Merge pull request 'Adding Catch2 for unittests, reworked CI' (#165) from mohr/catch2 into develop

Reviewed-on: #165
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CMakeLists.txt

@@ -13,7 +13,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-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)
 
@@ -52,6 +52,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED True)
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
 set(WATCHDOG_NAME eive-watchdog)
 set(SIMPLE_OBSW_NAME eive-simple)
+set(UNITTEST_NAME eive-unittest)
 set(LIB_FSFW_NAME fsfw)
 set(LIB_EIVE_MISSION eive-mission)
 set(LIB_ETL_NAME etl)
@@ -85,13 +86,6 @@ set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 set(EIVE_ADD_LINUX_FILES False)
 
-if(EIVE_BUILD_UNITTESTS)
-endif()
-
-if(FSFW_ADD_UNITTESTS)
-    set(CATCH2_TARGET Catch2)
-endif()
-
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
 include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
@@ -135,10 +129,6 @@ else()
     set(FSFW_CONFIG_PATH "${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
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
@@ -160,6 +150,9 @@ set(FSFW_ADDITIONAL_INC_PATHS
     ${CMAKE_CURRENT_BINARY_DIR}
 )
 
+# Check whether the user has already installed Catch2 first
+find_package(Catch2 3)
+
 ################################################################################
 # Executable and Sources
 ################################################################################
@@ -173,7 +166,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 		"-Wno-unused-parameter"
 		"-Wno-psabi"
 	)
-
 	# Remove unused sections.
 	add_compile_options(
 		"-ffunction-sections"
@@ -189,11 +181,29 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
+# Not installed, so use FetchContent to download and provide Catch2
+if(NOT Catch2_FOUND)
+    include(FetchContent)
+
+    FetchContent_Declare(
+        Catch2
+        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+        GIT_TAG        v3.0.0-preview4
+    )
+
+    FetchContent_MakeAvailable(Catch2)
+    #fixes regression -preview4, to be confirmed in later releases
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+endif()
+
+
 
 add_library(${LIB_EIVE_MISSION})
 
 
-# Add executable
+# Add main executable
 add_executable(${OBSW_NAME})
 if(EIVE_CREATE_UNIQUE_OBSW_BIN)
     set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
@@ -208,11 +218,15 @@ add_subdirectory(${WATCHDOG_PATH})
 target_link_libraries(${WATCHDOG_NAME} PUBLIC
     ${LIB_CXX_FS}
 )
-
 target_include_directories(${WATCHDOG_NAME} PUBLIC
     ${CMAKE_BINARY_DIR}
 )
 
+#unittests
+add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+
+
+
 if(EIVE_ADD_ETL_LIB)
     add_subdirectory(${LIB_ETL_PATH})
 endif()
@@ -222,16 +236,16 @@ if(EIVE_ADD_JSON_LIB)
 endif()
 
 
-if(NOT EIVE_BUILD_UNITTESTS)  
+ 
-    if(EIVE_ADD_LINUX_FILES)
+if(EIVE_ADD_LINUX_FILES)
-        add_subdirectory(${LIB_ARCSEC_PATH})
+    add_subdirectory(${LIB_ARCSEC_PATH})
-        add_subdirectory(${LINUX_PATH})
+    add_subdirectory(${LINUX_PATH})
-    endif()
-    add_subdirectory(${BSP_PATH})
-    if(ADD_CSP_LIB)
-        add_subdirectory(${LIB_CSP_PATH})
-    endif()
 endif()
+add_subdirectory(${BSP_PATH})
+if(ADD_CSP_LIB)
+    add_subdirectory(${LIB_CSP_PATH})
+endif()
+
 
 add_subdirectory(${COMMON_PATH})
 
@@ -243,10 +257,8 @@ add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
 
 
-if(EIVE_BUILD_UNITTESTS)
+add_subdirectory(${UNITTEST_PATH})
-    # add_subdirectory(${LIB_CATCH2_PATH})
+
-    add_subdirectory(${UNITTEST_PATH})
-endif()
 
 ################################################################################
 # Post-Sources preparation
@@ -272,6 +284,11 @@ if(TGT_BSP MATCHES "arm/q7s")
     )
 endif()
 
+target_link_libraries(${UNITTEST_NAME} PRIVATE
+    Catch2
+    ${LIB_EIVE_MISSION}
+)
+
 if(TGT_BSP MATCHES "arm/egse")
     target_link_libraries(${OBSW_NAME} PRIVATE
 	    ${LIB_ARCSEC}
@@ -297,12 +314,6 @@ if(EIVE_ADD_JSON_LIB)
     )
 endif()
 
