Merge remote-tracking branch 'upstream/development' into mueller/master

CHANGELOG.md

@@ -1,4 +1,214 @@
-# 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
+- 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
+- Dockumentation for DHB
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
+  
+### 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
+  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
+- 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
+
+- Aforementioned changes to existing TMTC stack
+
+## Known bugs
+
+- 
+
+# [v3.0.1]
+
+## API Changes
+
+* 
+
+## Bugfixes
+
+* Version number was not updated for v3.0.0 #542
+
+## Enhancement
+
+* 
+
+## Known bugs
+
+* 
+
+# [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
+
+* Version number was not updated for v3.0.0 #542
+
+
+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 +237,7 @@
 
 - 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
 

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(FSFW_VERSION 3)
+set(FSFW_VERSION 4)
 set(FSFW_SUBVERSION 0)
 set(FSFW_REVISION 0)
 
@@ -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)

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

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

automation/Jenkinsfile

@@ -3,13 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        dockerfile {
+        docker { image 'fsfw-ci:d1'}
-            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
-        }
     }
     stages {
         stage('Clean') {

docs/devicehandlers.rst

@@ -1,3 +1,110 @@
+.. _dhb-prim-doc:
+
 Device Handlers
 ==================
 
+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 certain interfaces:
+
+- 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: :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`
+  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;
+	}

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
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
-documentation build system using the following commands
+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

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
 --------------------

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)

hal/src/fsfw_hal/linux/uio/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)

hal/src/fsfw_hal/linux/uio/UioMapper.cpp

@@ -0,0 +1,86 @@
+#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::error << "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::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;
+  }
+  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::error << "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::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;
+  items = sscanf(hexstring, "%x", &sizeTmp);
+  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;
+#endif
+    fclose(fp);
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  fclose(fp);
+  return HasReturnvaluesIF::RETURN_OK;
+}

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_ */

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("..")
 

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);
   /**

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);

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -291,3 +291,5 @@ float LocalPoolDataSetBase::getCollectionInterval() const {
     return 0.0;
   }
 }
+
+void LocalPoolDataSetBase::printSet() { return; }

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.

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;
 }

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.

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
+  //			 crc_value = crc_value + pow(2,(15 -i));   // reverse CrC result before
-  //XOR
+  //Final XOR
   //	}
   //
   //	crc_value = 0;// for debug mode

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,
+                              //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
-                              //!as this will break the subsystem mode machine!!
+                              //! 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
+              //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
-              //!replies, as this will break the subsystem mode machine!!
+              //! 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
+                              //! and a transition started but was aborted; the parameters contain
-                              //!the mode that was reached
+                              //! 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);

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,
+   * 			the task's period, then enters a loop that is repeated indefinitely. Within the
-   * all performOperation methods of the added objects are called. Afterwards the task will be
+   * 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);

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
+ * 			multiple objects that implement the ExecutableObjectIF interface. The objects
- * be added prior to starting the task.
+ * must be added prior to starting the task.
  * @author  baetz
  * @ingroup task_handling
  */

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
+   * @param nam			The name of the Task, as a null-terminated String. Currently max 4
-   * supported (excluding Null-terminator), rest will be truncated
+   * chars supported (excluding Null-terminator), rest will be truncated
    */
   RTEMSTaskBase(rtems_task_priority priority, size_t stack_size, const char *name);
   /**

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
+  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t
-  // = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write command, or
+  // COMMAND_NULLPOINTER = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write
-  // nullpointer in read command
+  // 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 =
+  // 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
+  // = 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
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
-   * command
+   * 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
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
-   * command, or nullpointer in read command
+   * write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);

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;
+   *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
-   * command was not sent
+   * command; command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len; command
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len;
-   * 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
+   *      - @c NOT_SUPPORTED						if you dont feel like
-   * something...
+   * 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
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer still
-   * processed)
+   * 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)

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) |
+//#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_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))

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;
@@ -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 < 20);
+    REQUIRE(limitIdx < 500);
   }
   limitIdx = 0;
   CHECK(bytesHaveBeenRead == true);
@@ -89,7 +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);
@@ -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 < 20);
+    REQUIRE(limitIdx < 500);
   }
   REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
   REQUIRE(cmdExecutor.getLastError() == 1);