Merge remote-tracking branch 'origin/mueller/master' into tompert/devel

CHANGELOG

@@ -1,3 +1,16 @@
+## Changes from ASTP 1.0.0 to 1.1.0
+
+### PUS
+
+- Added PUS C support
+
+### Configuration
+
+- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
+  need to be specified in FSFWConfig.h
+
+
+
 ## Changes from ASTP 0.0.1 to 1.0.0
 
 ### Host OSAL

CMakeLists.txt

@@ -18,6 +18,13 @@ add_library(${LIB_FSFW_NAME})
 
 set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
 
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
+endif()
+
 if(NOT OS_FSFW)
 	message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
 	# Assume host OS and autodetermine from OS_FSFW
@@ -131,9 +138,9 @@ else()
 	)
 endif()
 
-foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATH})
+foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
     if(IS_ABSOLUTE ${INCLUDE_PATH})
-        set(CURR_ABS_INC_PATH "${FREERTOS_PATH}")
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
     else()
         get_filename_component(CURR_ABS_INC_PATH
             ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})

FSFW.h

@@ -0,0 +1,7 @@
+#ifndef FSFW_FSFW_H_
+#define FSFW_FSFW_H_
+
+#include "FSFWConfig.h"
+
+
+#endif /* FSFW_FSFW_H_ */

action/ActionHelper.cpp

@@ -2,7 +2,7 @@
 #include "HasActionsIF.h"
 
 #include "../ipc/MessageQueueSenderIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serviceinterface/ServiceInterface.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner,
@@ -25,7 +25,7 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 }
 
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
-    ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (ipcStore == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }

action/ActionMessage.cpp

@@ -1,7 +1,7 @@
 #include "ActionMessage.h"
 #include "HasActionsIF.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 
 ActionMessage::ActionMessage() {
@@ -69,7 +69,7 @@ void ActionMessage::clear(CommandMessage* message) {
     switch(message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-        StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+        StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
                 objects::IPC_STORE);
         if (ipcStore != NULL) {
             ipcStore->deleteData(getStoreId(message));

action/CommandActionHelper.cpp

@@ -2,7 +2,8 @@
 #include "CommandActionHelper.h"
 #include "CommandsActionsIF.h"
 #include "HasActionsIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+
+#include "../objectmanager/ObjectManager.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
         owner(setOwner), queueToUse(NULL), ipcStore(
@@ -14,7 +15,7 @@ CommandActionHelper::~CommandActionHelper() {
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
         ActionId_t actionId, SerializeIF *data) {
-    HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
+    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
     if (receiver == NULL) {
         return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
     }
@@ -40,7 +41,7 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
 //    if (commandCount != 0) {
 //        return CommandsFunctionsIF::ALREADY_COMMANDING;
 //    }
-    HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
+    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
     if (receiver == NULL) {
         return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
     }
@@ -66,7 +67,7 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
 }
 
 ReturnValue_t CommandActionHelper::initialize() {
-    ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (ipcStore == NULL) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }

controller/ControllerBase.cpp

@@ -3,6 +3,7 @@
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
         size_t commandQueueDepth) :
@@ -25,7 +26,7 @@ ReturnValue_t ControllerBase::initialize() {
 
     MessageQueueId_t parentQueue = 0;
     if (parentId != objects::NO_OBJECT) {
-        SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+        SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
         if (parent == nullptr) {
             return RETURN_FAILED;
         }

controller/ExtendedControllerBase.h

@@ -66,6 +66,10 @@ protected:
     virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
             LocalDataPoolManager& poolManager) override = 0;
     virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+
+    // Mode abstract functions
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) override = 0;
 };
 
 

datalinklayer/DataLinkLayer.h

@@ -19,7 +19,8 @@ class VirtualChannelReception;
 class DataLinkLayer : public CCSDSReturnValuesIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
-	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
+	//! [EXPORT] : [COMMENT] A RF available signal was detected. P1: raw RFA state, P2: 0
+	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO);
 	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
 	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
 	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0

datalinklayer/MapPacketExtraction.cpp

@@ -1,10 +1,13 @@
 #include "MapPacketExtraction.h"
+
 #include "../ipc/QueueFactory.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../tmtcpacket/SpacePacketBase.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/TmTcMessage.h"
+#include "../objectmanager/ObjectManager.h"
+
 #include <cstring>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
@@ -131,9 +134,9 @@ void MapPacketExtraction::clearBuffers() {
 }
 
 ReturnValue_t MapPacketExtraction::initialize() {
-	packetStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	packetStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-	AcceptsTelecommandsIF* distributor = objectManager->get<
+	AcceptsTelecommandsIF* distributor = ObjectManager::instance()->
-			AcceptsTelecommandsIF>(packetDestination);
+	        get<AcceptsTelecommandsIF>(packetDestination);
 	if ((packetStore != NULL) && (distributor != NULL)) {
 		tcQueueId = distributor->getRequestQueue();
 		return RETURN_OK;

datapoollocal/HasLocalDataPoolIF.h

@@ -34,7 +34,8 @@ class LocalPoolObjectBase;
  * can be retrieved using the object manager, provided the target object is a SystemObject.
  * For example, the following line of code can be used to retrieve the interface
  *
- *    HasLocalDataPoolIF* poolIF = objectManager->get<HasLocalDataPoolIF>(objects::SOME_OBJECT);
+ *    HasLocalDataPoolIF* poolIF = ObjectManager::instance()->
+ *             get<HasLocalDataPoolIF>(objects::SOME_OBJECT);
  *    if(poolIF != nullptr) {
  *        doSomething()
  *    }

datapoollocal/LocalDataPoolManager.cpp

@@ -6,6 +6,7 @@
 #include "internal/HasLocalDpIFManagerAttorney.h"
 
 #include "../housekeeping/HousekeepingSetPacket.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../housekeeping/HousekeepingSnapshot.h"
 #include "../housekeeping/AcceptsHkPacketsIF.h"
 #include "../timemanager/CCSDSTime.h"
@@ -52,7 +53,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
     }
     hkQueue = queueToUse;
 
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if(ipcStore == nullptr) {
         /* Error, all destinations invalid */
         printWarningOrError(sif::OutputTypes::OUT_ERROR,
@@ -63,8 +64,8 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
 
 
     if(defaultHkDestination != objects::NO_OBJECT) {
-		AcceptsHkPacketsIF* hkPacketReceiver =
+        AcceptsHkPacketsIF* hkPacketReceiver = ObjectManager::instance()->
-				objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
+                get<AcceptsHkPacketsIF>(defaultHkDestination);
         if(hkPacketReceiver != nullptr) {
             hkDestinationId = hkPacketReceiver->getHkQueue();
         }
@@ -360,8 +361,8 @@ void LocalDataPoolManager::resetHkUpdateResetHelper() {
 ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
         bool enableReporting, float collectionInterval, bool isDiagnostics,
         object_id_t packetDestination) {
-	AcceptsHkPacketsIF* hkReceiverObject =
+    AcceptsHkPacketsIF* hkReceiverObject = ObjectManager::instance()->
-			objectManager->get<AcceptsHkPacketsIF>(packetDestination);
+            get<AcceptsHkPacketsIF>(packetDestination);
     if(hkReceiverObject == nullptr) {
         printWarningOrError(sif::OutputTypes::OUT_WARNING,
                 "subscribeForPeriodicPacket", QUEUE_OR_DESTINATION_INVALID);
@@ -391,7 +392,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid,
         bool isDiagnostics, bool reportingEnabled,
         object_id_t packetDestination) {
     AcceptsHkPacketsIF* hkReceiverObject =
-			objectManager->get<AcceptsHkPacketsIF>(packetDestination);
+            ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
     if(hkReceiverObject == nullptr) {
         printWarningOrError(sif::OutputTypes::OUT_WARNING,
                 "subscribeForPeriodicPacket", QUEUE_OR_DESTINATION_INVALID);
@@ -553,7 +554,12 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 
     case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
     case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
-		LocalPoolDataSetBase* dataSet =HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
+        LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
+        if(dataSet == nullptr) {
+            printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
+                    DATASET_NOT_FOUND);
+            return DATASET_NOT_FOUND;
+        }
         if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
                 and LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) {
             result = WRONG_HK_PACKET_TYPE;

datapoollocal/LocalPoolDataSetBase.cpp

@@ -3,6 +3,7 @@
 #include "internal/HasLocalDpIFUserAttorney.h"
 
 #include "../serviceinterface/ServiceInterface.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../globalfunctions/bitutility.h"
 #include "../datapoollocal/LocalDataPoolManager.h"
 #include "../housekeeping/PeriodicHousekeepingHelper.h"
@@ -45,7 +46,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
 LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
         const size_t maxNumberOfVariables):
         PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
-    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
+    HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(
             sid.objectId);
     if(hkOwner != nullptr) {
         AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);

datapoollocal/LocalPoolObjectBase.cpp

@@ -4,7 +4,7 @@
 #include "HasLocalDataPoolIF.h"
 #include "internal/HasLocalDpIFUserAttorney.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 
 LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
@@ -43,7 +43,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
                 "which is the NO_PARAMETER value!\n");
 #endif
     }
-    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(poolOwner);
+    HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
     if(hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -18,6 +18,7 @@
 #endif
 
 #define FSFW_USE_PUS_C_TELEMETRY        1
+#define FSFW_USE_PUS_C_TELECOMMANDS     1
 
 //! Can be used to disable the ANSI color sequences for C stdio.
 #define FSFW_COLORED_OUTPUT 		    1
@@ -67,6 +68,8 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
 
+static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
+
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

devicehandlers/ChildHandlerBase.cpp

@@ -1,6 +1,5 @@
 #include "ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
-#include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
@@ -30,7 +29,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 	MessageQueueId_t parentQueue = 0;
 
 	if (parentId != objects::NO_OBJECT) {
-		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
 		if (parent == NULL) {
 			return RETURN_FAILED;
 		}

devicehandlers/DeviceHandlerBase.cpp

@@ -119,7 +119,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
         return result;
     }
 
-    communicationInterface = objectManager->get<DeviceCommunicationIF>(
+    communicationInterface = ObjectManager::instance()->get<DeviceCommunicationIF>(
             deviceCommunicationId);
     if (communicationInterface == nullptr) {
         printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
@@ -136,7 +136,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
         return result;
     }
 
-    IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (IPCStore == nullptr) {
         printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
                 ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up");
@@ -144,8 +144,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
     }
 
     if(rawDataReceiverId != objects::NO_OBJECT) {
-        AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+        AcceptsDeviceResponsesIF *rawReceiver = ObjectManager::instance()->
-                AcceptsDeviceResponsesIF>(rawDataReceiverId);
+                get<AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
         if (rawReceiver == nullptr) {
             printWarningOrError(sif::OutputTypes::OUT_ERROR,
@@ -164,7 +164,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
     }
 
     if(powerSwitcherId != objects::NO_OBJECT) {
-        powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+        powerSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitcherId);
         if (powerSwitcher == nullptr) {
             printWarningOrError(sif::OutputTypes::OUT_ERROR,
                     "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
@@ -226,16 +226,15 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
-    for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
+    for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair: deviceReplyMap) {
-            deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
+        if (replyPair.second.delayCycles != 0) {
-        if (iter->second.delayCycles != 0) {
+            replyPair.second.delayCycles--;
-            iter->second.delayCycles--;
+            if (replyPair.second.delayCycles == 0) {
-            if (iter->second.delayCycles == 0) {
+                if (replyPair.second.periodic) {
-                if (iter->second.periodic) {
+                    replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
-                    iter->second.delayCycles = iter->second.maxDelayCycles;
                 }
-                replyToReply(iter, TIMEOUT);
+                replyToReply(replyPair.first, replyPair.second, TIMEOUT);
-                missedReply(iter->first);
+                missedReply(replyPair.first);
             }
         }
     }
@@ -584,17 +583,28 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
     }
 }
 
-void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
+void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
         ReturnValue_t status) {
     // No need to check if iter exists, as this is checked by callers.
     // If someone else uses the method, add check.
-    if (iter->second.command == deviceCommandMap.end()) {
+    if (replyInfo.command == deviceCommandMap.end()) {
         //Is most likely periodic reply. Silent return.
         return;
     }
+    DeviceCommandInfo* info = &replyInfo.command->second;
+    if (info == nullptr){
+    	printWarningOrError(sif::OutputTypes::OUT_ERROR,
+    	                        "replyToReply", HasReturnvaluesIF::RETURN_FAILED,
+    	                        "Command pointer not found");
+    	return;
+    }
+
+    if (info->expectedReplies > 0){
+    	// Check before to avoid underflow
+    	info->expectedReplies--;
+    }
     // Check if more replies are expected. If so, do nothing.
-    DeviceCommandInfo* info = &(iter->second.command->second);
+    if (info->expectedReplies == 0) {
-    if (--info->expectedReplies == 0) {
         // Check if it was transition or internal command.
         // Don't send any replies in that case.
         if (info->sendReplyTo != NO_COMMANDER) {
@@ -602,7 +612,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
             if(status == HasReturnvaluesIF::RETURN_OK) {
                 success = true;
             }
-            actionHelper.finish(success, info->sendReplyTo, iter->first, status);
+            actionHelper.finish(success, info->sendReplyTo, command, status);
         }
         info->isExecuting = false;
     }
@@ -801,7 +811,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
             replyRawReplyIfnotWiretapped(receivedData, foundLen);
             triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
         }
-        replyToReply(iter, result);
+        replyToReply(iter->first, iter->second, result);
     }
     else {
         /* Other completion failure messages are created by timeout.

