From ad5bb4c69452e10ab9afdf56f3f9011198661ca2 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 2 Feb 2022 10:40:00 +0100
Subject: [PATCH 01/44] update changelog.md

---
 CHANGELOG => CHANGELOG.md | 168 +++++++++++++++++++++++++++++++++++++-
 1 file changed, 166 insertions(+), 2 deletions(-)
 rename CHANGELOG => CHANGELOG.md (57%)

diff --git a/CHANGELOG b/CHANGELOG.md
similarity index 57%
rename from CHANGELOG
rename to CHANGELOG.md
index 8f86c147..e7d4f880 100644
--- a/CHANGELOG
+++ b/CHANGELOG.md
@@ -1,4 +1,168 @@
-# Changed from ASTP 1.1.0 to 1.2.0
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+# [unreleased]
+
+# [v4.0.0]
+
+## Additions
+
+- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
+  allow sending of CFDP packets to the CCSDS handlers.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
+
+## Changes
+
+- Applied the `clang-format` auto-formatter to all source code
+
+## Bugfix
+
+- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
+  if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
+  could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
+
+## API Changes
+
+- Aforementioned changes to existing TMTC stack
+
+# [v3.0.0]
+
+## API Changes
+
+#### TCP Socket Changes
+
+* Keep Open TCP Implementation #496
+    * The socket will now kept open after disconnect. This allows reconnecting. 
+    * Only one connection is allowed
+    * No internal influence but clients need to change their Code.
+
+### GPIO IF
+
+* Add feature to open GPIO by line name #506
+
+### Bitutil
+
+* Unittests for Op Divider and Bitutility #510
+
+### Filesystem IF changed
+
+*  Filesystem Base Interface: Use IF instead of void pointer #511 
+
+### STM32
+
+* STM32 SPI Updates #518
+
+## Bugfixes
+
+* Small bugfix for LIS3 handler #504
+* Spelling fixed for function names #509
+* CMakeLists fixes #517
+* Out of bound reads and writes in unittests #519
+* Bug in TmPacketStoredPusC (#478)
+* Windows ifdef fixed #529
+
+## Enhancement
+
+* FSFW.h.in more default values #491
+* Minor updates for PUS services #498
+* HasReturnvaluesIF naming for parameter #499
+* Tests can now be built as part of FSFW and versioning moved to CMake #500
+*  Added integration test code #508 
+* More printouts for rejected TC packets #505
+* Arrayprinter format improvements #514
+* Adding code for CI with docker and jenkins #520
+* Added new function in SerializeAdapter  #513
+    *  Enables simple deSerialize if you keep track of the buffer position yourself
+    *  `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
+            size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
+* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser  #525
+    * ``'-o', '--open', Open coverage data in webbrowser`` 
+* Documentation updated. Sphinx Documentation can now be build with python script #526
+
+## Known bugs
+
+* 
+
+
+All Pull Requests:
+
+Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
+
+# [v2.0.0]
+
+## API Changes
+
+
+### File Structure changed to fit more common structure
+
+* See pull request (#445)
+  * HAL is now part of the main project
+    * **See Instructions below:**
+
+#### Instruction how to update existing / user code
+
+* Changes in `#include`:
+  * Rename `internalError` in includes to `internalerror`
+  * Rename `fsfw/hal` to `fsfw_hal`
+  * Rename `fsfw/tests` to `fsfw_tests`
+  * Rename `osal/FreeRTOS` to `osal/freertos`
+
+* Changes in `CMakeLists.txt`: 
+  * Rename `OS_FSFW` to `FSFW_OSAL`
+
+* Changes in `DleEncoder.cpp`
+    * Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
+
+### Removed osal/linux/Timer (#486)
+
+* Was redundant to timemanager/Countdown
+
+#### Instruction how to update existing / user code
+
+* Use timemanager/Countdown instead
+
+## Bugfixes
+
+### TM Stack
+
+* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
+
+#### Host OSAL / FreeRTOS 
+
+* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
+
+#### Events
+
+* Event output is now consistent (#447)
+
+#### DLE Encoder
+
+* Fixed possible out of bounds access in DLE Encoder (#492)
+
+## Enhancment
+
+* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
+* Linux HAL updates (#456)
+* FreeRTOS Header cleaning update and Cmake tweaks (#442)
+* Printer updates (#453)
+* New returnvalue for for empty PST (#485)
+* TMTC Bridge: Increase limit of packets stored (#484)
+
+## Known bugs
+
+* Bug in TmPacketStoredPusC (#478)
+
+
+All Pull Requests:
+
+Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
+
+# [v1.2.0]
 
 ## API Changes
 
@@ -27,7 +191,7 @@
 
 - See API changes chapter. This change will keep the internal API consistent in the future
 
-# Changes from ASTP 1.0.0 to 1.1.0
+# [v1.1.0]
 
 ## API Changes
 

From 79936a33356d021ca99b27d2cbe1576f2a99afea Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 3 Feb 2022 10:14:47 +0100
Subject: [PATCH 02/44] uio mapper

---
 hal/src/fsfw_hal/linux/uio/CMakeLists.txt |  3 +
 hal/src/fsfw_hal/linux/uio/UioMapper.cpp  | 80 +++++++++++++++++++++++
 hal/src/fsfw_hal/linux/uio/UioMapper.h    | 58 ++++++++++++++++
 3 files changed, 141 insertions(+)
 create mode 100644 hal/src/fsfw_hal/linux/uio/CMakeLists.txt
 create mode 100644 hal/src/fsfw_hal/linux/uio/UioMapper.cpp
 create mode 100644 hal/src/fsfw_hal/linux/uio/UioMapper.h

diff --git a/hal/src/fsfw_hal/linux/uio/CMakeLists.txt b/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
new file mode 100644
index 00000000..e98a0865
--- /dev/null
+++ b/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)
diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
new file mode 100644
index 00000000..bc2d06eb
--- /dev/null
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
@@ -0,0 +1,80 @@
+#include "UioMapper.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <filesystem>
+#include <fstream>
+#include <sstream>
+
+#include "fsfw/serviceinterface.h"
+
+const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
+const char UioMapper::MAP_SUBSTR[] = "/maps/map";
+const char UioMapper::SIZE_FILE_PATH[] = "/size";
+
+UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
+
+UioMapper::~UioMapper() {}
+
+ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int fd = open(uioFile.c_str(), O_RDWR);
+  if (fd < 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  size_t size = 0;
+  result = getMapSize(&size);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  *address = static_cast<uint32_t*>(
+      mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
+
+  if (*address == MAP_FAILED) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
+                 << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UioMapper::getMapSize(size_t* size) {
+  std::stringstream namestream;
+  namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
+             << SIZE_FILE_PATH;
+  FILE* fp;
+  fp = fopen(namestream.str().c_str(), "r");
+  if (fp == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  char hexstring[SIZE_HEX_STRING] = "";
+  int items = fscanf(fp, "%s", hexstring);
+  if (items != 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno
+                 << " to read size "
+                    "string from file "
+                 << namestream.str() << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  items = sscanf(hexstring, "%lx", size);
+  if (items != 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
+                 << "size of map" << mapNum << " to integer" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  fclose(fp);
+  return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.h b/hal/src/fsfw_hal/linux/uio/UioMapper.h
new file mode 100644
index 00000000..20c90b4d
--- /dev/null
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.h
@@ -0,0 +1,58 @@
+#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
+#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
+
+#include <sys/mman.h>
+
+#include <string>
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+/**
+ * @brief   Class to help opening uio device files and mapping the physical addresses into the user
+ *          address space.
+ *
+ * @author  J. Meier
+ */
+class UioMapper {
+ public:
+  enum class Permissions : int {
+    READ_ONLY = PROT_READ,
+    WRITE_ONLY = PROT_WRITE,
+    READ_WRITE = PROT_READ | PROT_WRITE
+  };
+
+  /**
+   * @brief   Constructor
+   *
+   * @param uioFile   The device file of the uiO to open
+   * @param uioMap    Number of memory map. Most UIO drivers have only one map which has than 0.
+   */
+  UioMapper(std::string uioFile, int mapNum = 0);
+  virtual ~UioMapper();
+
+  /**
+   * @brief   Maps the physical address into user address space and returns the mapped address
+   *
+   * @address The mapped user space address
+   * @permissions Specifies the read/write permissions of the address region
+   */
+  ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
+
+ private:
+  static const char UIO_PATH_PREFIX[];
+  static const char MAP_SUBSTR[];
+  static const char SIZE_FILE_PATH[];
+  static constexpr int SIZE_HEX_STRING = 10;
+
+  std::string uioFile;
+  int mapNum = 0;
+
+  /**
+   * @brief   Reads the map size from the associated sysfs size file
+   *
+   * @param size  The read map size
+   */
+  ReturnValue_t getMapSize(size_t* size);
+};
+
+#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

From 2d52042ed6923103ac4942b6961a00b77f52830c Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 3 Feb 2022 10:16:06 +0100
Subject: [PATCH 03/44] add uio subdir

---
 hal/src/fsfw_hal/linux/CMakeLists.txt | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt
index 5944b0e5..0fb2d385 100644
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
@@ -4,10 +4,15 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 
-add_subdirectory(gpio)
-add_subdirectory(spi)
-add_subdirectory(i2c)
-add_subdirectory(uart)
\ No newline at end of file
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+	add_subdirectory(gpio)
+	add_subdirectory(spi)
+	add_subdirectory(i2c)
+	add_subdirectory(uart)
+endif()
+
+add_subdirectory(uio)

From 40329a33b2b28b0d96e80ba8dc005f23a00f2245 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 3 Feb 2022 10:19:33 +0100
Subject: [PATCH 04/44] prepared for proper pr

---
 hal/src/fsfw_hal/linux/CMakeLists.txt | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt
index 0fb2d385..056b59c8 100644
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
@@ -4,15 +4,11 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
-	CommandExecutor.cpp
 	utility.cpp
 )
 
-if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-	add_subdirectory(gpio)
-	add_subdirectory(spi)
-	add_subdirectory(i2c)
-	add_subdirectory(uart)
-endif()
-
+add_subdirectory(gpio)
+add_subdirectory(spi)
+add_subdirectory(i2c)
+add_subdirectory(uart)
 add_subdirectory(uio)

From e9b0951a95aeb7e4aa1f16e7cf38bb4851b9b7f6 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 3 Feb 2022 10:37:07 +0100
Subject: [PATCH 05/44] virtual function to print datasets

---
 src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp | 2 ++
 src/fsfw/datapoollocal/LocalPoolDataSetBase.h   | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
index e2fe7d39..4a076212 100644
--- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
+++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
@@ -291,3 +291,5 @@ float LocalPoolDataSetBase::getCollectionInterval() const {
     return 0.0;
   }
 }
+
+void LocalPoolDataSetBase::printSet() { return; }
diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h
index c2de2c54..17cf8be2 100644
--- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h
+++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h
@@ -171,6 +171,11 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    */
   float getCollectionInterval() const;
 
+  /**
+   * @brief   Can be overwritten by a specific implementation of a dataset to print the set.
+   */
+  virtual void printSet();
+
  protected:
   sid_t sid;
   //! This mutex is used if the data is created by one object only.

From 06ffe27fcc5e8008d5a1b8d53cbead2e08951aef Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 3 Feb 2022 10:46:14 +0100
Subject: [PATCH 06/44] do send read hook

---
 src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 7 +++++++
 src/fsfw/devicehandlers/DeviceHandlerBase.h   | 6 ++++++
 2 files changed, 13 insertions(+)

diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
index 08d7c1d8..ea1fcdf1 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
@@ -665,6 +665,11 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
   ReturnValue_t result;
 
+  result = doSendReadHook();
+  if (result != RETURN_OK) {
+    return;
+  }
+
   size_t replyLen = 0;
   if (cookieInfo.pendingCommand != deviceCommandMap.end()) {
     replyLen = getNextReplyLength(cookieInfo.pendingCommand->first);
@@ -920,6 +925,8 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
   }
 }
 
+ReturnValue_t DeviceHandlerBase::doSendReadHook() { return RETURN_OK; }
+
 ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
   return DeviceHandlerBase::NO_SWITCH;
 }
diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h
index f3dda5c8..037f4bd7 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -1082,6 +1082,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   void commandSwitch(ReturnValue_t onOff);
 
+  /**
+   * @brief   This function can be used to insert device specific code during the do-send-read
+   *          step.
+   */
+  virtual ReturnValue_t doSendReadHook();
+
  private:
   /**
    * State a cookie is in.

