fixed merge conflicts

2021-10-08 11:40:46 +02:00 · 2021-10-08 11:40:46 +02:00 · c5c7a895a4
commit c5c7a895a4
parent 18f7d3e3c9 bea4b7629b
38 changed files with 700 additions and 71 deletions
--- a/.gitmodules
+++ b/.gitmodules
@ -22,3 +22,6 @@
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
+[submodule "thirdparty/Catch2"]
+	path = thirdparty/Catch2
+	url = https://github.com/catchorg/Catch2.git
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -18,8 +18,9 @@ if(TGT_BSP MATCHES "arm/q7s")
    option(BUILD_Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
 endif()

-option(ADD_ETL_LIB "Add ETL library" ON)
-option(ADD_JSON_LIB "Add JSON library" ON)
+option(EIVE_BUILD_UNITTESTS "Build Catch2 unittests" OFF)
+option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
+option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)

 if(NOT FSFW_OSAL)
@ -34,9 +35,14 @@ endif()
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()

-set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
 if(EIVE_BUILD_WATCHDOG)
    set(PROJECT_NAME_TO_SET eive-watchdog)
+elseif(EIVE_BUILD_UNITTESTS)
+    set(PROJECT_NAME_TO_SET eive-unittest)
+elseif(TGT_BSP MATCHES "arm/q7s")
+    set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
+else()
+    set(PROJECT_NAME_TO_SET eive-obsw)
 endif()

 # Project Name
@ -59,26 +65,41 @@ set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
 set(THIRD_PARTY_FOLDER thirdparty)
 set(LIB_CXX_FS -lstdc++fs)
+set(LIB_CATCH2 Catch2)
 set(LIB_JSON_NAME nlohmann_json::nlohmann_json)

 # Set path names
 set(FSFW_PATH fsfw)
 set(MISSION_PATH mission)
 set(TEST_PATH test/testtasks)
+set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
 set(WATCHDOG_PATH watchdog)
 set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
+set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)

-set(FSFW_HAL_LIB_PATH fsfw_hal)
-set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
-set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
-set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
-set(ARCSEC_LIB_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
+set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
+set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
+set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
+set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
+set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)

 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
-set(ADD_LINUX_FILES False)
+set(EIVE_ADD_LINUX_FILES False)
+
+if(EIVE_BUILD_UNITTESTS)
+    option(FSFW_ADD_UNITTESTS "Build the FSFW unittests as well" ON)
+    # Use FSFW custom main for unittests
+    set(FSFW_CUSTOM_UNITTEST_RUNNER ON)
+endif()
+
+if(FSFW_CUSTOM_UNITTEST_RUNNER OR FSFW_ADD_UNITTESTS)
+    set(CATCH2_TARGET Catch2)
+else()
+    set(CATCH2_TARGET Catch2WithMain)
+endif()

 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@ -91,7 +112,7 @@ if(TGT_BSP)
    )
        set(FSFW_CONFIG_PATH "linux/fsfwconfig")
        if(NOT BUILD_Q7S_SIMPLE_MODE)
-            set(ADD_LINUX_FILES TRUE)
+            set(EIVE_ADD_LINUX_FILES TRUE)
            set(ADD_CSP_LIB TRUE)
            set(FSFW_HAL_ADD_LINUX ON)
        endif()
@ -117,6 +138,11 @@ else()
    set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()

+if(EIVE_BUILD_UNITTESTS)
+    configure_file(${UNITTEST_CFG_PATH}/TestsConfig.h.in TestsConfig.h)
+    set(FSFW_CONFIG_PATH ${UNITTEST_CFG_PATH})
+endif()
+
 # Configuration files
 if(NOT EIVE_BUILD_WATCHDOG)
    configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
@ -128,6 +154,9 @@ if(NOT EIVE_BUILD_WATCHDOG)
        configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
    endif()
 endif()
+
+
+
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)

 # Set common config path for FSFW
@ -143,31 +172,38 @@ set(FSFW_ADDITIONAL_INC_PATHS
 # Add executable
 add_executable(${TARGET_NAME})