devicehandlers/DeviceHandlerBase.h

@@ -667,7 +667,7 @@ protected:
     static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
     static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);
 
-    static const MessageQueueId_t NO_COMMANDER = 0;
+    static const MessageQueueId_t NO_COMMANDER = MessageQueueIF::NO_QUEUE;
 
     //! Pointer to the raw packet that will be sent.
     uint8_t *rawPacket = nullptr;
@@ -1195,7 +1195,8 @@ private:
      * @foundLen the length of the packet
      */
     void handleReply(const uint8_t *data, DeviceCommandId_t id, uint32_t foundLen);
-    void replyToReply(DeviceReplyMap::iterator iter, ReturnValue_t status);
+    void replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
+            ReturnValue_t status);
 
     /**
      * Build and send a command to the device.

devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -1,6 +1,7 @@
 #include "DeviceHandlerFailureIsolation.h"
 
 #include "../devicehandlers/DeviceHandlerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../modes/HasModesIF.h"
 #include "../health/HealthTableIF.h"
 #include "../power/Fuse.h"
@@ -175,7 +176,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 #endif
 		return result;
 	}
-	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
+	ConfirmsFailuresIF* power = ObjectManager::instance()->get<ConfirmsFailuresIF>(
 			powerConfirmationId);
 	if (power != nullptr) {
 		powerConfirmation = power->getEventReceptionQueue();

devicehandlers/DeviceHandlerMessage.cpp

@@ -1,5 +1,5 @@
 #include "DeviceHandlerMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
@@ -70,7 +70,7 @@ void DeviceHandlerMessage::clear(CommandMessage* message) {
 	case REPLY_RAW_COMMAND:
 	case REPLY_RAW_REPLY:
 	case REPLY_DIRECT_COMMAND_DATA: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 				objects::IPC_STORE);
 		if (ipcStore != nullptr) {
 			ipcStore->deleteData(getStoreAddress(message));

events/EventManager.cpp

@@ -156,11 +156,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
             sif::info << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
                     message->getReporter() << std::setfill(' ') << std::dec;
         }
-        sif::info << " report event with ID " << message->getEventId() << std::endl;
+        sif::info << " reported event with ID " << message->getEventId() << std::endl;
-        sif::info << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
+        sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
-                " | P1 Dec: " << std::dec << message->getParameter1() <<  std::hex <<
+                message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
-                " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<  std::dec <<
+                std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
-                message->getParameter2() << std::endl;
+                std::dec << message->getParameter2() << std::endl;
 #else
         if (string != 0) {
             sif::printInfo("Event Manager: %s reported event with ID %d\n", string,
@@ -186,11 +186,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
             sif::debug << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
                     message->getReporter() << std::setfill(' ') << std::dec;
         }
-        sif::debug << " report event with ID " << message->getEventId() << std::endl;
+        sif::debug << " reported event with ID " << message->getEventId() << std::endl;
-        sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
+        sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
-                " | P1 Dec: " << std::dec << message->getParameter1() <<  std::hex <<
+                message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
-                " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<  std::dec <<
+                std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
-                message->getParameter2() << std::endl;
+                std::dec << message->getParameter2() << std::endl;
 #else
         if (string != 0) {
             sif::printDebug("Event Manager: %s reported event with ID %d\n", string,

events/EventManager.h

@@ -3,8 +3,7 @@
 
 #include "EventManagerIF.h"
 #include "eventmatching/EventMatchTree.h"
-
+#include "FSFWConfig.h"
-#include <FSFWConfig.h>
 
 #include "../serviceinterface/ServiceInterface.h"
 #include "../objectmanager/SystemObject.h"

events/EventManagerIF.h

@@ -3,7 +3,7 @@
 
 #include "EventMessage.h"
 #include "eventmatching/eventmatching.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../serviceinterface/ServiceInterface.h"
@@ -43,7 +43,7 @@ public:
 	static void triggerEvent(EventMessage* message,
 	        MessageQueueId_t sentFrom = 0) {
 		if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
-			EventManagerIF *eventmanager = objectManager->get<EventManagerIF>(
+			EventManagerIF *eventmanager = ObjectManager::instance()->get<EventManagerIF>(
 					objects::EVENT_MANAGER);
 			if (eventmanager == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1

fdir/FailureIsolationBase.cpp

@@ -3,7 +3,7 @@
 #include "../health/HasHealthIF.h"
 #include "../health/HealthMessage.h"
 #include "../ipc/QueueFactory.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 FailureIsolationBase::FailureIsolationBase(object_id_t owner,
 		object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
@@ -18,7 +18,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 }
 
 ReturnValue_t FailureIsolationBase::initialize() {
-	EventManagerIF* manager = objectManager->get<EventManagerIF>(
+	EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
 			objects::EVENT_MANAGER);
 	if (manager == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -36,7 +36,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		owner = objectManager->get<HasHealthIF>(ownerId);
+		owner = ObjectManager::instance()->get<HasHealthIF>(ownerId);
 		if (owner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "FailureIsolationBase::intialize: Owner object "
@@ -46,7 +46,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
 		}
 	}
 	if (faultTreeParent != objects::NO_OBJECT) {
-		ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
+		ConfirmsFailuresIF* parentIF = ObjectManager::instance()->get<ConfirmsFailuresIF>(
 				faultTreeParent);
 		if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

globalfunctions/arrayprinter.cpp

@@ -5,6 +5,15 @@
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
         bool printInfo, size_t maxCharPerLine) {
+    if(size == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "Size is zero, nothing to print" << std::endl;
+#else
+        sif::printInfo("Size is zero, nothing to print\n");
+#endif
+        return;
+    }
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     if(printInfo) {
          sif::info << "Printing data with size " << size << ": " << std::endl;

health/HealthHelper.cpp

@@ -1,5 +1,5 @@
 #include "HealthHelper.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
 		objectId(objectId), owner(owner) {
@@ -37,8 +37,8 @@ void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 }
 
 ReturnValue_t HealthHelper::initialize() {
-	healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
+	healthTable = ObjectManager::instance()->get<HealthTableIF>(objects::HEALTH_TABLE);
-	eventSender = objectManager->get<EventReportingProxyIF>(objectId);
+	eventSender = ObjectManager::instance()->get<EventReportingProxyIF>(objectId);
 
 	if (healthTable == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

housekeeping/HousekeepingMessage.cpp

@@ -1,6 +1,6 @@
 #include "HousekeepingMessage.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include <cstring>
 
 HousekeepingMessage::~HousekeepingMessage() {}
@@ -161,7 +161,7 @@ void HousekeepingMessage::clear(CommandMessage* message) {
     case(UPDATE_SNAPSHOT_VARIABLE): {
         store_address_t storeId;
         getHkDataReply(message, &storeId);
-        StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+        StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
                 objects::IPC_STORE);
         if (ipcStore != nullptr) {
             ipcStore->deleteData(storeId);

ipc/CommandMessageCleaner.cpp

@@ -1,5 +1,6 @@
 #include "CommandMessageCleaner.h"
 
+#include "../memory/GenericFileSystemMessage.h"
 #include "../devicehandlers/DeviceHandlerMessage.h"
 #include "../health/HealthMessage.h"
 #include "../memory/MemoryMessage.h"
@@ -42,6 +43,9 @@ void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
 	case messagetypes::HOUSEKEEPING:
 	    HousekeepingMessage::clear(message);
 	    break;
+	case messagetypes::FILE_SYSTEM_MESSAGE:
+	    GenericFileSystemMessage::clear(message);
+	    break;
 	default:
 		messagetypes::clearMissionMessage(message);
 		break;

memory/CMakeLists.txt

@@ -1,5 +1,5 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
     MemoryHelper.cpp
     MemoryMessage.cpp
+    GenericFileSystemMessage.cpp
 )

memory/GenericFileSystemMessage.cpp

@@ -0,0 +1,161 @@
+#include "GenericFileSystemMessage.h"
+
+#include "../objectmanager/ObjectManager.h"
+#include "../storagemanager/StorageManagerIF.h"
+
+void GenericFileSystemMessage::setCreateFileCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_CREATE_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setDeleteFileCommand(
+        CommandMessage* message, store_address_t storeId) {
+    message->setCommand(CMD_DELETE_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setCreateDirectoryCommand(
+        CommandMessage* message, store_address_t storeId) {
+    message->setCommand(CMD_CREATE_DIRECTORY);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReportFileAttributesCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_REPORT_FILE_ATTRIBUTES);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReportFileAttributesReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_REPORT_FILE_ATTRIBUTES);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setDeleteDirectoryCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_DELETE_DIRECTORY);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setLockFileCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_LOCK_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setUnlockFileCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_UNLOCK_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setSuccessReply(CommandMessage *message) {
+    message->setCommand(COMPLETION_SUCCESS);
+}
+
+void GenericFileSystemMessage::setFailureReply(CommandMessage *message,
+        ReturnValue_t errorCode, uint32_t errorParam) {
+    message->setCommand(COMPLETION_FAILED);
+    message->setParameter(errorCode);
+    message->setParameter2(errorParam);
+}
+
+store_address_t GenericFileSystemMessage::getStoreId(const CommandMessage* message) {
+    store_address_t temp;
+    temp.raw = message->getParameter2();
+    return temp;
+}
+
+ReturnValue_t GenericFileSystemMessage::getFailureReply(
+        const CommandMessage *message, uint32_t* errorParam) {
+    if(errorParam != nullptr) {
+        *errorParam = message->getParameter2();
+    }
+    return message->getParameter();
+}
+
+void GenericFileSystemMessage::setFinishStopWriteCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_FINISH_APPEND_TO_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setFinishStopWriteReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_FINISH_APPEND);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setCopyCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_COPY_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setWriteCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_APPEND_TO_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReadCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_READ_FROM_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setFinishAppendReply(CommandMessage* message,
+        store_address_t storageID) {
+    message->setCommand(REPLY_FINISH_APPEND);
+    message->setParameter2(storageID.raw);
+}
+
+void GenericFileSystemMessage::setReadReply(CommandMessage* message,
+        bool readFinished, store_address_t storeId) {
+    message->setCommand(REPLY_READ_FROM_FILE);
+    message->setParameter(readFinished);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReadFinishedReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_READ_FINISHED_STOP);
+    message->setParameter2(storeId.raw);
+}
+
+bool GenericFileSystemMessage::getReadReply(const CommandMessage *message,
+        store_address_t *storeId) {
+    if(storeId != nullptr) {
+        (*storeId).raw = message->getParameter2();
+    }
+    return message->getParameter();
+}
+
+ReturnValue_t GenericFileSystemMessage::clear(CommandMessage* message) {
+    switch(message->getCommand()) {
+    case(CMD_CREATE_FILE):
+    case(CMD_DELETE_FILE):
+    case(CMD_CREATE_DIRECTORY):
+    case(CMD_REPORT_FILE_ATTRIBUTES):
+    case(REPLY_REPORT_FILE_ATTRIBUTES):
+    case(CMD_LOCK_FILE):
+    case(CMD_UNLOCK_FILE):
+    case(CMD_COPY_FILE):
+    case(REPLY_READ_FROM_FILE):
+    case(CMD_READ_FROM_FILE):
+    case(CMD_APPEND_TO_FILE):
+    case(CMD_FINISH_APPEND_TO_FILE):
+    case(REPLY_READ_FINISHED_STOP):
+    case(REPLY_FINISH_APPEND): {
+        store_address_t storeId = GenericFileSystemMessage::getStoreId(message);
+        auto ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+        if(ipcStore == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return ipcStore->deleteData(storeId);
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

