Merge remote-tracking branch 'upstream/development' into eive/develop

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()
@@ -62,35 +63,28 @@ endif()
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
-	set(OS_FSFW_NAME "Host")
+    set(OS_FSFW_NAME "Host")
+    set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-	set(OS_FSFW_NAME "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(OS_FSFW_NAME "FreeRTOS")
-	set(FSFW_OSAL_DEFINITION FSFW_OSAL_FREERTOS)
+    set(FSFW_OSAL_FREERTOS ON)
-	target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
         ${LIB_OS_NAME}
-	)
+    )
 elseif(FSFW_OSAL STREQUAL rtems)
-	set(OS_FSFW_NAME "RTEMS")
+    set(OS_FSFW_NAME "RTEMS")
-    set(FSFW_OSAL_DEFINITION FSFW_OSAL_RTEMS)
+    set(FSFW_OSAL_RTEMS ON)
 else()
-	message(WARNING 
+    message(WARNING
-		"Invalid operating system for FSFW specified! Setting to host.."
+        "Invalid operating system for FSFW specified! Setting to host.."
-	)
+    )
-	set(OS_FSFW_NAME "Host")
+    set(OS_FSFW_NAME "Host")
-	set(OS_FSFW "host")
+    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/devicehandlers/GyroL3GD20Handler.cpp

@@ -3,9 +3,9 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie):
+        CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        dataset(this) {
+        switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
@@ -47,7 +47,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
     switch(internalState) {
     case(InternalState::NONE):
     case(InternalState::NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
+        return NOTHING_TO_SEND;
     }
     case(InternalState::CONFIGURE): {
         *id = L3GD20H::CONFIGURE_CTRL_REGS;
@@ -66,10 +66,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         /* Might be a configuration error. */
-        sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+        sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-        std::endl;
+                "Unknown internal state!" << std::endl;
 #else
-        sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state!\n");
 #endif
         return HasReturnvaluesIF::RETURN_OK;
     }
@@ -144,7 +145,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
 
 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
         DeviceCommandId_t *foundId, size_t *foundLen) {
-    /* For SPI, the ID will always be the one of the last sent command. */
+    // For SPI, the ID will always be the one of the last sent command
     *foundId = this->getPendingCommand();
     *foundLen = this->rawPacketLen;
 
@@ -166,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
             commandExecuted = true;
         }
         else {
-            /* Attempt reconfiguration. */
+            // Attempt reconfiguration
             internalState = InternalState::CONFIGURE;
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
@@ -199,13 +200,12 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
         if(debugDivider->checkAndIncrement()) {
             /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
+            sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-                    std::endl;
+            sif::info << "X: " << angVelocX << std::endl;
-            sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
+            sif::info << "Y: " << angVelocY << std::endl;
-            sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
+            sif::info << "Z: " << angVelocZ << std::endl;
-            sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
 #else
-            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
+            sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
             sif::printInfo("X: %f\n", angVelocX);
             sif::printInfo("Y: %f\n", angVelocY);
             sif::printInfo("Z: %f\n", angVelocZ);
@@ -231,7 +231,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
 
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 10000;
+    return this->transitionDelayMs;
 }
 
 void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
@@ -240,14 +240,10 @@ void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
 
 ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
         localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
+    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
-            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
+    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
-            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
-            new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
 

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -7,10 +7,6 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
-#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
-#define FSFW_HAL_L3GD20_GYRO_DEBUG   0
-#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
-
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
  *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -23,9 +19,12 @@
 class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
     GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie);
+            CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
     virtual ~GyroHandlerL3GD20H();
 
+    /**
+     * @brief   Configure device handler to go to normal mode immediately
+     */
     void setGoNormalModeAtStartup();
 protected:
 
@@ -51,6 +50,8 @@ protected:
             LocalDataPoolManager &poolManager) override;
 
 private:
+    uint8_t switchId = 0;
+    uint32_t transitionDelayMs = 0;
     GyroPrimaryDataset dataset;
 
     enum class InternalState {

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -15,10 +15,10 @@ 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 " <<
+        sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
                 errno << ": " << strerror(errno) << std::endl;
 #else
-        sif::printWarning("%sOpening device failed with error code %d: %s\n",
+        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 */