-if(ADD_ETL_LIB)
-    add_subdirectory(${ETL_LIB_PATH})
+if(EIVE_ADD_ETL_LIB)
+    add_subdirectory(${LIB_ETL_PATH})
 endif()

-if(ADD_JSON_LIB)
+if(EIVE_ADD_JSON_LIB)
    add_subdirectory(${LIB_JSON_PATH})
 endif()

 if(NOT EIVE_BUILD_WATCHDOG)
-    if(ADD_LINUX_FILES)
+    if(NOT EIVE_BUILD_UNITTESTS)  
+        if(EIVE_ADD_LINUX_FILES)
            add_subdirectory(${LINUX_PATH})
        endif()
        add_subdirectory(${BSP_PATH})
-    add_subdirectory(${COMMON_PATH})
        if(ADD_CSP_LIB)
-        add_subdirectory(${CSP_LIB_PATH})
+            add_subdirectory(${LIB_CSP_PATH})
        endif()
+    endif()
+    add_subdirectory(${COMMON_PATH})
 endif()

 if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
-    add_subdirectory(${LWGPS_LIB_PATH})
+    add_subdirectory(${LIB_LWGPS_PATH})
    add_subdirectory(${FSFW_PATH})
    add_subdirectory(${MISSION_PATH})
    add_subdirectory(${TEST_PATH})
-    add_subdirectory(${ARCSEC_LIB_PATH})
+    add_subdirectory(${LIB_ARCSEC_PATH})
+endif()
+
+if(EIVE_BUILD_UNITTESTS)
+    add_subdirectory(${LIB_CATCH2_PATH})
+    add_subdirectory(${UNITTEST_PATH})
 endif()

 if(EIVE_BUILD_WATCHDOG)
@ -195,6 +231,7 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
    endif()
 endif()

+
 if(NOT EIVE_BUILD_WATCHDOG)
    if(ADD_CSP_LIB)
        target_link_libraries(${TARGET_NAME} PRIVATE
@ -203,18 +240,24 @@ if(NOT EIVE_BUILD_WATCHDOG)
    endif()
 endif()

-if(ADD_ETL_LIB)
+if(EIVE_ADD_ETL_LIB)
    target_link_libraries(${TARGET_NAME} PRIVATE
        ${LIB_ETL_NAME}
    )
 endif()

-if(ADD_JSON_LIB)
+if(EIVE_ADD_JSON_LIB)
    target_link_libraries(${TARGET_NAME} PRIVATE
        ${LIB_JSON_NAME}
    )
 endif()

+if(EIVE_BUILD_UNITTESTS)
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        ${CATCH2_TARGET}
+    )
+endif()
+
 target_link_libraries(${TARGET_NAME} PRIVATE
    ${LIB_CXX_FS}
 )
@ -224,7 +267,7 @@ target_include_directories(${TARGET_NAME} PRIVATE
 	${CMAKE_CURRENT_SOURCE_DIR}
 	${FSFW_CONFIG_PATH}
 	${CMAKE_CURRENT_BINARY_DIR}
-	${ARCSEC_LIB_PATH}
+	${LIB_ARCSEC_PATH}
 )	