From f08d291e3e22950e729c327c101d22a943910e9b Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 3 Feb 2022 11:07:51 +0100
Subject: [PATCH 07/44] fix to remove compiler warning

---
 hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
index bc2d06eb..b29ed63e 100644
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
@@ -67,7 +67,11 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  items = sscanf(hexstring, "%lx", size);
+  uint32_t sizeTmp = 0;
+  items = sscanf(hexstring, "%x", &sizeTmp);
+  if(size != nullptr) {
+    *size = sizeTmp;
+  }
   if (items != 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "

From 0d4bd856bd6753db60e2465a754ee728ac44cabc Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Feb 2022 17:33:46 +0100
Subject: [PATCH 08/44] removed HK switch helper from cmake file

---
 src/fsfw/datapool/CMakeLists.txt | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/fsfw/datapool/CMakeLists.txt b/src/fsfw/datapool/CMakeLists.txt
index 0d53e1ba..535be2b0 100644
--- a/src/fsfw/datapool/CMakeLists.txt
+++ b/src/fsfw/datapool/CMakeLists.txt
@@ -1,6 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		HkSwitchHelper.cpp
-		PoolDataSetBase.cpp
-		PoolEntry.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE 
+    PoolDataSetBase.cpp
+    PoolEntry.cpp
 )
\ No newline at end of file

From 32a9e0c7044665f0265c10108c8d62d45c047769 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Feb 2022 17:37:11 +0100
Subject: [PATCH 09/44] another include removed

---
 src/fsfw/controller/ControllerBase.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/fsfw/controller/ControllerBase.h b/src/fsfw/controller/ControllerBase.h
index db75982c..7032f817 100644
--- a/src/fsfw/controller/ControllerBase.h
+++ b/src/fsfw/controller/ControllerBase.h
@@ -1,7 +1,6 @@
 #ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
 #define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
-#include "fsfw/datapool/HkSwitchHelper.h"
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
 #include "fsfw/modes/HasModesIF.h"

From 1b41153ee6f4002c6215493bd50ec076fd0806df Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 4 Feb 2022 10:16:37 +0100
Subject: [PATCH 10/44] add uio subdirectory

---
 hal/src/fsfw_hal/linux/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt
index 5ec8af06..0fb2d385 100644
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
@@ -14,3 +14,5 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
 	add_subdirectory(i2c)
 	add_subdirectory(uart)
 endif()
+
+add_subdirectory(uio)

From 43b7a314b6d965915850489f96f9c3982c1e4626 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 2 Feb 2022 18:41:44 +0100
Subject: [PATCH 11/44] bump version

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bb3d48b8..2d65637f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(FSFW_VERSION 2)
+set(FSFW_VERSION 3)
 set(FSFW_SUBVERSION 0)
 set(FSFW_REVISION 0)
 

From bd296883078e188fce44bc87e1013d930d129dbc Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 4 Feb 2022 10:11:24 +0100
Subject: [PATCH 12/44] bump revision

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2d65637f..8a230133 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(FSFW_VERSION 3)
 set(FSFW_SUBVERSION 0)
-set(FSFW_REVISION 0)
+set(FSFW_REVISION 1)
 
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})

From 80a610141ae21dda993fe960ff170d14d433f083 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 4 Feb 2022 13:45:09 +0100
Subject: [PATCH 13/44] added v3.0.1 to changelog

---
 CHANGELOG.md | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index e7d4f880..b6adddf0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -30,6 +30,24 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Aforementioned changes to existing TMTC stack
 
+# [v3.0.1]
+
+## API Changes
+
+* 
+
+## Bugfixes
+
+* Version number was not updated for v3.0.0 #542
+
+## Enhancement
+
+* 
+
+## Known bugs
+
+* 
+
 # [v3.0.0]
 
 ## API Changes
@@ -86,7 +104,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Known bugs
 
-* 
+* Version number was not updated for v3.0.0 #542
 
 
 All Pull Requests:

From baddbf7340c78223e1494dac71dc735dfbef403d Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 7 Feb 2022 13:44:25 +0100
Subject: [PATCH 14/44] Updated changelog for v4.0.0

---
 CHANGELOG.md | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b6adddf0..c3cb934d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,10 +15,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
   allow sending of CFDP packets to the CCSDS handlers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
+- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
+- added virtual function to print datasets
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
 
 ## Changes
 
 - Applied the `clang-format` auto-formatter to all source code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
+- Updated Catch2 to v3.0.0-preview4, might fail installing with cmake, see known bugs below
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
 
 ## Bugfix
 
@@ -30,6 +37,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Aforementioned changes to existing TMTC stack
 
+## Known bugs
+
+* on some platforms building Catch2 from cmake might fail. In this case, it is advised to build and
+  install locally from git, see automation/Dockerfile for an example
+
 # [v3.0.1]
 
 ## API Changes

From 6dc34fc1f006d147555af68c4dfc1e52c3865f03 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 7 Feb 2022 15:41:10 +0100
Subject: [PATCH 15/44] removed cmake warning as I have a workaround

---
 CHANGELOG.md | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index c3cb934d..5869a0a9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,16 +15,23 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
   allow sending of CFDP packets to the CCSDS handlers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
-- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
 - added virtual function to print datasets
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
+- doSendRead Hook
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
+  
+### HAL additions
+
+- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
+- uio Mapper
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
 
 ## Changes
 
 - Applied the `clang-format` auto-formatter to all source code
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
-- Updated Catch2 to v3.0.0-preview4, might fail installing with cmake, see known bugs below
+- Updated Catch2 to v3.0.0-preview4
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
 
 ## Bugfix
@@ -39,8 +46,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Known bugs
 
-* on some platforms building Catch2 from cmake might fail. In this case, it is advised to build and
-  install locally from git, see automation/Dockerfile for an example
+- 
 
 # [v3.0.1]
 

From 2e4cd8055617568bc66725aa43f63b6125631b03 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 7 Feb 2022 15:51:06 +0100
Subject: [PATCH 16/44] workaround for build regression catch2-v3.0.0-preview4

---
 CMakeLists.txt        | 2 ++
 automation/Dockerfile | 6 ------
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9b090ca8..19fedb64 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,6 +60,8 @@ if(FSFW_BUILD_UNITTESTS)
         )
 
         FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
     endif()
 
     set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
diff --git a/automation/Dockerfile b/automation/Dockerfile
index a530a671..9df67fc8 100644
--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@@ -6,9 +6,3 @@ RUN apt-get --yes upgrade
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
-
-RUN git clone https://github.com/catchorg/Catch2.git && \
-	cd Catch2 && \
-	git checkout v3.0.0-preview4 && \
-	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-	cmake --build build/ --target install

From 7a83289b3d4e62a20547c1652d850533756a5291 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 7 Feb 2022 16:48:41 +0100
Subject: [PATCH 17/44] using prebuild, static docker image

---
 automation/Jenkinsfile | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile
index dae2da2c..f76496d1 100644
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@@ -3,13 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        dockerfile {
-            dir 'automation'
-            //force docker to redownload base image and rebuild all steps instead of caching them
-            //this way, we always get an up to date docker image one each build
-            additionalBuildArgs  '--no-cache --pull'
-            reuseNode true
-        }
+        docker { image: fsfw-ci:d1}
     }
     stages {
         stage('Clean') {

From 54f3d7bd2df092776d0e3ae2170428a18e7896b7 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 7 Feb 2022 16:49:42 +0100
Subject: [PATCH 18/44] Jenkinsfile typo

---
 automation/Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile
index f76496d1..abd4532b 100644
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image: fsfw-ci:d1}
+        docker { image: 'fsfw-ci:d1'}
     }
     stages {
         stage('Clean') {

From 720813963090b28faa66a08b6e324aa99830e6ca Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 7 Feb 2022 16:50:59 +0100
Subject: [PATCH 19/44] Jenkinsfile another typo

---
 automation/Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile
index abd4532b..3424f986 100644
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image: 'fsfw-ci:d1'}
+        docker { image 'fsfw-ci:d1'}
     }
     stages {
         stage('Clean') {

From c6d152a01d9e1691065040883df7ffcf7aa358e1 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 7 Feb 2022 17:11:04 +0100
Subject: [PATCH 20/44] updated changelog

---
 CHANGELOG.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5869a0a9..cda8037c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -33,12 +33,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
 - Updated Catch2 to v3.0.0-preview4
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
+- Changed CI to use prebuilt docker image
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
 
 ## Bugfix
 
 - CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
   if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
   could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
+- Fix for build regression in Catch2 v3.0.0-preview4
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
 
 ## API Changes
 

From 062e93fd8805b019e6e0c1d7f1323f214439158b Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 10 Feb 2022 13:53:01 +0100
Subject: [PATCH 21/44] started DHB docs

---
 docs/devicehandlers.rst | 102 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 102 insertions(+)

diff --git a/docs/devicehandlers.rst b/docs/devicehandlers.rst
index 58c2df78..d1a5fb67 100644
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@@ -1,3 +1,105 @@
 Device Handlers
 ==================
 
+Device handler components rerpresent, control and monitor equipment, for example sensors or actuators of a spacecraft or the payload.
+
+Most device handlers have the same common functionality or
+requirements, which are fulfilled by implementing an certain interface:
+
+- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
+- The handler needs to communicate with the physical device via a dedicated
+  communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
+- The handler has housekeeping data which has to be exposed to the operator and/or other software
+  components: :cpp:class:`HasLocalDataPoolIF`
+- The handler has configurable parameters
+- The handler has health states, for example to indicate a broken device:
+  :cpp:class:`HasHealthIF`
+- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
+  and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
+  but that it is not periodically polling data from the
+  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class`HasModesIF`
+
+The device handler base therefore provides abstractions for a lot of common
+functionality, which can potentially avoid high amounts or logic and code duplication.
+
+Template Device Handler Base File
+----------------------------------
+
+This is an example template device handler header file with all necessary
+functions implemented:
+
+.. code-block:: cpp
+
+	#ifndef __TESTDEVICEHANDLER_H_
+	#define __TESTDEVICEHANDLER_H_
+
+	#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+	class TestDeviceHandler: DeviceHandlerBase {
+	public:
+	  TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
+	private:
+	  void doStartUp() override;
+	  void doShutDown() override;
+	  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+	  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+	  void fillCommandAndReplyMap() override;
+	  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+	                                        size_t commandDataLen) override;
+	  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+	                             size_t* foundLen) override;
+	  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+	  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+	  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                        LocalDataPoolManager& poolManager) override;
+
+	};
+
+	#endif /* __TESTDEVICEHANDLER_H_ */
+
+and the respective source file with sensible default return values:
+
+.. code-block:: cpp
+	#include "TestDeviceHandler.h"
+
+	TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
+	    : DeviceHandlerBase(objectId, comIF, cookie) {}
+
+	void TestDeviceHandler::doStartUp() {}
+
+	void TestDeviceHandler::doShutDown() {}
+
+	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void TestDeviceHandler::fillCommandAndReplyMap() {}
+
+	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+	                                                         const uint8_t* commandData,
+	                                                         size_t commandDataLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
+	                                                      const uint8_t* packet) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+	  return 10000;
+	}
+
+	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                                         LocalDataPoolManager& poolManager) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}

From b25555a533dfd20c8b36bff409a4af963a79e7b8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 10 Feb 2022 13:53:01 +0100
Subject: [PATCH 22/44] started DHB docs

---
 docs/devicehandlers.rst | 102 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 102 insertions(+)

diff --git a/docs/devicehandlers.rst b/docs/devicehandlers.rst
index 58c2df78..d1a5fb67 100644
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@@ -1,3 +1,105 @@
 Device Handlers
 ==================
 
+Device handler components rerpresent, control and monitor equipment, for example sensors or actuators of a spacecraft or the payload.
+
+Most device handlers have the same common functionality or
+requirements, which are fulfilled by implementing an certain interface:
+
+- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
+- The handler needs to communicate with the physical device via a dedicated
+  communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
+- The handler has housekeeping data which has to be exposed to the operator and/or other software
+  components: :cpp:class:`HasLocalDataPoolIF`
+- The handler has configurable parameters
+- The handler has health states, for example to indicate a broken device:
+  :cpp:class:`HasHealthIF`
+- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
+  and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
+  but that it is not periodically polling data from the
+  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class`HasModesIF`
+
+The device handler base therefore provides abstractions for a lot of common
+functionality, which can potentially avoid high amounts or logic and code duplication.
+
+Template Device Handler Base File
+----------------------------------
+
+This is an example template device handler header file with all necessary
+functions implemented:
+
+.. code-block:: cpp
+
+	#ifndef __TESTDEVICEHANDLER_H_
+	#define __TESTDEVICEHANDLER_H_
+
+	#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+	class TestDeviceHandler: DeviceHandlerBase {
+	public:
+	  TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
+	private:
+	  void doStartUp() override;
+	  void doShutDown() override;
+	  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+	  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+	  void fillCommandAndReplyMap() override;
+	  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+	                                        size_t commandDataLen) override;
+	  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+	                             size_t* foundLen) override;
+	  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+	  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+	  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                        LocalDataPoolManager& poolManager) override;
+
+	};
+
+	#endif /* __TESTDEVICEHANDLER_H_ */
+
+and the respective source file with sensible default return values:
+
+.. code-block:: cpp
+	#include "TestDeviceHandler.h"
+
+	TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
+	    : DeviceHandlerBase(objectId, comIF, cookie) {}
+
+	void TestDeviceHandler::doStartUp() {}
+
+	void TestDeviceHandler::doShutDown() {}
+
+	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void TestDeviceHandler::fillCommandAndReplyMap() {}
+
+	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+	                                                         const uint8_t* commandData,
+	                                                         size_t commandDataLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
+	                                                      const uint8_t* packet) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+	  return 10000;
+	}
+
+	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                                         LocalDataPoolManager& poolManager) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}

From cdf2a90f90ed8119a6d23e05efc40b4220b8e7c5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 10 Feb 2022 14:02:30 +0100
Subject: [PATCH 23/44] fixed up cross-ref

---
 docs/devicehandlers.rst | 8 ++++++--
 docs/highlevel.rst      | 2 +-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/docs/devicehandlers.rst b/docs/devicehandlers.rst
index d1a5fb67..affaa6d9 100644
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@@ -1,7 +1,10 @@
+.. _dhb-prim-doc:
+
 Device Handlers
 ==================
 
-Device handler components rerpresent, control and monitor equipment, for example sensors or actuators of a spacecraft or the payload.
+Device handler components represent, control and monitor equipment, for example sensors or actuators
+of a spacecraft or the payload.
 