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

@@ -85,7 +85,7 @@ 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();
     }
@@ -179,7 +179,7 @@ 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;
     }
@@ -268,7 +268,7 @@ 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;
@@ -370,7 +377,20 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
 
         bytesRead = read(fd, bufferPtr, allowedReadSize);
         if (bytesRead < 0) {
-            return RETURN_FAILED;
+            // EAGAIN: No data available in non-blocking mode
+            if(errno != EAGAIN) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
+                        errno << ": " << strerror(errno) << std::endl;
+#else
+                sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
+                        errno, strerror(errno));
+#endif
+#endif
+                return RETURN_FAILED;
+            }
+
         }
         else if(bytesRead > 0) {
             iter->second.replyLen += bytesRead;

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),
+        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
-        maxReplyLen(maxReplyLen) {
+        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

@@ -4,7 +4,7 @@
 const char* const FSFW_VERSION_NAME = "ASTP";
 
 #define FSFW_VERSION        1
-#define	FSFW_SUBVERSION     3
+#define FSFW_SUBVERSION     2
-#define	FSFW_REVISION       0
+#define FSFW_REVISION       0
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/action/ActionHelper.cpp

@@ -32,6 +32,17 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
         setQueueToUse(queueToUse_);
     }
 
+    if(queueToUse == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
+#else
+        sif::printWarning("ActionHelper::initialize: No queue set\n");
+#endif
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     return HasReturnvaluesIF::RETURN_OK;
 }
 

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.
      *
@@ -493,16 +505,14 @@ protected:
     virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand);
 
     /**
-     * @brief 	This is a helper method to facilitate updating entries
+     * @brief 	This is a helper method to facilitate updating entries in the reply map.
-     *        	in the reply map.
      * @param deviceCommand	Identifier of the reply to update.
-     * @param delayCycles The current number of delay cycles to wait.
+     * @param delayCycles The current number of delay cycles to wait. As stated in
-     * As stated in #fillCommandAndCookieMap, to disable periodic commands,
+     * #fillCommandAndReplyMap, to disable periodic commands, this is set to zero.
-     * 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
-     * by the device repeatedly without request) or not.Default is aperiodic (0).
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
      * Warning: The setting always overrides the value that was entered in the map.
      * @return - @c RETURN_OK when the command was successfully inserted,
      *         - @c RETURN_FAILED else.

src/fsfw/globalfunctions/DleEncoder.cpp

@@ -1,124 +1,296 @@
 #include "fsfw/globalfunctions/DleEncoder.h"
 
-DleEncoder::DleEncoder() {}
+DleEncoder::DleEncoder(bool escapeStxEtx, bool escapeCr):
+        escapeStxEtx(escapeStxEtx), escapeCr(escapeCr) {}
 
 DleEncoder::~DleEncoder() {}
 
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+        size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
-		size_t* encodedLen, bool addStxEtx) {
+        size_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
+    if(escapeStxEtx) {
-		return STREAM_TOO_SHORT;
+        return encodeStreamEscaped(sourceStream, sourceLen,
-	}
+                destStream, maxDestLen, encodedLen, addStxEtx);
-	size_t encodedIndex = 0, sourceIndex = 0;
+    }
-	uint8_t nextByte;
+    else {
-	if (addStxEtx) {
+        return encodeStreamNonEscaped(sourceStream, sourceLen,
-		destStream[0] = STX_CHAR;
+                destStream, maxDestLen, encodedLen, addStxEtx);
-		++encodedIndex;
+    }
-	}
 
-	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
+}
-	{
-		nextByte = sourceStream[sourceIndex];
-		// STX, ETX and CR characters in the stream need to be escaped with DLE
-		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				/* Escaped byte will be actual byte + 0x40. This prevents
-				 * STX, ETX, and carriage return characters from appearing
-				 * in the encoded data stream at all, so when polling an
-				 * encoded stream, the transmission can be stopped at ETX.
-				 * 0x40 was chosen at random with special requirements:
-				 *  - Prevent going from one control char to another
-				 *  - Prevent overflow for common characters */
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
-		}
-		// DLE characters are simply escaped with DLE.
-		else if (nextByte == DLE_CHAR) {
-			if (encodedIndex + 1 >= maxDestLen) {
-			    return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE_CHAR;
-			}
-		}
-		else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
 