 if(TGT_BSP MATCHES "arm/q7s")
--- a/README.md
+++ b/README.md
@ -171,6 +171,26 @@ cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DEIVE_BUILD_WATCHDOG=ON -DCMAKE_BUILD
 cmake --build . -j
 ```

+### Hosted
+
+You can also replace `linux` by `host` for this command to build on Windows or for generic OSes
+
+```sh
+mkdir build-Debug-Host && cd build-Debug-Host
+cmake -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
+cmake --build . -j
+```
+
+### Unittests
+
+You can also replace `linux` by `host` for this command to build on Windows
+
+```sh
+mkdir build-Debug-Unittest && cd build-Debug-Unittest
+cmake -DFSFW_OSAL=linux -DEIVE_BUILD_UNITTESTS=ON ..
+cmake --build . -j
+```
+
 ## Connect to EIVE flatsat

 ### DNS
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -44,18 +44,5 @@ void ObjectFactory::produce(void* args){
 	Factory::setStaticFrameworkObjectIds();
 	ObjectFactory::produceGenericObjects();

-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
-	sif::info << "Setting up UDP TMTC bridge with listener port " <<
-	        UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
-    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-#else
-    sif::info << "Setting up TCP TMTC bridge with listener port " <<
-            TcpTmTcServer::DEFAULT_SERVER_PORT << std::endl;
-    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-#endif
-
    new TestTask(objects::TEST_TASK);
-
 }
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -82,19 +82,21 @@ void initmission::initTasks() {
        initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
    }

-    /* UDP bridge */
+#if OBSW_ADD_TCPIP_BRIDGE == 1
+    // TMTC bridge
    PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+            "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
    }
    PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+            "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
    result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
    }
+#endif

 #if OBSW_USE_CCSDS_IP_CORE == 1
    PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
@ -148,8 +150,11 @@ void initmission::initTasks() {

    sif::info << "Starting tasks.." << std::endl;
    tmTcDistributor->startTask();
+
+#if OBSW_ADD_TCPIP_BRIDGE == 1
    tmtcBridgeTask->startTask();
    tmtcPollingTask->startTask();
+#endif

 #if OBSW_USE_CCSDS_IP_CORE == 1
    ccsdsHandlerTask->startTask();
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -69,16 +69,6 @@
 #include "fsfw/tmtcservices/PusServiceBase.h"
 #include "fsfw/tmtcpacket/pus/tm.h"

-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
-// UDP server includes
-#include "fsfw/osal/common/UdpTmTcBridge.h"
-#include "fsfw/osal/common/UdpTcPollingTask.h"
-#else
-// TCP server includes
-#include "fsfw/osal/common/TcpTmTcBridge.h"
-#include "fsfw/osal/common/TcpTmTcServer.h"
-#endif
-
 #include "linux/boardtest/SpiTestClass.h"

 #if OBSW_TEST_LIBGPIOD == 1
@ -123,6 +113,7 @@ void Factory::setStaticFrameworkObjectIds() {
 void ObjectFactory::produce(void* args) {
    ObjectFactory::setStatics();
    ObjectFactory::produceGenericObjects();
+
    LinuxLibgpioIF* gpioComIF = nullptr;
    UartComIF* uartComIF = nullptr;
    SpiComIF* spiComIF = nullptr;
@ -186,19 +177,6 @@ void ObjectFactory::produce(void* args) {
    createCcsdsComponents(gpioComIF);
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
-    auto udpBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-    sif::info << "Created UDP server for TMTC commanding with listener port " <<
-    udpBridge->getUdpPort() << std::endl;
-#else
-    auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    tmtcBridge->setMaxNumberOfPacketsStored(50);
-    auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-    sif::info << "Created TCP server for TMTC commanding with listener port "
-            << tcpServer->getTcpPort() << std::endl;
-#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
-
    /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
    createTestComponents(gpioComIF);
--- a/common/config/CMakeLists.txt
+++ b/common/config/CMakeLists.txt
@ -1,3 +1,7 @@
 target_include_directories(${TARGET_NAME} PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}
 )
+
+target_sources(${TARGET_NAME} PRIVATE
+    commonConfig.cpp
+)
--- a/common/config/commonConfig.cpp
+++ b/common/config/commonConfig.cpp
@ -0,0 +1,5 @@
+#include "commonConfig.h"
+#include "tmtc/apid.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+