 Most device handlers have the same common functionality or
 requirements, which are fulfilled by implementing an certain interface:
@@ -17,7 +20,7 @@ requirements, which are fulfilled by implementing an certain interface:
 - The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
   and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
   but that it is not periodically polling data from the
-  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class`HasModesIF`
+  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
 
 The device handler base therefore provides abstractions for a lot of common
 functionality, which can potentially avoid high amounts or logic and code duplication.
@@ -60,6 +63,7 @@ functions implemented:
 and the respective source file with sensible default return values:
 
 .. code-block:: cpp
+
 	#include "TestDeviceHandler.h"
 
 	TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
diff --git a/docs/highlevel.rst b/docs/highlevel.rst
index 08f44777..04eb5e7b 100644
--- a/docs/highlevel.rst
+++ b/docs/highlevel.rst
@@ -118,7 +118,7 @@ The DH has mechanisms to monitor the communication with the physical device whic
 for FDIR reaction.  Device Handlers can be created by implementing ``DeviceHandlerBase``.
 A standard FDIR component for the DH will be created automatically but can
 be overwritten by the user. More information on DeviceHandlers can be found in the
-related [documentation section](doc/README-devicehandlers.md#top).
+related :ref:`documentation section <dhb-prim-doc>`.
 
 Modes and Health
 --------------------

From 2dcf896ccad5c99130148cd67a84d70caa1a1215 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 10 Feb 2022 14:04:23 +0100
Subject: [PATCH 24/44] this sounds better

---
 docs/devicehandlers.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/devicehandlers.rst b/docs/devicehandlers.rst
index affaa6d9..80b9e7a3 100644
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@@ -7,7 +7,7 @@ Device handler components represent, control and monitor equipment, for example
 of a spacecraft or the payload.
 
 Most device handlers have the same common functionality or
-requirements, which are fulfilled by implementing an certain interface:
+requirements, which are fulfilled by implementing certain interfaces:
 
 - The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
 - The handler needs to communicate with the physical device via a dedicated

From 4f87e24f603653cdf7013074e100b54df3468065 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 10 Feb 2022 14:08:52 +0100
Subject: [PATCH 25/44] increase test limit

---
 tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
index d2a15137..a6360338 100644
--- a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
+++ b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
@@ -72,7 +72,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     result = cmdExecutor.check(bytesHaveBeenRead);
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
     usleep(500);
-    REQUIRE(limitIdx < 20);
+    REQUIRE(limitIdx < 50);
   }
   limitIdx = 0;
   CHECK(bytesHaveBeenRead == true);
@@ -102,7 +102,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     result = cmdExecutor.check(bytesHaveBeenRead);
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
     usleep(500);
-    REQUIRE(limitIdx < 20);
+    REQUIRE(limitIdx < 50);
   }
   REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
   REQUIRE(cmdExecutor.getLastError() == 1);

From 9897f5130720fd5a6c9a1dc40da3bf5b895fb29f Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 14 Feb 2022 08:43:10 +0100
Subject: [PATCH 26/44] added flose and changed warning message to error
 message

---
 hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
index b29ed63e..6a7673e3 100644
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
@@ -22,7 +22,7 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
   int fd = open(uioFile.c_str(), O_RDWR);
   if (fd < 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
+    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -36,7 +36,7 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
 
   if (*address == MAP_FAILED) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
+    sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
                  << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -52,19 +52,21 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
   fp = fopen(namestream.str().c_str(), "r");
   if (fp == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
+    sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
 #endif
+    fclose(fp);
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   char hexstring[SIZE_HEX_STRING] = "";
   int items = fscanf(fp, "%s", hexstring);
   if (items != 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno
+    sif::error << "UioMapper::getMapSize: Failed with error code " << errno
                  << " to read size "
                     "string from file "
                  << namestream.str() << std::endl;
 #endif
+    fclose(fp);
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   uint32_t sizeTmp = 0;
@@ -74,9 +76,10 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
   }
   if (items != 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
+    sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
                  << "size of map" << mapNum << " to integer" << std::endl;
 #endif
+    fclose(fp);
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   fclose(fp);

From 120750f22aab31cfa6f3d8edec1fe784a707b64e Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 14 Feb 2022 08:51:53 +0100
Subject: [PATCH 27/44] removed one fclose

---
 hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
index 6a7673e3..5eb44c5e 100644
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
@@ -54,7 +54,6 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
 #endif
-    fclose(fp);
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   char hexstring[SIZE_HEX_STRING] = "";

From 9e958e752e2565da2ac704a6752f7f47d3cec026 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 14:54:20 +0100
Subject: [PATCH 28/44] applied clang format

---
 hal/src/fsfw_hal/linux/uio/UioMapper.cpp      | 12 +++++------
 src/fsfw/datalinklayer/DataLinkLayer.h        |  2 +-
 .../datalinklayer/VirtualChannelReception.cpp |  4 ++--
 src/fsfw/globalfunctions/CRC.cpp              |  4 ++--
 src/fsfw/modes/ModeMessage.h                  | 16 +++++++--------
 src/fsfw/osal/linux/PeriodicPosixTask.h       |  4 ++--
 src/fsfw/osal/rtems/PeriodicTask.h            |  4 ++--
 src/fsfw/osal/rtems/RTEMSTaskBase.h           |  4 ++--
 src/fsfw/rmap/RMAP.h                          | 18 ++++++++---------
 src/fsfw/rmap/RMAPChannelIF.h                 | 20 +++++++++----------
 src/fsfw/rmap/rmapStructs.h                   |  6 +++---
 11 files changed, 47 insertions(+), 47 deletions(-)

diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
index 5eb44c5e..43ca2727 100644
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
@@ -37,7 +37,7 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
   if (*address == MAP_FAILED) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
-                 << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
+               << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -61,22 +61,22 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
   if (items != 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UioMapper::getMapSize: Failed with error code " << errno
-                 << " to read size "
-                    "string from file "
-                 << namestream.str() << std::endl;
+               << " to read size "
+                  "string from file "
+               << namestream.str() << std::endl;
 #endif
     fclose(fp);
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   uint32_t sizeTmp = 0;
   items = sscanf(hexstring, "%x", &sizeTmp);
-  if(size != nullptr) {
+  if (size != nullptr) {
     *size = sizeTmp;
   }
   if (items != 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
-                 << "size of map" << mapNum << " to integer" << std::endl;
+               << "size of map" << mapNum << " to integer" << std::endl;
 #endif
     fclose(fp);
     return HasReturnvaluesIF::RETURN_FAILED;
diff --git a/src/fsfw/datalinklayer/DataLinkLayer.h b/src/fsfw/datalinklayer/DataLinkLayer.h
index edfba8a6..8735feb6 100644
--- a/src/fsfw/datalinklayer/DataLinkLayer.h
+++ b/src/fsfw/datalinklayer/DataLinkLayer.h
@@ -30,7 +30,7 @@ class DataLinkLayer : public CCSDSReturnValuesIF {
   //! [EXPORT] : [COMMENT] A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
   static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO);
   //	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board
-  //detected that either bit lock or RF available or both are lost. No parameters.
+  // detected that either bit lock or RF available or both are lost. No parameters.
   //! [EXPORT] : [COMMENT] The CCSDS Board could not interpret a TC
   static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW);
   /**
diff --git a/src/fsfw/datalinklayer/VirtualChannelReception.cpp b/src/fsfw/datalinklayer/VirtualChannelReception.cpp
index 4ee0c008..258bc1e6 100644
--- a/src/fsfw/datalinklayer/VirtualChannelReception.cpp
+++ b/src/fsfw/datalinklayer/VirtualChannelReception.cpp
@@ -30,9 +30,9 @@ ReturnValue_t VirtualChannelReception::mapDemultiplexing(TcTransferFrame* frame)
   mapChannelIterator iter = mapChannels.find(mapId);
   if (iter == mapChannels.end()) {
     //		error << "VirtualChannelReception::mapDemultiplexing on VC " << std::hex << (int)
-    //channelId
+    // channelId
     //				<< ": MapChannel " << (int) mapId << std::dec << " not found." <<
-    //std::endl;
+    // std::endl;
     return VC_NOT_FOUND;
   } else {
     return (iter->second)->extractPackets(frame);
diff --git a/src/fsfw/globalfunctions/CRC.cpp b/src/fsfw/globalfunctions/CRC.cpp
index 942e4a1a..6b8140c5 100644
--- a/src/fsfw/globalfunctions/CRC.cpp
+++ b/src/fsfw/globalfunctions/CRC.cpp
@@ -116,8 +116,8 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti
   //	for (int i=0; i<16 ;i++)
   //	{
   //		 if  (xor_out[i] == true)
-  //			 crc_value = crc_value + pow(2,(15 -i));   // reverse CrC result before Final
-  //XOR
+  //			 crc_value = crc_value + pow(2,(15 -i));   // reverse CrC result before
+  //Final XOR
   //	}
   //
   //	crc_value = 0;// for debug mode
diff --git a/src/fsfw/modes/ModeMessage.h b/src/fsfw/modes/ModeMessage.h
index e3638ee0..84429e84 100644
--- a/src/fsfw/modes/ModeMessage.h
+++ b/src/fsfw/modes/ModeMessage.h
@@ -14,30 +14,30 @@ class ModeMessage {
   static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
   static const Command_t CMD_MODE_COMMAND =
       MAKE_COMMAND_ID(0x01);  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
-                              //!REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
-                              //!as this will break the subsystem mode machine!!
+                              //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
+                              //! as this will break the subsystem mode machine!!
   static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
       0xF1);  //!> Command to set the specified Mode, regardless of external control flag, replies
-              //!are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
-              //!replies, as this will break the subsystem mode machine!!
+              //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
+              //! replies, as this will break the subsystem mode machine!!
   static const Command_t REPLY_MODE_REPLY =
       MAKE_COMMAND_ID(0x02);  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
   static const Command_t REPLY_MODE_INFO =
       MAKE_COMMAND_ID(0x03);  //!> Unrequested info about the current mode (used for composites to
-                              //!inform their container of a changed mode)
+                              //! inform their container of a changed mode)
   static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
       0x04);  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
   static const Command_t REPLY_WRONG_MODE_REPLY =
       MAKE_COMMAND_ID(0x05);  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
-                              //!and a transition started but was aborted; the parameters contain
-                              //!the mode that was reached
+                              //! and a transition started but was aborted; the parameters contain
+                              //! the mode that was reached
   static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
       0x06);  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
   static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
       0x07);  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
   static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
       MAKE_COMMAND_ID(0x08);  //!> Command to trigger an ModeInfo Event and to send this command to
-                              //!every child. This command does NOT have a reply.
+                              //! every child. This command does NOT have a reply.
 
