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

CHANGELOG.md

@@ -8,6 +8,22 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v5.0.0]
+
+## Changes
+
+- HAL Devicehandlers: Periodic printout is run-time configurable now
+- `oneShotAction` flag in the `TestTask` class is not static anymore
+
+## Removed
+
+- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
+  datapools have been implemented
+
+## Additions
+
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
+
 # [v4.0.0]
 
 ## Additions

CMakeLists.txt

@@ -281,6 +281,24 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 		  -Wimplicit-fallthrough=1
 		  -Wno-unused-parameter
 		  -Wno-psabi
+          -Wduplicated-cond # check for duplicate conditions
+          -Wduplicated-branches # check for duplicate branches
+          -Wlogical-op # Search for bitwise operations instead of logical 
+          -Wnull-dereference # Search for NULL dereference
+          -Wundef # Warn if undefind marcos are used
+          -Wformat=2 # Format string problem detection
+          -Wformat-overflow=2 # Formatting issues in printf
+          -Wformat-truncation=2 # Formatting issues in printf
+          -Wformat-security # Search for dangerous printf operations
+          -Wstrict-overflow=3 # Warn if integer overflows might happen
+          -Warray-bounds=2 # Some array bounds violations will be found
+          -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+          -Wcast-qual # Warn if the constness is cast away
+          -Wstringop-overflow=4
+          # -Wstack-protector # Emits a few false positives for low level access
+          # -Wconversion # Creates many false positives
+          # -Warith-conversion # Use with Wconversion to find more implicit conversions
+          # -fanalyzer # Should be used to look through problems
         )
     endif()
 

README.md

@@ -71,9 +71,9 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-	```cmake
+   ```cmake
-	target_link_libraries(<YourProjectName> PRIVATE fsfw)
+   target_link_libraries(${YourProjectName} PRIVATE fsfw)
-	```
+   ```
 
 5. It should now be possible use the FSFW as a static library from the user code.
 

automation/Jenkinsfile

@@ -21,14 +21,14 @@ pipeline {
         stage('Build') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -j'
+                    sh 'cmake --build . -j4'
                 }
             }
         }
         stage('Unittests') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
                 }
             }
         }

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -8,11 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
                                        CookieIF *comCookie, uint32_t transitionDelayMs)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       transitionDelayMs(transitionDelayMs),
-      dataset(this) {
+      dataset(this) {}
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
-}
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
@@ -193,22 +189,22 @@ 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 (periodicPrintout) {
-      if (debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
-        /* Set terminal to utf-8 if there is an issue with micro printout. */
+          /* 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 << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-        sif::info << "X: " << angVelocX << std::endl;
+          sif::info << "X: " << angVelocX << std::endl;
-        sif::info << "Y: " << angVelocY << std::endl;
+          sif::info << "Y: " << angVelocY << std::endl;
-        sif::info << "Z: " << angVelocZ << std::endl;
+          sif::info << "Z: " << angVelocZ << std::endl;
 #else
-        sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-        sif::printInfo("X: %f\n", angVelocX);
+          sif::printInfo("X: %f\n", angVelocX);
-        sif::printInfo("Y: %f\n", angVelocY);
+          sif::printInfo("Y: %f\n", angVelocY);
-        sif::printInfo("Z: %f\n", angVelocZ);
+          sif::printInfo("Z: %f\n", angVelocZ);
 #endif
+        }
       }
-#endif
 
       PoolReadGuard readSet(&dataset);
       if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@@ -272,3 +268,8 @@ 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);
+}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -5,7 +5,6 @@
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
 #include "devicedefinitions/GyroL3GD20Definitions.h"
-#include "fsfw/FSFW.h"
 
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
@@ -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
@@ -80,9 +81,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
   // Set default value
   float sensitivity = L3GD20H::SENSITIVITY_00;
 
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+  bool periodicPrintout = false;
-  PeriodicOperationDivider *debugDivider = nullptr;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-#endif
 };
 
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

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 +269,24 @@ 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 (periodicPrintout) {
-      if (debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                     " microtesla:"
+                       " microtesla:"
-                  << std::endl;
+                    << std::endl;
-        sif::info << "X: " << mgmX << " uT" << std::endl;
+          sif::info << "X: " << mgmX << " uT" << std::endl;
-        sif::info << "Y: " << mgmY << " uT" << std::endl;
+          sif::info << "Y: " << mgmY << " uT" << std::endl;
-        sif::info << "Z: " << mgmZ << " uT" << std::endl;
+          sif::info << "Z: " << mgmZ << " uT" << std::endl;
 #else
-        sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", mgmX);
+          sif::printInfo("X: %f uT\n", mgmX);
-        sif::printInfo("Y: %f uT\n", mgmY);
+          sif::printInfo("Y: %f uT\n", mgmY);
-        sif::printInfo("Z: %f uT\n", mgmZ);
+          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 +316,16 @@ 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 (periodicPrintout) {
-      if (debugDivider->check()) {
+        if (debugDivider.check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
 #else
-        sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
+        }
       }
-#endif
+
       ReturnValue_t result = dataset.read();
       if (result == HasReturnvaluesIF::RETURN_OK) {
         dataset.temperature = tempValue;
@@ -484,3 +483,8 @@ 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);
+}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -3,8 +3,8 @@
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
 #include "events/subsystemIdRanges.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 