-if(EIVE_BUILD_UNITTESTS)
-    target_link_libraries(${TARGET_NAME} PRIVATE
-        ${CATCH2_TARGET}
-    )
-endif()
-
 target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
     ${LIB_CXX_FS}
 )

automation/Dockerfile

@@ -2,7 +2,9 @@ FROM ubuntu:focal
 
 RUN apt-get update
 RUN apt-get --yes upgrade
-RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
+#tzdata is a dependency, won't install otherwise
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev
 
 # Q7S root filesystem, required for cross-compilation.
 RUN mkdir -p /usr/rootfs; \
@@ -15,4 +17,4 @@ curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-ar
     | tar -xz -C /usr/tools
 
 ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
-ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
+ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

automation/Jenkinsfile

@@ -1,51 +1,36 @@
 pipeline {
-    agent any
+    environment {
-    stages {
+        BUILDDIR_Q7 = 'build_q7'
-        stage('Build Container') {
+        BUILDDIR_LINUX = 'build_linux'
-            when {
+    }
-                anyOf {
+    agent {
-                    changeset "automation/Dockerfile-q7s"
+        docker {
-                    branch 'develop';
+            image 'eive-obsw-ci:d2'
-                    changelog 'cleanDocker'
+            args '--sysctl fs.mqueue.msg_max=100'
-                }
-            }
-            steps {
-                sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
-
-            }
         }
+    }
+    stages {
         stage('Clean') {
-            when {
-                anyOf {
-                    changelog 'cleanCI'
-                    changeset '*.cmake'
-                    changeset 'CMakeLists.txt'
-                }
-            }
             steps {
-                sh 'rm -rf build-q7s-debug'
+                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'rm -rf $BUILDDIR_LINUX'
             }
         }
         stage('Build Q7S') {
-            agent {
-                docker {
-                    image 'eive-fsw-build-q7s:gcc8'
-                    reuseNode true
-                }
-            }
             steps {
-                dir('build-q7s-debug') {
+                dir(BUILDDIR_Q7) {
-                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
                     sh 'cmake --build . -j'
                 }
             }
         }
-        stage('Deploy') {
+        stage('Unittests') {
-            when {
-                tag 'v*.*.*'
-            }
             steps {
-                sh 'echo Deploying'
+                dir(BUILDDIR_LINUX) {
+                    sh 'cmake ..'
+                    sh 'cmake --build . -t eive-unittest -j'
+                    sh './eive-unittest'
+                }
             }
         }
     }

bsp_hosted/fsfwconfig/CMakeLists.txt

@@ -11,6 +11,9 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
     target_sources(${OBSW_NAME} PRIVATE
         objects/translateObjects.cpp
     )
+    target_sources(${UNITTEST_NAME} PRIVATE
+        objects/translateObjects.cpp
+    )
 endif()
 
 # If a special translation file for events exists, compile it.
@@ -18,4 +21,7 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
     target_sources(${OBSW_NAME} PRIVATE
         events/translateEvents.cpp
     )
+    target_sources(${UNITTEST_NAME} PRIVATE
+        events/translateEvents.cpp
+    )
 endif()

bsp_hosted/fsfwconfig/devices/gpioIds.h

@@ -47,7 +47,10 @@ enum gpioId_t {
   SPI_MUX_BIT_3,
   SPI_MUX_BIT_4,
   SPI_MUX_BIT_5,
-  SPI_MUX_BIT_6
+  SPI_MUX_BIT_6,
+
+  CS_RAD_SENSOR,
+  ENABLE_RADFET
 };
 }
 

common/config/commonClassIds.h

@@ -27,6 +27,7 @@ enum commonClassIds: uint8_t {
     RATE_SETTER, //RS
     ARCSEC_JSON_BASE, //JSONBASE
     NVM_PARAM_BASE, //NVMB
+	SA_DEPL_HANDLER, //SADPL
 	COMMON_CLASS_ID_END // [EXPORT] : [END]
 };
 

fsfw

@@ -1 +1 @@
-Subproject commit 6e0b90696da2dfd2ec4749dfdb73950be2283c25
+Subproject commit 75c56280ad139640d2c12ac4ab78ce66c25fb495

linux/fsfwconfig/CMakeLists.txt

@@ -12,6 +12,9 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
     target_sources(${OBSW_NAME} PRIVATE
         objects/translateObjects.cpp
     )
+    target_sources(${UNITTEST_NAME} PRIVATE
+        objects/translateObjects.cpp
+    )
 endif()
 