-	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
-		if (addStxEtx) {
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
-			destStream[encodedIndex] = ETX_CHAR;
+        bool addStxEtx) {
-			++encodedIndex;
+    size_t encodedIndex = 0;
-		}
+    size_t sourceIndex = 0;
-		*encodedLen = encodedIndex;
+    uint8_t nextByte = 0;
-		return RETURN_OK;
+    if(addStxEtx) {
-	}
+        if(maxDestLen < 1) {
-	else {
+            return STREAM_TOO_SHORT;
-		return STREAM_TOO_SHORT;
+        }
-	}
+        destStream[encodedIndex++] = STX_CHAR;
+    }
+    while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
+        nextByte = sourceStream[sourceIndex];
+        // STX, ETX and CR characters in the stream need to be escaped with DLE
+        if ((nextByte == STX_CHAR or nextByte == ETX_CHAR) or
+                (this->escapeCr and nextByte == CARRIAGE_RETURN)) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                /* Escaped byte will be actual byte + 0x40. This prevents
+                 * STX, ETX, and carriage return characters from appearing
+                 * in the encoded data stream at all, so when polling an
+                 * encoded stream, the transmission can be stopped at ETX.
+                 * 0x40 was chosen at random with special requirements:
+                 *  - Prevent going from one control char to another
+                 *  - Prevent overflow for common characters */
+                destStream[encodedIndex] = nextByte + 0x40;
+            }
+        }
+        // DLE characters are simply escaped with DLE.
+        else if (nextByte == DLE_CHAR) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                destStream[encodedIndex] = DLE_CHAR;
+            }
+        }
+        else {
+            destStream[encodedIndex] = nextByte;
+        }
+        ++encodedIndex;
+        ++sourceIndex;
+    }
+
+    if (sourceIndex == sourceLen) {
+        if (addStxEtx) {
+            if(encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            destStream[encodedIndex] = ETX_CHAR;
+            ++encodedIndex;
+        }
+        *encodedLen = encodedIndex;
+        return RETURN_OK;
+    }
+    else {
+        return STREAM_TOO_SHORT;
+    }
+}
+
+ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+        bool addStxEtx) {
+    size_t encodedIndex = 0;
+    size_t sourceIndex = 0;
+    uint8_t nextByte = 0;
+    if(addStxEtx) {
+        if(maxDestLen < 2) {
+            return STREAM_TOO_SHORT;
+        }
+        destStream[encodedIndex++] = DLE_CHAR;
+        destStream[encodedIndex++] = STX_CHAR;
+    }
+    while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
+        nextByte = sourceStream[sourceIndex];
+        // DLE characters are simply escaped with DLE.
+        if (nextByte == DLE_CHAR) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                destStream[encodedIndex] = DLE_CHAR;
+            }
+        }
+        else {
+            destStream[encodedIndex] = nextByte;
+        }
+        ++encodedIndex;
+        ++sourceIndex;
+    }
+
+    if (sourceIndex == sourceLen) {
+        if (addStxEtx) {
+            if(encodedIndex + 2 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            destStream[encodedIndex++] = DLE_CHAR;
+            destStream[encodedIndex++] = ETX_CHAR;
+        }
+        *encodedLen = encodedIndex;
+        return RETURN_OK;
+    }
+    else {
+        return STREAM_TOO_SHORT;
+    }
 }
 