 class PeriodicOperationDivider;
 
@@ -30,6 +30,7 @@ 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 +168,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   ReturnValue_t prepareCtrlRegisterWrite();
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+  bool periodicPrintout = false;
-  PeriodicOperationDivider *debugDivider;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-#endif
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -10,11 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
                                    CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       primaryDataset(this),
-      transitionDelay(transitionDelay) {
+      transitionDelay(transitionDelay) {}
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
-#endif
-}
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
@@ -337,23 +333,23 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
   float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+  if (periodicPrintout) {
-  if (debugDivider->checkAndIncrement()) {
+    if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "MgmRM3100Handler: Magnetic field strength in"
+      sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                 " microtesla:"
+                   " microtesla:"
-              << std::endl;
+                << std::endl;
-    sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-    sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
-    sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
 #else
-    sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+      sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-    sif::printInfo("X: %f uT\n", fieldStrengthX);
+      sif::printInfo("X: %f uT\n", fieldStrengthX);
-    sif::printInfo("Y: %f uT\n", fieldStrengthY);
+      sif::printInfo("Y: %f uT\n", fieldStrengthY);
-    sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
+    }
   }
-#endif
 
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
@@ -365,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   }
   return RETURN_OK;
 }
+
+void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

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;
+  bool periodicPrintout = false;
-#endif
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -471,7 +471,7 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
   auto bufferPtr = iter->second.replyBuffer.data();
   // Size check to prevent buffer overflow
   if (requestLen > uartCookie.getMaxReplyLen()) {
-#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                  << std::endl;

scripts/helper.py

@@ -97,11 +97,11 @@ def handle_docs_type(args, build_dir_list: list):
         build_directory = determine_build_dir(build_dir_list)
     os.chdir(build_directory)
     if args.build:
-        os.system("cmake --build . -j")
+        cmd_runner("cmake --build . -j")
     if args.open:
         if not os.path.isfile("docs/sphinx/index.html"):
             # try again..
-            os.system("cmake --build . -j")
+            cmd_runner("cmake --build . -j")
             if not os.path.isfile("docs/sphinx/index.html"):
                 print(
                     "No Sphinx documentation file detected. "
@@ -143,25 +143,21 @@ def handle_tests_type(args, build_dir_list: list):
         if which("valgrind") is None:
             print("Please install valgrind first")
             sys.exit(1)
-        if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
+        cmd_runner("valgrind --leak-check=full ./fsfw-tests")
-            # 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("..")
 
 
 def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
     os.chdir("..")
 
 
 def create_docs_build_cfg():
     os.mkdir(DOCS_FOLDER_NAME)
     os.chdir(DOCS_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
     os.chdir("..")
 
 
@@ -184,7 +180,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
 def perform_lcov_operation(directory: str, chdir: bool):
     if chdir:
         os.chdir(directory)
-    os.system("cmake --build . -- fsfw-tests_coverage -j")
+    cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
 
 
 def determine_build_dir(build_dir_list: List[str]):
@@ -206,5 +202,10 @@ def determine_build_dir(build_dir_list: List[str]):
     return build_directory
 
 
+def cmd_runner(cmd: str):
+    print(f"Executing command: {cmd}")
+    os.system(cmd)
+
+
 if __name__ == "__main__":
     main()

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_ */

src/fsfw/cfdp/tlv/FilestoreTlvBase.h

@@ -6,10 +6,13 @@
 #include <fsfw/cfdp/tlv/Tlv.h>
 #include <fsfw/cfdp/tlv/TlvIF.h>
 #include <fsfw/serialize/SerializeIF.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <cstddef>
 #include <cstdint>
 
+#include "fsfw/FSFW.h"
+
 namespace cfdp {
 
 enum FilestoreActionCode {

src/fsfw/datapool/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-    PoolDataSetBase.cpp
+	PoolDataSetBase.cpp
-    PoolEntry.cpp
+	PoolEntry.cpp
 )

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -84,8 +84,8 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
     return result;
   }
 
-  printWarningOrError(sif::OutputTypes::OUT_WARNING, "initialize", HasReturnvaluesIF::RETURN_FAILED,
+  printWarningOrError(sif::OutputTypes::OUT_WARNING, "initializeHousekeepingPoolEntriesOnce",
-                      "The map should only be initialized once");
+                      HasReturnvaluesIF::RETURN_FAILED, "The map should only be initialized once");
   return HasReturnvaluesIF::RETURN_OK;
 }
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -824,7 +824,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
 }
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
-                                                uint32_t* len) {
+                                                size_t* len) {
   size_t lenTmp;
 
   if (IPCStore == nullptr) {

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -673,7 +673,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   //! Pointer to the raw packet that will be sent.
   uint8_t *rawPacket = nullptr;
   //! Size of the #rawPacket.
-  uint32_t rawPacketLen = 0;
+  size_t rawPacketLen = 0;
 
   /**
    * The mode the device handler is currently in.
@@ -1250,7 +1250,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    *   - @c RETURN_FAILED IPCStore is nullptr
    *   - the return value from the IPCStore if it was not @c RETURN_OK
    */
-  ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data, uint32_t *len);
+  ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data, size_t *len);
 
   /**
    * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW, nothing else!