   static Mode_t getMode(const CommandMessage* message);
   static Submode_t getSubmode(const CommandMessage* message);
diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h
index e2db042d..3c9a3a0d 100644
--- a/src/fsfw/osal/linux/PeriodicPosixTask.h
+++ b/src/fsfw/osal/linux/PeriodicPosixTask.h
@@ -65,8 +65,8 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
-   * 			the task's period, then enters a loop that is repeated indefinitely. Within the loop,
-   * all performOperation methods of the added objects are called. Afterwards the task will be
+   * 			the task's period, then enters a loop that is repeated indefinitely. Within the
+   * loop, all performOperation methods of the added objects are called. Afterwards the task will be
    * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
    */
   virtual void taskFunctionality(void);
diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h
index e2643ec7..ff8617fc 100644
--- a/src/fsfw/osal/rtems/PeriodicTask.h
+++ b/src/fsfw/osal/rtems/PeriodicTask.h
@@ -13,8 +13,8 @@ class ExecutableObjectIF;
  * @brief This class represents a specialized task for periodic activities of multiple objects.
  *
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
- * 			multiple objects that implement the ExecutableObjectIF interface. The objects must
- * be added prior to starting the task.
+ * 			multiple objects that implement the ExecutableObjectIF interface. The objects
+ * must be added prior to starting the task.
  * @author  baetz
  * @ingroup task_handling
  */
diff --git a/src/fsfw/osal/rtems/RTEMSTaskBase.h b/src/fsfw/osal/rtems/RTEMSTaskBase.h
index 784d3594..9ae9e755 100644
--- a/src/fsfw/osal/rtems/RTEMSTaskBase.h
+++ b/src/fsfw/osal/rtems/RTEMSTaskBase.h
@@ -25,8 +25,8 @@ class RTEMSTaskBase {
    * all other attributes are set with default values.
    * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
    * @param stack_size	The stack size reserved by the operating system for the task.
-   * @param nam			The name of the Task, as a null-terminated String. Currently max 4 chars
-   * supported (excluding Null-terminator), rest will be truncated
+   * @param nam			The name of the Task, as a null-terminated String. Currently max 4
+   * chars supported (excluding Null-terminator), rest will be truncated
    */
   RTEMSTaskBase(rtems_task_priority priority, size_t stack_size, const char *name);
   /**
diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h
index d46fc318..42ee1ac5 100644
--- a/src/fsfw/rmap/RMAP.h
+++ b/src/fsfw/rmap/RMAP.h
@@ -51,9 +51,9 @@ class RMAP : public HasReturnvaluesIF {
   // MAKE_RETURN_CODE(0xE4); //the data that was to be sent was too long for the hw to handle (write
   // command) or the expected len was bigger than maximal expected len (read command) command was
   // not sent
-  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t COMMAND_NULLPOINTER
-  // = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write command, or
-  // nullpointer in read command
+  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t
+  // COMMAND_NULLPOINTER = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write
+  // command, or nullpointer in read command
   static const ReturnValue_t COMMAND_CHANNEL_DEACTIVATED =
       MAKE_RETURN_CODE(0xE6);  // the channel has no port set
   static const ReturnValue_t COMMAND_PORT_OUT_OF_RANGE =
@@ -73,8 +73,8 @@ class RMAP : public HasReturnvaluesIF {
   static const ReturnValue_t REPLY_MISSMATCH = MAKE_RETURN_CODE(
       0xD3);  // a read command was issued, but get_write_rply called, or other way round
   static const ReturnValue_t REPLY_TIMEOUT = MAKE_RETURN_CODE(0xD4);  // timeout
-  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t REPLY_NULLPOINTER =
-  // MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for
+  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t REPLY_NULLPOINTER
+  // = MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for
   // get_reply
   static const ReturnValue_t REPLY_INTERFACE_BUSY =
       MAKE_RETURN_CODE(0xC0);  // Interface is busy (transmission buffer still being processed)
@@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param buffer the data to write
    * @param length length of data
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in write
-   * command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
+   * write command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param cookie to cookie to read from
    * @param expLength the expected maximum length of the reply
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in write
-   * command, or nullpointer in read command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
+   * write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);
diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h
index 77b56eb9..20dfd5f8 100644
--- a/src/fsfw/rmap/RMAPChannelIF.h
+++ b/src/fsfw/rmap/RMAPChannelIF.h
@@ -73,16 +73,16 @@ class RMAPChannelIF {
    * @param datalen length of data
    * @return
    *      - @c RETURN_OK
-   *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending command;
-   * command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len; command
-   * was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the hw to
-   * handle (write command) or the expected len was bigger than maximal expected len (read command)
+   *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
+   * command; command was not sent
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len;
    * command was not sent
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the hw
+   * to handle (write command) or the expected len was bigger than maximal expected len (read
+   * command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
-   *      - @c NOT_SUPPORTED						if you dont feel like implementing
-   * something...
+   *      - @c NOT_SUPPORTED						if you dont feel like
+   * implementing something...
    */
   virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction, const uint8_t *data,
                                     size_t datalen) = 0;
@@ -97,8 +97,8 @@ class RMAPChannelIF {
    *      - @c REPLY_NO_REPLY				no reply was received
    *      - @c REPLY_NOT_SENT				command was not sent, implies no reply
    *      - @c REPLY_NOT_YET_SENT			command is still waiting to be sent
-   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer still being
-   * processed)
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer still
+   * being processed)
    *      - @c WRITE_REPLY_TRANSMISSION_ERROR		Interface encountered errors during last
    * operation, data could not be processed. (transmission error)
    *      - @c WRITE_REPLY_INVALID_DATA			Invalid data (amount / value)
diff --git a/src/fsfw/rmap/rmapStructs.h b/src/fsfw/rmap/rmapStructs.h
index 44eedc16..55e32606 100644
--- a/src/fsfw/rmap/rmapStructs.h
+++ b/src/fsfw/rmap/rmapStructs.h
@@ -32,10 +32,10 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C
 static const uint8_t RMAP_REPLY_WRITE =
     ((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY));
 static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY));
-//#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE) |
-//(1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY	((1<<RMAP_COMMAND_BIT) |
+//#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
+//| (1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY	((1<<RMAP_COMMAND_BIT) |
 //(1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define
-//RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
+// RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
 
 //#define RMAP_REPLY_WRITE			((1<<RMAP_COMMAND_BIT_WRITE) |
 //(1<<RMAP_COMMAND_BIT_REPLY))

From d53c7e119036665013d32f59fea46ffbd926a693 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 16:00:43 +0100
Subject: [PATCH 29/44] increase test limit

---
 tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
index a6360338..5ced030b 100644
--- a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
+++ b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
@@ -71,8 +71,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     limitIdx++;
     result = cmdExecutor.check(bytesHaveBeenRead);
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+    // This ensures that the tests do not block indefinitely
     usleep(500);
-    REQUIRE(limitIdx < 50);
+    REQUIRE(limitIdx < 500);
   }
   limitIdx = 0;
   CHECK(bytesHaveBeenRead == true);
@@ -101,8 +102,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     limitIdx++;
     result = cmdExecutor.check(bytesHaveBeenRead);
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+    // This ensures that the tests do not block indefinitely
     usleep(500);
-    REQUIRE(limitIdx < 50);
+    REQUIRE(limitIdx < 500);
   }
   REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
   REQUIRE(cmdExecutor.getLastError() == 1);

From 0d38ac62d8e5e3a51bc456f60810abebc9a19c83 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 16:12:48 +0100
Subject: [PATCH 30/44] this should work an ALL systems

---
 tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
index 5ced030b..e2e1e9d7 100644
--- a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
+++ b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
@@ -90,7 +90,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
   std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
   // I am just going to assume that this string is the same across ping implementations
   // of different Linux systems
-  REQUIRE(allTheReply.find("localhost ping statistics") != std::string::npos);
+  REQUIRE(allTheReply.find("PING localhost") != std::string::npos);
 
   // Now check failing command
   result = cmdExecutor.load("false", false, false);

From 22bc300902b134f36b01fe71ae4d85c4a03dbcec Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 16:14:14 +0100
Subject: [PATCH 31/44] increase other limits

---
 tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
index e2e1e9d7..3ad26876 100644
--- a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
+++ b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
@@ -45,7 +45,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     result = cmdExecutor.check(bytesHaveBeenRead);
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
     usleep(500);
-    REQUIRE(limitIdx < 5);
+    REQUIRE(limitIdx < 500);
   }
 
   limitIdx = 0;

From 074ef29b86409568783f6c2ac11f0f086eda9bf4 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 15:19:47 +0100
Subject: [PATCH 32/44] Fixed valgrind python script

---
 scripts/helper.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/scripts/helper.py b/scripts/helper.py
index 4e8a62b4..68693c40 100755
--- a/scripts/helper.py
+++ b/scripts/helper.py
@@ -143,7 +143,10 @@ def handle_tests_type(args, build_dir_list: list):
         if which("valgrind") is None:
             print("Please install valgrind first")
             sys.exit(1)
-        os.chdir(UNITTEST_FOLDER_NAME)
+        if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
+            # If we are in a different directory we try to switch into it but
+            # this might fail
+            os.chdir(UNITTEST_FOLDER_NAME)
         os.system("valgrind --leak-check=full ./fsfw-tests")
         os.chdir("..")
 

From a612fb446cb72b732d73358b17202ee3dfb96b7a Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 16:23:21 +0100
Subject: [PATCH 33/44] added two links

---
 docs/devicehandlers.rst | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/docs/devicehandlers.rst b/docs/devicehandlers.rst
index 80b9e7a3..0008edb3 100644
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@@ -14,7 +14,8 @@ requirements, which are fulfilled by implementing certain interfaces:
   communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
 - The handler has housekeeping data which has to be exposed to the operator and/or other software
   components: :cpp:class:`HasLocalDataPoolIF`
-- The handler has configurable parameters
+- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
+  also implements :cpp:class:`HasParametersIF`
 - The handler has health states, for example to indicate a broken device:
   :cpp:class:`HasHealthIF`
 - The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`

From 6744a55b9b7faf8c72bb9bf4d7bff83ce87c8952 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 16:31:13 +0100
Subject: [PATCH 34/44] docs update

---
 README.md                | 36 ++++++++++++++++++++++++++++++++++++
 docs/getting_started.rst | 25 +++++++++++++++++++++++--
 2 files changed, 59 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index a2261c99..89a10f4b 100644
--- a/README.md
+++ b/README.md
@@ -107,6 +107,42 @@ cmake --build . -- fsfw-tests_coverage -j
 
 The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
 
+## Building the documentations
+
+The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
+instructions provided in  [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
+want to do this locally, set up the prerequisites first. This requires a ``python3``
+installation as well. Example here is for Ubuntu.
+
+```sh
+sudo apt-get install doxygen graphviz
+```
+
+And the following Python packages
+
+```sh
+python3 -m pip install sphinx breathe
+```
+
+You can set up a documentation build system using the following commands
+
+```sh
+mkdir build-docs && cd build-docs
+cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
+```
+
+Then you can generate the documentation using
+
+```sh
+cmake --build . -j
+```
+
+You can find the generated documentation inside the `docs/sphinx` folder inside the build
+folder. Simply open the `index.html` in the webbrowser of your choice.
+
+The `helper.py` script located in the script` folder can also be used to create, build
+and open the documentation conveniently. Try `helper.py -h for more information.
+
 ## Formatting the sources
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
diff --git a/docs/getting_started.rst b/docs/getting_started.rst
index 069e98cd..34547211 100644
--- a/docs/getting_started.rst
+++ b/docs/getting_started.rst
@@ -90,8 +90,21 @@ Building the documentation
 ----------------------------
 
 The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
-instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
-documentation build system using the following commands
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
+want to do this locally, set up the prerequisites first. This requires a ``python3``
+installation as well. Example here is for Ubuntu.
+
+.. code-block:: console
+
+   sudo apt-get install doxygen graphviz
+
+And the following Python packages
+
+.. code-block:: console
+
+   python3 -m pip install sphinx breathe
+
+You can set up a documentation build system using the following commands
 
 .. code-block:: bash
 
@@ -110,6 +123,14 @@ folder. Simply open the ``index.html`` in the webbrowser of your choice.
 The ``helper.py`` script located in the ``script`` folder can also be used to create, build
 and open the documentation conveniently. Try ``helper.py -h`` for more information.
 