memory/GenericFileSystemMessage.h

@@ -0,0 +1,115 @@
+#ifndef MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
+#define MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
+
+#include <cstdint>
+
+#include <fsfw/ipc/CommandMessageIF.h>
+#include <fsfw/ipc/FwMessageTypes.h>
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/storagemanager/storeAddress.h>
+
+/**
+ * @brief   These messages are sent to an object implementing HasFilesystemIF.
+ * @details
+ * Enables a message-based file management. The user can add custo commands be implementing
+ * this generic class.
+ * @author  Jakob Meier, R. Mueller
+ */
+class GenericFileSystemMessage {
+public:
+    /* Instantiation forbidden */
+    GenericFileSystemMessage() = delete;
+
+    static const uint8_t MESSAGE_ID = messagetypes::FILE_SYSTEM_MESSAGE;
+    /* PUS standard  (ECSS-E-ST-70-41C15 2016 p.654) */
+    static const Command_t CMD_CREATE_FILE = MAKE_COMMAND_ID(1);
+    static const Command_t CMD_DELETE_FILE = MAKE_COMMAND_ID(2);
+    /** Report file attributes */
+    static const Command_t CMD_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(3);
+    static const Command_t REPLY_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(4);
+    /** Command to lock a file, setting it read-only */
+    static const Command_t CMD_LOCK_FILE = MAKE_COMMAND_ID(5);
+    /** Command to unlock a file, enabling further operations on it */
+    static const Command_t CMD_UNLOCK_FILE = MAKE_COMMAND_ID(6);
+    /**
+     * Find file in repository, using a search pattern.
+     * Please note that * is the wildcard character.
+     * For example, when looking for all files which start with have the
+     * structure tm<something>.bin, tm*.bin can be used.
+     */
+    static const Command_t CMD_FIND_FILE = MAKE_COMMAND_ID(7);
+    static const Command_t CMD_CREATE_DIRECTORY = MAKE_COMMAND_ID(9);
+    static const Command_t CMD_DELETE_DIRECTORY = MAKE_COMMAND_ID(10);
+    static const Command_t CMD_RENAME_DIRECTORY = MAKE_COMMAND_ID(11);
+
+    /** Dump contents of a repository */
+    static const Command_t CMD_DUMP_REPOSITORY = MAKE_COMMAND_ID(12);
+    /** Repository dump reply */
+    static const Command_t REPLY_DUMY_REPOSITORY = MAKE_COMMAND_ID(13);
+    static constexpr Command_t CMD_COPY_FILE = MAKE_COMMAND_ID(14);
+    static constexpr Command_t CMD_MOVE_FILE = MAKE_COMMAND_ID(15);
+
+    static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(128);
+    static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(129);
+
+    // These command IDs will remain until CFDP has been introduced and consolidated.
+    /** Append operation commands */
+    static const Command_t CMD_APPEND_TO_FILE = MAKE_COMMAND_ID(130);
+    static const Command_t CMD_FINISH_APPEND_TO_FILE = MAKE_COMMAND_ID(131);
+    static const Command_t REPLY_FINISH_APPEND = MAKE_COMMAND_ID(132);
+
+    static const Command_t CMD_READ_FROM_FILE = MAKE_COMMAND_ID(140);
+    static const Command_t REPLY_READ_FROM_FILE = MAKE_COMMAND_ID(141);
+    static const Command_t CMD_STOP_READ = MAKE_COMMAND_ID(142);
+    static const Command_t REPLY_READ_FINISHED_STOP = MAKE_COMMAND_ID(143);
+
+    static void setLockFileCommand(CommandMessage* message, store_address_t storeId);
+    static void setUnlockFileCommand(CommandMessage* message, store_address_t storeId);
+
+    static void setCreateFileCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setDeleteFileCommand(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setReportFileAttributesCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setReportFileAttributesReply(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setCreateDirectoryCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setDeleteDirectoryCommand(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setSuccessReply(CommandMessage* message);
+    static void setFailureReply(CommandMessage* message,
+            ReturnValue_t errorCode, uint32_t errorParam = 0);
+    static void setCopyCommand(CommandMessage* message, store_address_t storeId);
+
+    static void setWriteCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishStopWriteCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishStopWriteReply(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishAppendReply(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setReadCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setReadFinishedReply(CommandMessage* message,
+            store_address_t storeId);
+    static void setReadReply(CommandMessage* message, bool readFinished,
+            store_address_t storeId);
+    static bool getReadReply(const CommandMessage* message,
+            store_address_t* storeId);
+
+    static store_address_t getStoreId(const CommandMessage* message);
+    static ReturnValue_t getFailureReply(const CommandMessage* message,
+            uint32_t* errorParam = nullptr);
+
+    static ReturnValue_t clear(CommandMessage* message);
+
+};
+
+#endif /* MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ */

memory/MemoryHelper.cpp

@@ -2,9 +2,9 @@
 #include "MemoryMessage.h"
 
 #include "../globalfunctions/CRC.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/EndianConverter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
 		MessageQueueIF* useThisQueue):
@@ -187,7 +187,7 @@ ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
 }
 
 ReturnValue_t MemoryHelper::initialize() {
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 	if (ipcStore != nullptr) {
 		return RETURN_OK;
 	} else {

memory/MemoryMessage.cpp

@@ -1,6 +1,6 @@
 #include "MemoryMessage.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 uint32_t MemoryMessage::getAddress(const CommandMessage* message) {
 	return message->getParameter();
@@ -44,7 +44,7 @@ void MemoryMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_MEMORY_LOAD:
 	case REPLY_MEMORY_DUMP: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 				objects::IPC_STORE);
 		if (ipcStore != NULL) {
 			ipcStore->deleteData(getStoreID(message));

monitoring/LimitViolationReporter.cpp

@@ -1,13 +1,8 @@
-/**
- * @file	LimitViolationReporter.cpp
- * @brief	This file defines the LimitViolationReporter class.
- * @date	17.07.2014
- * @author	baetz
- */
 #include "LimitViolationReporter.h"
 #include "MonitoringIF.h"
 #include "ReceivesMonitoringReportsIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/SerializeAdapter.h"
 
 ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF* data) {
@@ -16,7 +11,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 		return result;
 	}
 	store_address_t storeId;
-	uint8_t* dataTarget = NULL;
+	uint8_t* dataTarget = nullptr;
 	size_t maxSize = data->getSerializedSize();
 	if (maxSize > MonitoringIF::VIOLATION_REPORT_MAX_SIZE) {
 		return MonitoringIF::INVALID_SIZE;
@@ -38,16 +33,16 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 
 ReturnValue_t LimitViolationReporter::checkClassLoaded() {
 	if (reportQueue == 0) {
-		ReceivesMonitoringReportsIF* receiver = objectManager->get<
+		ReceivesMonitoringReportsIF* receiver = ObjectManager::instance()->get<
 				ReceivesMonitoringReportsIF>(reportingTarget);
-		if (receiver == NULL) {
+		if (receiver == nullptr) {
 			return ObjectManagerIF::NOT_FOUND;
 		}
 		reportQueue = receiver->getCommandQueue();
 	}
-	if (ipcStore == NULL) {
+	if (ipcStore == nullptr) {
-		ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+		ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-		if (ipcStore == NULL) {
+		if (ipcStore == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
@@ -56,5 +51,5 @@ ReturnValue_t LimitViolationReporter::checkClassLoaded() {
 
 //Lazy initialization.
 MessageQueueId_t LimitViolationReporter::reportQueue = 0;
-StorageManagerIF* LimitViolationReporter::ipcStore = NULL;
+StorageManagerIF* LimitViolationReporter::ipcStore = nullptr;
 object_id_t LimitViolationReporter::reportingTarget = 0;

monitoring/MonitoringMessage.cpp

@@ -1,5 +1,5 @@
 #include "MonitoringMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 MonitoringMessage::~MonitoringMessage() {
 }
@@ -25,7 +25,7 @@ void MonitoringMessage::clear(CommandMessage* message) {
 	message->setCommand(CommandMessage::CMD_NONE);
 	switch (message->getCommand()) {
 	case MonitoringMessage::LIMIT_VIOLATION_REPORT: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 				objects::IPC_STORE);
 		if (ipcStore != NULL) {
 			ipcStore->deleteData(getStoreId(message));

monitoring/MonitoringMessageContent.h

@@ -5,7 +5,7 @@
 #include "MonitoringIF.h"
 
 #include "../datapoollocal/localPoolDefinitions.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/SerialBufferAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../serialize/SerializeElement.h"
@@ -71,7 +71,7 @@ private:
 	}
 	bool checkAndSetStamper() {
 		if (timeStamper == nullptr) {
-			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
+			timeStamper = ObjectManager::instance()->get<TimeStamperIF>( timeStamperId );
 			if ( timeStamper == nullptr ) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error << "MonitoringReportContent::checkAndSetStamper: "

monitoring/TriplexMonitor.h

@@ -5,7 +5,7 @@
 #include "../datapool/PIDReaderList.h"
 #include "../health/HealthTableIF.h"
 #include "../parameters/HasParametersIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 
 //SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering.
@@ -64,7 +64,7 @@ public:
 		return result;
 	}
 	ReturnValue_t initialize() {
-		healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
+		healthTable = ObjectManager::instance()->get<HealthTableIF>(objects::HEALTH_TABLE);
 		if (healthTable == NULL) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}

objectmanager/ObjectManager.cpp

@@ -6,11 +6,23 @@
 #endif
 #include <cstdlib>
 
-ObjectManager::ObjectManager( void (*setProducer)() ):
+ObjectManager* ObjectManager::objManagerInstance = nullptr;
-		produceObjects(setProducer) {
+
-	//There's nothing special to do in the constructor.
+ObjectManager* ObjectManager::instance() {
+    if(objManagerInstance == nullptr) {
+        objManagerInstance = new ObjectManager();
+    }
+    return objManagerInstance;
 }
 
+void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc, void *factoryArgs) {
+    this->objectFactoryFunction = objFactoryFunc;
+    this->factoryArgs = factoryArgs;
+}
+
+
+ObjectManager::ObjectManager() {}
+
 
 ObjectManager::~ObjectManager() {
 	for (auto const& iter : objectList) {
@@ -28,10 +40,13 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 		return this->RETURN_OK;
 	} else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "ObjectManager::insert: Object id " << std::hex
+		sif::error << "ObjectManager::insert: Object ID " << std::hex <<
-		           << static_cast<uint32_t>(id) << std::dec
+		        static_cast<uint32_t>(id) << std::dec << " is already in use!" << std::endl;
-				   << " is already in use!" << std::endl;
+		sif::error << "Terminating program" << std::endl;
-		sif::error << "Terminating program." << std::endl;
+#else
+		sif::printError("ObjectManager::insert: Object ID 0x%08x is already in use!\n",
+		        static_cast<unsigned int>(id));
+		sif::printError("Terminating program");
 #endif
 		//This is very severe and difficult to handle in other places.
 		std::exit(INSERTION_FAILED);
@@ -66,12 +81,8 @@ SystemObjectIF* ObjectManager::getSystemObject( object_id_t id ) {
 	}
 }
 
-ObjectManager::ObjectManager() : produceObjects(nullptr) {
-
-}
-
 void ObjectManager::initialize() {
-	if(produceObjects == nullptr) {
+	if(objectFactoryFunction == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManager::initialize: Passed produceObjects "
 				"functions is nullptr!" << std::endl;
@@ -80,7 +91,7 @@ void ObjectManager::initialize() {
 #endif
 		return;
 	}
-	this->produceObjects();
+	objectFactoryFunction(factoryArgs);
 	ReturnValue_t result = RETURN_FAILED;
 	uint32_t errorCount = 0;
 	for (auto const& it : objectList) {
@@ -108,9 +119,9 @@ void ObjectManager::initialize() {
 		result = it.second->checkObjectConnections();
 		if ( result != RETURN_OK ) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
+			sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex <<
-					(int) it.first  << " connection check failed with code 0x"
+					(int) it.first  << " connection check failed with code 0x" << result <<
-					<< result << std::dec << std::endl;
+					std::dec << std::endl;
 #endif
 			errorCount++;
 		}

objectmanager/ObjectManager.h

@@ -5,6 +5,7 @@
 #include "SystemObjectIF.h"
 #include <map>
 
+
 /**
  * @brief	This class implements a global object manager.
  * @details	This manager handles a list of available objects with system-wide
@@ -19,15 +20,32 @@
  * @author	Bastian Baetz
  */
 class ObjectManager : public ObjectManagerIF {
-private:
+public:
-	//comparison?
+
+    using produce_function_t = void (*) (void* args);
+
     /**
-	 * @brief	This is the map of all initialized objects in the manager.
+     * Returns the single instance of TaskFactory.
-	 * @details	Objects in the List must inherit the SystemObjectIF.
+     * The implementation of #instance is found in its subclasses.
+     * Thus, we choose link-time variability of the  instance.
      */
-	std::map<object_id_t, SystemObjectIF*> objectList;
+    static ObjectManager* instance();
+
+    void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
+
+    template <typename T> T* get( object_id_t id );
+
+    /**
+     *  @brief  In the class's destructor, all objects in the list are deleted.
+     */
+    virtual ~ObjectManager();
+    ReturnValue_t insert(object_id_t id, SystemObjectIF* object) override;
+    ReturnValue_t remove(object_id_t id) override;
+    void initialize() override;
+    void printList() override;
+
 protected:
-	SystemObjectIF* getSystemObject( object_id_t id );
+    SystemObjectIF* getSystemObject(object_id_t id) override;
     /**
      * @brief   This attribute is initialized with the factory function
      *          that creates new objects.
@@ -36,27 +54,25 @@ protected:
      * @param   The id of the object to be created.
      * @return  Returns a pointer to the newly created object or NULL.
      */
-	void (*produceObjects)();
+    produce_function_t objectFactoryFunction = nullptr;
-public:
+    void* factoryArgs = nullptr;
-	/**
+
-	 * @brief	Apart from setting the producer function, nothing special
+private:
-	 * 			happens in the constructor.
-	 * @param setProducer	A pointer to a factory function.
-	 */
-	ObjectManager( void (*produce)() );
     ObjectManager();
+
     /**
-	 *	@brief	In the class's destructor, all objects in the list are deleted.
+     * @brief	This is the map of all initialized objects in the manager.
+     * @details	Objects in the List must inherit the SystemObjectIF.
      */
-	// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
+    std::map<object_id_t, SystemObjectIF*> objectList;
-	// required, check if this works.
+    static ObjectManager* objManagerInstance;
-	virtual ~ObjectManager( void );
-	ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
-	ReturnValue_t remove( object_id_t id );
-	void initialize();
-	void printList();
 };
 