src/fsfw/globalfunctions/CRC.cpp

@@ -28,7 +28,7 @@ const uint16_t CRC::crc16ccitt_table[256] = {
 
 // CRC implementation
 uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t startingCrc) {
-  uint8_t *data = (uint8_t *)input;
+  const uint8_t *data = static_cast<const uint8_t *>(input);
   unsigned int tbl_idx;
 
   while (length--) {
@@ -39,88 +39,4 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti
   }
   return startingCrc & 0xffff;
 
-  // The part below is not used!
-  //	bool temr[16];
-  //	bool xor_out[16];
-  //	bool r[16];
-  //	bool d[8];
-  //	uint16_t crc_value = 0;
-  //
-  //
-  //	for (int i=0; i<16 ;i++) {
-  //		temr[i] = false;
-  //		xor_out[i] = false;
-  //	}
-  //
-  //
-  //	for (int i=0; i<16 ;i++)
-  //			r[i] = true;    // initialize with 0xFFFF
-  //
-  //
-  //
-  //	for (int j=0; j<length ;j++)
-  //	{
-  //
-  //	for (int i=0; i<8 ;i++)
-  //		if ((input[j] & 1<<i) == 1<<i)
-  //			d[7-i]=true;			// reverse   input data
-  //		else
-  //			d[7-i]=false;			// reverse input data
-  //
-  //
-  //
-  //		  temr[0] = d[4] ^ d[0];
-  //		  temr[1] = d[5] ^ d[1];
-  //		  temr[2] = d[6] ^ d[2];
-  //		  temr[3] = d[7] ^ d[3];
-  //		  temr[4] = r[12] ^ r[8];
-  //		  temr[5] = r[13] ^ r[9];
-  //		  temr[6] = r[14] ^ r[10];
-  //		  temr[7] = r[15] ^ r[11];
-  //		  temr[8] = d[4] ^ r[12];
-  //		  temr[9] = d[5] ^ r[13];
-  //		  temr[10] = d[6] ^ r[14];
-  //		  temr[11] = d[7] ^ r[15];
-  //		  temr[12] = temr[0] ^ temr[4];
-  //		  temr[13] = temr[1] ^ temr[5];
-  //		  temr[14] = temr[2] ^ temr[6];
-  //		  temr[15] = temr[3] ^ temr[7];
-  //
-  //
-  //		  xor_out[0] = temr[12];
-  //		  xor_out[1] = temr[13];
-  //		  xor_out[2] = temr[14];
-  //		  xor_out[3] = temr[15];
-  //		  xor_out[4] = temr[8];
-  //		  xor_out[5] = temr[9] ^ temr[12];
-  //		  xor_out[6] = temr[10] ^ temr[13];
-  //		  xor_out[7] = temr[11] ^ temr[14];
-  //		  xor_out[8] = temr[15] ^ r[0];
-  //		  xor_out[9] = temr[8] ^ r[1];
-  //		  xor_out[10] = temr[9] ^ r[2];
-  //		  xor_out[11] = temr[10] ^ r[3];
-  //		  xor_out[12] = temr[11] ^ temr[12] ^ r[4];
-  //		  xor_out[13] = temr[13] ^ r[5];
-  //		  xor_out[14] = temr[14] ^ r[6];
-  //		  xor_out[15] = temr[15] ^ r[7];
-  //
-  //	 for (int i=0; i<16 ;i++)
-  //	 {
-  //		  r[i]= xor_out[i] ;
-  //	 }
-  //
-  //	}
-  //
-  //
-  //
-  //	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 = 0;// for debug mode
-  //	return (crc_value);
-
 } /* Calculate_CRC() */

src/fsfw/globalfunctions/arrayprinter.cpp

@@ -1,6 +1,7 @@
 #include "fsfw/globalfunctions/arrayprinter.h"
 
 #include <bitset>
+#include <cmath>
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -68,7 +69,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerL
     currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
     if (i < size - 1) {
       currentPos += sprintf(printBuffer + currentPos, ",");
-      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
+      if ((i + 1) % maxCharPerLine == 0) {
         currentPos += sprintf(printBuffer + currentPos, "\n");
       }
     }
@@ -97,20 +98,21 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, size_t maxCharPerL
   }
   std::cout << "]" << std::endl;
 #else
-  // General format: 32, 243, -12 so it is number of chars times 5
+  // General format: 32,243,-12 so it is number of chars times 4
   // plus line break plus small safety margin.