 # If a special translation file for events exists, compile it.
@@ -19,4 +22,7 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
     target_sources(${OBSW_NAME} PRIVATE
         events/translateEvents.cpp
     )
+    target_sources(${UNITTEST_NAME} PRIVATE
+        events/translateEvents.cpp
+    )
 endif()

linux/fsfwconfig/returnvalues/classIds.h

@@ -12,7 +12,6 @@
 namespace CLASS_ID {
 enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
-  SA_DEPL_HANDLER,  // SADPL
   SD_CARD_MANAGER,  // SDMA
   SCRATCH_BUFFER,   // SCBU
   CLASS_ID_END      // [EXPORT] : [END]

mission/CMakeLists.txt

@@ -1,3 +1,4 @@
+add_subdirectory(controller)
 add_subdirectory(core)
 add_subdirectory(devices)
 add_subdirectory(utility)

mission/controller/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE
+	ThermalController.cpp
+)

mission/controller/ThermalController.cpp

@@ -1,42 +1,48 @@
 #include "ThermalController.h"
 
-#include <mission/devices/devicedefinitions/ThermalSensorPacket.h>
+ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
+    : ExtendedControllerBase(objectId, parentId),
+      sensorTemperatures(this),
+      componentTemperatures(this) {}
 
-ThermalController::ThermalController(object_id_t objectId)
+ReturnValue_t ThermalController::initialize() { return ControllerBase::initialize(); }
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT), thermalControllerSet(objectId) {}
 
-ReturnValue_t ThermalController::handleCommandMessage(CommandMessage *message) {
+ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
-  return HasReturnvaluesIF::RETURN_OK;
+  return RETURN_FAILED;
+}
+void ThermalController::performControlOperation() {
+  ReturnValue_t result = sensorTemperatures.read();
+  if (result != RETURN_OK) {
+    return;
+  }
+  result = componentTemperatures.read();
+  if (result != RETURN_OK) {
+    return;
+  }
+
+  componentTemperatures.rw = (sensorTemperatures.rw.value + sensorTemperatures.gps.value) / 2;
+
+  sensorTemperatures.commit();
+  componentTemperatures.commit();
 }
 
-void ThermalController::performControlOperation() {}
+ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                         LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_GPS, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));
 
-void ThermalController::handleChangedDataset(sid_t sid, store_address_t storeId) {
+  return RETURN_OK;
-  if (sid == sid_t(TSensorDefinitions::ObjIds::TEST_HKB_HANDLER,
-                   TSensorDefinitions::THERMAL_SENSOR_SET_ID)) {
-    sif::info << "Update registered!" << std::endl;
-  }
-}
-
-ReturnValue_t ThermalController::initializeAfterTaskCreation() {
-  ReturnValue_t result = ExtendedControllerBase::initializeAfterTaskCreation();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "ThermalController::initializeAfterTaskCreation: Base"
-               << " class initialization failed!" << std::endl;
-  }
-  HasLocalDataPoolIF *testHkbHandler = ObjectManager::instance()->get<HasLocalDataPoolIF>(
-      TSensorDefinitions::ObjIds::TEST_HKB_HANDLER);
-  if (testHkbHandler == nullptr) {
-    sif::warning << "ThermalController::initializeAfterTaskCreation: Test"
-                 << " HKB Handler invalid!" << std::endl;
-  }
-  // Test normal notifications without data packet first.
-  testHkbHandler->getHkManagerHandle()->subscribeForSetUpdateMessages(
-      TSensorDefinitions::THERMAL_SENSOR_SET_ID, this->getObjectId(), commandQueue->getId(), false);
-  return result;
 }
+LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) { return nullptr; }
 
 ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                  uint32_t *msToReachTheMode) {
+                                                  uint32_t* msToReachTheMode) {
-  return HasReturnvaluesIF::RETURN_OK;
+  if (submode != SUBMODE_NONE) {
-}
+    return INVALID_SUBMODE;
+  }
+  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
+    return INVALID_MODE;
+  }
+  return RETURN_OK;
+}

mission/controller/ThermalController.h

@@ -2,30 +2,28 @@
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
-
+#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
-#include "ctrldefinitions/ThermalCtrlPackets.h"
 