+const uint16_t common::TC_PACKET_ID = spacepacket::getTcSpacePacketIdFromApid(apid::EIVE_OBSW);
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@ -1,11 +1,14 @@
 #ifndef COMMON_CONFIG_COMMONCONFIG_H_
 #define COMMON_CONFIG_COMMONCONFIG_H_

+#include <cstdint>
+
 #define OBSW_ADD_LWGPS_TEST             0

+// Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port
+#define OBSW_ADD_TCPIP_BRIDGE           1
 // Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
 // because UDP packets are not allowed in the VPN
-#define OBSW_USE_TMTC_TCP_BRIDGE        1
 // This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
 // CCSDS IP Cores. 
 #define OBSW_USE_CCSDS_IP_CORE		 	1
@ -13,5 +16,10 @@
 #define OBSW_TM_TO_PTME 				1
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC			    0
+#define OBSW_USE_TCP_BRIDGE             1
+
+namespace common {
+extern const uint16_t TC_PACKET_ID;
+}

 #endif /* COMMON_CONFIG_COMMONCONFIG_H_ */
--- a/common/config/devices/powerSwitcherList.h
+++ b/common/config/devices/powerSwitcherList.h
@ -0,0 +1,60 @@
+#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
+#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
+
+#include "OBSWConfig.h"
+
+#include <cstdint>
+
+namespace pcduSwitches {
+	/* Switches are uint8_t datatype and go from 0 to 255 */
+	enum SwitcherList: uint8_t {
+	    Q7S,
+        PAYLOAD_PCDU_CH1,
+        RW,
+        TCS_BOARD_8V_HEATER_IN,
+        SUS_REDUNDANT,
+        DEPLOYMENT_MECHANISM,
+        PAYLOAD_PCDU_CH6,
+        ACS_BOARD_SIDE_B,
+        PAYLOAD_CAMERA,
+        TCS_BOARD_3V3,
+        SYRLINKS,
+        STAR_TRACKER,
+        MGT,
+        SUS_NOMINAL,
+        SOLAR_CELL_EXP,
+        PLOC,
+        ACS_BOARD_SIDE_A,
+        NUMBER_OF_SWITCHES
+	};
+
+	static const uint8_t ON = 1;
+	static const uint8_t OFF = 0;
+
+	/* Output states after reboot of the PDUs */
+	static const uint8_t INIT_STATE_Q7S = ON;
+	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
+	static const uint8_t INIT_STATE_RW = OFF;
+#if BOARD_TE0720 == 1
+	/* Because the TE0720 is not connected to the PCDU, this switch is always on */
+	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
+#else
+	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
+#endif
+	static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
+	static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
+	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
+	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
+	static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
+	static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
+	static const uint8_t INIT_STATE_SYRLINKS = OFF;
+	static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
+	static const uint8_t INIT_STATE_MGT = OFF;
+	static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
+	static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
+	static const uint8_t INIT_STATE_PLOC = OFF;
+	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
+}
+
+
+#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */
--- a/linux/fsfwconfig/tmtc/apid.h
+++ b/linux/fsfwconfig/tmtc/apid.h
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@ -1357,6 +1357,68 @@
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 			<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
 		</cconfiguration>
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168" moduleId="org.eclipse.cdt.core.settings" name="eive-linux-unittest">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168" name="eive-linux-unittest" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg">
+					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168." name="/" resourcePath="">
+						<toolChain id="cdt.managedbuild.toolchain.gnu.base.1717261896" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.base.1043596837" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Unittest}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.114634905" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.archiver.base.248254004" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1191599857" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.833492811" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
+								</option>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.preprocessor.def.605677508" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="LINUX=1"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1443212512" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.1565023847" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.include.paths.2022291108" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