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+        size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-		size_t maxDestStreamlen, size_t *decodedLen) {
+        size_t maxDestStreamlen, size_t *decodedLen) {
-	size_t encodedIndex = 0, decodedIndex = 0;
+    if(escapeStxEtx) {
-	uint8_t nextByte;
+        return decodeStreamEscaped(sourceStream, sourceStreamLen,
-	if (*sourceStream != STX_CHAR) {
+                readLen, destStream, maxDestStreamlen, decodedLen);
-		return DECODING_ERROR;
+    }
-	}
+    else {
-	++encodedIndex;
+        return decodeStreamNonEscaped(sourceStream, sourceStreamLen,
-
+                readLen, destStream, maxDestStreamlen, decodedLen);
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
+    }
-			&& (sourceStream[encodedIndex] != ETX_CHAR)
-			&& (sourceStream[encodedIndex] != STX_CHAR)) {
-		if (sourceStream[encodedIndex] == DLE_CHAR) {
-			nextByte = sourceStream[encodedIndex + 1];
-			// The next byte is a DLE character that was escaped by another
-			// DLE character, so we can write it to the destination stream.
-			if (nextByte == DLE_CHAR) {
-				destStream[decodedIndex] = nextByte;
-			}
-			else {
-			    /* The next byte is a STX, DTX or 0x0D character which
-			     * was escaped by a DLE character. The actual byte was
-				 * also encoded by adding + 0x40 to prevent having control chars,
-				 * in the stream at all, so we convert it back. */
-				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				}
-				else {
-				    return DECODING_ERROR;
-				}
-			}
-			++encodedIndex;
-		}
-		else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-
-		++encodedIndex;
-		++decodedIndex;
-	}
-
-	if (sourceStream[encodedIndex] != ETX_CHAR) {
-		*readLen = ++encodedIndex;
-		return DECODING_ERROR;
-	}
-	else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
-	}
 }
 
+ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+        size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    size_t encodedIndex = 0;
+    size_t decodedIndex = 0;
+    uint8_t nextByte;
+
+    //init to 0 so that we can just return in the first checks (which do not consume anything from
+    //the source stream)
+    *readLen = 0;
+
+    if(maxDestStreamlen < 1) {
+        return STREAM_TOO_SHORT;
+    }
+    if (sourceStream[encodedIndex++] != STX_CHAR) {
+        return DECODING_ERROR;
+    }
+    while ((encodedIndex < sourceStreamLen)
+            and (decodedIndex < maxDestStreamlen)
+            and (sourceStream[encodedIndex] != ETX_CHAR)
+            and (sourceStream[encodedIndex] != STX_CHAR)) {
+        if (sourceStream[encodedIndex] == DLE_CHAR) {
+            if(encodedIndex + 1 >= sourceStreamLen) {
+                //reached the end of the sourceStream
+                *readLen = sourceStreamLen;
+                return DECODING_ERROR;
+            }
+            nextByte = sourceStream[encodedIndex + 1];
+            // The next byte is a DLE character that was escaped by another
+            // DLE character, so we can write it to the destination stream.
+            if (nextByte == DLE_CHAR) {
+                destStream[decodedIndex] = nextByte;
+            }
+            else {
+                /* The next byte is a STX, DTX or 0x0D character which
+                 * was escaped by a DLE character. The actual byte was
+                 * also encoded by adding + 0x40 to prevent having control chars,
+                 * in the stream at all, so we convert it back. */
+                if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or
+                        (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) {
+                    destStream[decodedIndex] = nextByte - 0x40;
+                }
+                else {
+                    // Set readLen so user can resume parsing after incorrect data
+                    *readLen = encodedIndex + 2;
+                    return DECODING_ERROR;
+                }
+            }
+            ++encodedIndex;
+        }
+        else {
+            destStream[decodedIndex] = sourceStream[encodedIndex];
+        }
+
+        ++encodedIndex;
+        ++decodedIndex;
+    }
+    if (sourceStream[encodedIndex] != ETX_CHAR) {
+        if(decodedIndex == maxDestStreamlen) {
+            //so far we did not find anything wrong here, so let user try again
+            *readLen = 0;
+            return STREAM_TOO_SHORT;
+        }
+        else {
+            *readLen = ++encodedIndex;
+            return DECODING_ERROR;
+        }
+    }
+    else {
+        *readLen = ++encodedIndex;
+        *decodedLen = decodedIndex;
+        return RETURN_OK;
+    }
+}
+
+ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
+        size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    size_t encodedIndex = 0;
+    size_t decodedIndex = 0;
+    uint8_t nextByte;
+
+    //init to 0 so that we can just return in the first checks (which do not consume anything from
+    //the source stream)
+    *readLen = 0;
+    
+    if(maxDestStreamlen < 2) {
+        return STREAM_TOO_SHORT;
+    }
+    if (sourceStream[encodedIndex++] != DLE_CHAR) {
+        return DECODING_ERROR;
+    }
+    if (sourceStream[encodedIndex++] != STX_CHAR) {
+        *readLen = 1;
+        return DECODING_ERROR;
+    }
+    while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
+        if (sourceStream[encodedIndex] == DLE_CHAR) {
+            if(encodedIndex + 1 >= sourceStreamLen) {
+                *readLen = encodedIndex;
+                return DECODING_ERROR;
+            }
+            nextByte = sourceStream[encodedIndex + 1];
+            if(nextByte == STX_CHAR) {
+                // Set readLen so the DLE/STX char combination is preserved. Could be start of
+                // another frame
+                *readLen = encodedIndex;
+                return DECODING_ERROR;
+            }
+            else if(nextByte == DLE_CHAR) {
+                // The next byte is a DLE character that was escaped by another
+                // DLE character, so we can write it to the destination stream.
+                destStream[decodedIndex] = nextByte;
+                ++encodedIndex;
+            }
+            else if(nextByte == ETX_CHAR) {
+                // End of stream reached
+                *readLen = encodedIndex + 2;
+                *decodedLen = decodedIndex;
+                return RETURN_OK;
+            }
+            else {
+                *readLen = encodedIndex;
+                return DECODING_ERROR;
+            }
+        }
+        else {
+            destStream[decodedIndex] = sourceStream[encodedIndex];
+        }
+        ++encodedIndex;
+        ++decodedIndex;
+    }
+
+    if(decodedIndex == maxDestStreamlen) {
+        //so far we did not find anything wrong here, so let user try again
+        *readLen = 0;
+        return STREAM_TOO_SHORT;
+    } else {
+        *readLen = encodedIndex;
+        return DECODING_ERROR;
+    }
+}
+
+void DleEncoder::setEscapeMode(bool escapeStxEtx) {
+    this->escapeStxEtx = escapeStxEtx;
+}