+Formatting the source
+-----------------------
+
+The formatting is done by the ``clang-format`` tool. The configuration is contained within the
+``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
+can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
+
+
 .. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
 .. _`Catch2 library`: https://github.com/catchorg/Catch2
 .. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

From c3d78120eace13652b8c7dcb2f4913efebdf7d7e Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 14 Feb 2022 16:42:40 +0100
Subject: [PATCH 35/44] preparing 4.0.0

---
 CHANGELOG.md   | 6 ++++++
 CMakeLists.txt | 4 ++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index cda8037c..335c0f7b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
 - doSendRead Hook
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
+- Dockumentation for DHB
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
   
 ### HAL additions
 
@@ -43,6 +45,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
 - Fix for build regression in Catch2 v3.0.0-preview4
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
+- Fix in unittest which failed on CI
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
+- Fix in helper script
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
 
 ## API Changes
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 19fedb64..79258db2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(FSFW_VERSION 3)
+set(FSFW_VERSION 4)
 set(FSFW_SUBVERSION 0)
-set(FSFW_REVISION 1)
+set(FSFW_REVISION 0)
 
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})

From 9e92afbf076b57df843a1ee526bd63c3303995a5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 16 Feb 2022 18:54:55 +0100
Subject: [PATCH 36/44] bugfix in test task

---
 tests/src/fsfw_tests/integration/task/TestTask.cpp | 1 -
 tests/src/fsfw_tests/integration/task/TestTask.h   | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/tests/src/fsfw_tests/integration/task/TestTask.cpp b/tests/src/fsfw_tests/integration/task/TestTask.cpp
index 65e444e3..765f780e 100644
--- a/tests/src/fsfw_tests/integration/task/TestTask.cpp
+++ b/tests/src/fsfw_tests/integration/task/TestTask.cpp
@@ -3,7 +3,6 @@
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
-bool TestTask::oneShotAction = true;
 MutexIF* TestTask::testLock = nullptr;
 
 TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(testModes::A) {
diff --git a/tests/src/fsfw_tests/integration/task/TestTask.h b/tests/src/fsfw_tests/integration/task/TestTask.h
index 557b50b2..cd630ee3 100644
--- a/tests/src/fsfw_tests/integration/task/TestTask.h
+++ b/tests/src/fsfw_tests/integration/task/TestTask.h
@@ -29,7 +29,7 @@ class TestTask : public SystemObject, public ExecutableObjectIF, public HasRetur
   bool testFlag = false;
 
  private:
-  static bool oneShotAction;
+  bool oneShotAction = true;
   static MutexIF* testLock;
   StorageManagerIF* IPCStore;
 };

From b3482eba245520ffc248c0b18a28b7bfe45d11b1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 17 Feb 2022 20:41:47 +0100
Subject: [PATCH 37/44] error check in event manager

---
 src/fsfw/events/EventManager.cpp        | 13 ++++++++++---
 src/fsfw/globalfunctions/CRC.cpp        |  2 +-
 src/fsfw/osal/linux/MessageQueue.cpp    |  2 +-
 src/fsfw/osal/linux/PeriodicPosixTask.h |  7 ++++---
 src/fsfw/osal/rtems/PeriodicTask.h      |  4 ++--
 src/fsfw/rmap/RMAP.h                    |  8 ++++----
 src/fsfw/rmap/RMAPChannelIF.h           | 12 ++++++------
 7 files changed, 28 insertions(+), 20 deletions(-)

diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index aaa7d6c5..ca45ef04 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -46,9 +46,16 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
-    if (iter->second.match(message)) {
-      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
+  for (auto& listener : listenerList) {
+    if (listener.second.match(message)) {
+      ReturnValue_t result =
+          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "Sending message to listener failed with result " << std::hex << std::setw(4)
+                   << result << std::endl;
+#endif
+      }
     }
   }
   unlockMutex();
diff --git a/src/fsfw/globalfunctions/CRC.cpp b/src/fsfw/globalfunctions/CRC.cpp
index 6b8140c5..033920d0 100644
--- a/src/fsfw/globalfunctions/CRC.cpp
+++ b/src/fsfw/globalfunctions/CRC.cpp
@@ -117,7 +117,7 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti
   //	{
   //		 if  (xor_out[i] == true)
   //			 crc_value = crc_value + pow(2,(15 -i));   // reverse CrC result before
-  //Final XOR
+  // Final XOR
   //	}
   //
   //	crc_value = 0;// for debug mode
diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp
index f876ec6e..c806783b 100644
--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@@ -256,7 +256,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     if (!ignoreFault) {
       InternalErrorReporterIF* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-      if (internalErrorReporter != NULL) {
+      if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();
       }
     }
diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h
index 3c9a3a0d..1c3a52c7 100644
--- a/src/fsfw/osal/linux/PeriodicPosixTask.h
+++ b/src/fsfw/osal/linux/PeriodicPosixTask.h
@@ -65,9 +65,10 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
-   * 			the task's period, then enters a loop that is repeated indefinitely. Within the
-   * loop, all performOperation methods of the added objects are called. Afterwards the task will be
-   * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
+   * 			the task's period, then enters a loop that is repeated indefinitely. Within
+   * the loop, all performOperation methods of the added objects are called. Afterwards the task
+   * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
+   * executed.
    */
   virtual void taskFunctionality(void);
   /**
diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h
index ff8617fc..119329f2 100644
--- a/src/fsfw/osal/rtems/PeriodicTask.h
+++ b/src/fsfw/osal/rtems/PeriodicTask.h
@@ -13,8 +13,8 @@ class ExecutableObjectIF;
  * @brief This class represents a specialized task for periodic activities of multiple objects.
  *
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
- * 			multiple objects that implement the ExecutableObjectIF interface. The objects
- * must be added prior to starting the task.
+ * 			multiple objects that implement the ExecutableObjectIF interface. The
+ * objects must be added prior to starting the task.
  * @author  baetz
  * @ingroup task_handling
  */
diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h
index 42ee1ac5..7c654262 100644
--- a/src/fsfw/rmap/RMAP.h
+++ b/src/fsfw/rmap/RMAP.h
@@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param buffer the data to write
    * @param length length of data
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
-   * write command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
+   * in write command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param cookie to cookie to read from
    * @param expLength the expected maximum length of the reply
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
-   * write command, or nullpointer in read command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
+   * in write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);
diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h
index 20dfd5f8..7dab07c1 100644
--- a/src/fsfw/rmap/RMAPChannelIF.h
+++ b/src/fsfw/rmap/RMAPChannelIF.h
@@ -75,10 +75,10 @@ class RMAPChannelIF {
    *      - @c RETURN_OK
    *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
    * command; command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len;
-   * command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the hw
-   * to handle (write command) or the expected len was bigger than maximal expected len (read
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected
+   * len; command was not sent
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the
+   * hw to handle (write command) or the expected len was bigger than maximal expected len (read
    * command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
    *      - @c NOT_SUPPORTED						if you dont feel like
@@ -97,8 +97,8 @@ class RMAPChannelIF {
    *      - @c REPLY_NO_REPLY				no reply was received
    *      - @c REPLY_NOT_SENT				command was not sent, implies no reply
    *      - @c REPLY_NOT_YET_SENT			command is still waiting to be sent
-   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer still
-   * being processed)
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer
+   * still being processed)
    *      - @c WRITE_REPLY_TRANSMISSION_ERROR		Interface encountered errors during last
    * operation, data could not be processed. (transmission error)
    *      - @c WRITE_REPLY_INVALID_DATA			Invalid data (amount / value)

From bd05afbddd7e2da43b19b8ceafb6272e73d5464d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 18 Feb 2022 13:09:18 +0100
Subject: [PATCH 38/44] printout improvements

---
 src/fsfw/events/EventManager.cpp                 |  2 ++
 src/fsfw/internalerror/InternalErrorReporter.cpp | 15 +++++++--------
 src/fsfw/rmap/RMAP.h                             |  8 ++++----
 src/fsfw/rmap/RMAPChannelIF.h                    | 12 ++++++------
 4 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index ca45ef04..35dc9d22 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -54,6 +54,8 @@ void EventManager::notifyListeners(EventMessage* message) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "Sending message to listener failed with result " << std::hex << std::setw(4)
                    << result << std::endl;
+#else
+        sif::printError("Sending message to listener failed with result %04x\n", result);
 #endif
       }
     }
diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp
index e7088e2c..a085cc5b 100644
--- a/src/fsfw/internalerror/InternalErrorReporter.cpp
+++ b/src/fsfw/internalerror/InternalErrorReporter.cpp
@@ -36,15 +36,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured!" << std::endl;
-      sif::debug << "Queue errors: " << newQueueHits << std::endl;
-      sif::debug << "TM errors: " << newTmHits << std::endl;
-      sif::debug << "Store errors: " << newStoreHits << std::endl;
+                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
+                 << newStoreHits << std::endl;
 #else
-      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
-      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
-      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
-      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
+      sif::printDebug(
+          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
+          "| %lu\n",
+          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
+          static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }
diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h
index 7c654262..d274fb15 100644
--- a/src/fsfw/rmap/RMAP.h
+++ b/src/fsfw/rmap/RMAP.h
@@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param buffer the data to write
    * @param length length of data
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
-   * in write command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
+   * NULL in write command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param cookie to cookie to read from
    * @param expLength the expected maximum length of the reply
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
-   * in write command, or nullpointer in read command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
+   * NULL in write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);
diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h
index 7dab07c1..0c937dc8 100644
--- a/src/fsfw/rmap/RMAPChannelIF.h
+++ b/src/fsfw/rmap/RMAPChannelIF.h
@@ -75,10 +75,10 @@ class RMAPChannelIF {
    *      - @c RETURN_OK
    *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
    * command; command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected
-   * len; command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the
-   * hw to handle (write command) or the expected len was bigger than maximal expected len (read
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for
+   * expected len; command was not sent
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for
+   * the hw to handle (write command) or the expected len was bigger than maximal expected len (read
    * command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
    *      - @c NOT_SUPPORTED						if you dont feel like
@@ -97,8 +97,8 @@ class RMAPChannelIF {
    *      - @c REPLY_NO_REPLY				no reply was received
    *      - @c REPLY_NOT_SENT				command was not sent, implies no reply
    *      - @c REPLY_NOT_YET_SENT			command is still waiting to be sent
-   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer
-   * still being processed)
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission
+   * buffer still being processed)
    *      - @c WRITE_REPLY_TRANSMISSION_ERROR		Interface encountered errors during last
    * operation, data could not be processed. (transmission error)
    *      - @c WRITE_REPLY_INVALID_DATA			Invalid data (amount / value)

From a12e98d9481e224a30a1150e9dfd0a48501f410f Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 18 Feb 2022 13:39:42 +0100
Subject: [PATCH 39/44] update event mngr printout

---
 src/fsfw/events/EventManager.cpp        | 23 ++++++++++++++++++++---
 src/fsfw/events/EventManager.h          |  1 +
 src/fsfw/osal/linux/MessageQueue.cpp    |  4 ++--
 src/fsfw/pus/Service5EventReporting.cpp |  1 +
 src/fsfw/rmap/RMAPChannelIF.h           |  6 +++---
 5 files changed, 27 insertions(+), 8 deletions(-)

diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index 35dc9d22..c027fce5 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -52,10 +52,12 @@ void EventManager::notifyListeners(EventMessage* message) {
           MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
       if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "Sending message to listener failed with result " << std::hex << std::setw(4)
-                   << result << std::endl;
+        sif::error << std::hex << "EventManager::notifyListeners: MSG to " << std::setw(8)
+                   << std::setfill('0') << "0x" << listener.first << " failed with result "
+                   << std::setw(4) << "0x" << result << std::setfill(' ') << std::endl;
 #else
-        sif::printError("Sending message to listener failed with result %04x\n", result);
+        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
+                        listener.first, result);
 #endif
       }
     }
@@ -198,4 +200,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
+void EventManager::printListeners() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Event manager listener MQ IDs:" << std::endl;
+  for (auto& listener : listenerList) {
+    sif::info << std::hex << std::setw(8) << std::setfill('0') << "0x" << listener.first << std::dec
+              << std::setfill(' ') << std::endl;
+  }
+#else
+  sif::printInfo("Event manager listener MQ IDs:\n");
+  for (auto& listener : listenerList) {
+    sif::printInfo("0x%08x\n", listener.first);
+  }
+#endif
+}
+
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */
diff --git a/src/fsfw/events/EventManager.h b/src/fsfw/events/EventManager.h
index f2d642ff..e2a8dd95 100644
--- a/src/fsfw/events/EventManager.h
+++ b/src/fsfw/events/EventManager.h
@@ -42,6 +42,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
+  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;
diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp
index c806783b..bdba912e 100644
--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@@ -240,9 +240,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         bool ignoreFault) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
+    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl;
 #else
-    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
+    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp
index 4517bc26..dfce9ba2 100644
--- a/src/fsfw/pus/Service5EventReporting.cpp
+++ b/src/fsfw/pus/Service5EventReporting.cpp
@@ -13,6 +13,7 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
   eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  sif::info << eventQueue->getId() << std::endl;
 }
 
 Service5EventReporting::~Service5EventReporting() {
diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h
index 0c937dc8..9e666dfb 100644
--- a/src/fsfw/rmap/RMAPChannelIF.h
+++ b/src/fsfw/rmap/RMAPChannelIF.h
@@ -77,9 +77,9 @@ class RMAPChannelIF {
    * command; command was not sent
    *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for
    * expected len; command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for
-   * the hw to handle (write command) or the expected len was bigger than maximal expected len (read
-   * command) command was not sent
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too
+   * long for the hw to handle (write command) or the expected len was bigger than maximal expected
+   * len (read command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
    *      - @c NOT_SUPPORTED						if you dont feel like
    * implementing something...