-
+// Documentation can be found in the class method declaration above
+template <typename T>
+T* ObjectManager::get( object_id_t id ) {
+    SystemObjectIF* temp = this->getSystemObject(id);
+    return dynamic_cast<T*>(temp);
+}
 
 #endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */

objectmanager/ObjectManagerIF.h

@@ -8,11 +8,11 @@
 
 /**
  * @brief	This class provides an interface to the global object manager.
- * @details	This manager handles a list of available objects with system-wide
+ * @details
- * 			relevance, such as device handlers, and TM/TC services. They can be
+ * This manager handles a list of available objects with system-wide relevance, such as device
- * 			inserted, removed and retrieved from the list. On getting the
+ * handlers, and TM/TC services. They can be inserted, removed and retrieved from the list.
- * 			object, the call checks if the object implements the requested
+ * On getting the object, the call checks if the object implements the requested interface.
- * 			interface.
+ * This interface does not specify a getter function because templates can't be used in interfaces.
  * @author	Bastian Baetz
  * @ingroup system_objects
  */
@@ -21,7 +21,8 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
+	//!< Can be used if the initialization of a SystemObject failed.
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:
@@ -49,22 +50,11 @@ public:
 	 * 			@li RETURN_OK in case the object was successfully inserted
 	 */
 	virtual ReturnValue_t insert( object_id_t id, SystemObjectIF* object ) = 0;
-	/**
-	 * @brief	With the get call, interfaces of an object can be retrieved in
-	 * 			a type-safe manner.
-	 * @details With the template-based call, the object list is searched with the
-	 * 			getSystemObject method and afterwards it is checked, if the object
-	 * 			implements the requested interface (with a dynamic_cast).
-	 * @param id	The object id of the requested object.
-	 * @return	The method returns a pointer to an object implementing the
-	 * 			requested interface, or NULL.
-	 */
-	template <typename T> T* get( object_id_t id );
 	/**
 	 * @brief	With this call, an object is removed from the list.
 	 * @param id	The object id of the object to be removed.
-	 * @return	\li NOT_FOUND in case the object was not found
+	 * @return	@li NOT_FOUND in case the object was not found
-	 * 			\li RETURN_OK in case the object was successfully removed
+	 * 			@li RETURN_OK in case the object was successfully removed
 	 */
 	virtual ReturnValue_t remove( object_id_t id ) = 0;
 	virtual void initialize() = 0;
@@ -75,24 +65,4 @@ public:
 	virtual void printList() = 0;
 };
 
-
-/**
- * @brief	This is the forward declaration of the global objectManager instance.
- */
-// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
-extern ObjectManagerIF *objectManager;
-
-/*Documentation can be found in the class method declaration above.*/
-template <typename T>
-T* ObjectManagerIF::get( object_id_t id ) {
-	if(objectManager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "ObjectManagerIF: Global object manager has not "
-				"been initialized yet!" << std::endl;
-#endif
-	}
-	SystemObjectIF* temp = this->getSystemObject(id);
-	return dynamic_cast<T*>(temp);
-}
-
 #endif /* OBJECTMANAGERIF_H_ */

objectmanager/SystemObject.cpp

@@ -5,17 +5,13 @@
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {
     if (registered) {
-	    if(objectManager != nullptr) {
+        ObjectManager::instance()->insert(objectId, this);
-	        objectManager->insert(objectId, this);
-	    }
     }
 }
 
 SystemObject::~SystemObject() {
 	if (registered) {
-	    if(objectManager != nullptr) {
+	    ObjectManager::instance()->remove(objectId);
-	        objectManager->remove(objectId);
-	    }
 	}
 }
 

osal/FreeRTOS/CMakeLists.txt

@@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
 		TaskFactory.cpp
 		Timekeeper.cpp
 		TaskManagement.cpp
+		QueueMapManager.cpp
 )
 
 # FreeRTOS is required to link the FSFW now. It is recommended to compile 

osal/FreeRTOS/Clock.cpp

@@ -134,71 +134,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
             / 3600.;
     return HasReturnvaluesIF::RETURN_OK;
 }
-
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
-    //SHOULDDO: works not for dates in the past (might have less leap seconds)
-    if (timeMutex == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    uint16_t leapSeconds;
-    ReturnValue_t result = getLeapSeconds(&leapSeconds);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    timeval leapSeconds_timeval = { 0, 0 };
-    leapSeconds_timeval.tv_sec = leapSeconds;
-
-    //initial offset between UTC and TAI
-    timeval UTCtoTAI1972 = { 10, 0 };
-
-    timeval TAItoTT = { 32, 184000 };
-
-    *tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
-
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
-    if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-
-    leapSeconds = leapSeconds_;
-
-    result = timeMutex->unlockMutex();
-    return result;
-}
-
-ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-    if (timeMutex == NULL) {
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-
-    *leapSeconds_ = leapSeconds;
-
-    result = timeMutex->unlockMutex();
-    return result;
-}
-
-ReturnValue_t Clock::checkOrCreateClockMutex() {
-    if (timeMutex == NULL) {
-        MutexFactory* mutexFactory = MutexFactory::instance();
-        if (mutexFactory == NULL) {
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        timeMutex = mutexFactory->createMutex();
-        if (timeMutex == NULL) {
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -1,6 +1,7 @@
 #include "FixedTimeslotTask.h"
 
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManager.h"
+#include "../../serviceinterface/ServiceInterface.h"
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
@@ -66,8 +67,7 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-    ExecutableObjectIF* handler =
+    ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-            objectManager->get<ExecutableObjectIF>(componentId);
 	if (handler != nullptr) {
 		pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
 		return HasReturnvaluesIF::RETURN_OK;

osal/FreeRTOS/MessageQueue.cpp

@@ -1,26 +1,23 @@
 #include "MessageQueue.h"
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "QueueMapManager.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManager.h"
+#include "../../serviceinterface/ServiceInterface.h"
 
-// TODO I guess we should have a way of checking if we are in an ISR and then
-// use the "fromISR" versions of all calls
-// As a first step towards this, introduces system context variable which needs
-// to be switched manually
-// Haven't found function to find system context.
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
         maxMessageSize(maxMessageSize) {
     handle = xQueueCreate(messageDepth, maxMessageSize);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     if (handle == nullptr) {
-		sif::error << "MessageQueue::MessageQueue:"
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-		        << " Creation failed." << std::endl;
+        sif::error << "MessageQueue::MessageQueue: Creation failed" << std::endl;
-		sif::error << "Specified Message Depth: " << messageDepth
+        sif::error << "Specified Message Depth: " << messageDepth << std::endl;
-		        << std::endl;
+        sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
-		sif::error << "Specified Maximum Message Size: "
+#else
-		        << maxMessageSize << std::endl;
+        sif::printError("MessageQueue::MessageQueue: Creation failed\n");
-
+        sif::printError("Specified Message Depth: %d\n", messageDepth);
-	}
+        sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
 #endif
+    }
+    QueueMapManager::instance()->addMessageQueue(handle, &queueId);
 }
 
 MessageQueue::~MessageQueue() {
@@ -62,13 +59,15 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
             callContext);
 }
 
+QueueHandle_t MessageQueue::getNativeQueueHandle() {
+    return handle;
+}
 
 ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
 	if (result != pdPASS) {
 		if (not ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter = objectManager->
+			InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
-					get<InternalErrorReporterIF>(
+			        get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-					objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != nullptr) {
 				internalErrorReporter->queueMessageNotSent();
 			}
@@ -110,7 +109,7 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 }
 
 MessageQueueId_t MessageQueue::getId() const {
-	return reinterpret_cast<MessageQueueId_t>(handle);
+    return queueId;
 }
 
 void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
@@ -132,29 +131,24 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault, CallContext callContext) {
     BaseType_t result = pdFALSE;
-	QueueHandle_t destination = nullptr;
+    if(sendTo == MessageQueueIF::NO_QUEUE) {
-
-	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
         return MessageQueueIF::DESTINATION_INVALID;
     }
-	else  {
+
-		destination = reinterpret_cast<QueueHandle_t>(sendTo);
+    QueueHandle_t destination = QueueMapManager::instance()->getMessageQueue(sendTo);
+    if(destination == nullptr) {
+        return MessageQueueIF::DESTINATION_INVALID;
     }
 
     message->setSender(sentFrom);
-
-
     if(callContext == CallContext::TASK) {
-        result = xQueueSendToBack(destination,
+        result = xQueueSendToBack(destination, static_cast<const void*>(message->getBuffer()), 0);
-                static_cast<const void*>(message->getBuffer()), 0);
     }
     else {
-        /* If the call context is from an interrupt,
+        /* If the call context is from an interrupt, request a context switch if a higher priority
-         * request a context switch if a higher priority task
+        task was blocked by the interrupt. */
-         * was blocked by the interrupt. */
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
+        result = xQueueSendFromISR(destination, static_cast<const void*>(message->getBuffer()),
-                static_cast<const void*>(message->getBuffer()),
                 &xHigherPriorityTaskWoken);
         if(xHigherPriorityTaskWoken == pdTRUE) {
             TaskManagement::requestContextSwitch(callContext);

osal/FreeRTOS/MessageQueue.h

@@ -11,11 +11,6 @@
 #include <freertos/queue.h>
 #include <fsfw/ipc/MessageQueueMessage.h>
 
-// TODO: this class assumes that MessageQueueId_t is the same size as void*
-// (the FreeRTOS handle type), compiler will catch this but it might be nice
-// to have something checking or even an always working solution
-// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
-
 /**
  * @brief		This class manages sending and receiving of
  * 				message queue messages.
@@ -112,6 +107,8 @@ public:
 
     bool isDefaultDestinationSet() const override;
 
+    QueueHandle_t getNativeQueueHandle();
+
 protected:
     /**
      * @brief 	Implementation to be called from any send Call within
@@ -141,6 +138,8 @@ protected:
 private:
     bool defaultDestinationSet = false;
     QueueHandle_t handle;
+    MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
+
     MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
     MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
     const size_t maxMessageSize;

osal/FreeRTOS/PeriodicTask.cpp

@@ -1,6 +1,7 @@
 #include "PeriodicTask.h"
 