-  char printBuffer[(size + 1) * 5 + 1] = {};
+  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
+  char printBuffer[size * 4 + 1 + expectedLines] = {};
   size_t currentPos = 0;
   for (size_t i = 0; i < size; i++) {
     // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 5) {
+    if (sizeof(printBuffer) - currentPos <= 4) {
       break;
     }
 
-    currentPos += snprintf(printBuffer + currentPos, 3, "%d", data[i]);
+    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
     if (i < size - 1) {
       currentPos += sprintf(printBuffer + currentPos, ",");
-      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
+      if ((i + 1) % maxCharPerLine == 0) {
         currentPos += sprintf(printBuffer + currentPos, "\n");
       }
     }

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -57,6 +57,9 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
       internalErrorDataset.storeHits.value += newStoreHits;
       internalErrorDataset.tmHits.value += newTmHits;
       internalErrorDataset.setValidity(true, true);
+      if ((newQueueHits != 0) or (newStoreHits != 0) or (newTmHits != 0)) {
+        internalErrorDataset.setChanged(true);
+      }
     }
   }
 
@@ -77,14 +80,6 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
   return value;
 }
 
-uint32_t InternalErrorReporter::getQueueHits() {
-  uint32_t value;
-  mutex->lockMutex(timeoutType, timeoutMs);
-  value = queueHits;
-  mutex->unlockMutex();
-  return value;
-}
-
 void InternalErrorReporter::incrementQueueHits() {
   mutex->lockMutex(timeoutType, timeoutMs);
   queueHits++;
@@ -100,14 +95,6 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
   return value;
 }
 
-uint32_t InternalErrorReporter::getTmHits() {
-  uint32_t value;
-  mutex->lockMutex(timeoutType, timeoutMs);
-  value = tmHits;
-  mutex->unlockMutex();
-  return value;
-}
-
 void InternalErrorReporter::incrementTmHits() {
   mutex->lockMutex(timeoutType, timeoutMs);
   tmHits++;
@@ -125,14 +112,6 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
   return value;
 }
 
-uint32_t InternalErrorReporter::getStoreHits() {
-  uint32_t value;
-  mutex->lockMutex(timeoutType, timeoutMs);
-  value = storeHits;
-  mutex->unlockMutex();
-  return value;
-}
-
 void InternalErrorReporter::incrementStoreHits() {
   mutex->lockMutex(timeoutType, timeoutMs);
   storeHits++;

src/fsfw/internalerror/InternalErrorReporter.h

@@ -46,11 +46,11 @@ class InternalErrorReporter : public SystemObject,
   virtual ReturnValue_t initializeAfterTaskCreation() override;
   virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual void queueMessageNotSent();
+  virtual void queueMessageNotSent() override;
 
-  virtual void lostTm();
+  virtual void lostTm() override;
 
-  virtual void storeFull();
+  virtual void storeFull() override;
 
   virtual void setTaskIF(PeriodicTaskIF* task) override;
 
@@ -74,15 +74,12 @@ class InternalErrorReporter : public SystemObject,
   uint32_t storeHits = 0;
 
   uint32_t getAndResetQueueHits();
-  uint32_t getQueueHits();
   void incrementQueueHits();
 
   uint32_t getAndResetTmHits();
-  uint32_t getTmHits();
   void incrementTmHits();
 
   uint32_t getAndResetStoreHits();
-  uint32_t getStoreHits();
   void incrementStoreHits();
 };
 

src/fsfw/internalerror/InternalErrorReporterIF.h

@@ -1,22 +1,34 @@
 #ifndef INTERNALERRORREPORTERIF_H_
 #define INTERNALERRORREPORTERIF_H_
 
+/**
+ * @brief   Interface which is used to report internal errors like full message queues or stores.
+ * @details
+ * This interface smust be used for the InteralErrorReporter object.
+ * It should be used to indicate that there was a Problem with Queues or Stores.
+ *
+ * It can be used to report missing Telemetry which could not be sent due to a internal problem.
+ *
+ */
 class InternalErrorReporterIF {
  public:
   virtual ~InternalErrorReporterIF() {}
-
   /**
-   * Thread safe
+   * @brief Function to be called if a message queue could not be sent.
+   * @details OSAL Implementations should call this function to indicate that
+   * a message was lost.
+   *
+   *  Implementations are required to be Thread safe
    */
   virtual void queueMessageNotSent() = 0;
-
   /**
-   * Thread safe
+   * @brief Function to be called if Telemetry could not be sent
+   * @details Implementations must be Thread safe
    */
   virtual void lostTm() = 0;
-
   /**
-   * Thread safe
+   * @brief Function to be called if a onboard storage is full
+   * @details Implementations must be Thread safe
    */
   virtual void storeFull() = 0;
 };

src/fsfw/osal/host/MessageQueue.cpp

@@ -125,6 +125,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     memcpy(targetQueue->messageQueue.back().data(), message->getBuffer(),
            message->getMaximumMessageSize());
   } else {
+    if (not ignoreFault) {
+      InternalErrorReporterIF* internalErrorReporter =
+          ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
+      if (internalErrorReporter != nullptr) {
+        internalErrorReporter->queueMessageNotSent();
+      }
+    }
     return MessageQueueIF::FULL;
   }
   return HasReturnvaluesIF::RETURN_OK;

src/fsfw/osal/linux/BinarySemaphore.cpp

@@ -1,6 +1,7 @@
 #include "fsfw/osal/linux/BinarySemaphore.h"
 
 #include <errno.h>
+#include <stdio.h>
 #include <time.h>
 
 #include <cstring>

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
+   * 			the task's period, then enters a loop that is repeated indefinitely. Within
-   * loop, all performOperation methods of the added objects are called. Afterwards the task will be
+   * the loop, all performOperation methods of the added objects are called. Afterwards the task
-   * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
+   * 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
+ * 			multiple objects that implement the ExecutableObjectIF interface. The
- * must be added prior to starting the task.
+ * objects must be added prior to starting the task.
  * @author  baetz
  * @ingroup task_handling
  */

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
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
-   * write command
+   * 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
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
-   * write command, or nullpointer in read command
+   * NULL in 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

@@ -75,11 +75,11 @@ 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;
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for
-   * command was not sent
+   * expected len; command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the hw
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too
-   * to handle (write command) or the expected len was bigger than maximal expected len (read
+   * long for the hw to handle (write command) or the expected len was bigger than maximal expected
-   * command) command was not sent
+   * 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...