From a5871ed0b123f809145393f868b95e8d31cb60fa Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 18 Feb 2022 14:00:06 +0100
Subject: [PATCH 40/44] added void* args to queue factory and mq ctor

---
 src/fsfw/events/EventManager.cpp        | 12 ++++++------
 src/fsfw/ipc/QueueFactory.h             |  3 ++-
 src/fsfw/osal/freertos/MessageQueue.cpp |  2 +-
 src/fsfw/osal/freertos/MessageQueue.h   |  3 ++-
 src/fsfw/osal/freertos/QueueFactory.cpp |  4 ++--
 src/fsfw/osal/host/MessageQueue.cpp     |  2 +-
 src/fsfw/osal/host/MessageQueue.h       |  3 ++-
 src/fsfw/osal/host/QueueFactory.cpp     |  4 ++--
 src/fsfw/osal/linux/MessageQueue.cpp    |  2 +-
 src/fsfw/osal/linux/MessageQueue.h      |  3 ++-
 src/fsfw/osal/linux/QueueFactory.cpp    |  4 ++--
 src/fsfw/osal/rtems/MessageQueue.cpp    |  2 +-
 src/fsfw/osal/rtems/MessageQueue.h      |  3 ++-
 src/fsfw/osal/rtems/QueueFactory.cpp    |  4 ++--
 14 files changed, 28 insertions(+), 23 deletions(-)

diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index c027fce5..d24e893a 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -52,9 +52,9 @@ void EventManager::notifyListeners(EventMessage* message) {
           MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
       if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to " << std::setw(8)
-                   << std::setfill('0') << "0x" << listener.first << " failed with result "
-                   << std::setw(4) << "0x" << result << std::setfill(' ') << std::endl;
+        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
+                   << std::setw(8) << listener.first << " failed with result 0x"
+                   << std::setw(4) << result << std::setfill(' ') << std::endl;
 #else
         sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
                         listener.first, result);
@@ -202,11 +202,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
 
 void EventManager::printListeners() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::endl;
+  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
   for (auto& listener : listenerList) {
-    sif::info << std::hex << std::setw(8) << std::setfill('0') << "0x" << listener.first << std::dec
-              << std::setfill(' ') << std::endl;
+    sif::info << "0x" << std::setw(8)  << listener.first << std::endl;
   }
+  sif::info  << std::dec << std::setfill(' ');
 #else
   sif::printInfo("Event manager listener MQ IDs:\n");
   for (auto& listener : listenerList) {
diff --git a/src/fsfw/ipc/QueueFactory.h b/src/fsfw/ipc/QueueFactory.h
index 864c456d..07107bec 100644
--- a/src/fsfw/ipc/QueueFactory.h
+++ b/src/fsfw/ipc/QueueFactory.h
@@ -22,7 +22,8 @@ class QueueFactory {
   static QueueFactory* instance();
 
   MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
-                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+									 void* args = nullptr);
 
   void deleteMessageQueue(MessageQueueIF* queue);
 
diff --git a/src/fsfw/osal/freertos/MessageQueue.cpp b/src/fsfw/osal/freertos/MessageQueue.cpp
index a8333fe5..6e9bdd44 100644
--- a/src/fsfw/osal/freertos/MessageQueue.cpp
+++ b/src/fsfw/osal/freertos/MessageQueue.cpp
@@ -4,7 +4,7 @@
 #include "fsfw/osal/freertos/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args)
     : maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {
diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h
index 1cb343d1..24054bda 100644
--- a/src/fsfw/osal/freertos/MessageQueue.h
+++ b/src/fsfw/osal/freertos/MessageQueue.h
@@ -53,7 +53,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+			   void* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/freertos/QueueFactory.cpp b/src/fsfw/osal/freertos/QueueFactory.cpp
index f4941481..d2914929 100644
--- a/src/fsfw/osal/freertos/QueueFactory.cpp
+++ b/src/fsfw/osal/freertos/QueueFactory.cpp
@@ -22,8 +22,8 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }
diff --git a/src/fsfw/osal/host/MessageQueue.cpp b/src/fsfw/osal/host/MessageQueue.cpp
index db66b671..b822578d 100644
--- a/src/fsfw/osal/host/MessageQueue.cpp
+++ b/src/fsfw/osal/host/MessageQueue.cpp
@@ -8,7 +8,7 @@
 #include "fsfw/osal/host/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args)
     : messageSize(maxMessageSize), messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
   auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h
index 49375bb5..20a2a7e1 100644
--- a/src/fsfw/osal/host/MessageQueue.h
+++ b/src/fsfw/osal/host/MessageQueue.h
@@ -54,7 +54,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+			   void* args);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/host/QueueFactory.cpp b/src/fsfw/osal/host/QueueFactory.cpp
index 3c63e6c9..0ecc5207 100644
--- a/src/fsfw/osal/host/QueueFactory.cpp
+++ b/src/fsfw/osal/host/QueueFactory.cpp
@@ -27,12 +27,12 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
   // A thread-safe queue can be implemented  by using a combination
   // of std::queue and std::mutex. This uses dynamic memory allocation
   // which could be alleviated by using a custom allocator, external library
   // (etl::queue) or simply using std::queue, we're on a host machine anyway.
-  return new MessageQueue(messageDepth, maxMessageSize);
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }
diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp
index bdba912e..28e84ece 100644
--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@@ -11,7 +11,7 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args)
     : id(MessageQueueIF::NO_QUEUE),
       lastPartner(MessageQueueIF::NO_QUEUE),
       defaultDestination(MessageQueueIF::NO_QUEUE),
diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h
index dbf6555e..8fd6f11c 100644
--- a/src/fsfw/osal/linux/MessageQueue.h
+++ b/src/fsfw/osal/linux/MessageQueue.h
@@ -42,7 +42,8 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(uint32_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+			   void* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
diff --git a/src/fsfw/osal/linux/QueueFactory.cpp b/src/fsfw/osal/linux/QueueFactory.cpp
index d1b1cfdb..7ef4bc0f 100644
--- a/src/fsfw/osal/linux/QueueFactory.cpp
+++ b/src/fsfw/osal/linux/QueueFactory.cpp
@@ -28,8 +28,8 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }
diff --git a/src/fsfw/osal/rtems/MessageQueue.cpp b/src/fsfw/osal/rtems/MessageQueue.cpp
index e45679d5..d47b4df2 100644
--- a/src/fsfw/osal/rtems/MessageQueue.cpp
+++ b/src/fsfw/osal/rtems/MessageQueue.cpp
@@ -6,7 +6,7 @@
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
+MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, void* args)
     : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =
diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h
index 89aae2ad..f0efa9f5 100644
--- a/src/fsfw/osal/rtems/MessageQueue.h
+++ b/src/fsfw/osal/rtems/MessageQueue.h
@@ -34,7 +34,8 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(size_t message_depth = 3,
-               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
+			   void* args);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
diff --git a/src/fsfw/osal/rtems/QueueFactory.cpp b/src/fsfw/osal/rtems/QueueFactory.cpp
index 3d517f60..63d0de8a 100644
--- a/src/fsfw/osal/rtems/QueueFactory.cpp
+++ b/src/fsfw/osal/rtems/QueueFactory.cpp
@@ -49,8 +49,8 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

From 0d66569687eac9fb5a1ae7eaad8a4c9fbe187b14 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 18 Feb 2022 14:07:41 +0100
Subject: [PATCH 41/44] this is a bit cleaner

---
 src/fsfw/ipc/QueueFactory.h             |  3 ++-
 src/fsfw/ipc/definitions.h              | 10 ++++++++++
 src/fsfw/osal/freertos/MessageQueue.cpp |  2 +-
 src/fsfw/osal/freertos/MessageQueue.h   |  3 ++-
 src/fsfw/osal/freertos/QueueFactory.cpp |  2 +-
 src/fsfw/osal/host/MessageQueue.cpp     |  2 +-
 src/fsfw/osal/host/MessageQueue.h       |  3 ++-
 src/fsfw/osal/host/QueueFactory.cpp     |  2 +-
 src/fsfw/osal/linux/MessageQueue.cpp    |  2 +-
 src/fsfw/osal/linux/MessageQueue.h      |  3 ++-
 src/fsfw/osal/linux/QueueFactory.cpp    |  2 +-
 src/fsfw/osal/rtems/MessageQueue.cpp    |  2 +-
 src/fsfw/osal/rtems/MessageQueue.h      |  3 ++-
 src/fsfw/osal/rtems/QueueFactory.cpp    |  2 +-
 14 files changed, 28 insertions(+), 13 deletions(-)
 create mode 100644 src/fsfw/ipc/definitions.h

diff --git a/src/fsfw/ipc/QueueFactory.h b/src/fsfw/ipc/QueueFactory.h
index 07107bec..e9e5adf1 100644
--- a/src/fsfw/ipc/QueueFactory.h
+++ b/src/fsfw/ipc/QueueFactory.h
@@ -4,6 +4,7 @@
 #include <cstdint>
 
 #include "MessageQueueIF.h"
+#include "definitions.h"
 #include "MessageQueueMessage.h"
 
 /**
@@ -23,7 +24,7 @@ class QueueFactory {
 
   MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
                                      size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-									 void* args = nullptr);
+									 MqArgs* args = nullptr);
 
   void deleteMessageQueue(MessageQueueIF* queue);
 
diff --git a/src/fsfw/ipc/definitions.h b/src/fsfw/ipc/definitions.h
new file mode 100644
index 00000000..5273f5ca
--- /dev/null
+++ b/src/fsfw/ipc/definitions.h
@@ -0,0 +1,10 @@
+#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
+struct MqArgs {
+	object_id_t objectId = 0;
+	void* args = nullptr;
+};
+
+#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */
diff --git a/src/fsfw/osal/freertos/MessageQueue.cpp b/src/fsfw/osal/freertos/MessageQueue.cpp
index 6e9bdd44..927d7820 100644
--- a/src/fsfw/osal/freertos/MessageQueue.cpp
+++ b/src/fsfw/osal/freertos/MessageQueue.cpp
@@ -4,7 +4,7 @@
 #include "fsfw/osal/freertos/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {
diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h
index 24054bda..52708990 100644
--- a/src/fsfw/osal/freertos/MessageQueue.h
+++ b/src/fsfw/osal/freertos/MessageQueue.h
@@ -7,6 +7,7 @@
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MessageQueueMessageIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "queue.h"
 
 /**
@@ -54,7 +55,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(size_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   void* args = nullptr);
+			   MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/freertos/QueueFactory.cpp b/src/fsfw/osal/freertos/QueueFactory.cpp
index d2914929..588653cf 100644
--- a/src/fsfw/osal/freertos/QueueFactory.cpp
+++ b/src/fsfw/osal/freertos/QueueFactory.cpp
@@ -22,7 +22,7 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
   return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
diff --git a/src/fsfw/osal/host/MessageQueue.cpp b/src/fsfw/osal/host/MessageQueue.cpp
index b822578d..eed29555 100644
--- a/src/fsfw/osal/host/MessageQueue.cpp
+++ b/src/fsfw/osal/host/MessageQueue.cpp
@@ -8,7 +8,7 @@
 #include "fsfw/osal/host/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : messageSize(maxMessageSize), messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
   auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h
index 20a2a7e1..aa662dae 100644
--- a/src/fsfw/osal/host/MessageQueue.h
+++ b/src/fsfw/osal/host/MessageQueue.h
@@ -7,6 +7,7 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/ipc/MutexIF.h"
 #include "fsfw/timemanager/Clock.h"
 