 class ThermalController : public ExtendedControllerBase {
  public:
-  ThermalController(object_id_t objectId);
+  ThermalController(object_id_t objectId, object_id_t parentId);
+
+  ReturnValue_t initialize() override;
+
+ protected:
+  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  virtual void performControlOperation() override;
+  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                LocalDataPoolManager& poolManager) override;
+  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+  // Mode abstract functions
+  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                         uint32_t* msToReachTheMode) override;
 
  private:
-  // TODO: Add stubs for thermal components. Each device / assembly with one
+  thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
-  // or multiple redundant sensors will have a thermal component.
+  thermalControllerDefinitions::ComponentTemperatures componentTemperatures;
-
-  /** ExtendedControllerBase overrides */
-  virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override;
-
-  virtual void performControlOperation() override;
-
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override;
-
-  ReturnValue_t initializeAfterTaskCreation() override;
-
-  void handleChangedDataset(sid_t sid, store_address_t storeId) override;
-
-  ThermalCtrl::ThermalControllerTemperatureSet thermalControllerSet;
 };
 
 #endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

mission/controller/controllerdefinitions/ThermalControllerDefinitions.h

@@ -0,0 +1,43 @@
+#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_
+#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_
+
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+
+namespace thermalControllerDefinitions {
+
+enum SetIds : uint32_t { SENSOR_TEMPERATURES, COMPONENT_TEMPERATURES };
+
+enum PoolIds : lp_id_t { SENSOR_RW, SENSOR_GPS, COMPONENT_RW };
+
+/**
+ * @brief   This dataset can be used to store the collected temperatures of all temperature sensors
+ */
+class SensorTemperatures : public StaticLocalDataSet<2> {
+ public:
+  SensorTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
+
+  SensorTemperatures(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
+
+  lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW, this);
+  lp_var_t<float> gps = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_GPS, this);
+};
+
+/**
+ * @brief   This dataset can be used to store the collected temperatures of all components
+ */
+class ComponentTemperatures : public StaticLocalDataSet<2> {
+ public:
+  ComponentTemperatures(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
+
+  ComponentTemperatures(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
+
+  lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::COMPONENT_RW, this);
+};
+
+}  // namespace thermalControllerDefinitions
+
+#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

mission/devices/RadiationSensorHandler.h

@@ -3,8 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
-class GpioIF;
 
 /**
  * @brief	This is the device handler class for radiation sensor on the OBC IF Board. The

tmtc

@@ -1 +1 @@
-Subproject commit 9efb347aa241e5fb7a864540edbd87908110339c
+Subproject commit 37c1a68da1b465514e84403b06ce40d035e4ad88

unittest/CMakeLists.txt

@@ -1,5 +1,8 @@
-add_subdirectory(testcfg)
+add_subdirectory(controller)
+add_subdirectory(mocks)
 
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(${UNITTEST_NAME} PRIVATE
     main.cpp
+    testEnvironment.cpp
+    printChar.cpp
 )

unittest/controller/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${UNITTEST_NAME} PRIVATE
+    testThermalController.cpp
+)

unittest/controller/testThermalController.cpp

@@ -0,0 +1,45 @@
+#include <fsfw/ipc/QueueFactory.h>
+#include <mission/controller/ThermalController.h>
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "../testEnvironment.h"
+
+TEST_CASE("Thermal Controller", "[ThermalController]") {
+  const object_id_t THERMAL_CONTROLLER_ID = 0x123;
+
+  ThermalController controller(THERMAL_CONTROLLER_ID, objects::NO_OBJECT);
+
+  testEnvironment::initialize();
+
+  REQUIRE(controller.initializeAfterTaskCreation() == HasReturnvaluesIF::RETURN_OK);
+
+  testEnvironment::eventManager->clearEventList();
+
+  MessageQueueId_t controllerQueue = controller.getCommandQueue();
+
+  CommandMessage modeMessage;
+
+  ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
+                              ControllerBase::MODE_NORMAL, HasModesIF::SUBMODE_NONE);
+
+  MessageQueueIF* commandQueue =
+      QueueFactory::instance()->createMessageQueue(5, MessageQueueMessage::MAX_MESSAGE_SIZE);
+
+  commandQueue->sendMessage(controllerQueue, &modeMessage);
+
+  REQUIRE(controller.performOperation(0) == HasReturnvaluesIF::RETURN_OK);
+
+  REQUIRE(testEnvironment::eventManager->isEventInEventList(
+              THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, ControllerBase::MODE_NORMAL,
+              HasModesIF::SUBMODE_NONE) == true);
+
+  thermalControllerDefinitions::ComponentTemperatures componentTemperatures(THERMAL_CONTROLLER_ID);
+
+  componentTemperatures.read();
+  REQUIRE(componentTemperatures.rw == 0);
+
+  componentTemperatures.commit();
+
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}