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManager.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
@@ -100,7 +101,7 @@ void PeriodicTask::taskFunctionality() {
 }
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+	ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

osal/FreeRTOS/QueueMapManager.cpp

@@ -0,0 +1,58 @@
+#include "QueueMapManager.h"
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexGuard.h"
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
+
+QueueMapManager* QueueMapManager::instance() {
+    if (mqManagerInstance == nullptr){
+        mqManagerInstance = new QueueMapManager();
+    }
+    return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id) {
+    MutexGuard lock(mapLock);
+    uint32_t currentId = queueCounter++;
+    auto returnPair = queueMap.emplace(currentId, queue);
+    if(not returnPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "QueueMapManager::addMessageQueue This ID is already "
+                "inside the map!" << std::endl;
+#else
+        sif::printError("QueueMapManager::addMessageQueue This ID is already "
+                "inside the map!\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if (id != nullptr) {
+        *id = currentId;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+QueueHandle_t QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId) const {
+    auto queueIter = queueMap.find(messageQueueId);
+    if(queueIter != queueMap.end()) {
+        return queueIter->second;
+    }
+    else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
+                " does not exists in the map!" << std::endl;
+#else
+        sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
+                messageQueueId);
+#endif
+    }
+    return nullptr;
+}
+
+QueueMapManager::~QueueMapManager() {
+    MutexFactory::instance()->deleteMutex(mapLock);
+}

osal/FreeRTOS/QueueMapManager.h

@@ -0,0 +1,50 @@
+#ifndef FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
+#define FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
+
+#include "../../ipc/MutexIF.h"
+#include "../../ipc/messageQueueDefinitions.h"
+#include "../../ipc/MessageQueueIF.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+
+#include <map>
+
+using QueueMap = std::map<MessageQueueId_t, QueueHandle_t>;
+
+class QueueMapManager {
+public:
+
+    //! Returns the single instance of QueueMapManager
+    static QueueMapManager* instance();
+
+    /**
+     * Insert a message queue and the corresponding QueueHandle into the map
+     * @param queue The message queue to insert.
+     * @param id The passed value will be set unless a nullptr is passed
+     * @return
+     */
+    ReturnValue_t addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id);
+
+    /**
+     * Get the message queue handle by providing a message queue ID. Returns nullptr
+     * if the queue ID does not exist in the internal map.
+     * @param messageQueueId
+     * @return
+     */
+    QueueHandle_t getMessageQueue(MessageQueueId_t messageQueueId) const;
+
+private:
+    //! External instantiation forbidden. Constructor still required for singleton instantiation.
+    QueueMapManager();
+    ~QueueMapManager();
+
+    uint32_t queueCounter = 0;
+    MutexIF* mapLock;
+    QueueMap queueMap;
+    static QueueMapManager* mqManagerInstance;
+};
+
+
+
+#endif /* FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_ */

osal/common/TcpTmTcServer.cpp

@@ -6,7 +6,7 @@
 #include "../../container/SharedRingBuffer.h"
 #include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/MutexGuard.h"
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManager.h"
 
 #include "../../serviceinterface/ServiceInterface.h"
 #include "../../tmtcservices/TmTcMessage.h"
@@ -41,7 +41,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
         return result;
     }
 
-    tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+    tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
     if (tcStore == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "TcpTmTcServer::initialize: TC store uninitialized!" << std::endl;
@@ -51,7 +51,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-    tmtcBridge = objectManager->get<TcpTmTcBridge>(tmtcBridgeId);
+    tmtcBridge = ObjectManager::instance()->get<TcpTmTcBridge>(tmtcBridgeId);
 
     int retval = 0;
     struct addrinfo *addrResult = nullptr;

osal/common/UdpTcPollingTask.cpp

@@ -2,7 +2,8 @@
 #include "tcpipHelpers.h"
 #include "../../platform.h"
 #include "../../globalfunctions/arrayprinter.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../objectmanager/ObjectManager.h"
 
 #ifdef PLATFORM_WIN
 #include <winsock2.h>
@@ -116,7 +117,7 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 }
 
 ReturnValue_t UdpTcPollingTask::initialize() {
-    tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+    tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
     if (tcStore == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "UdpTcPollingTask::initialize: TC store uninitialized!" << std::endl;
@@ -124,7 +125,7 @@ ReturnValue_t UdpTcPollingTask::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-    tmtcBridge = objectManager->get<UdpTmTcBridge>(tmtcBridgeId);
+    tmtcBridge = ObjectManager::instance()->get<UdpTmTcBridge>(tmtcBridgeId);
     if(tmtcBridge == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "UdpTcPollingTask::initialize: Invalid TMTC bridge object!" <<

osal/host/Clock.cpp

@@ -171,71 +171,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 			/ 3600.;
 	return HasReturnvaluesIF::RETURN_OK;
 }
-
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
-	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	uint16_t leapSeconds;
-	ReturnValue_t result = getLeapSeconds(&leapSeconds);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	timeval leapSeconds_timeval = { 0, 0 };
-	leapSeconds_timeval.tv_sec = leapSeconds;
-
-	//initial offset between UTC and TAI
-	timeval UTCtoTAI1972 = { 10, 0 };
-
-	timeval TAItoTT = { 32, 184000 };
-
-	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
-	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	leapSeconds = leapSeconds_;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex == nullptr){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	*leapSeconds_ = leapSeconds;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex == nullptr){
-		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}

osal/host/FixedTimeslotTask.cpp

@@ -1,9 +1,11 @@
 #include "taskHelpers.h"
+
 #include "../../platform.h"
 #include "../../osal/host/FixedTimeslotTask.h"
 #include "../../ipc/MutexFactory.h"
 #include "../../osal/host/Mutex.h"
 #include "../../osal/host/FixedTimeslotTask.h"
+#include "../../objectmanager/ObjectManager.h"
 #include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
@@ -110,7 +112,7 @@ void FixedTimeslotTask::taskFunctionality() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
         uint32_t slotTimeMs, int8_t executionStep) {
-    ExecutableObjectIF* executableObject = objectManager->
+    ExecutableObjectIF* executableObject = ObjectManager::instance()->
             get<ExecutableObjectIF>(componentId);
     if (executableObject != nullptr) {
         pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep,

osal/host/MessageQueue.cpp

@@ -1,7 +1,8 @@
 #include "MessageQueue.h"
 #include "QueueMapManager.h"
 
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../objectmanager/ObjectManager.h"
 #include "../../ipc/MutexFactory.h"
 #include "../../ipc/MutexGuard.h"
 
@@ -13,8 +14,9 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "MessageQueue::MessageQueue:"
+		sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
-		        << " Could not be created" << std::endl;
+#else
+		sif::printError("MessageQueue::MessageQueue: Could not be created\n");
 #endif
 	}
 }
@@ -121,9 +123,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			QueueMapManager::instance()->getMessageQueue(sendTo));
 	if(targetQueue == nullptr) {
 		if(not ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter =
+			InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
-					objectManager->get<InternalErrorReporterIF>(
+			        get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-							objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != nullptr) {
 				internalErrorReporter->queueMessageNotSent();
 			}

osal/host/PeriodicTask.cpp

@@ -4,7 +4,8 @@
 
 #include "../../platform.h"
 #include "../../ipc/MutexFactory.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManager.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
 #include <thread>
@@ -103,7 +104,7 @@ void PeriodicTask::taskFunctionality() {
 }
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+	ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;

osal/host/QueueMapManager.cpp

@@ -23,9 +23,7 @@ QueueMapManager* QueueMapManager::instance() {
 
 ReturnValue_t QueueMapManager::addMessageQueue(
         MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
-	/* Not thread-safe, but it is assumed all message queues are created at software initialization
+    MutexGuard lock(mapLock);
-	now. If this is to be made thread-safe in the future, it propably would be sufficient to lock
-	the increment operation here. */
     uint32_t currentId = queueCounter++;
     auto returnPair = queueMap.emplace(currentId, queueToInsert);
     if(not returnPair.second) {
@@ -47,7 +45,6 @@ ReturnValue_t QueueMapManager::addMessageQueue(
 
 MessageQueueIF* QueueMapManager::getMessageQueue(
         MessageQueueId_t messageQueueId) const {
-	MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50);
     auto queueIter = queueMap.find(messageQueueId);
     if(queueIter != queueMap.end()) {
         return queueIter->second;
@@ -60,7 +57,7 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
         sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
                 messageQueueId);
 #endif
-		return nullptr;
     }
+    return nullptr;
 }
 

osal/host/QueueMapManager.h

@@ -15,7 +15,9 @@ using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
  */
 class QueueMapManager {
 public:
-	//! Returns the single instance of SemaphoreFactory.
+
+
+    //! Returns the single instance of QueueMapManager.
     static QueueMapManager* instance();
 
     /**
@@ -27,14 +29,15 @@ public:
     ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
             id = nullptr);
     /**
-	 * Get the message queue handle by providing a message queue ID.
+     * Get the message queue handle by providing a message queue ID. Returns nullptr
+     * if the queue ID is not contained inside the internal map.
      * @param messageQueueId
      * @return
      */
     MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
 
 private:
-	//! External instantiation is forbidden.
+    //! External instantiation is forbidden. Constructor still required for singleton instantiation.
     QueueMapManager();
     ~QueueMapManager();
 

osal/linux/BinarySemaphore.cpp

@@ -1,4 +1,5 @@
 #include "BinarySemaphore.h"
+#include "unixUtility.h"
 #include "../../serviceinterface/ServiceInterfacePrinter.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
@@ -44,10 +45,7 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
         timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
         result = sem_timedwait(&handle, &timeOut);
         if(result != 0 and errno == EINVAL) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "sem_timedwait");
-	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
-	    			<< std::endl;
-#endif
         }
     }
     if(result == 0) {
@@ -57,19 +55,21 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
     switch(errno) {
     case(EAGAIN):
 		                // Operation could not be performed without blocking (for sem_trywait)
-	case(ETIMEDOUT):
+    case(ETIMEDOUT): {
         // Semaphore is 0
+        utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "ETIMEDOUT");
         return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	case(EINVAL):
+    }
+    case(EINVAL): {
         // Semaphore invalid
+        utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINVAL");
         return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EINTR):
+    }
+    case(EINTR): {
         // Call was interrupted by signal handler
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINTR");
-		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
+        return HasReturnvaluesIF::RETURN_FAILED;
-				"Code " << strerror(errno) << std::endl;
+    }
-#endif
-		/* No break */
     default:
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -91,11 +91,16 @@ ReturnValue_t BinarySemaphore::release(sem_t *handle) {
     }
 
     switch(errno) {
-	case(EINVAL):
+    case(EINVAL): {
         // Semaphore invalid
+        utility::printUnixErrorGeneric(CLASS_NAME, "release", "EINVAL");
         return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EOVERFLOW):
+    }
+    case(EOVERFLOW): {
         // SEM_MAX_VALUE overflow. This should never happen
+        utility::printUnixErrorGeneric(CLASS_NAME, "release", "EOVERFLOW");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     default:
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -128,17 +133,14 @@ void BinarySemaphore::initSemaphore(uint8_t initCount) {
     auto result = sem_init(&handle, true, initCount);
     if(result == -1) {
         switch(errno) {
-		case(EINVAL):
+        case(EINVAL): {
-			// Value exceeds SEM_VALUE_MAX
+            utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "EINVAL");
+            break;
+        }
         case(ENOSYS): {
             // System does not support process-shared semaphores
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "ENOSYS");
-				sif::error << "BinarySemaphore: Init failed with "
+            break;
-						<< strerror(errno) << std::endl;
-#else
-				sif::printError("BinarySemaphore: Init failed with %s\n",
-						strerror(errno));
-#endif
         }
         }
     }
@@ -151,8 +153,7 @@ ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
             // Binary Semaphore special case.
             // This is a config error use lightweight printf is this is called
             // from an interrupt
-			printf("BinarySemaphore::release: Value of binary semaphore greater"
+            printf("BinarySemaphore::release: Value of binary semaphore greater than 1!\n");
-					" than 1!\n");
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         return SemaphoreIF::SEMAPHORE_NOT_OWNED;

osal/linux/BinarySemaphore.h

@@ -76,6 +76,7 @@ public:
 	static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
 protected:
 	sem_t handle;
+    static constexpr const char* CLASS_NAME = "BinarySemaphore";
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/linux/CMakeLists.txt

@@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
 		TaskFactory.cpp
 		Timer.cpp
 		tcpipHelpers.cpp
+		unixUtility.cpp
 )
 
 find_package(Threads REQUIRED)

osal/linux/Clock.cpp

@@ -153,71 +153,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 			/ 3600.;
 	return HasReturnvaluesIF::RETURN_OK;
 }
-
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
-	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	uint16_t leapSeconds;
-	ReturnValue_t result = getLeapSeconds(&leapSeconds);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	timeval leapSeconds_timeval = { 0, 0 };
-	leapSeconds_timeval.tv_sec = leapSeconds;
-
-	//initial offset between UTC and TAI
-	timeval UTCtoTAI1972 = { 10, 0 };
-
-	timeval TAItoTT = { 32, 184000 };
-
-	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
-	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	leapSeconds = leapSeconds_;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex==NULL){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	*leapSeconds_ = leapSeconds;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex == nullptr){
-		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}

osal/linux/CountingSemaphore.cpp

@@ -1,4 +1,6 @@
-#include "../../osal/linux/CountingSemaphore.h"
+#include "CountingSemaphore.h"
+#include "unixUtility.h"
+
 #include "../../serviceinterface/ServiceInterface.h"
 
 #include <errno.h>
@@ -7,8 +9,11 @@ CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
         maxCount(maxCount), initCount(initCount) {
     if(initCount > maxCount) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+        sif::warning << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
+                "intial cout. Setting initial count to max count" << std::endl;
+#else
+        sif::printWarning("CountingSemaphoreUsingTask: Max count bigger than "
+                "intial cout. Setting initial count to max count\n");
 #endif
         initCount = maxCount;
     }
@@ -42,11 +47,18 @@ ReturnValue_t CountingSemaphore::release(sem_t* handle) {
     }
 
     switch(errno) {
-	case(EINVAL):
+    case(EINVAL): {
         // Semaphore invalid
+        utility::printUnixErrorGeneric("CountingSemaphore", "release", "EINVAL");
         return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EOVERFLOW):
+    }
+
+    case(EOVERFLOW): {
         // SEM_MAX_VALUE overflow. This should never happen
+        utility::printUnixErrorGeneric("CountingSemaphore", "release", "EOVERFLOW");
+        return SemaphoreIF::SEMAPHORE_INVALID;
+    }
+
     default:
         return HasReturnvaluesIF::RETURN_FAILED;
     }

osal/linux/FixedTimeslotTask.cpp

@@ -1,5 +1,7 @@
 #include "FixedTimeslotTask.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+#include "../../objectmanager/ObjectManager.h"
+#include "../../serviceinterface/ServiceInterface.h"
 
