CMakeLists.txt

@@ -60,26 +60,34 @@ 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(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(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.
@@ -92,7 +100,7 @@ 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()
@@ -145,7 +153,7 @@ set(FSFW_ADDITIONAL_INC_PATHS
 add_executable(${TARGET_NAME})
 
 if(EIVE_ADD_ETL_LIB)
-    add_subdirectory(${ETL_LIB_PATH})
+    add_subdirectory(${LIB_ETL_PATH})
 endif()
 
 if(EIVE_ADD_JSON_LIB)
@@ -153,22 +161,26 @@ if(EIVE_ADD_JSON_LIB)
 endif()
 
 if(NOT EIVE_BUILD_WATCHDOG)
-    if(ADD_LINUX_FILES)
+    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()
 
 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(${LIB_ARCSEC_PATH})
+endif()
+
+if(EIVE_BUILD_UNITTEST)
+    add_subdirectory(${UNITTEST_PATH})
 endif()
 
 if(EIVE_BUILD_WATCHDOG)
@@ -196,6 +208,7 @@ 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
@@ -216,6 +229,12 @@ if(EIVE_ADD_JSON_LIB)
     )
 endif()
 
+if(EIVE_BUILD_UNITTEST)
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        ${CATCH2_TARGET}
+    )
+endif()
+
 target_link_libraries(${TARGET_NAME} PRIVATE
     ${LIB_CXX_FS}
 )
@@ -225,7 +244,7 @@ target_include_directories(${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")

fsfw

@@ -1 +1 @@
-Subproject commit 5ee315f8ca3b0bb27d5a368948ecd115c6a055c9
+Subproject commit 354e158cc196d7deaf7de24ebcc96f5f6f5f20eb

unittest/CMakeLists.txt

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

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}
+)

unittest/testcfg/FSFWConfig.h.in

@@ -0,0 +1,78 @@
+#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 	0
+
+//! 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
+
+//! 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_ */

unittest/testcfg/OBSWConfig.h.in

@@ -0,0 +1,8 @@
+#ifndef TESTCFG_OBSWCONFIG_H_
+#define TESTCFG_OBSWCONFIG_H_
+
+
+
+
+
+#endif /* TESTCFG_OBSWCONFIG_H_ */

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_ */

unittest/testcfg/devices/logicalAddresses.cpp

@@ -0,0 +1,5 @@
+#include "logicalAddresses.h"
+
+
+
+

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_ */

unittest/testcfg/devices/powerSwitcherList.cpp

@@ -0,0 +1,4 @@
+#include "powerSwitcherList.h"
+
+
+

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_ */

unittest/testcfg/events/subsystemIdRanges.h

@@ -0,0 +1,18 @@
+#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+
+#include <cstdint>
+#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_ */

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;
+	}
+}
+
+

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_ */

unittest/testcfg/objects/systemObjectList.h

@@ -0,0 +1,32 @@
+#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+#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_ */

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;
+	}
+}
+

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_ */

unittest/testcfg/returnvalues/classIds.h

@@ -0,0 +1,16 @@
+#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
+#define CONFIG_RETURNVALUES_CLASSIDS_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_ */

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 DEFAULT_APID = 0x00;
+}
+
+
+#endif /* CONFIG_TMTC_APID_H_ */

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_ */