unittest/main.cpp

@@ -1,6 +1,13 @@
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include <catch2/catch_session.hpp>
-#include "fsfw_tests/unit/CatchRunner.h"
+
+#include "testEnvironment.h"
 
 int main(int argc, char* argv[]) {
-  // fsfwtest::customMain(argc, argv);
+  testEnvironment::setup();
+
+  // Catch internal function call
+  int result = Catch::Session().run(argc, argv);
+
+  // global clean-up
+  return result;
 }

unittest/mocks/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(${UNITTEST_NAME} PRIVATE
+    EventManagerMock.cpp
+    HouseKeepingMock.cpp
+)

unittest/mocks/EventManagerMock.cpp

@@ -0,0 +1,63 @@
+#include "EventManagerMock.h"
+
+#include <fsfw/ipc/QueueFactory.h>
+
+EventManagerMock::EventManagerMock() : EventManager(objects::EVENT_MANAGER) {}
+
+ReturnValue_t EventManagerMock::performOperation(uint8_t opCode) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  while (result == HasReturnvaluesIF::RETURN_OK) {
+    EventMessage message;
+    result = eventReportQueue->receiveMessage(&message);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      notifyListeners(&message);
+      eventList.emplace_back(message);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+const std::list<EventMessage>* EventManagerMock::getEventList() {
+  // call performOperation() to get all events still in the message Queue into the list
+  this->performOperation(0);
+  return &eventList;
+}
+
+void EventManagerMock::clearEventList() {  // call performOperation() to get all events still in the
+                                           // message Queue into the list
+  this->performOperation(0);
+  eventList.clear();
+}
+
+bool EventManagerMock::isEventInEventList(object_id_t object, Event event) {
+  return isEventInEventList(object, event::getEventId(event));
+}
+
+bool EventManagerMock::isEventInEventList(object_id_t object, EventId_t eventId) {
+  // call performOperation() to get all events still in the message Queue into the list
+  this->performOperation(0);
+  for (auto iter = eventList.begin(); iter != eventList.end(); iter++) {
+    if ((iter->getReporter() == object) && (iter->getEventId() == eventId)) {
+      return true;
+    }
+  }
+  return false;
+}
+
+bool EventManagerMock::isEventInEventList(object_id_t object, Event event, uint32_t parameter1,
+                                          uint32_t parameter2) {
+  return isEventInEventList(object, event::getEventId(event), parameter1, parameter2);
+}
+
+bool EventManagerMock::isEventInEventList(object_id_t object, EventId_t eventId,
+                                          uint32_t parameter1, uint32_t parameter2) {
+  // call performOperation() to get all events still in the message Queue into the list
+  this->performOperation(0);
+  for (auto iter = eventList.begin(); iter != eventList.end(); iter++) {
+    if ((iter->getReporter() == object) && (iter->getEventId() == eventId) &&
+        (iter->getParameter1() == parameter1) && (iter->getParameter2() == parameter2)) {
+      return true;
+    }
+  }
+  return false;
+}

unittest/mocks/EventManagerMock.h

@@ -0,0 +1,27 @@
+#ifndef EVENTMANAGERMOCK_H_
+#define EVENTMANAGERMOCK_H_
+
+#include <fsfw/events/EventManager.h>
+
+#include <list>
+
+class EventManagerMock : public EventManager {
+ public:
+  EventManagerMock();
+
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+
+  const std::list<EventMessage>* getEventList();
+  void clearEventList();
+
+  bool isEventInEventList(object_id_t object, Event event);
+  bool isEventInEventList(object_id_t object, Event event, uint32_t parameter1, uint32_t parameter2);
+
+  bool isEventInEventList(object_id_t object, EventId_t eventId);
+  bool isEventInEventList(object_id_t object, EventId_t eventId, uint32_t parameter1, uint32_t parameter2);
+
+ private:
+  std::list<EventMessage> eventList;
+};
+
+#endif /* EVENTMANAGERMOCK_H_ */

unittest/mocks/HouseKeepingMock.cpp

@@ -0,0 +1,8 @@
+#include "HouseKeepingMock.h"
+
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+
+HouseKeepingMock::HouseKeepingMock() : SystemObject(objects::PUS_SERVICE_3_HOUSEKEEPING) {}
+
+MessageQueueId_t HouseKeepingMock::getHkQueue() const { return MessageQueueIF::NO_QUEUE; }