 #include <limits.h>
 
@@ -40,7 +42,7 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
 	ExecutableObjectIF* executableObject =
-			objectManager->get<ExecutableObjectIF>(componentId);
+	        ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
 	if (executableObject != nullptr) {
 		pst.addSlot(componentId, slotTimeMs, executionStep,
 				executableObject,this);

osal/linux/MessageQueue.cpp

@@ -1,6 +1,8 @@
 #include "MessageQueue.h"
+#include "unixUtility.h"
+
 #include "../../serviceinterface/ServiceInterface.h"
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManager.h"
 
 #include <fstream>
 
@@ -12,9 +14,7 @@
 
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
         id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
-		defaultDestination(MessageQueueIF::NO_QUEUE),
+        defaultDestination(MessageQueueIF::NO_QUEUE), maxMessageSize(maxMessageSize) {
-		maxMessageSize(maxMessageSize) {
-	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
     mq_attr attributes;
     this->id = 0;
     //Set attributes
@@ -31,7 +31,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
     mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
     mqd_t tempId = mq_open(name, oflag, mode, &attributes);
     if (tempId == -1) {
-		handleError(&attributes, messageDepth);
+        handleOpenError(&attributes, messageDepth);
     }
     else {
         //Successful mq_open call
@@ -42,102 +42,14 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
 MessageQueue::~MessageQueue() {
     int status = mq_close(this->id);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "close");
-		sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
-				   << strerror(errno) <<std::endl;
-#endif
     }
     status = mq_unlink(name);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "unlink");
-		sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
-				   << strerror(errno) << std::endl;
-#endif
     }
 }
 
-ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
-		uint32_t messageDepth) {
-	switch(errno) {
-	case(EINVAL): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
-				" for message size" << std::endl;
-#endif
-		size_t defaultMqMaxMsg = 0;
-		// Not POSIX conformant, but should work for all UNIX systems.
-		// Just an additional helpful printout :-)
-		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
-				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
-			/*
-			See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
-			This happens if the msg_max value is not large enough
-			It is ignored if the executable is run in privileged mode.
-		    Run the unlockRealtime script or grant the mode manually by using:
-			sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
-
-			Persistent solution for session:
-			echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
-
-			Permanent solution:
-			sudo nano /etc/sysctl.conf
-			Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
-			Apply changes with: sudo sysctl -p
-			*/
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "MessageQueue::MessageQueue: Default MQ size "
-					<< defaultMqMaxMsg << " is too small for requested size "
-					<< messageDepth << std::endl;
-			sif::error << "This error can be fixed by setting the maximum "
-					"allowed message size higher!" << std::endl;
-#endif
-
-		}
-		break;
-	}
-	case(EEXIST): {
-		// An error occured during open
-		// We need to distinguish if it is caused by an already created queue
-		//There's another queue with the same name
-		//We unlink the other queue
-		int status = mq_unlink(name);
-		if (status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "mq_unlink Failed with status: " << strerror(errno)
-													<< std::endl;
-#endif
-		}
-		else {
-			// Successful unlinking, try to open again
-			mqd_t tempId = mq_open(name,
-					O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-					S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
-			if (tempId != -1) {
-				//Successful mq_open
-				this->id = tempId;
-				return HasReturnvaluesIF::RETURN_OK;
-			}
-		}
-		break;
-	}
-
-	default: {
-		// Failed either the first time or the second time
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "MessageQueue::MessageQueue: Creating Queue " << name
-				<< " failed with status: " << strerror(errno) << std::endl;
-#else
-		sif::printError("MessageQueue::MessageQueue: Creating Queue %s"
-				" failed with status: %s\n", name, strerror(errno));
-#endif
-	}
-	}
-	return HasReturnvaluesIF::RETURN_FAILED;
-
-
-
-}
-
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, bool ignoreFault) {
     return sendMessageFrom(sendTo, message, this->getId(), false);
@@ -204,14 +116,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
             //O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
             //currently on the specified queue.
             return MessageQueueIF::EMPTY;
-		case EBADF:
+        case EBADF: {
             //mqdes doesn't represent a valid queue open for reading.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EBADF");
-			sif::error << "MessageQueue::receive: configuration error "
+            break;
-			           << strerror(errno)  << std::endl;
+        }
-#endif
+        case EINVAL: {
-			/*NO BREAK*/
-		case EINVAL:
             /*
              * This value indicates one of the following:
              * - The pointer to the buffer for storing the received message,
@@ -221,12 +131,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
              *   queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
              *   been set in the queue's mq_flags.
              */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINVAL");
-			sif::error << "MessageQueue::receive: configuration error "
+            break;
-					   << strerror(errno)  << std::endl;
+        }
-#endif
+        case EMSGSIZE: {
-			/*NO BREAK*/
-		case EMSGSIZE:
             /*
              * This value indicates one of the following:
              * - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
@@ -236,18 +144,25 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
              *   given msg_len is too short for the message that would have
              *   been received.
              */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EMSGSIZE");
-			sif::error << "MessageQueue::receive: configuration error "
+            break;
-			           << strerror(errno)  << std::endl;
-#endif
-			/*NO BREAK*/
-		case EINTR:
-			//The operation was interrupted by a signal.
-		default:
-
-			return HasReturnvaluesIF::RETURN_FAILED;
         }
 
+        case EINTR: {
+            //The operation was interrupted by a signal.
+            utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINTR");
+            break;
+        }
+        case ETIMEDOUT: {
+            //The operation was interrupted by a signal.
+            utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "ETIMEDOUT");
+            break;
+        }
+
+        default:
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
 }
 
@@ -262,29 +177,27 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
         switch(errno){
         case EBADF:
             //mqdes doesn't represent a valid message queue.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
-			sif::error << "MessageQueue::flush configuration error, "
+            break;
-					"called flush with an invalid queue ID" << std::endl;
-#endif
             /*NO BREAK*/
         case EINVAL:
             //mq_attr is NULL
+            utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
+            break;
         default:
             return HasReturnvaluesIF::RETURN_FAILED;
         }
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
     *count = attrib.mq_curmsgs;
     attrib.mq_curmsgs = 0;
     status = mq_setattr(id,&attrib,NULL);
     if(status != 0){
-		switch(errno){
+        switch(errno) {
         case EBADF:
             //mqdes doesn't represent a valid message queue.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
-			sif::error << "MessageQueue::flush configuration error, "
+            break;
-					"called flush with an invalid queue ID" << std::endl;
-#endif
-			/*NO BREAK*/
         case EINVAL:
             /*
              * This value indicates one of the following:
@@ -293,9 +206,12 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
              *    mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
              *    MQ_MULT_NOTIFY has been turned on, it may never be turned off.
              */
+            utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
+            break;
         default:
             return HasReturnvaluesIF::RETURN_FAILED;
         }
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
@@ -336,8 +252,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         bool ignoreFault) {
     if(message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
+        sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
-				"nullptr!" << std::endl;
+#else
+        sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
 #endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -350,9 +267,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     //TODO: Check if we're in ISR.
     if (result != 0) {
         if(!ignoreFault){
-			InternalErrorReporterIF* internalErrorReporter =
+            InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
-					objectManager->get<InternalErrorReporterIF>(
+                    get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-						objects::INTERNAL_ERROR_REPORTER);
             if (internalErrorReporter != NULL) {
                 internalErrorReporter->queueMessageNotSent();
             }
@@ -366,17 +282,20 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         case EBADF: {
             //mq_des doesn't represent a valid message queue descriptor,
             //or mq_des wasn't opened for writing.
+
+            utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
+            sif::warning << "mq_send to: " << sendTo << " sent from "
-					<< " destination invalid."  << std::endl;
+                    << sentFrom << "failed" << std::endl;
-			sif::error << strerror(errno) << " in "
+#else
-					<<"mq_send to: " << sendTo << " sent from "
+            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
-					<< sentFrom << std::endl;
 #endif
             return DESTINATION_INVALID;
         }
         case EINTR:
             //The call was interrupted by a signal.
+            utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINTR");
+            break;
         case EINVAL:
             /*
              * This value indicates one of the following:
@@ -387,22 +306,87 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
              * - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
              *   msg_prio is greater than the priority of the calling process.
              */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINVAL");
-			sif::error << "MessageQueue::sendMessage: Configuration error "
+            break;
-			           << strerror(errno) << " in mq_send" << std::endl;
-#endif
-			/*NO BREAK*/
         case EMSGSIZE:
             // The msg_len is greater than the msgsize associated with
             //the specified queue.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+            utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EMSGSIZE");
-			sif::error << "MessageQueue::sendMessage: Size error [" <<
+            break;
-					strerror(errno) << "] in mq_send" << std::endl;
-#endif
-			/*NO BREAK*/
         default:
             return HasReturnvaluesIF::RETURN_FAILED;
         }
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes,
+        uint32_t messageDepth) {
+    switch(errno) {
+    case(EINVAL): {
+        utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EINVAL");
+        size_t defaultMqMaxMsg = 0;
+        // Not POSIX conformant, but should work for all UNIX systems.
+        // Just an additional helpful printout :-)
+        if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
+                defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
+            /*
+            See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
+            This happens if the msg_max value is not large enough
+            It is ignored if the executable is run in privileged mode.
+            Run the unlockRealtime script or grant the mode manually by using:
+            sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
+
+            Persistent solution for session:
+            echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
+
+            Permanent solution:
+            sudo nano /etc/sysctl.conf
+            Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
+            Apply changes with: sudo sysctl -p
+             */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg <<
+                    " is too small for requested size " << messageDepth << std::endl;
+            sif::error << "This error can be fixed by setting the maximum "
+                    "allowed message size higher!" << std::endl;
+#else
+            sif::printError("MessageQueue::MessageQueue: Default MQ size %d is too small for"
+                    "requested size %d\n");
+            sif::printError("This error can be fixes by setting the maximum allowed"
+                    "message size higher!\n");
+#endif
+        }
+        break;
+    }
+    case(EEXIST): {
+        // An error occured during open.
+        // We need to distinguish if it is caused by an already created queue
+        // There's another queue with the same name
+        // We unlink the other queue
+        int status = mq_unlink(name);
+        if (status != 0) {
+            utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EEXIST");
+        }
+        else {
+            // Successful unlinking, try to open again
+            mqd_t tempId = mq_open(name,
+                    O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+                    S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
+            if (tempId != -1) {
+                //Successful mq_open
+                this->id = tempId;
+                return HasReturnvaluesIF::RETURN_OK;
+            }
+        }
+        break;
+    }
+
+    default: {
+        // Failed either the first time or the second time
+        utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "Unknown");
+    }
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+}

osal/linux/MessageQueue.h

@@ -181,7 +181,8 @@ private:
 	static uint16_t queueCounter;
 	const size_t maxMessageSize;
 
-	ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
+	static constexpr const char* CLASS_NAME = "MessageQueue";
+	ReturnValue_t handleOpenError(mq_attr* attributes, uint32_t messageDepth);
 };
 
 #endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

osal/linux/Mutex.cpp

@@ -1,43 +1,34 @@
 #include "Mutex.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "unixUtility.h"
+
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../timemanager/Clock.h"
 
-uint8_t Mutex::count = 0;
-
-
 #include <cstring>
 #include <errno.h>
 
+uint8_t Mutex::count = 0;
+
 Mutex::Mutex() {
 	pthread_mutexattr_t mutexAttr;
 	int status = pthread_mutexattr_init(&mutexAttr);
 	if (status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_init");
-		sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
-#endif
 	}
 	status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
 	if (status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_setprotocol");
-		sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
-				<< std::endl;
-#endif
 	}
 	status = pthread_mutex_init(&mutex, &mutexAttr);
 	if (status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutex_init");
-		sif::error << "Mutex: creation with name, id " << mutex.__data.__count
-				<< ", " << " failed with " << strerror(status) << std::endl;
-#endif
 	}
 	// After a mutex attributes object has been used to initialize one or more
 	// mutexes, any function affecting the attributes object
 	// (including destruction) shall not affect any previously initialized mutexes.
 	status = pthread_mutexattr_destroy(&mutexAttr);
 	if (status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_destroy");
-		sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
-#endif
 	}
 }
 

osal/linux/PeriodicPosixTask.cpp

@@ -1,8 +1,11 @@
-#include "../../tasks/ExecutableObjectIF.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include <errno.h>
 #include "PeriodicPosixTask.h"
 