@@ -55,7 +56,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(size_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   void* args);
+			   MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/host/QueueFactory.cpp b/src/fsfw/osal/host/QueueFactory.cpp
index 0ecc5207..caea8af7 100644
--- a/src/fsfw/osal/host/QueueFactory.cpp
+++ b/src/fsfw/osal/host/QueueFactory.cpp
@@ -27,7 +27,7 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
   // A thread-safe queue can be implemented  by using a combination
   // of std::queue and std::mutex. This uses dynamic memory allocation
   // which could be alleviated by using a custom allocator, external library
diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp
index 28e84ece..c1de8f13 100644
--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@@ -11,7 +11,7 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args)
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : id(MessageQueueIF::NO_QUEUE),
       lastPartner(MessageQueueIF::NO_QUEUE),
       defaultDestination(MessageQueueIF::NO_QUEUE),
diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h
index 8fd6f11c..84052914 100644
--- a/src/fsfw/osal/linux/MessageQueue.h
+++ b/src/fsfw/osal/linux/MessageQueue.h
@@ -5,6 +5,7 @@
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 /**
  * @brief		This class manages sending and receiving of message queue messages.
@@ -43,7 +44,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(uint32_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   void* args = nullptr);
+			   MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
diff --git a/src/fsfw/osal/linux/QueueFactory.cpp b/src/fsfw/osal/linux/QueueFactory.cpp
index 7ef4bc0f..d74eb8c5 100644
--- a/src/fsfw/osal/linux/QueueFactory.cpp
+++ b/src/fsfw/osal/linux/QueueFactory.cpp
@@ -28,7 +28,7 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
   return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
diff --git a/src/fsfw/osal/rtems/MessageQueue.cpp b/src/fsfw/osal/rtems/MessageQueue.cpp
index d47b4df2..87073067 100644
--- a/src/fsfw/osal/rtems/MessageQueue.cpp
+++ b/src/fsfw/osal/rtems/MessageQueue.cpp
@@ -6,7 +6,7 @@
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, void* args)
+MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
     : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =
diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h
index f0efa9f5..b18b2eaf 100644
--- a/src/fsfw/osal/rtems/MessageQueue.h
+++ b/src/fsfw/osal/rtems/MessageQueue.h
@@ -4,6 +4,7 @@
 #include "RtemsBasic.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 
 /**
@@ -35,7 +36,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(size_t message_depth = 3,
                size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   void* args);
+			   MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
diff --git a/src/fsfw/osal/rtems/QueueFactory.cpp b/src/fsfw/osal/rtems/QueueFactory.cpp
index 63d0de8a..8b625da8 100644
--- a/src/fsfw/osal/rtems/QueueFactory.cpp
+++ b/src/fsfw/osal/rtems/QueueFactory.cpp
@@ -49,7 +49,7 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
   return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 

From 508979d32d4e5910259bfb52b8fe16d1bb4f1cdb Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 18 Feb 2022 14:52:25 +0100
Subject: [PATCH 42/44] cache mq args

---
 src/fsfw/events/EventManager.cpp        | 8 ++++----
 src/fsfw/ipc/QueueFactory.h             | 4 ++--
 src/fsfw/ipc/definitions.h              | 6 ++++--
 src/fsfw/osal/freertos/MessageQueue.h   | 2 +-
 src/fsfw/osal/freertos/QueueFactory.cpp | 3 ++-
 src/fsfw/osal/host/MessageQueue.h       | 4 ++--
 src/fsfw/osal/host/QueueFactory.cpp     | 3 ++-
 src/fsfw/osal/linux/MessageQueue.cpp    | 3 +++
 src/fsfw/osal/linux/MessageQueue.h      | 6 ++++--
 src/fsfw/osal/linux/QueueFactory.cpp    | 3 ++-
 src/fsfw/osal/rtems/MessageQueue.h      | 4 ++--
 src/fsfw/osal/rtems/QueueFactory.cpp    | 3 ++-
 12 files changed, 30 insertions(+), 19 deletions(-)

diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index d24e893a..0fd893b2 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -53,8 +53,8 @@ void EventManager::notifyListeners(EventMessage* message) {
       if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " failed with result 0x"
-                   << std::setw(4) << result << std::setfill(' ') << std::endl;
+                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
+                   << result << std::setfill(' ') << std::endl;
 #else
         sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
                         listener.first, result);
@@ -204,9 +204,9 @@ void EventManager::printListeners() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
   for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8)  << listener.first << std::endl;
+    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
   }
-  sif::info  << std::dec << std::setfill(' ');
+  sif::info << std::dec << std::setfill(' ');
 #else
   sif::printInfo("Event manager listener MQ IDs:\n");
   for (auto& listener : listenerList) {
diff --git a/src/fsfw/ipc/QueueFactory.h b/src/fsfw/ipc/QueueFactory.h
index e9e5adf1..8069d836 100644
--- a/src/fsfw/ipc/QueueFactory.h
+++ b/src/fsfw/ipc/QueueFactory.h
@@ -4,8 +4,8 @@
 #include <cstdint>
 
 #include "MessageQueueIF.h"
-#include "definitions.h"
 #include "MessageQueueMessage.h"
+#include "definitions.h"
 
 /**
  * Creates message queues.
@@ -24,7 +24,7 @@ class QueueFactory {
 
   MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
                                      size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-									 MqArgs* args = nullptr);
+                                     MqArgs* args = nullptr);
 
   void deleteMessageQueue(MessageQueueIF* queue);
 
diff --git a/src/fsfw/ipc/definitions.h b/src/fsfw/ipc/definitions.h
index 5273f5ca..1cc7a3c4 100644
--- a/src/fsfw/ipc/definitions.h
+++ b/src/fsfw/ipc/definitions.h
@@ -3,8 +3,10 @@
 #include <fsfw/objectmanager/SystemObjectIF.h>
 
 struct MqArgs {
-	object_id_t objectId = 0;
-	void* args = nullptr;
+  MqArgs(){};
+  MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
+  object_id_t objectId = 0;
+  void* args = nullptr;
 };
 
 #endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */
diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h
index 52708990..fc1d78e5 100644
--- a/src/fsfw/osal/freertos/MessageQueue.h
+++ b/src/fsfw/osal/freertos/MessageQueue.h
@@ -55,7 +55,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(size_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   MqArgs* args = nullptr);
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/freertos/QueueFactory.cpp b/src/fsfw/osal/freertos/QueueFactory.cpp
index 588653cf..8424123c 100644
--- a/src/fsfw/osal/freertos/QueueFactory.cpp
+++ b/src/fsfw/osal/freertos/QueueFactory.cpp
@@ -22,7 +22,8 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h
index aa662dae..d090d269 100644
--- a/src/fsfw/osal/host/MessageQueue.h
+++ b/src/fsfw/osal/host/MessageQueue.h
@@ -7,8 +7,8 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
-#include "fsfw/ipc/definitions.h"
 #include "fsfw/ipc/MutexIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/timemanager/Clock.h"
 
 /**
@@ -56,7 +56,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(size_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   MqArgs* args = nullptr);
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
diff --git a/src/fsfw/osal/host/QueueFactory.cpp b/src/fsfw/osal/host/QueueFactory.cpp
index caea8af7..732892ca 100644
--- a/src/fsfw/osal/host/QueueFactory.cpp
+++ b/src/fsfw/osal/host/QueueFactory.cpp
@@ -27,7 +27,8 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   // A thread-safe queue can be implemented  by using a combination
   // of std::queue and std::mutex. This uses dynamic memory allocation
   // which could be alleviated by using a custom allocator, external library
diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp
index c1de8f13..bfc1d0f7 100644
--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@@ -37,6 +37,9 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
     // Successful mq_open call
     this->id = tempId;
   }
+  if (args != nullptr) {
+    this->mqArgs = *args;
+  }
 }
 
 MessageQueue::~MessageQueue() {
diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h
index 84052914..58afccd6 100644
--- a/src/fsfw/osal/linux/MessageQueue.h
+++ b/src/fsfw/osal/linux/MessageQueue.h
@@ -5,8 +5,8 @@
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/ipc/definitions.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 /**
  * @brief		This class manages sending and receiving of message queue messages.
  *
@@ -44,7 +44,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(uint32_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   MqArgs* args = nullptr);
+               MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
@@ -186,6 +186,8 @@ class MessageQueue : public MessageQueueIF {
    */
   char name[16];
 
+  MqArgs mqArgs = {};
+
   static uint16_t queueCounter;
   const size_t maxMessageSize;
 
diff --git a/src/fsfw/osal/linux/QueueFactory.cpp b/src/fsfw/osal/linux/QueueFactory.cpp
index d74eb8c5..24ace1ae 100644
--- a/src/fsfw/osal/linux/QueueFactory.cpp
+++ b/src/fsfw/osal/linux/QueueFactory.cpp
@@ -28,7 +28,8 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h
index b18b2eaf..0f1ee6ee 100644
--- a/src/fsfw/osal/rtems/MessageQueue.h
+++ b/src/fsfw/osal/rtems/MessageQueue.h
@@ -4,8 +4,8 @@
 #include "RtemsBasic.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/ipc/definitions.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 
 /**
  *	@brief		This class manages sending and receiving of message queue messages.
@@ -36,7 +36,7 @@ class MessageQueue : public MessageQueueIF {
    */
   MessageQueue(size_t message_depth = 3,
                size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
-			   MqArgs* args = nullptr);
+               MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
diff --git a/src/fsfw/osal/rtems/QueueFactory.cpp b/src/fsfw/osal/rtems/QueueFactory.cpp
index 8b625da8..2519f444 100644
--- a/src/fsfw/osal/rtems/QueueFactory.cpp
+++ b/src/fsfw/osal/rtems/QueueFactory.cpp
@@ -49,7 +49,8 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 

From cf69af4e7e523bfcd73318f64e9d720f4779ea39 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Feb 2022 16:14:02 +0100
Subject: [PATCH 43/44] passing mqArgs to all mq ctor calls

---
 src/fsfw/cfdp/CFDPHandler.cpp                    | 4 +++-
 src/fsfw/controller/ControllerBase.cpp           | 4 +++-
 src/fsfw/devicehandlers/DeviceHandlerBase.cpp    | 3 ++-
 src/fsfw/devicehandlers/HealthDevice.cpp         | 3 ++-
 src/fsfw/events/EventManager.cpp                 | 4 +++-
 src/fsfw/fdir/FailureIsolationBase.cpp           | 3 ++-
 src/fsfw/internalerror/InternalErrorReporter.cpp | 3 ++-
 src/fsfw/power/PowerSensor.cpp                   | 3 ++-
 src/fsfw/pus/Service1TelecommandVerification.cpp | 3 ++-
 src/fsfw/pus/Service5EventReporting.cpp          | 3 ++-
 src/fsfw/subsystem/SubsystemBase.cpp             | 8 +++++---
 src/fsfw/tcdistribution/TcDistributor.cpp        | 3 ++-
 src/fsfw/thermal/AbstractTemperatureSensor.cpp   | 6 +++---
 src/fsfw/thermal/AbstractTemperatureSensor.h     | 2 +-
 src/fsfw/thermal/Heater.cpp                      | 3 ++-
 src/fsfw/tmtcservices/CommandingServiceBase.cpp  | 6 ++++--
 src/fsfw/tmtcservices/PusServiceBase.cpp         | 3 ++-
 src/fsfw/tmtcservices/TmTcBridge.cpp             | 3 ++-
 18 files changed, 44 insertions(+), 23 deletions(-)

diff --git a/src/fsfw/cfdp/CFDPHandler.cpp b/src/fsfw/cfdp/CFDPHandler.cpp
index 96baa98c..1d41a80d 100644
--- a/src/fsfw/cfdp/CFDPHandler.cpp
+++ b/src/fsfw/cfdp/CFDPHandler.cpp
@@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0;
 
 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION,
+      MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   distributor = dist;
 }
 
diff --git a/src/fsfw/controller/ControllerBase.cpp b/src/fsfw/controller/ControllerBase.cpp
index 953dacb4..6af4dd7d 100644
--- a/src/fsfw/controller/ControllerBase.cpp
+++ b/src/fsfw/controller/ControllerBase.cpp
@@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+      MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
index ea1fcdf1..3f90a72c 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
@@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
diff --git a/src/fsfw/devicehandlers/HealthDevice.cpp b/src/fsfw/devicehandlers/HealthDevice.cpp
index a626fa6c..c666ceb8 100644
--- a/src/fsfw/devicehandlers/HealthDevice.cpp
+++ b/src/fsfw/devicehandlers/HealthDevice.cpp
@@ -8,7 +8,8 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(3);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index 0fd893b2..7583bafd 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -18,8 +18,10 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
-                                                                  EventMessage::EVENT_MESSAGE_SIZE);
+                                                                  EventMessage::EVENT_MESSAGE_SIZE,
+                                                                  &mqArgs);
 }
 