src/fsfw/globalfunctions/DleEncoder.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 
-#include "../returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
 
 /**
@@ -12,52 +12,69 @@
  * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
  *
  * This encoder can be used to achieve a basic transport layer when using
- * char based transmission systems.
+ * char based transmission systems. There are two implemented variants:
- * The passed source strean is converted into a encoded stream by adding
- * a STX marker at the start of the stream and an ETX marker at the end of
- * the stream. Any STX, ETX, DLE and CR occurrences in the source stream are
- * escaped by a DLE character. The encoder also replaces escaped control chars
- * by another char, so STX, ETX and CR should not appear anywhere in the actual
- * encoded data stream.
  *
- * When using a strictly char based reception of packets encoded with DLE,
+ * 1. Escaped variant
+ *
+ * The encoded stream starts with a STX marker and ends with an ETX marker.
+ * STX and ETX occurrences in the stream are escaped and internally encoded as well so the
+ * receiver side can simply check for STX and ETX markers as frame delimiters. When using a
+ * strictly char based reception of packets encoded with DLE,
  * STX can be used to notify a reader that actual data will start to arrive
  * while ETX can be used to notify the reader that the data has ended.
+ *
+ * 2. Non-escaped variant
+ *
+ * The encoded stream starts with DLE STX and ends with DLE ETX. All DLE occurrences in the stream
+ * are escaped with DLE. If the receiver detects a DLE char, it needs to read the next char
+ * to determine whether a start (STX) or end (ETX) of a frame has been detected.
  */
 class DleEncoder: public HasReturnvaluesIF {
-private:
-	DleEncoder();
-	virtual ~DleEncoder();
-
 public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
+    /**
-	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
+     * Create an encoder instance with the given configuration.
-	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+     * @param escapeStxEtx  Determines whether the algorithm works in escaped or non-escaped mode
+     * @param escapeCr      In escaped mode, escape all CR occurrences as well
+     */
+    DleEncoder(bool escapeStxEtx = true, bool escapeCr = false);
 