@@ -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
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission
-   * being processed)
+   * 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)

src/fsfw/serviceinterface/ServiceInterfacePrinter.h

@@ -1,6 +1,8 @@
 #ifndef FSFW_SERVICEINTERFACE_SERVICEINTERFACEPRINTER
 #define FSFW_SERVICEINTERFACE_SERVICEINTERFACEPRINTER
 
+#include "fsfw/FSFW.h"
+
 #if FSFW_DISABLE_PRINTOUT == 0
 #include <cstdio>
 #endif

src/fsfw/storagemanager/LocalPool.cpp

@@ -110,7 +110,7 @@ ReturnValue_t LocalPool::modifyData(store_address_t storeId, uint8_t** packetPtr
 }
 
 ReturnValue_t LocalPool::deleteData(store_address_t storeId) {
-#if FSFW_VERBOSE_PRINTOUT == 2
+#if FSFW_VERBOSE_LEVEL >= 2
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "Delete: Pool: " << std::dec << storeId.poolIndex
              << " Index: " << storeId.packetIndex << std::endl;
@@ -148,7 +148,7 @@ ReturnValue_t LocalPool::deleteData(uint8_t* ptr, size_t size, store_address_t*
       // element of an object.
       localId.packetIndex = deltaAddress / elementSizes[n];
       result = deleteData(localId);
-#if FSFW_VERBOSE_PRINTOUT == 2
+#if FSFW_VERBOSE_LEVEL >= 2
       if (deltaAddress % elementSizes[n] != 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "LocalPool::deleteData: Address not aligned!" << std::endl;
@@ -219,7 +219,7 @@ ReturnValue_t LocalPool::reserveSpace(const size_t size, store_address_t* storeI
     status = findEmpty(storeId->poolIndex, &storeId->packetIndex);
   }
   if (status == RETURN_OK) {
-#if FSFW_VERBOSE_PRINTOUT == 2
+#if FSFW_VERBOSE_LEVEL >= 2
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "Reserve: Pool: " << std::dec << storeId->poolIndex
                << " Index: " << storeId->packetIndex << std::endl;
@@ -257,7 +257,7 @@ void LocalPool::setToSpillToHigherPools(bool enable) { this->spillsToHigherPools
 ReturnValue_t LocalPool::getSubPoolIndex(size_t packetSize, uint16_t* subpoolIndex,
                                          uint16_t startAtIndex) {
   for (uint16_t n = startAtIndex; n < NUMBER_OF_SUBPOOLS; n++) {
-#if FSFW_VERBOSE_PRINTOUT == 2
+#if FSFW_VERBOSE_LEVEL >= 2
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " << n
                << ", Element Size: " << elementSizes[n] << std::endl;

src/fsfw/storagemanager/PoolManager.cpp

@@ -17,7 +17,7 @@ ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* addr
 }
 
 ReturnValue_t PoolManager::deleteData(store_address_t storeId) {
-#if FSFW_VERBOSE_PRINTOUT == 2
+#if FSFW_VERBOSE_LEVEL >= 2
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store "
              << storeId.poolIndex << ". id is " << storeId.packetIndex << std::endl;

src/fsfw/timemanager/CCSDSTime.cpp

@@ -109,8 +109,8 @@ ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* f
   if (result != RETURN_OK) {
     return result;
   }
-
+  // At this point we made sure that this is a valid ccs time
-  Ccs_mseconds* temp = (Ccs_mseconds*)from;
+  const Ccs_mseconds* temp = reinterpret_cast<const Ccs_mseconds*>(from);
 
   to->year = (temp->yearMSB << 8) + temp->yearLSB;
   to->hour = temp->hour;
@@ -118,16 +118,19 @@ ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* f
   to->second = temp->second;
 
   if (temp->pField & (1 << 3)) {  // day of year variation
-    uint16_t tempDay = (temp->month << 8) + temp->day;
+    uint16_t tempDayOfYear = (temp->month << 8) + temp->day;
-    result = convertDaysOfYear(tempDay, to->year, &(temp->month), &(temp->day));
+    uint8_t tempDay = 0;
+    uint8_t tempMonth = 0;
+    result = convertDaysOfYear(tempDayOfYear, to->year, &tempMonth, &tempDay);
     if (result != RETURN_OK) {
       return result;
     }
+    to->month = tempMonth;
+    to->day = tempDay;
+  } else {
+    to->month = temp->month;
+    to->day = temp->day;
   }
-
-  to->month = temp->month;
-  to->day = temp->day;
-
   to->usecond = 0;
   if (subsecondsLength > 0) {
     *foundLength += 1;
@@ -162,7 +165,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
   uint16_t hour;
   uint16_t minute;
   float second;
-  int count = sscanf((char*)from,
+  int count = sscanf((const char*)from,
                      "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16
                      "T%"
                      "2" SCNu16 ":%2" SCNu16 ":%fZ",
@@ -179,7 +182,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
   }
 
   // try Code B (yyyy-ddd)
-  count = sscanf((char*)from,
+  count = sscanf((const char*)from,
                  "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16
                  ":%"
                  "2" SCNu16 ":%fZ",
@@ -211,7 +214,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
   float second;
   // try Code A (yyyy-mm-dd)
   int count =
-      sscanf((char*)from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16 "T%2" SCNu8 ":%2" SCNu8 ":%fZ",
+      sscanf((const char*)from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16 "T%2" SCNu8 ":%2" SCNu8 ":%fZ",
              &year, &month, &day, &hour, &minute, &second);
   if (count == 6) {
     to->year = year;
@@ -225,8 +228,8 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
   }
 
   // try Code B (yyyy-ddd)
-  count = sscanf((char*)from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &day,