+#include "../../objectmanager/ObjectManager.h"
+#include "../../tasks/ExecutableObjectIF.h"
+#include "../../serviceinterface/ServiceInterface.h"
+
+#include <errno.h>
+
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
 		PosixThread(name_, priority_, stackSize_), objectList(), started(false),
@@ -22,12 +25,15 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 }
 
 ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+	ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
 				<< " it implements ExecutableObjectIF!" << std::endl;
+#else
+		sif::printError("PeriodicTask::addComponent: Invalid object. Make sure it "
+		        "implements ExecutableObjectIF!\n");
 #endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -44,9 +50,6 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 
 ReturnValue_t PeriodicPosixTask::startTask(void) {
 	started = true;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-	//sif::info << stackSize << std::endl;
-#endif
 	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }

osal/linux/PosixThread.cpp

@@ -1,4 +1,5 @@
 #include "PosixThread.h"
+#include "unixUtility.h"
 
 #include "../../serviceinterface/ServiceInterface.h"
 
@@ -49,8 +50,10 @@ void PosixThread::suspend() {
     sigwait(&waitSignal, &caughtSig);
     if (caughtSig != SIGUSR1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
+        sif::error << "FixedTimeslotTask::suspend: Unknown Signal received: " << caughtSig <<
-				caughtSig << std::endl;
+                std::endl;
+#else
+        sif::printError("FixedTimeslotTask::suspend: Unknown Signal received: %d\n", caughtSig);
 #endif
     }
 }
@@ -133,18 +136,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
     pthread_attr_t attributes;
     int status = pthread_attr_init(&attributes);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_init");
-		sif::error << "Posix Thread attribute init failed with: " <<
-				strerror(status) << std::endl;
-#endif
     }
     void* stackPointer;
     status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
-	if(status != 0){
+    if(status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PosixThread::createTask: Stack init failed with: " <<
-				strerror(status) << std::endl;
-#endif
         if(errno == ENOMEM) {
             size_t stackMb = stackSize/10e6;
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -154,35 +150,35 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
             sif::printError("PosixThread::createTask: Insufficient memory for "
                     "the requested %lu MB\n", static_cast<unsigned long>(stackMb));
 #endif
+            utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "ENOMEM");
         }
         else if(errno == EINVAL) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "PosixThread::createTask: Wrong alignment argument!"
                     << std::endl;
 #else
-			sif::printError("PosixThread::createTask: "
+            sif::printError("PosixThread::createTask: Wrong alignment argument!\n");
-					"Wrong alignment argument!\n");
 #endif
+            utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "EINVAL");
         }
         return;
     }
 
     status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
-	if(status != 0){
+    if(status != 0) {
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setstack");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PosixThread::createTask: pthread_attr_setstack "
+        sif::warning << "Make sure the specified stack size is valid and is "
-				" failed with: " << strerror(status) <<  std::endl;
-		sif::error << "Make sure the specified stack size is valid and is "
                 "larger than the minimum allowed stack size." << std::endl;
+#else
+        sif::printWarning("Make sure the specified stack size is valid and is "
+                "larger than the minimum allowed stack size.\n");
 #endif
     }
 
     status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setinheritsched");
-			sif::error << "Posix Thread attribute setinheritsched failed with: " <<
-					strerror(status) << std::endl;
-#endif
     }
 #ifndef FSFW_USE_REALTIME_FOR_LINUX
 #error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
@@ -191,20 +187,14 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
     // FIFO -> This needs root privileges for the process
     status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
-		sif::error << "Posix Thread attribute schedule policy failed with: " <<
-				strerror(status) << std::endl;
-#endif
     }
 
     sched_param scheduleParams;
     scheduleParams.__sched_priority = priority;
     status = pthread_attr_setschedparam(&attributes, &scheduleParams);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
-		sif::error << "Posix Thread attribute schedule params failed with: " <<
-				strerror(status) << std::endl;
-#endif
     }
 #endif
     //Set Signal Mask for suspend until startTask is called
@@ -213,23 +203,17 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
     sigaddset(&waitSignal, SIGUSR1);
     status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_sigmask");
-		sif::error << "Posix Thread sigmask failed failed with: " <<
-				strerror(status) << " errno: " << strerror(errno) << std::endl;
-#endif
     }
 
-
     status = pthread_create(&thread,&attributes,fnc_,arg_);
     if(status != 0){
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_create");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PosixThread::createTask: Failed with: " <<
-				strerror(status) << std::endl;
         sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
                 "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
                 "/etc/security/limit.conf" << std::endl;
 #else
-		sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status));
         sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
                 "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
                 "/etc/security/limit.conf\n");
@@ -238,31 +222,25 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 
     status = pthread_setname_np(thread,name);
     if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
-		sif::error << "PosixThread::createTask: setname failed with: " <<
-				strerror(status) << std::endl;
-#endif
         if(status == ERANGE) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "PosixThread::createTask: Task name length longer"
+            sif::warning << "PosixThread::createTask: Task name length longer"
                     " than 16 chars. Truncating.." << std::endl;
+#else
+            sif::printWarning("PosixThread::createTask: Task name length longer"
+                    " than 16 chars. Truncating..\n");
 #endif
             name[15] = '\0';
             status = pthread_setname_np(thread,name);
             if(status != 0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+                utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
-				sif::error << "PosixThread::createTask: Setting name"
-						" did not work.." << std::endl;
-#endif
             }
         }
     }
 
     status = pthread_attr_destroy(&attributes);
-	if(status!=0){
+    if (status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
-		sif::error << "Posix Thread attribute destroy failed with: " <<
-				strerror(status) << std::endl;
-#endif
     }
 }

osal/linux/PosixThread.h

@@ -72,6 +72,8 @@ private:
     char name[PTHREAD_MAX_NAMELEN];
     int priority;
     size_t stackSize = 0;
+
+    static constexpr const char* CLASS_NAME = "PosixThread";
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */

osal/linux/unixUtility.cpp

@@ -0,0 +1,32 @@
+#include "FSFWConfig.h"
+#include "unixUtility.h"
+#include "../../serviceinterface/ServiceInterface.h"
+
+#include <cstring>
+#include <errno.h>
+
+void utility::printUnixErrorGeneric(const char* const className,
+        const char* const function, const char* const failString,
+        sif::OutputTypes outputType) {
+    if(className == nullptr or failString == nullptr or function == nullptr) {
+        return;
+    }
+#if FSFW_VERBOSE_LEVEL >= 1
+    if(outputType == sif::OutputTypes::OUT_ERROR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << className << "::" << function << ":"  << failString << " error: "
+            << strerror(errno)  << std::endl;
+#else
+    sif::printError("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
+#endif
+    }
+    else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << className << "::" << function << ":"  << failString << " error: "
+            << strerror(errno)  << std::endl;
+#else
+    sif::printWarning("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
+#endif
+    }
+#endif
+}

osal/linux/unixUtility.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_OSAL_LINUX_UNIXUTILITY_H_
+#define FSFW_OSAL_LINUX_UNIXUTILITY_H_
+
+#include "../../serviceinterface/serviceInterfaceDefintions.h"
+
+namespace utility {
+
+void printUnixErrorGeneric(const char* const className, const char* const function,
+        const char* const failString, sif::OutputTypes outputType = sif::OutputTypes::OUT_ERROR);
+
+}
+
+#endif /* FSFW_OSAL_LINUX_UNIXUTILITY_H_ */

osal/rtems/Clock.cpp

@@ -154,65 +154,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
             / 3600.;
     return HasReturnvaluesIF::RETURN_OK;
 }
-
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
-    //SHOULDDO: works not for dates in the past (might have less leap seconds)
-    if (timeMutex == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    uint16_t leapSeconds;
-    ReturnValue_t result = getLeapSeconds(&leapSeconds);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    timeval leapSeconds_timeval = { 0, 0 };
-    leapSeconds_timeval.tv_sec = leapSeconds;
-
-    //initial offset between UTC and TAI
-    timeval UTCtoTAI1972 = { 10, 0 };
-
-    timeval TAItoTT = { 32, 184000 };
-
-    *tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
-
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
-    if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    MutexGuard helper(timeMutex);
-
-
-    leapSeconds = leapSeconds_;
-
-
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-    if(timeMutex==nullptr){
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    MutexGuard helper(timeMutex);
-
-    *leapSeconds_ = leapSeconds;
-
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::checkOrCreateClockMutex(){
-    if(timeMutex==nullptr){
-        MutexFactory* mutexFactory = MutexFactory::instance();
-        if (mutexFactory == nullptr) {
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        timeMutex = mutexFactory->createMutex();
-        if (timeMutex == nullptr) {
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}

osal/rtems/FixedTimeslotTask.cpp

@@ -3,7 +3,7 @@
 
 #include "../../tasks/FixedSequenceSlot.h"
 #include "../../objectmanager/SystemObjectIF.h"
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManager.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../serviceinterface/ServiceInterface.h"
 
@@ -81,7 +81,7 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
         uint32_t slotTimeMs, int8_t executionStep) {
-    ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
+    ExecutableObjectIF* object = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
     if (object != nullptr) {
         pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
         return HasReturnvaluesIF::RETURN_OK;

osal/rtems/MessageQueue.cpp

@@ -1,8 +1,11 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../objectmanager/ObjectManagerIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
+
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../objectmanager/ObjectManager.h"
+
 #include <cstring>
+
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
 	rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
@@ -94,7 +97,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 	//TODO: Check if we're in ISR.
 	if (result != RTEMS_SUCCESSFUL && !ignoreFault) {
 		if (internalErrorReporter == nullptr) {
-			internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			internalErrorReporter = ObjectManager::instance()->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 		}
 		if (internalErrorReporter != nullptr) {

osal/rtems/PeriodicTask.cpp

@@ -1,6 +1,7 @@
 #include "PeriodicTask.h"
 
 #include "../../serviceinterface/ServiceInterface.h"
+#include "../../objectmanager/ObjectManager.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
@@ -68,7 +69,7 @@ void PeriodicTask::taskFunctionality() {
 }
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-    ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
+    ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
     if (newObject == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }

parameters/ParameterHelper.cpp

@@ -1,6 +1,7 @@
 #include "ParameterHelper.h"
 #include "ParameterMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
+
+#include "../objectmanager/ObjectManager.h"
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner):
         owner(owner) {}
@@ -124,7 +125,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 ReturnValue_t ParameterHelper::initialize() {
     ownerQueueId = owner->getCommandQueue();
 
-    storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    storage = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (storage == nullptr) {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }

parameters/ParameterMessage.cpp

@@ -1,5 +1,6 @@
-#include "../parameters/ParameterMessage.h"
+#include "ParameterMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
+
+#include "../objectmanager/ObjectManager.h"
 
 ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {
 	return message->getParameter();
@@ -51,7 +52,7 @@ void ParameterMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_PARAMETER_LOAD:
 	case REPLY_PARAMETER_DUMP: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 				objects::IPC_STORE);
 		if (ipcStore != NULL) {
 			ipcStore->deleteData(getStoreId(message));

power/Fuse.cpp

@@ -2,7 +2,7 @@
 
 #include "../monitoring/LimitViolationReporter.h"
 #include "../monitoring/MonitoringMessageContent.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../ipc/QueueFactory.h"
 
@@ -44,7 +44,7 @@ ReturnValue_t Fuse::initialize() {
 	if (result != RETURN_OK) {
 		return result;
 	}
-	powerIF = objectManager->get<PowerSwitchIF>(powerSwitchId);
+	powerIF = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
 	if (powerIF == NULL) {
 		return RETURN_FAILED;
 	}

power/PowerSwitcher.cpp

@@ -1,7 +1,7 @@
 #include "PowerSwitcher.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
 		PowerSwitcher::State_t setStartState):
@@ -10,7 +10,7 @@ PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
 }
 
 ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
-	power = objectManager->get<PowerSwitchIF>(powerSwitchId);
+	power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
 	if (power == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

pus/CService200ModeCommanding.cpp

@@ -2,7 +2,8 @@
 #include "servicepackets/Service200Packets.h"
 
 #include "../modes/HasModesIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/ObjectManager.h"
+#include "../serviceinterface/ServiceInterface.h"
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../modes/ModeMessage.h"
 
@@ -40,7 +41,7 @@ ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
 
 ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
         MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
-    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
+    HasModesIF * destination = ObjectManager::instance()->get<HasModesIF>(*objectId);
     if(destination == nullptr) {
         return CommandingServiceBase::INVALID_OBJECT;
 

pus/CService201HealthCommanding.cpp

@@ -1,9 +1,11 @@
 #include "CService201HealthCommanding.h"
+#include "servicepackets/Service201Packets.h"
 