+								</option>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.preprocessor.def.symbols.1925957909" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="LINUX=1"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1227677208" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.2114489166" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.94505849" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.962053803" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.assembler.base.811217555" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.1916140598" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1430794311" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
 	</storageModule>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
@ -1374,6 +1436,7 @@
 			<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
 		</configuration>
 		<configuration configurationName="eive-rpi-release-win"/>
+		<configuration configurationName="q7s-watchdog-debug"/>
 		<configuration configurationName="Default">
 			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
 		</configuration>
@ -1385,6 +1448,9 @@
 		<configuration configurationName="eive-q7s-debug">
 			<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
 		</configuration>
+		<configuration configurationName="eive-linux-unittest">
+			<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
+		</configuration>
 		<configuration configurationName="eive-linux-host-release"/>
 		<configuration configurationName="eive-mingw-debug">
 			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
--- a/misc/eclipse/.project
+++ b/misc/eclipse/.project
@ -7,7 +7,7 @@
 	<buildSpec>
 		<buildCommand>
 			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>full,incremental,</triggers>
+			<triggers>clean,full,incremental,</triggers>
 			<arguments>
 			</arguments>
 		</buildCommand>
--- a/misc/eclipse/Host/eive-linux-host-debug-cmake.launch
+++ b/misc/eclipse/Host/eive-linux-host-debug-cmake.launch
@ -18,7 +18,7 @@
    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive_obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive-obsw"/>
    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
--- a/misc/eclipse/Host/eive-linux-host-unittest.launch
+++ b/misc/eclipse/Host/eive-linux-host-unittest.launch
@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
+    <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
+    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
+    <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
+    <stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
+    <listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
+    <stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
+    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Unittest/eive-unittest"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168"/>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+        <listEntry value="/eive-obsw"/>
+    </listAttribute>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
+        <listEntry value="4"/>
+    </listAttribute>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
+    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
+</launchConfiguration>
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@ -4,6 +4,7 @@

 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
+#include "objects/systemObjectList.h"

 #include <fsfw/events/EventManager.h>
 #include <fsfw/health/HealthTable.h>
@ -23,12 +24,24 @@
 #include <fsfw/timemanager/TimeStamper.h>
 #include <mission/utility/TmFunnel.h>

+#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_USE_TCP_BRIDGE == 0
+// UDP server includes
+#include "fsfw/osal/common/UdpTmTcBridge.h"
+#include "fsfw/osal/common/UdpTcPollingTask.h"
+#else
+// TCP server includes
+#include "fsfw/osal/common/TcpTmTcBridge.h"
+#include "fsfw/osal/common/TcpTmTcServer.h"
+#endif
+#endif
+
 #if OBSW_ADD_TEST_CODE == 1
-	#include <test/testtasks/TestTask.h>
+#include <test/testtasks/TestTask.h>
 #endif

 void ObjectFactory::produceGenericObjects() {
-    /* Framework objects */
+    // Framework objects
    new EventManager(objects::EVENT_MANAGER);
    new HealthTable(objects::HEALTH_TABLE);
    new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
