nullptr;

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -17,13 +17,13 @@
 #define FSFW_UDP_SEND_WIRETAPPING_ENABLED    0
 #endif
 
-const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
+const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
         std::string udpServerPort, object_id_t tmStoreId, object_id_t tcStoreId):
         TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
     if(udpServerPort == "") {
-        this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
+        this->udpServerPort = DEFAULT_SERVER_PORT;
     }
     else {
         this->udpServerPort = udpServerPort;
@@ -108,6 +108,10 @@ UdpTmTcBridge::~UdpTmTcBridge() {
     }
 }
 
+std::string UdpTmTcBridge::getUdpPort() const {
+    return udpServerPort;
+}
+
 ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
     int flags = 0;
 

src/fsfw/osal/common/UdpTmTcBridge.h

@@ -2,8 +2,8 @@
 #define FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_
 
 #include "TcpIpBase.h"
-#include "../../platform.h"
-#include "../../tmtcservices/TmTcBridge.h"
+#include "fsfw/platform.h"
+#include "fsfw/tmtcservices/TmTcBridge.h"
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
@@ -28,7 +28,7 @@ class UdpTmTcBridge:
     friend class UdpTcPollingTask;
 public:
     /* The ports chosen here should not be used by any other process. */
-    static const std::string DEFAULT_UDP_SERVER_PORT;
+    static const std::string DEFAULT_SERVER_PORT;
 
     UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
             std::string udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
@@ -44,6 +44,8 @@ public:
 
     void checkAndSetClientAddress(sockaddr& clientAddress);
 
+    std::string getUdpPort() const;
+
 protected:
     virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
 

src/fsfw/osal/common/tcpipCommon.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_OSAL_COMMON_TCPIPCOMMON_H_
 #define FSFW_OSAL_COMMON_TCPIPCOMMON_H_
 
-#include "../../timemanager/clockDefinitions.h"
+#include "fsfw/timemanager/clockDefinitions.h"
 #include <string>
 
 #ifdef _WIN32
@@ -13,7 +13,7 @@
 
 namespace tcpip {
 
-const char* const DEFAULT_SERVER_PORT = "7301";
+static constexpr char DEFAULT_SERVER_PORT[] = "7301";
 
 enum class Protocol {
     UDP,

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -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)

tests/src/fsfw_tests/unit/CatchFactory.cpp

@@ -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

tests/src/fsfw_tests/unit/CatchFactory.h

@@ -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_ */

tests/src/fsfw_tests/unit/CatchRunner.cpp

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

tests/src/fsfw_tests/unit/CatchRunner.h

@@ -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_ */

tests/src/fsfw_tests/unit/CatchSetup.cpp

@@ -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;
 }
 

tests/src/fsfw_tests/unit/action/TestActionHelper.cpp

@@ -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>
 
 

tests/src/fsfw_tests/unit/action/TestActionHelper.h

@@ -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;

tests/src/fsfw_tests/unit/container/RingBufferTest.cpp

@@ -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>

tests/src/fsfw_tests/unit/container/TestArrayList.cpp

@@ -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

tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp

@@ -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");

tests/src/fsfw_tests/unit/container/TestFifo.cpp

@@ -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");

tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp

@@ -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]") {

tests/src/fsfw_tests/unit/container/TestFixedMap.cpp

@@ -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>;
 

tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp

@@ -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");

tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp

@@ -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");

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

@@ -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()->

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

@@ -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>
 
 

tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.h

@@ -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 {

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

@@ -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()->

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

@@ -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()->

tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h

@@ -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>

tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp

@@ -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>
 

tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp

@@ -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>
 

tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp

@@ -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>
 

tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp

@@ -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>
 

tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp

@@ -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>
 

tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp

@@ -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>
 

tests/user/CMakeLists.txt

@@ -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)

tests/user/testcfg/TestsConfig.h.in

@@ -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"

tests/user/unittest/CMakeLists.txt

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

tests/user/unittest/core/CMakeLists.txt

@@ -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()

tests/user/unittest/core/CatchFactory.h

@@ -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_ */

tests/user/unittest/core/core.mk

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