-	//! Start Of Text character. First character is encoded stream
+    void setEscapeMode(bool escapeStxEtx);
-	static constexpr uint8_t STX_CHAR = 0x02;
+
-	//! End Of Text character. Last character in encoded stream
+    virtual ~DleEncoder();
-	static constexpr uint8_t ETX_CHAR = 0x03;
+
-	//! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
-	//! in the source stream.
+    static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
-	static constexpr uint8_t DLE_CHAR = 0x10;
+    static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
-	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
+
+    //! Start Of Text character. First character is encoded stream
+    static constexpr uint8_t STX_CHAR = 0x02;
+    //! End Of Text character. Last character in encoded stream
+    static constexpr uint8_t ETX_CHAR = 0x03;
+    //! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
+    //! in the source stream.
+    static constexpr uint8_t DLE_CHAR = 0x10;
+    static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
 
     /**
      * Encodes the give data stream by preceding it with the STX marker
-     * and ending it with an ETX marker. STX, ETX and DLE characters inside
+     * and ending it with an ETX marker. DLE characters inside
-     * the stream are escaped by DLE characters and also replaced by adding
+     * the stream are escaped by DLE characters. STX, ETX and CR characters can be escaped with a
-     * 0x40 (which is reverted in the decoding process).
+     * DLE character as well. The escaped characters are also encoded by adding
+     * 0x40 (which is reverted in the decoding process). This is performed so the source stream
+     * does not have STX/ETX/CR occurrences anymore, so the receiving side can simply parse for
+     * start and end markers
      * @param sourceStream
      * @param sourceLen
      * @param destStream
      * @param maxDestLen
      * @param encodedLen
-     * @param addStxEtx
+     * @param addStxEtx     Adding STX start marker and ETX end marker can be omitted,
-     * Adding STX and ETX can be omitted, if they are added manually.
+     *                      if they are added manually
      * @return
+     *  - RETURN_OK for successful encoding operation
+     *  - STREAM_TOO_SHORT if the destination stream is too short
      */
-    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+    ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
             uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
             bool addStxEtx = true);
 
@@ -70,10 +87,32 @@ public:
      * @param maxDestStreamlen
      * @param decodedLen
      * @return
+     *  - RETURN_OK for successful decode operation
+     *  - DECODE_ERROR if the source stream is invalid
+     *  - STREAM_TOO_SHORT if the destination stream is too short
      */
-	static ReturnValue_t decode(const uint8_t *sourceStream,
+    ReturnValue_t decode(const uint8_t *sourceStream,
-			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+            size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-			size_t maxDestStreamlen, size_t *decodedLen);
+            size_t maxDestStreamlen, size_t *decodedLen);
+
+private:
+
+    ReturnValue_t encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    ReturnValue_t encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    ReturnValue_t decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+            size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+
+    ReturnValue_t decodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+            size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+
+    bool escapeStxEtx;
+    bool escapeCr;
 };
 
 #endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

src/fsfw/pus/servicepackets/Service1Packets.h

@@ -13,10 +13,10 @@
 
 /**
  * @brief 	FailureReport class to serialize a failure report
- * @brief 	Subservice 1, 3, 5, 7
+ * @brief 	Subservice 2, 4, 6, 8
  * @ingroup spacepackets
  */
-class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
+class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
 public:
 	FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
 			uint16_t packetSequenceControl_, uint8_t stepNumber_,
@@ -108,10 +108,10 @@ private:
 };
 
 /**
- * @brief       Subservices 2, 4, 6, 8
+ * @brief       Subservices 1, 3, 5, 7
  * @ingroup     spacepackets
  */
-class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
+class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
 public:
 	SuccessReport(uint8_t subtype_, uint16_t packetId_,
 			uint16_t packetSequenceControl_,uint8_t stepNumber_) :

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 "TestsConfig.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
 
@@ -14,11 +14,11 @@
 
 extern int customSetup();
 
-int main( int argc, char* argv[] ) {
+int fsfwtest::customMain(int argc, char* argv[]) {
     customSetup();
 
     // Catch internal function call
-    int result = Catch::Session().run( argc, argv );
+    int result = Catch::Session().run(argc, argv);
 
     // global clean-up
     return result;