@ -61,10 +74,10 @@ void ObjectFactory::produceGenericObjects() {
            objects::CCSDS_PACKET_DISTRIBUTOR);


-    /* TMTC Reception via UDP socket */
+    // Every TM packet goes through this funnel
    new TmFunnel(objects::TM_FUNNEL);

-    /* PUS stack */
+    // PUS service stack
    new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
            apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20);
    new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
@ -83,4 +96,23 @@ void ObjectFactory::produceGenericObjects() {
            pus::PUS_SERVICE_20);
    new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
            apid::EIVE_OBSW, pus::PUS_SERVICE_200);
+
+
+#if OBSW_ADD_TCPIP_BRIDGE == 1
+#if OBSW_USE_TCP_BRIDGE == 0
+    auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
+    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+    sif::info << "Created UDP server for TMTC commanding with listener port " <<
+            udpBridge->getUdpPort() << std::endl;
+#else
+    auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
+    auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+    // TCP is stream based. Use packet ID as start marker when parsing for space packets
+    tcpServer->setSpacePacketParsingOptions({common::TC_PACKET_ID});
+    sif::info << "Created TCP server for TMTC commanding with listener port "
+            << tcpServer->getTcpPort() << std::endl;
+#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
+#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
 }
--- a/scripts/q7s-port.sh
+++ b/scripts/q7s-port.sh
@ -7,6 +7,6 @@ echo "-L 1536:192.168.133.10:7301 for TMTC commanding"
 ssh -L 1534:192.168.133.10:1534 \
   -L 1535:192.168.133.10:22 \
   -L 1536:192.168.133.10:7301 \
-   -L 1537:192.168.133.10:7100 \
+   -L 1537:127.0.0.1:7100 \
   eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
   -t 'CONSOLE_PREFIX="[Q7S Tunnel]" /bin/bash'
--- a/thirdparty/Catch2
+++ b/thirdparty/Catch2
@ -0,0 +1 @@
+Subproject commit 426954032f263754d2fff4cffce8552e7371965e
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@ -0,0 +1,5 @@
+add_subdirectory(testcfg)
+
+target_sources(${TARGET_NAME} PRIVATE
+    main.cpp
+)
--- a/unittest/main.cpp
+++ b/unittest/main.cpp
@ -0,0 +1,7 @@
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw_tests/unit/CatchRunner.h"
+
+int main(int argc, char* argv[]) {
+    fsfwtest::customMain(argc, argv);
+}
+
--- a/unittest/testcfg/CMakeLists.txt
+++ b/unittest/testcfg/CMakeLists.txt
@ -0,0 +1,9 @@
+target_sources(${TARGET_NAME} PRIVATE
+    ipc/MissionMessageTypes.cpp
+    pollingsequence/PollingSequenceFactory.cpp
+)
+
+# Add include paths for the executable
+target_include_directories(${TARGET_NAME} PUBLIC 
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
--- a/unittest/testcfg/FSFWConfig.h.in
+++ b/unittest/testcfg/FSFWConfig.h.in
@ -0,0 +1,81 @@
+#ifndef CONFIG_FSFWCONFIG_H_
+#define CONFIG_FSFWCONFIG_H_
+
+#include <cstddef>
+#include <cstdint>
+
+//! Used to determine whether C++ ostreams are used which can increase
+//! the binary size significantly. If this is disabled,
+//! the C stdio functions can be used alternatively
+#define FSFW_CPP_OSTREAM_ENABLED 	1
+
+//! More FSFW related printouts. Useful for development.
+#define FSFW_ENHANCED_PRINTOUT		0
+
+//! Can be used to completely disable printouts, even the C stdio ones.
+//! By default, printouts will be disabled for the unit tests.
+#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
+	#ifndef FSFW_DISABLE_PRINTOUT
+	#define FSFW_DISABLE_PRINTOUT 	1
+	#endif
+#endif
+
+#define FSFW_USE_PUS_C_TELEMETRY    1
+#define FSFW_USE_PUS_C_TELECOMMANDS 1
+
+//! Can be used to enable additional debugging printouts for developing the FSFW
+#define FSFW_PRINT_VERBOSITY_LEVEL   0
+
+//! Can be used to disable the ANSI color sequences for C stdio.
+#define FSFW_COLORED_OUTPUT 		0
+
+//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiled source files)
+#define FSFW_OBJ_EVENT_TRANSLATION	0
+
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
+//! Specify whether info events are printed too.
+#define FSFW_DEBUG_INFO				1
+#include "objects/translateObjects.h"
+#include "events/translateEvents.h"
+#else
+#endif
+
+//! When using the newlib nano library, C99 support for stdio facilities
+//! will not be provided. This define should be set to 1 if this is the case.
+#define FSFW_NO_C99_IO 	            1
+
+//! Specify whether a special mode store is used for Subsystem components.