+  count = sscanf((const char*)from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year,
-                 &hour, &minute, &second);
+                 &day, &hour, &minute, &second);
   if (count == 5) {
     uint8_t tempDay;
     ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month, &tempDay);
@@ -248,7 +251,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 }
 
 ReturnValue_t CCSDSTime::checkCcs(const uint8_t* time, uint8_t length) {
-  Ccs_mseconds* time_struct = (Ccs_mseconds*)time;
+  const Ccs_mseconds* time_struct = reinterpret_cast<const Ccs_mseconds*>(time);
 
   uint8_t additionalBytes = time_struct->pField & 0b111;
   if ((additionalBytes == 0b111) || (length < (additionalBytes + 8))) {
@@ -278,7 +281,7 @@ ReturnValue_t CCSDSTime::checkCcs(const uint8_t* time, uint8_t length) {
     return INVALID_TIME_FORMAT;
   }
 
-  uint8_t* additionalByte = &time_struct->secondEminus2;
+  const uint8_t* additionalByte = &time_struct->secondEminus2;
 
   for (; additionalBytes != 0; additionalBytes--) {
     if (*additionalByte++ > 99) {

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) {

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;
 };

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -23,3 +23,4 @@ add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
 add_subdirectory(cfdp)
 add_subdirectory(hal)
+add_subdirectory(internalerror)

tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt

@@ -2,4 +2,5 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
     testDleEncoder.cpp
     testOpDivider.cpp
     testBitutil.cpp
+    testCRC.cpp
 )

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

@@ -0,0 +1,14 @@
+#include <array>
+
+#include "catch2/catch_test_macros.hpp"
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+TEST_CASE("CRC", "[CRC]") {
+  std::array<uint8_t, 10> testData = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
+  uint16_t crc = CRC::crc16ccitt(testData.data(), 10);
+  REQUIRE(crc == 49729);
+  for (uint8_t index = 0; index < testData.size(); index++) {
+    REQUIRE(testData[index] == index);
+  }
+}

tests/src/fsfw_tests/unit/internalerror/CMakeLists.txt

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

tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp

@@ -0,0 +1,118 @@
+#include <fsfw/housekeeping/HousekeepingSnapshot.h>
+#include <fsfw/internalerror/InternalErrorReporter.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/timemanager/CCSDSTime.h>
+
+#include <array>
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw/action/ActionMessage.h"
+#include "fsfw/ipc/CommandMessage.h"
+#include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/objectmanager/frameworkObjects.h"
+#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
+
+TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
+  PeriodicTaskMock task(10);
+  ObjectManagerIF* manager = ObjectManager::instance();
+  if (manager == nullptr) {
+    FAIL();
+  }
+  InternalErrorReporter* internalErrorReporter = dynamic_cast<InternalErrorReporter*>(
+      ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER));
+  if (internalErrorReporter == nullptr) {
+    FAIL();
+  }
+  task.addComponent(objects::INTERNAL_ERROR_REPORTER);
+  MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
+  MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
+  internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(
+      InternalErrorDataset::ERROR_SET_ID, objects::NO_OBJECT, hkQueue->getId(), true);
+  StorageManagerIF* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  SECTION("MessageQueueFull") {
+    CommandMessage message;
+    ActionMessage::setCompletionReply(&message, 10, true);
+    auto result = hkQueue->sendMessage(testQueue->getId(), &message);
+    REQUIRE(result == retval::CATCH_OK);
+    uint32_t queueHits = 0;
+    uint32_t lostTm = 0;
+    uint32_t storeHits = 0;
+    /* We don't know if another test caused a queue Hit so we will enforce one,
+     then remeber the queueHit count and force another hit */
+    internalErrorReporter->queueMessageNotSent();
+    internalErrorReporter->performOperation(0);
+    {
+      CommandMessage hkMessage;
+      result = hkQueue->receiveMessage(&hkMessage);
+      REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+      REQUIRE(hkMessage.getCommand() == HousekeepingMessage::UPDATE_SNAPSHOT_SET);
+      store_address_t storeAddress;
+      gp_id_t gpid =
+          HousekeepingMessage::getUpdateSnapshotVariableCommand(&hkMessage, &storeAddress);
+      REQUIRE(gpid.objectId == objects::INTERNAL_ERROR_REPORTER);
+      // We need the object ID of the reporter here (NO_OBJECT)
+      InternalErrorDataset dataset(objects::INTERNAL_ERROR_REPORTER);
+      CCSDSTime::CDS_short time;
+      ConstAccessorPair data = ipcStore->getData(storeAddress);
+      REQUIRE(data.first == HasReturnvaluesIF::RETURN_OK);
+      HousekeepingSnapshot hkSnapshot(&time, &dataset);
+      const uint8_t* buffer = data.second.data();
+      size_t size = data.second.size();
+      result = hkSnapshot.deSerialize(&buffer, &size, SerializeIF::Endianness::MACHINE);
+      REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+      // Remember the amount of queueHits before to see the increase
+      queueHits = dataset.queueHits.value;