 #include "../health/HasHealthIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../health/HealthMessage.h"
-#include "servicepackets/Service201Packets.h"
+
 
 CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
         uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
@@ -43,7 +45,7 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
 
 ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
         MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
-    HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
+    HasHealthIF * destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
     if(destination == nullptr) {
         return CommandingServiceBase::INVALID_OBJECT;
     }

pus/Service17Test.cpp

@@ -3,7 +3,7 @@
 
 #include "../serviceinterface/ServiceInterface.h"
 #include "../objectmanager/SystemObject.h"
-#include "../tmtcpacket/pus/TmPacketStored.h"
+#include "../tmtcpacket/pus/tm/TmPacketStored.h"
 
 
 Service17Test::Service17Test(object_id_t objectId,

pus/Service1TelecommandVerification.cpp

@@ -2,8 +2,9 @@
 #include "servicepackets/Service1Packets.h"
 
 #include "../ipc/QueueFactory.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../tmtcservices/PusVerificationReport.h"
-#include "../tmtcpacket/pus/TmPacketStored.h"
+#include "../tmtcpacket/pus/tm/TmPacketStored.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcservices/AcceptsTelemetryIF.h"
 
@@ -99,7 +100,7 @@ ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
 
 ReturnValue_t Service1TelecommandVerification::initialize() {
 	// Get target object for TC verification messages
-	AcceptsTelemetryIF* funnel = objectManager->
+	AcceptsTelemetryIF* funnel = ObjectManager::instance()->
 			get<AcceptsTelemetryIF>(targetDestination);
 	if(funnel == nullptr){
 #if FSFW_CPP_OSTREAM_ENABLED == 1

pus/Service20ParameterManagement.cpp

@@ -1,11 +1,11 @@
 #include "Service20ParameterManagement.h"
 #include "servicepackets/Service20Packets.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include "../serviceinterface/ServiceInterface.h"
-#include <fsfw/parameters/HasParametersIF.h>
+#include "../parameters/HasParametersIF.h"
-#include <fsfw/parameters/ParameterMessage.h>
+#include "../parameters/ParameterMessage.h"
-#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include "../objectmanager/ObjectManager.h"
-#include <tmtc/pusIds.h>
+#include "../parameters/ReceivesParameterMessagesIF.h"
 
 
 Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId, uint16_t apid,
@@ -65,7 +65,7 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
         MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
     // check ReceivesParameterMessagesIF property of target
     ReceivesParameterMessagesIF* possibleTarget =
-            objectManager->get<ReceivesParameterMessagesIF>(*objectId);
+            ObjectManager::instance()->get<ReceivesParameterMessagesIF>(*objectId);
     if(possibleTarget == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
@@ -133,6 +133,9 @@ ReturnValue_t Service20ParameterManagement::prepareLoadCommand(
     store_address_t storeAddress;
     size_t parameterDataLen = tcDataLen - sizeof(object_id_t) - sizeof(ParameterId_t) -
             sizeof(uint32_t);
+    if(parameterDataLen == 0) {
+        return CommandingServiceBase::INVALID_TC;
+    }
     ReturnValue_t result = IPCStore->getFreeElement(&storeAddress,
             parameterDataLen, &storePointer);
     if(result != HasReturnvaluesIF::RETURN_OK) {

pus/Service20ParameterManagement.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
 #define FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
 
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include "../tmtcservices/CommandingServiceBase.h"
 
 /**
  * @brief   PUS Service 20 Parameter Service implementation

pus/Service2DeviceAccess.cpp

@@ -1,6 +1,7 @@
 #include "Service2DeviceAccess.h"
 #include "servicepackets/Service2Packets.h"
 
+#include "../objectmanager/ObjectManager.h"
 #include "../devicehandlers/DeviceHandlerIF.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../devicehandlers/DeviceHandlerMessage.h"
@@ -47,7 +48,7 @@ ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
 ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
 		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
 	DeviceHandlerIF* possibleTarget =
-			objectManager->get<DeviceHandlerIF>(*objectId);
+	        ObjectManager::instance()->get<DeviceHandlerIF>(*objectId);
 	if(possibleTarget == nullptr) {
 		return CommandingServiceBase::INVALID_OBJECT;
 	}

pus/Service3Housekeeping.cpp

@@ -1,7 +1,8 @@
 #include "Service3Housekeeping.h"
 #include "servicepackets/Service3Packets.h"
-#include "../datapoollocal/HasLocalDataPoolIF.h"
 
+#include "../objectmanager/ObjectManager.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
 
 Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid,
         uint8_t serviceId):
@@ -56,7 +57,7 @@ ReturnValue_t Service3Housekeeping::checkInterfaceAndAcquireMessageQueue(
         MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
     // check HasLocalDataPoolIF property of target
     HasLocalDataPoolIF* possibleTarget =
-            objectManager->get<HasLocalDataPoolIF>(*objectId);
+            ObjectManager::instance()->get<HasLocalDataPoolIF>(*objectId);
     if(possibleTarget == nullptr){
         return CommandingServiceBase::INVALID_OBJECT;
     }

pus/Service5EventReporting.cpp

@@ -1,10 +1,11 @@
 #include "Service5EventReporting.h"
 #include "servicepackets/Service5Packets.h"
 
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../events/EventManagerIF.h"
 #include "../ipc/QueueFactory.h"
-#include "../tmtcpacket/pus/TmPacketStored.h"
+#include "../tmtcpacket/pus/tm/TmPacketStored.h"
 
 
 Service5EventReporting::Service5EventReporting(object_id_t objectId,
@@ -89,7 +90,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // In addition to the default PUSServiceBase initialization, this service needs
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
-	EventManagerIF* manager = objectManager->get<EventManagerIF>(
+	EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
 				objects::EVENT_MANAGER);
 	if (manager == NULL) {
 			return RETURN_FAILED;

pus/Service8FunctionManagement.cpp

@@ -1,11 +1,12 @@
 #include "Service8FunctionManagement.h"
 #include "servicepackets/Service8Packets.h"
 
+#include "../objectmanager/ObjectManager.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include "../action/HasActionsIF.h"
 #include "../devicehandlers/DeviceHandlerIF.h"
 #include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId,
 		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
@@ -41,7 +42,7 @@ ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
 ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
 		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
 	// check HasActionIF property of target
-	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
+	HasActionsIF* possibleTarget = ObjectManager::instance()->get<HasActionsIF>(*objectId);
 	if(possibleTarget == nullptr){
 		return CommandingServiceBase::INVALID_OBJECT;
 	}

pus/servicepackets/Service20Packets.h

@@ -27,12 +27,11 @@ public:
     ParameterCommand(uint8_t* storePointer, size_t parameterDataLen):
         parameterBuffer(storePointer, parameterDataLen) {
 #if FSFW_VERBOSE_LEVEL >= 1
-        if(parameterDataLen < sizeof(object_id_t) + sizeof(ParameterId_t) + 4) {
+        if(parameterDataLen == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "ParameterCommand: Parameter data length is less than 12!"
+            sif::warning << "ParameterCommand: Parameter data length is 0" << std::endl;
-                    << std::endl;
 #else
-            sif::printWarning("ParameterCommand: Parameter data length is less than 12!\n");
+            sif::printWarning("ParameterCommand: Parameter data length is 0!\n");
 #endif
         }
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */

returnvalues/FwClassIds.h

@@ -72,6 +72,10 @@ enum: uint8_t {
     PUS_SERVICE_3, //PUS3
     PUS_SERVICE_9, //PUS9
     FILE_SYSTEM, //FILS
+    HAL_SPI, //HSPI
+    HAL_UART, //HURT
+    HAL_I2C, //HI2C
+    HAL_GPIO, //HGIO
     FW_CLASS_ID_COUNT // [EXPORT] : [END]
 
 };

serviceinterface/ServiceInterfaceBuffer.cpp

@@ -35,7 +35,7 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		colorPrefix = sif::ANSI_COLOR_GREEN;
 	}
 	else if(setMessage.find("WARNING") != std::string::npos) {
-		colorPrefix = sif::ANSI_COLOR_YELLOW;
+		colorPrefix = sif::ANSI_COLOR_MAGENTA;
 	}
 	else if(setMessage.find("ERROR") != std::string::npos) {
 		colorPrefix = sif::ANSI_COLOR_RED;
@@ -171,6 +171,10 @@ bool ServiceInterfaceBuffer::crAdditionEnabled() const {
     return addCrToPreamble;
 }
 
+void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
+    this->colorPrefix = colorPrefix;
+}
+
 #ifdef UT699
 #include "../osal/rtems/Interrupt.h"
 

serviceinterface/ServiceInterfaceBuffer.h

@@ -48,6 +48,7 @@ private:
 
 #if FSFW_COLORED_OUTPUT == 1
 	std::string colorPrefix;
+	void setAsciiColorPrefix(std::string colorPrefix);
 #endif
 
 	// For EOF detection

serviceinterface/ServiceInterfacePrinter.h

@@ -7,6 +7,8 @@
 
 //! https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format
 //! Can be used to print out binary numbers in human-readable format.
+//! Example usage:
+//! sif::printInfo("Status register: " BYTE_TO_BINARY_PATTERN "\n",BYTE_TO_BINARY(0x1f));
 #define BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c"
 #define BYTE_TO_BINARY(byte)  \
   (byte & 0x80 ? '1' : '0'), \

serviceinterface/ServiceInterfaceStream.cpp

@@ -19,5 +19,9 @@ bool ServiceInterfaceStream::crAdditionEnabled() const {
     return streambuf.crAdditionEnabled();
 }
 
+void ServiceInterfaceStream::setAsciiColorPrefix(std::string asciiColorCode) {
+    streambuf.setAsciiColorPrefix(asciiColorCode);
+}
+
 #endif
 

serviceinterface/ServiceInterfaceStream.h

@@ -46,6 +46,8 @@ public:
 	 */
 	bool crAdditionEnabled() const;
 
+	void setAsciiColorPrefix(std::string asciiColorCode);
+
 protected:
 	ServiceInterfaceBuffer streambuf;
 };

storagemanager/LocalPool.cpp

@@ -1,5 +1,8 @@
 #include "LocalPool.h"
-#include <FSFWConfig.h>
+#include "FSFWConfig.h"
+
+#include "../objectmanager/ObjectManager.h"
+
 #include <cstring>
 
 LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
@@ -185,7 +188,7 @@ ReturnValue_t LocalPool::initialize() {
     if (result != RETURN_OK) {
         return result;
     }
-    internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+    internalErrorReporter = ObjectManager::instance()->get<InternalErrorReporterIF>(
             objects::INTERNAL_ERROR_REPORTER);
     if (internalErrorReporter == nullptr){
         return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;

subsystem/Subsystem.cpp

@@ -1,6 +1,7 @@
 #include "Subsystem.h"
+
 #include "../health/HealthMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/SerialArrayListAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../serialize/SerializeElement.h"
@@ -477,13 +478,13 @@ ReturnValue_t Subsystem::initialize() {
 		return result;
 	}
 
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 	if (IPCStore == NULL) {
 		return RETURN_FAILED;
 	}
 
 #if FSFW_USE_MODESTORE == 1
-	modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);
+	modeStore = ObjectManager::instance()->get<ModeStoreIF>(objects::MODE_STORE);
 
 	if (modeStore == nullptr) {
 		return RETURN_FAILED;

subsystem/SubsystemBase.cpp

@@ -1,6 +1,7 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "SubsystemBase.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+
-#include "../subsystem/SubsystemBase.h"
+#include "../serviceinterface/ServiceInterface.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../ipc/QueueFactory.h"
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
@@ -19,10 +20,10 @@ SubsystemBase::~SubsystemBase() {
 ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	ChildInfo info;
 
-	HasModesIF *child = objectManager->get<HasModesIF>(objectId);
+	HasModesIF *child = ObjectManager::instance()->get<HasModesIF>(objectId);
 	// This is a rather ugly hack to have the changedHealth info for all
 	// children available.
-	HasHealthIF* healthChild = objectManager->get<HasHealthIF>(objectId);
+	HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
 	if (child == nullptr) {
 		if (healthChild == nullptr) {
 			return CHILD_DOESNT_HAVE_MODES;
@@ -174,7 +175,7 @@ ReturnValue_t SubsystemBase::initialize() {
 	}
 
 	if (parentId != objects::NO_OBJECT) {
-		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
 		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}

subsystem/modes/ModeSequenceMessage.cpp

@@ -1,6 +1,6 @@
 #include "ModeSequenceMessage.h"
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManager.h"
 #include "../../storagemanager/StorageManagerIF.h"
 
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
@@ -50,7 +50,7 @@ void ModeSequenceMessage::clear(CommandMessage *message) {
 	case TABLE_LIST:
 	case TABLE:
 	case SEQUENCE: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 		        objects::IPC_STORE);
 		if (ipcStore != nullptr){
 			ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message));