 EventManager::~EventManager() {
diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp
index fedef869..ca7077a9 100644
--- a/src/fsfw/fdir/FailureIsolationBase.cpp
+++ b/src/fsfw/fdir/FailureIsolationBase.cpp
@@ -9,8 +9,9 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
+  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
   eventQueue =
-      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp
index a085cc5b..0ad60492 100644
--- a/src/fsfw/internalerror/InternalErrorReporter.cpp
+++ b/src/fsfw/internalerror/InternalErrorReporter.cpp
@@ -7,11 +7,12 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
-      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
diff --git a/src/fsfw/power/PowerSensor.cpp b/src/fsfw/power/PowerSensor.cpp
index 08ff4724..74cf60f7 100644
--- a/src/fsfw/power/PowerSensor.cpp
+++ b/src/fsfw/power/PowerSensor.cpp
@@ -15,7 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/pus/Service1TelecommandVerification.cpp b/src/fsfw/pus/Service1TelecommandVerification.cpp
index 13d6a1c4..9418ceb2 100644
--- a/src/fsfw/pus/Service1TelecommandVerification.cpp
+++ b/src/fsfw/pus/Service1TelecommandVerification.cpp
@@ -16,7 +16,8 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
       apid(apid),
       serviceId(serviceId),
       targetDestination(targetDestination) {
-  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {
diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp
index dfce9ba2..918abff0 100644
--- a/src/fsfw/pus/Service5EventReporting.cpp
+++ b/src/fsfw/pus/Service5EventReporting.cpp
@@ -12,7 +12,8 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
                                                uint32_t messageQueueDepth)
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   sif::info << eventQueue->getId() << std::endl;
 }
 
diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp
index 104db3c3..974459d3 100644
--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@@ -8,11 +8,13 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
-      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-                                                                CommandMessage::MAX_MESSAGE_SIZE)),
       healthHelper(this, setObjectId),
       modeHelper(this),
-      parentId(parent) {}
+      parentId(parent) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+      CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
diff --git a/src/fsfw/tcdistribution/TcDistributor.cpp b/src/fsfw/tcdistribution/TcDistributor.cpp
index a650546c..5ce41826 100644
--- a/src/fsfw/tcdistribution/TcDistributor.cpp
+++ b/src/fsfw/tcdistribution/TcDistributor.cpp
@@ -5,7 +5,8 @@
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
-  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
+  auto mqArgs = MqArgs(objectId);
+  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
diff --git a/src/fsfw/thermal/AbstractTemperatureSensor.cpp b/src/fsfw/thermal/AbstractTemperatureSensor.cpp
index 68cd3aca..003f857e 100644
--- a/src/fsfw/thermal/AbstractTemperatureSensor.cpp
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.cpp
@@ -5,13 +5,13 @@
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                      ThermalModuleIF *thermalModule)
     : SystemObject(setObjectid),
-      commandQueue(NULL),
       healthHelper(this, setObjectid),
       parameterHelper(this) {
-  if (thermalModule != NULL) {
+  if (thermalModule != nullptr) {
     thermalModule->registerSensor(this);
   }
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(setObjectid, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 AbstractTemperatureSensor::~AbstractTemperatureSensor() {
diff --git a/src/fsfw/thermal/AbstractTemperatureSensor.h b/src/fsfw/thermal/AbstractTemperatureSensor.h
index 0c6493fe..b790b0ca 100644
--- a/src/fsfw/thermal/AbstractTemperatureSensor.h
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.h
@@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
   HasHealthIF::HealthState getHealth();
 
  protected:
-  MessageQueueIF* commandQueue;
+  MessageQueueIF* commandQueue = nullptr;
   HealthHelper healthHelper;
   ParameterHelper parameterHelper;
 
diff --git a/src/fsfw/thermal/Heater.cpp b/src/fsfw/thermal/Heater.cpp
index 4f0f8060..2755b855 100644
--- a/src/fsfw/thermal/Heater.cpp
+++ b/src/fsfw/thermal/Heater.cpp
@@ -12,7 +12,8 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
       switch1(switch1),
       heaterOnCountdown(10800000) /*about two orbits*/,
       parameterHelper(this) {
-  eventQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }
diff --git a/src/fsfw/tmtcservices/CommandingServiceBase.cpp b/src/fsfw/tmtcservices/CommandingServiceBase.cpp
index bbdf8d2a..1bbd7fd1 100644
--- a/src/fsfw/tmtcservices/CommandingServiceBase.cpp
+++ b/src/fsfw/tmtcservices/CommandingServiceBase.cpp
@@ -20,8 +20,10 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
       service(service),
       timeoutSeconds(commandTimeoutSeconds),
       commandMap(numberOfParallelCommands) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
-  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
+  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
 }
 
 void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
diff --git a/src/fsfw/tmtcservices/PusServiceBase.cpp b/src/fsfw/tmtcservices/PusServiceBase.cpp
index 3af2b82c..cedcb0a2 100644
--- a/src/fsfw/tmtcservices/PusServiceBase.cpp
+++ b/src/fsfw/tmtcservices/PusServiceBase.cpp
@@ -13,7 +13,8 @@ object_id_t PusServiceBase::packetDestination = 0;
 
 PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
     : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }
diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp
index bacadd6d..6b96856b 100644
--- a/src/fsfw/tmtcservices/TmTcBridge.cpp
+++ b/src/fsfw/tmtcservices/TmTcBridge.cpp
@@ -15,7 +15,8 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
       tcDestination(tcDestination)
 
 {
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }

From d74a373f1d6bc341c11d7ad89f369da5ff957928 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Feb 2022 16:41:30 +0100
Subject: [PATCH 44/44] make periodic printout run time configurable

---
 .../devicehandlers/GyroL3GD20Handler.cpp      | 39 ++++++------
 .../devicehandlers/GyroL3GD20Handler.h        | 13 ++--
 .../devicehandlers/MgmLIS3MDLHandler.cpp      | 60 ++++++++++---------
 .../devicehandlers/MgmLIS3MDLHandler.h        |  9 +--
 .../devicehandlers/MgmRM3100Handler.cpp       | 41 +++++++------
 .../devicehandlers/MgmRM3100Handler.h         | 11 ++--
 src/fsfw/FSFW.h.in                            | 12 ----
 7 files changed, 92 insertions(+), 93 deletions(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
index f92f5f1f..1bd0665d 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@@ -9,9 +9,6 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       transitionDelayMs(transitionDelayMs),
       dataset(this) {
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
 }
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
@@ -193,22 +190,23 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
       int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
       float temperature = 25.0 + temperaturOffset;
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-      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 (deg/s):" << std::endl;
-        sif::info << "X: " << angVelocX << std::endl;
-        sif::info << "Y: " << angVelocY << std::endl;
-        sif::info << "Z: " << angVelocZ << std::endl;
-#else
-        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);
-#endif
+      if(periodicPrintout) {
+        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 (deg/s):" << std::endl;
+          sif::info << "X: " << angVelocX << std::endl;
+          sif::info << "Y: " << angVelocY << std::endl;
+          sif::info << "Z: " << angVelocZ << std::endl;
+  #else
+          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);
+  #endif
+        }
       }
-#endif
+
 
       PoolReadGuard readSet(&dataset);
       if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@@ -272,3 +270,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
   this->absLimitY = limitY;
   this->absLimitZ = limitZ;
 }
+
+void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
index 784dcf4c..806fb5c0 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
@@ -1,12 +1,11 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
-#include "devicedefinitions/GyroL3GD20Definitions.h"
-#include "fsfw/FSFW.h"
-
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
  *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
                      uint32_t transitionDelayMs);
   virtual ~GyroHandlerL3GD20H();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
+
   /**
    * Set the absolute limit for the values on the axis in degrees per second.
    * The dataset values will be marked as invalid if that limit is exceeded
@@ -58,6 +59,7 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
   uint32_t transitionDelayMs = 0;
   GyroPrimaryDataset dataset;
 
+
   float absLimitX = L3GD20H::RANGE_DPS_00;
   float absLimitY = L3GD20H::RANGE_DPS_00;
   float absLimitZ = L3GD20H::RANGE_DPS_00;
@@ -80,9 +82,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
   // Set default value
   float sensitivity = L3GD20H::SENSITIVITY_00;
 
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  PeriodicOperationDivider *debugDivider = nullptr;
-#endif
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index cf1d934a..a20a3a0f 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       dataset(this),
       transitionDelay(transitionDelay) {
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
   // Set to default values right away
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@@ -272,23 +269,25 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
                    MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-      if (debugDivider->checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                     " microtesla:"
-                  << std::endl;
-        sif::info << "X: " << mgmX << " uT" << std::endl;
-        sif::info << "Y: " << mgmY << " uT" << std::endl;
-        sif::info << "Z: " << mgmZ << " uT" << std::endl;
-#else
-        sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", mgmX);
-        sif::printInfo("Y: %f uT\n", mgmY);
-        sif::printInfo("Z: %f uT\n", mgmZ);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+      if(periodicPrintout) {
+        if (debugDivider.checkAndIncrement()) {
+  #if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+                       " microtesla:"
+                    << std::endl;
+          sif::info << "X: " << mgmX << " uT" << std::endl;
+          sif::info << "Y: " << mgmY << " uT" << std::endl;
+          sif::info << "Z: " << mgmZ << " uT" << std::endl;
+  #else
+          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+          sif::printInfo("X: %f uT\n", mgmX);
+          sif::printInfo("Y: %f uT\n", mgmY);
+          sif::printInfo("Z: %f uT\n", mgmZ);
+  #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+        }
       }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
+
+
       PoolReadGuard readHelper(&dataset);
       if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(mgmX) < absLimitX) {
@@ -318,15 +317,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case MGMLIS3MDL::READ_TEMPERATURE: {
       int16_t tempValueRaw = packet[2] << 8 | packet[1];
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-      if (debugDivider->check()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
-#else
-        sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
-#endif
+      if(periodicPrintout) {
+        if (debugDivider.check()) {
+  #if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+  #else
+          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+  #endif
+        }
       }
-#endif
+
       ReturnValue_t result = dataset.read();
       if (result == HasReturnvaluesIF::RETURN_OK) {
         dataset.temperature = tempValue;
@@ -484,3 +484,9 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
   this->absLimitY = yLimit;
   this->absLimitZ = zLimit;
 }
+
+
+void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
index b7cfc378..6605f763 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@@ -1,9 +1,10 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
+
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
 #include "events/subsystemIdRanges.h"
-#include "fsfw/FSFW.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 class PeriodicOperationDivider;
@@ -30,6 +31,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
                     uint32_t transitionDelay);
   virtual ~MgmLIS3MDLHandler();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Set the absolute limit for the values on the axis in microtesla. The dataset values will
    * be marked as invalid if that limit is exceeded
@@ -167,9 +169,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   ReturnValue_t prepareCtrlRegisterWrite();
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  PeriodicOperationDivider *debugDivider;
-#endif
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
index a2e2e85f..b0ba8e88 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@@ -11,9 +11,6 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       primaryDataset(this),
       transitionDelay(transitionDelay) {
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
 }
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
@@ -337,23 +334,24 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
   float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  if (debugDivider->checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                 " microtesla:"
-              << std::endl;
-    sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-    sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
-    sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
-#else
-    sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-    sif::printInfo("X: %f uT\n", fieldStrengthX);
-    sif::printInfo("Y: %f uT\n", fieldStrengthY);
-    sif::printInfo("Z: %f uT\n", fieldStrengthZ);
-#endif
+  if(periodicPrintout) {
+    if (debugDivider.checkAndIncrement()) {
+  #if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::info << "MgmRM3100Handler: Magnetic field strength in"
+                   " microtesla:"
+                << std::endl;
+      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+  #else
+      sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+      sif::printInfo("X: %f uT\n", fieldStrengthX);
+      sif::printInfo("Y: %f uT\n", fieldStrengthY);
+      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+  #endif
+    }
   }
-#endif
+
 
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
@@ -365,3 +363,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   }
   return RETURN_OK;
 }
+
+void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
index 67362f59..d1048cb6 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
@@ -2,12 +2,8 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
 
 /**
  * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
@@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                    uint32_t transitionDelay);
   virtual ~MgmRM3100Handler();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Configure device handler to go to normal mode after startup immediately
    * @param enable
@@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                                         size_t commandDataLen);
 
   ReturnValue_t handleDataReadout(const uint8_t *packet);
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  PeriodicOperationDivider *debugDivider;
-#endif
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in
index 7e8bcd79..9cfeab61 100644
--- a/src/fsfw/FSFW.h.in
+++ b/src/fsfw/FSFW.h.in
@@ -62,16 +62,4 @@
 #define FSFW_HAL_I2C_WIRETAPPING            0
 #endif
 
-#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
-#define FSFW_HAL_L3GD20_GYRO_DEBUG          0
-#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
-
-#ifndef FSFW_HAL_RM3100_MGM_DEBUG
-#define FSFW_HAL_RM3100_MGM_DEBUG           0
-#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
-
-#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
-#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
-
 #endif /* FSFW_FSFW_H_ */