+#define FSFW_USE_MODESTORE          0
+
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 1
+
+namespace fsfwconfig {
+//! Default timestamp size. The default timestamp will be an eight byte CDC
+//! short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
+
+static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
+static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 1500;
+
+}
+
+#endif /* CONFIG_FSFWCONFIG_H_ */
--- a/unittest/testcfg/OBSWConfig.h.in
+++ b/unittest/testcfg/OBSWConfig.h.in
@ -0,0 +1,8 @@
+#ifndef TESTCFG_OBSWCONFIG_H_
+#define TESTCFG_OBSWCONFIG_H_
+
+
+
+
+
+#endif /* TESTCFG_OBSWCONFIG_H_ */
--- a/unittest/testcfg/TestsConfig.h.in
+++ b/unittest/testcfg/TestsConfig.h.in
@ -0,0 +1,21 @@
+#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"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+namespace config {
+#endif
+
+/* Add mission configuration flags here */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ */
--- a/unittest/testcfg/devices/logicalAddresses.cpp
+++ b/unittest/testcfg/devices/logicalAddresses.cpp
@ -0,0 +1,5 @@
+#include "logicalAddresses.h"
+
+
+
+
--- a/unittest/testcfg/devices/logicalAddresses.h
+++ b/unittest/testcfg/devices/logicalAddresses.h
@ -0,0 +1,15 @@
+#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
+#define CONFIG_DEVICES_LOGICALADDRESSES_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/unittest/config/objects/systemObjectList.h>
+#include <cstdint>
+
+namespace addresses {
+	/* Logical addresses have uint32_t datatype */
+	enum logicalAddresses: address_t {
+	};
+}
+
+
+#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */
--- a/unittest/testcfg/devices/powerSwitcherList.cpp
+++ b/unittest/testcfg/devices/powerSwitcherList.cpp
@ -0,0 +1,4 @@
+#include "powerSwitcherList.h"
+
+
+
--- a/unittest/testcfg/devices/powerSwitcherList.h
+++ b/unittest/testcfg/devices/powerSwitcherList.h
@ -0,0 +1,12 @@
+#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
+#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
+
+namespace switches {
+	/* Switches are uint8_t datatype and go from 0 to 255 */
+	enum switcherList {
+	};
+
+}
+
+
+#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */
--- a/unittest/testcfg/events/subsystemIdRanges.h
+++ b/unittest/testcfg/events/subsystemIdRanges.h
@ -0,0 +1,19 @@
+#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+
+#include <cstdint>
+#include "commonSubsystemIds.h"
+#include <fsfw/events/fwSubsystemIdRanges.h>
+
+/**
+ * @brief	Custom subsystem IDs can be added here
+ * @details
+ * Subsystem IDs are used to create unique events.
+ */
+namespace SUBSYSTEM_ID {
+enum: uint8_t {
+	SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+};
+}
+
+#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */
--- a/unittest/testcfg/ipc/MissionMessageTypes.cpp
+++ b/unittest/testcfg/ipc/MissionMessageTypes.cpp
@ -0,0 +1,12 @@
+#include "MissionMessageTypes.h"
+
+#include <fsfw/ipc/CommandMessage.h>
+
+void messagetypes::clearMissionMessage(CommandMessage* message) {
+	switch(message->getMessageType()) {
+	default:
+		break;
+	}
+}
+
+
--- a/unittest/testcfg/ipc/MissionMessageTypes.h
+++ b/unittest/testcfg/ipc/MissionMessageTypes.h
@ -0,0 +1,22 @@
+#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
+#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
+
+#include <fsfw/ipc/FwMessageTypes.h>
+
+class CommandMessage;
+
+/**
+ * Custom command messages are specified here.
+ * Most messages needed to use FSFW are already located in
+ * <fsfw/ipc/FwMessageTypes.h>
+ * @param message Generic Command Message
+ */
+namespace messagetypes{
+enum MESSAGE_TYPE {
+	MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
+};
+
+void clearMissionMessage(CommandMessage* message);
+}
+
+#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */
--- a/unittest/testcfg/objects/systemObjectList.h
+++ b/unittest/testcfg/objects/systemObjectList.h
@ -0,0 +1,33 @@
+#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+#include "commonObjects.h"
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+// The objects will be instantiated in the ID order
+namespace objects {
+	enum sourceObjects: uint32_t {
+		/* All addresses between start and end are reserved for the FSFW */
+		FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
+		FSFW_CONFIG_RESERVED_END = TM_STORE,
+
+		CCSDS_DISTRIBUTOR = 10,
+		PUS_DISTRIBUTOR = 11,
+		TM_FUNNEL = 12,
+
+		UDP_BRIDGE = 15,
+		UDP_POLLING_TASK = 16,