unittest/mocks/HouseKeepingMock.h

@@ -0,0 +1,16 @@
+#ifndef HOUSEKEEPINGMOCK_H_
+#define HOUSEKEEPINGMOCK_H_
+
+#include <fsfw/housekeeping/AcceptsHkPacketsIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+
+class HouseKeepingMock : public SystemObject, public AcceptsHkPacketsIF {
+ public:
+  HouseKeepingMock();
+
+  virtual MessageQueueId_t getHkQueue() const;
+};
+
+
+#endif /*HOUSEKEEPINGMOCK_H_*/

unittest/printChar.cpp

@@ -0,0 +1,11 @@
+#include "printChar.h"
+
+#include <cstdio>
+
+void printChar(const char* character, bool errStream) {
+  if (errStream) {
+    std::putc(*character, stderr);
+    return;
+  }
+  std::putc(*character, stdout);
+}

unittest/printChar.h

@@ -0,0 +1,6 @@
+#ifndef FSFW_UNITTEST_CORE_PRINTCHAR_H_
+#define FSFW_UNITTEST_CORE_PRINTCHAR_H_
+
+extern "C" void printChar(const char*, bool errStream);
+
+#endif /* FSFW_UNITTEST_CORE_PRINTCHAR_H_ */

unittest/testEnvironment.cpp

@@ -0,0 +1,59 @@
+#include "testEnvironment.h"
+
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
+#include <fsfw/housekeeping/AcceptsHkPacketsIF.h>
+#include <fsfw/internalerror/InternalErrorReporter.h>
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/storagemanager/PoolManager.h>
+#include <fsfw/timemanager/TimeStamper.h>
+
+#ifdef LINUX
+ServiceInterfaceStream sif::debug("DEBUG  ");
+ServiceInterfaceStream sif::info("INFO   ");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR  ", false, true, true);
+#else
+ServiceInterfaceStream sif::debug("DEBUG", true);
+ServiceInterfaceStream sif::info("INFO", true);
+ServiceInterfaceStream sif::warning("WARNING", true);
+ServiceInterfaceStream sif::error("ERROR", true, false, true);
+#endif
+
+namespace testEnvironment {
+
+void factory(void* args) {
+  new HouseKeepingMock();
+  eventManager = new EventManagerMock();
+  new HealthTable(objects::HEALTH_TABLE);
+  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+  new TimeStamper(objects::TIME_STAMPER);
+
+  {
+    PoolManager::LocalPoolConfig poolCfg = {{300, 16},  {200, 32}, {150, 64},  {150, 128},
+                                            {100, 256}, {50, 512}, {50, 1024}, {10, 2048}};
+    new PoolManager(objects::IPC_STORE, poolCfg);
+  }
+}
+
+void setup() { ObjectManager::instance()->setObjectFactoryFunction(factory, nullptr); }
+
+void initialize() { ObjectManager::instance()->initialize(); }
+
+}  // namespace testEnvironment
+
+EventManagerMock* testEnvironment::eventManager = nullptr;
+
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/ipc/FwMessageTypes.h>
+
+namespace messagetypes {
+enum MESSAGE_TYPE {
+  MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
+};
+
+void clearMissionMessage(CommandMessage* message);
+}  // namespace messagetypes
+
+void messagetypes::clearMissionMessage(CommandMessage* message) {}

unittest/testEnvironment.h

@@ -0,0 +1,36 @@
+#ifndef UNITTEST_TESTENVIRONMENT_H_
+#define UNITTEST_TESTENVIRONMENT_H_
+
+#include "mocks/EventManagerMock.h"
+#include "mocks/HouseKeepingMock.h"
+
+/*
+ * This namespace sets up a general environment for unittests
+ *
+ * Only objects generally used in all unittest are created here. Objects needed for
+ * individual tests are to be contstructed in the individual tests.
+ *
+ * The object manager can be initialized by the initialize() call
+ *
+ * It also caches pointers to generally useful objects so they do
+ * not need to be gotten from the object manager each time
+ */
+namespace testEnvironment {
+
+/*
+ * Setup code goes here, called by main() befor any tests
+ */
+void setup();
+
+/*
+ * Initializes the object manager, to be called at the start of each test, after test specific
+ * objects are constructed
+ *
+ * All objects defined in the factory method are created here
+ */
+void initialize();
+
+extern EventManagerMock* eventManager;
+}  // namespace testEnvironment
+
+#endif /*UNITTEST_TESTENVIRONMENT_H_*/