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/ObjectManager.h"
-#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include "fsfw/storagemanager/StorageManagerIF.h"
-#include <fsfw/storagemanager/StorageManagerIF.h>
+#include "fsfw/serviceinterface/ServiceInterface.h"
-#include <fsfw/serviceinterface/ServiceInterfaceStream.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* objMan = ObjectManager::instance();
-    objectManager -> initialize();
+    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 "fsfw_tests/unit/mocks/MessageQueueMockBase.h"
-#include <unittest/core/CatchDefinitions.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 "fsfw_tests/unit/CatchDefinitions.h"
-#include <catch2/catch_test_macros.hpp>
-#include <catch2/catch_approx.hpp>
 
 #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 "fsfw_tests/unit/CatchDefinitions.h"
-#include <catch2/catch_test_macros.hpp>
-#include <catch2/catch_approx.hpp>
 
 #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/globalfunctions/CMakeLists.txt

@@ -1,2 +1,3 @@
 target_sources(${TARGET_NAME} PRIVATE
+    testDleEncoder.cpp
 )

tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp

@@ -0,0 +1,222 @@
+#include "fsfw/globalfunctions/DleEncoder.h"
+#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "catch2/catch_test_macros.hpp"
+
+#include <array>
+
+const std::vector<uint8_t> TEST_ARRAY_0 = { 0, 0, 0, 0, 0 };
+const std::vector<uint8_t> TEST_ARRAY_1 = { 0, DleEncoder::DLE_CHAR, 5};
+const std::vector<uint8_t> TEST_ARRAY_2 = { 0, DleEncoder::STX_CHAR, 5};
+const std::vector<uint8_t> TEST_ARRAY_3 = { 0, DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR};
+const std::vector<uint8_t> TEST_ARRAY_4 = { DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR,
+        DleEncoder::STX_CHAR };
+
+const std::vector<uint8_t> TEST_ARRAY_0_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, 0, 0, 0, 0, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_0_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, 0, 0, 0, 0,
+        DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
+
+const std::vector<uint8_t> TEST_ARRAY_1_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_1_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR,
+        5, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
+
+const std::vector<uint8_t> TEST_ARRAY_2_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR + 0x40,
+        5, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_2_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0,
+        DleEncoder::STX_CHAR, 5, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
+
+const std::vector<uint8_t> TEST_ARRAY_3_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN,
+        DleEncoder::DLE_CHAR,  DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_3_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0,
+        DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR, DleEncoder::DLE_CHAR,
+        DleEncoder::ETX_CHAR
+};
+
+const std::vector<uint8_t> TEST_ARRAY_4_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR,
+        DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::DLE_CHAR,
+        DleEncoder::STX_CHAR + 0x40, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_4_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR,
+        DleEncoder::ETX_CHAR, DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
+
+
+TEST_CASE("DleEncoder" , "[DleEncoder]") {
+    DleEncoder dleEncoder;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    std::array<uint8_t, 32> buffer;
+
+    size_t encodedLen = 0;
+    size_t readLen = 0;
+    size_t decodedLen = 0;
+
+    auto testLambdaEncode = [&](DleEncoder& encoder, const std::vector<uint8_t>& vecToEncode,
+            const std::vector<uint8_t>& expectedVec) {
+        result = encoder.encode(vecToEncode.data(), vecToEncode.size(),
+                buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        for(size_t idx = 0; idx < expectedVec.size(); idx++) {
+            REQUIRE(buffer[idx] == expectedVec[idx]);
+        }
+        REQUIRE(encodedLen == expectedVec.size());
+    };
+
+    auto testLambdaDecode = [&](DleEncoder& encoder, const std::vector<uint8_t>& testVecEncoded,
+            const std::vector<uint8_t>& expectedVec) {
+        result = encoder.decode(testVecEncoded.data(),
+                testVecEncoded.size(),
+                &readLen, buffer.data(), buffer.size(), &decodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        REQUIRE(readLen == testVecEncoded.size());
+        REQUIRE(decodedLen == expectedVec.size());
+        for(size_t idx = 0; idx < decodedLen; idx++) {
+            REQUIRE(buffer[idx] == expectedVec[idx]);
+        }
+    };
+
+    SECTION("Encoding") {
+        testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED);