+
+		TEST_ECHO_COM_IF = 20,
+		TEST_DEVICE = 21,
+
+		HK_RECEIVER_MOCK = 22,
+		TEST_LOCAL_POOL_OWNER_BASE = 25,
+
+		SHARED_SET_ID = 26
+
+	};
+}
+
+#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
--- a/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp
+++ b/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp
@ -0,0 +1,39 @@
+#include "PollingSequenceFactory.h"
+
+#include <TestsConfig.h>
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+ReturnValue_t pst::pollingSequenceInitDefault(
+        FixedTimeslotTaskIF *thisSequence) {
+	/* Length of a communication cycle */
+	uint32_t length = thisSequence->getPeriodMs();
+
+	/* Add polling sequence table here */
+	thisSequence->addSlot(objects::TEST_DEVICE, 0,
+			DeviceHandlerIF::PERFORM_OPERATION);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.3,
+			DeviceHandlerIF::SEND_WRITE);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.45 * length,
+			DeviceHandlerIF::GET_WRITE);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.6 * length,
+			DeviceHandlerIF::SEND_READ);
+	thisSequence->addSlot(objects::TEST_DEVICE, 0.8 * length,
+			DeviceHandlerIF::GET_READ);
+
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+#if FSFW_CPP_OSTREAM_ENABLED
+		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
+		        << std::endl;
+#else
+		sif::printError("pst::pollingSequenceInitDefault: Sequence invalid!");
+#endif
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
--- a/unittest/testcfg/pollingsequence/PollingSequenceFactory.h
+++ b/unittest/testcfg/pollingsequence/PollingSequenceFactory.h
@ -0,0 +1,32 @@
+#ifndef POLLINGSEQUENCEFACTORY_H_
+#define POLLINGSEQUENCEFACTORY_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+class FixedTimeslotTaskIF;
+
+/**
+ * All device handlers are scheduled by adding them into  Polling Sequence Tables (PST)
+ * to satisfy stricter timing requirements of device communication,
+ * A device handler has four different communication steps:
+ *   1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
+ *   2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
+ *   3. DeviceHandlerIF::SEND_READ -> Send read request
+ *   4. DeviceHandlerIF::GET_READ -> Read from interface
+ * The PST specifies precisely when the respective ComIF functions are called
+ * during the communication cycle time.
+ * The task is created using the FixedTimeslotTaskIF,
+ * which utilises the underlying Operating System Abstraction Layer (OSAL)
+ *
+ * @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
+ * @return
+ */
+namespace pst {
+
+/* Default PST */
+ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
+
+
+}
+
+#endif /* POLLINGSEQUENCEINIT_H_ */
--- a/unittest/testcfg/returnvalues/classIds.h
+++ b/unittest/testcfg/returnvalues/classIds.h
@ -0,0 +1,17 @@
+#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
+#define CONFIG_RETURNVALUES_CLASSIDS_H_
+
+#include "commonClassIds.h"
+#include <fsfw/returnvalues/FwClassIds.h>
+
+/**
+ * @brief   CLASS_ID defintions which are required for custom returnvalues.
+ */
+namespace CLASS_ID {
+enum {
+	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+};
+}
+
+
+#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */
--- a/unittest/testcfg/tmtc/apid.h
+++ b/unittest/testcfg/tmtc/apid.h
@ -0,0 +1,18 @@
+#ifndef CONFIG_TMTC_APID_H_
+#define CONFIG_TMTC_APID_H_
+
+#include <cstdint>
+
+/**
+ * Application Process Definition: entity, uniquely identified by an
+ * application process ID (APID), capable of generating telemetry source
+ * packets and receiving telecommand packets.
+ *
+ * Chose APID(s) for mission and define it here.
+ */
+namespace apid {
+	static const uint16_t EIVE_OBSW = 0x65;
+}
+
+
+#endif /* CONFIG_TMTC_APID_H_ */
--- a/unittest/testcfg/tmtc/pusIds.h
+++ b/unittest/testcfg/tmtc/pusIds.h
@ -0,0 +1,25 @@
+#ifndef CONFIG_TMTC_PUSIDS_HPP_
+#define CONFIG_TMTC_PUSIDS_HPP_
+
+#include <cstdint>
+
+namespace pus {
+enum Ids: uint8_t {
+	PUS_SERVICE_1 = 1,
+	PUS_SERVICE_2 = 2,
+	PUS_SERVICE_3 = 3,
+	PUS_SERVICE_5 = 5,
+	PUS_SERVICE_6 = 6,
+	PUS_SERVICE_8 = 8,
+	PUS_SERVICE_9 = 9,
+	PUS_SERVICE_11 = 11,
+	PUS_SERVICE_17 = 17,
+	PUS_SERVICE_19 = 19,
+	PUS_SERVICE_20 = 20,
+	PUS_SERVICE_23 = 23,
+	PUS_SERVICE_200 = 200,
+	PUS_SERVICE_201 = 201,
+};
+};
+
+#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
--- a/unittest/unittest.mk
+++ b/unittest/unittest.mk
				`@ -0,0 +1 @@`
				`Subproject commit 426954032f263754d2fff4cffce8552e7371965e`