+      lostTm = dataset.tmHits.value;
+      storeHits = dataset.storeHits.value;
+    }
+    result = hkQueue->sendMessage(testQueue->getId(), &message);
+    REQUIRE(result == MessageQueueIF::FULL);
+    internalErrorReporter->lostTm();
+    internalErrorReporter->storeFull();
+    {
+      internalErrorReporter->performOperation(0);
+      CommandMessage hkMessage;
+      result = hkQueue->receiveMessage(&hkMessage);
+      REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+      REQUIRE(hkMessage.getCommand() == HousekeepingMessage::UPDATE_SNAPSHOT_SET);
+      store_address_t storeAddress;
+      gp_id_t gpid =
+          HousekeepingMessage::getUpdateSnapshotVariableCommand(&hkMessage, &storeAddress);
+      REQUIRE(gpid.objectId == objects::INTERNAL_ERROR_REPORTER);
+
+      ConstAccessorPair data = ipcStore->getData(storeAddress);
+      REQUIRE(data.first == HasReturnvaluesIF::RETURN_OK);
+      CCSDSTime::CDS_short time;
+      // We need the object ID of the reporter here (NO_OBJECT)
+      InternalErrorDataset dataset(objects::INTERNAL_ERROR_REPORTER);
+      HousekeepingSnapshot hkSnapshot(&time, &dataset);
+      const uint8_t* buffer = data.second.data();
+      size_t size = data.second.size();
+      result = hkSnapshot.deSerialize(&buffer, &size, SerializeIF::Endianness::MACHINE);
+      REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+      // Test that we had one more queueHit
+      REQUIRE(dataset.queueHits.value == (queueHits + 1));
+      REQUIRE(dataset.tmHits.value == (lostTm + 1));
+      REQUIRE(dataset.storeHits.value == (storeHits + 1));
+    }
+    // Complete Coverage
+    internalErrorReporter->setDiagnosticPrintout(true);
+    internalErrorReporter->setMutexTimeout(MutexIF::TimeoutType::BLOCKING, 0);
+    {
+      // Message Queue Id
+      MessageQueueId_t id = internalErrorReporter->getCommandQueue();
+      REQUIRE(id != MessageQueueIF::NO_QUEUE);
+      CommandMessage message;
+      sid_t sid(objects::INTERNAL_ERROR_REPORTER, InternalErrorDataset::ERROR_SET_ID);
+      HousekeepingMessage::setToggleReportingCommand(&message, sid, true, false);
+      result = hkQueue->sendMessage(id, &message);
+      REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+      internalErrorReporter->performOperation(0);
+    }
+  }
+  QueueFactory::instance()->deleteMessageQueue(testQueue);
+  QueueFactory::instance()->deleteMessageQueue(hkQueue);
+}

tests/src/fsfw_tests/unit/mocks/PeriodicTaskIFMock.h

@@ -0,0 +1,37 @@
+#ifndef FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
+#define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
+
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
+
+class PeriodicTaskMock : public PeriodicTaskIF {
+ public:
+  PeriodicTaskMock(uint32_t period = 5) : period(period) {}
+  /**
+   * @brief	A virtual destructor as it is mandatory for interfaces.
+   */
+  virtual ~PeriodicTaskMock() {}
+  /**
+   * @brief	With the startTask method, a created task can be started
+   *          for the first time.
+   */
+  virtual ReturnValue_t startTask() override { return HasReturnvaluesIF::RETURN_OK; };
+
+  virtual ReturnValue_t addComponent(object_id_t object) override {
+    ExecutableObjectIF* executableObject =
+        ObjectManager::instance()->get<ExecutableObjectIF>(objects::INTERNAL_ERROR_REPORTER);
+    if (executableObject == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    executableObject->setTaskIF(this);
+    executableObject->initializeAfterTaskCreation();
+    return HasReturnvaluesIF::RETURN_OK;
+  };
+
+  virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
+
+  virtual uint32_t getPeriodMs() const override { return period; };
+  uint32_t period;
+};
+
+#endif  // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_

tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp

@@ -35,4 +35,25 @@ TEST_CASE("MessageQueue Basic Test", "[TestMq]") {
     senderId = testReceiverMq->getLastPartner();
     CHECK(senderId == testSenderMqId);
   }
+  SECTION("Test Full") {
+    auto result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+    REQUIRE(result == retval::CATCH_OK);
+    result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+    REQUIRE(result == MessageQueueIF::FULL);
+    // We try another message
+    result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+    REQUIRE(result == MessageQueueIF::FULL);
+    MessageQueueMessage recvMessage;
+    result = testReceiverMq->receiveMessage(&recvMessage);
+    REQUIRE(result == retval::CATCH_OK);
+    CHECK(recvMessage.getData()[0] == 42);
+    result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+    REQUIRE(result == retval::CATCH_OK);
+    result = testReceiverMq->receiveMessage(&recvMessage);
+    REQUIRE(result == retval::CATCH_OK);
+    CHECK(recvMessage.getData()[0] == 42);
+  }
+  // We have to clear MQs ourself ATM
+  QueueFactory::instance()->deleteMessageQueue(testSenderMq);
+  QueueFactory::instance()->deleteMessageQueue(testReceiverMq);
 }

tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in

@@ -11,10 +11,12 @@
 
 //! More FSFW related printouts depending on level. Useful for development.
 #define FSFW_VERBOSE_LEVEL              0
-
+           
 //! Can be used to completely disable printouts, even the C stdio ones.