+
+        auto testFaultyEncoding = [&](const std::vector<uint8_t>& vecToEncode,
+                const std::vector<uint8_t>& expectedVec) {
+
+            for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) {
+                result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(),
+                        buffer.data(), faultyDestSize, &encodedLen);
+                REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+            }
+        };
+
+        testFaultyEncoding(TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED);
+
+        dleEncoder.setEscapeMode(false);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED);
+
+        testFaultyEncoding(TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED);
+        dleEncoder.setEscapeMode(true);
+    }
+
+    SECTION("Decoding") {
+        testLambdaDecode(dleEncoder, TEST_ARRAY_0_ENCODED_ESCAPED, TEST_ARRAY_0);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_1_ENCODED_ESCAPED, TEST_ARRAY_1);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4);
+
+        // Faulty source data
+        auto testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_ESCAPED;
+        testArray1EncodedFaulty[3] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        auto testArray2EncodedFaulty = TEST_ARRAY_2_ENCODED_ESCAPED;
+        testArray2EncodedFaulty[5] = 0;
+        result = dleEncoder.decode(testArray2EncodedFaulty.data(), testArray2EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        auto testArray4EncodedFaulty = TEST_ARRAY_4_ENCODED_ESCAPED;
+        testArray4EncodedFaulty[2] = 0;
+        result = dleEncoder.decode(testArray4EncodedFaulty.data(), testArray4EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        auto testArray4EncodedFaulty2 = TEST_ARRAY_4_ENCODED_ESCAPED;
+        testArray4EncodedFaulty2[4] = 0;
+        result = dleEncoder.decode(testArray4EncodedFaulty2.data(), testArray4EncodedFaulty2.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+
+        auto testFaultyDecoding = [&](const std::vector<uint8_t>& vecToDecode,
+                const std::vector<uint8_t>& expectedVec) {
+            for(size_t faultyDestSizes = 0;
+                    faultyDestSizes < expectedVec.size();
+                    faultyDestSizes ++) {
+                result = dleEncoder.decode(vecToDecode.data(),
+                        vecToDecode.size(), &readLen,
+                        buffer.data(), faultyDestSizes, &decodedLen);
+                REQUIRE(result == static_cast<int>(DleEncoder::STREAM_TOO_SHORT));
+            }
+        };
+
+        testFaultyDecoding(TEST_ARRAY_0_ENCODED_ESCAPED, TEST_ARRAY_0);
+        testFaultyDecoding(TEST_ARRAY_1_ENCODED_ESCAPED, TEST_ARRAY_1);
+        testFaultyDecoding(TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2);
+        testFaultyDecoding(TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3);
+        testFaultyDecoding(TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4);
+
+        dleEncoder.setEscapeMode(false);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_0_ENCODED_NON_ESCAPED, TEST_ARRAY_0);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_1_ENCODED_NON_ESCAPED, TEST_ARRAY_1);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_NON_ESCAPED, TEST_ARRAY_2);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4);
+
+        testFaultyDecoding(TEST_ARRAY_0_ENCODED_NON_ESCAPED, TEST_ARRAY_0);
+        testFaultyDecoding(TEST_ARRAY_1_ENCODED_NON_ESCAPED, TEST_ARRAY_1);
+        testFaultyDecoding(TEST_ARRAY_2_ENCODED_NON_ESCAPED, TEST_ARRAY_2);
+        testFaultyDecoding(TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3);
+        testFaultyDecoding(TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4);
+
+        // Faulty source data
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED;
+        auto prevVal = testArray1EncodedFaulty[0];
+        testArray1EncodedFaulty[0] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        testArray1EncodedFaulty[0] = prevVal;
+        testArray1EncodedFaulty[1] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED;
+        testArray1EncodedFaulty[6] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED;
+        testArray1EncodedFaulty[7] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        testArray4EncodedFaulty = TEST_ARRAY_4_ENCODED_NON_ESCAPED;
+        testArray4EncodedFaulty[3] = 0;
+        result = dleEncoder.decode(testArray4EncodedFaulty.data(), testArray4EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+
+        dleEncoder.setEscapeMode(true);
+    }
+}

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_tests/unit/CatchDefinitions.h"
-#include <fsfw/ipc/MessageQueueMessage.h>
+
-#include <unittest/core/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)