 #if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
     #define FSFW_DISABLE_PRINTOUT       1
+#else
+    #define FSFW_DISABLE_PRINTOUT       0
 #endif
 
 #define FSFW_USE_PUS_C_TELEMETRY        1

tests/src/fsfw_tests/unit/timemanager/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(${FSFW_TEST_TGT} PRIVATE
 	TestCountdown.cpp
+	TestCCSDSTime.cpp
 )

tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp

@@ -0,0 +1,92 @@
+#include <fsfw/timemanager/CCSDSTime.h>
+
+#include <array>
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
+  INFO("CCSDSTime Tests");
+  CCSDSTime::Ccs_mseconds cssMilliSecconds;
+  Clock::TimeOfDay_t time;
+  time.year = 2020;
+  time.month = 2;
+  time.day = 29;
+  time.hour = 13;
+  time.minute = 24;
+  time.second = 45;
+  time.usecond = 123456;
+  SECTION("Test CCS Time") {
+    auto result = CCSDSTime::convertToCcsds(&cssMilliSecconds, &time);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(cssMilliSecconds.pField == 0x52);  // 0b01010010
+    REQUIRE(cssMilliSecconds.yearMSB == 0x07);
+    REQUIRE(cssMilliSecconds.yearLSB == 0xe4);
+    REQUIRE(cssMilliSecconds.month == 2);
+    REQUIRE(cssMilliSecconds.day == 29);
+    REQUIRE(cssMilliSecconds.hour == 13);
+    REQUIRE(cssMilliSecconds.minute == 24);
+    REQUIRE(cssMilliSecconds.second == 45);
+    uint16_t secondsMinus4 = (static_cast<uint16_t>(cssMilliSecconds.secondEminus2) * 100) +
+                             cssMilliSecconds.secondEminus4;
+    REQUIRE(secondsMinus4 == 1234);
+    Clock::TimeOfDay_t timeTo;
+    const uint8_t* dataPtr = reinterpret_cast<const uint8_t*>(&cssMilliSecconds);
+    size_t length = sizeof(CCSDSTime::Ccs_mseconds);
+    result = CCSDSTime::convertFromCCS(&timeTo, dataPtr, &length, sizeof(CCSDSTime::Ccs_mseconds));
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(cssMilliSecconds.pField == 0x52);  // 0b01010010
+    REQUIRE(cssMilliSecconds.yearMSB == 0x07);
+    REQUIRE(cssMilliSecconds.yearLSB == 0xe4);
+    REQUIRE(cssMilliSecconds.month == 2);
+    REQUIRE(cssMilliSecconds.day == 29);
+    REQUIRE(cssMilliSecconds.hour == 13);
+    REQUIRE(cssMilliSecconds.minute == 24);
+    REQUIRE(cssMilliSecconds.second == 45);
+    REQUIRE(timeTo.year == 2020);
+    REQUIRE(timeTo.month == 2);
+    REQUIRE(timeTo.day == 29);
+    REQUIRE(timeTo.hour == 13);
+    REQUIRE(timeTo.minute == 24);
+    REQUIRE(timeTo.second == 45);
+    REQUIRE(timeTo.usecond == 123400);
+  }
+  SECTION("CCS_Day of Year") {
+    Clock::TimeOfDay_t timeTo;
+    std::array<uint8_t, 8> ccsDayOfYear = {0b01011000, 0x07, 0xe4, 0, 60, 13, 24, 45};
+    size_t length = ccsDayOfYear.size();
+    auto result =
+        CCSDSTime::convertFromCCS(&timeTo, ccsDayOfYear.data(), &length, ccsDayOfYear.size());
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    // Check constness
+    REQUIRE(ccsDayOfYear[0] == 0b01011000);
+    REQUIRE(ccsDayOfYear[1] == 0x07);
+    REQUIRE(ccsDayOfYear[2] == 0xe4);
+    REQUIRE(ccsDayOfYear[3] == 0x0);
+    REQUIRE(ccsDayOfYear[4] == 60);
+    REQUIRE(ccsDayOfYear[5] == 13);
+    REQUIRE(ccsDayOfYear[6] == 24);
+    REQUIRE(ccsDayOfYear[7] == 45);
+    REQUIRE(timeTo.year == 2020);
+    REQUIRE(timeTo.month == 2);
+    REQUIRE(timeTo.day == 29);
+    REQUIRE(timeTo.hour == 13);
+    REQUIRE(timeTo.minute == 24);
+    REQUIRE(timeTo.second == 45);
+    REQUIRE(timeTo.usecond == 0);
+  }
+  SECTION("Test convertFromASCII") {
+    std::string timeAscii = "2022-12-31T23:59:59.123Z";
+    Clock::TimeOfDay_t timeTo;
+    const uint8_t* timeChar = reinterpret_cast<const uint8_t*>(timeAscii.c_str());
+    CCSDSTime::convertFromASCII(&timeTo, timeChar, timeAscii.length());
+    REQUIRE(timeTo.year == 2022);
+    REQUIRE(timeTo.month == 12);
+    REQUIRE(timeTo.day == 31);
+    REQUIRE(timeTo.hour == 23);
+    REQUIRE(timeTo.minute == 59);
+    REQUIRE(timeTo.second == 59);
+    REQUIRE(timeTo.usecond == Catch::Approx(123000));
+  }
+}