Merge remote-tracking branch 'upstream/development' into mueller/update-from-upstream

.gitignore

@@ -1,6 +1,14 @@
+# PyCharm and CLion
+/.idea/*
+!/.idea/runConfigurations
+!/.idea/cmake.xml
+!/.idea/codeStyles
+
+# Eclipse
 .cproject
 .project
 .settings
 .metadata
 
 /build*
+/cmake-build*

.idea/codeStyles/Project.xml

@@ -0,0 +1,14 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <clangFormatSettings>
+      <option name="ENABLED" value="true" />
+    </clangFormatSettings>
+    <codeStyleSettings language="CMake">
+      <indentOptions>
+        <option name="INDENT_SIZE" value="2" />
+        <option name="CONTINUATION_INDENT_SIZE" value="0" />
+        <option name="TAB_SIZE" value="2" />
+      </indentOptions>
+    </codeStyleSettings>
+  </code_scheme>
+</component>

.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

.run/fsfw-tests_coverage.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

.run/fsfw.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

CHANGELOG.md

@@ -12,6 +12,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
+  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
   compiler supports it
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
@@ -43,6 +47,38 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
 
+### Task Module Refactoring
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
+
+**Refactoring general task code**
+
+- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
+  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
+
+**Refactor PeriodicTaskIF**
+
+- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
+  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
+  the operation code passed to `performOperation`. Updated API taking
+  an `ExecutableObjectIF` accordingly
+
+**Refactor FixedTimeslotTaskIF**
+
+- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
+
+**Refactor FixedSequenceSlot**
+
+- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
+- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
+  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
+  for the custom checker
+
+**Linux Task Module**
+
+- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
+  member of the class
+
 ### HAL
 
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
@@ -84,6 +120,11 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
+- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
+  whether it is running in CI/CD
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
+- Basic `clion` support: Update `.gitignore` and add some basic run configurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
 - LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
   the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
   can make good use of it and it usually makes the code faster and/or smaller.

CMakeLists.txt

@@ -71,7 +71,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -105,6 +105,7 @@ endif()
 
 option(FSFW_BUILD_UNITTESTS
        "Build unittest binary in addition to static library" OFF)
+option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)

README.md

@@ -99,7 +99,7 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-   ```cmake
+   ```sh
    target_link_libraries(${YourProjectName} PRIVATE fsfw)
    ```
 
@@ -131,7 +131,7 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system
 
 ```sh
-mkdir build-Unittest && cd build-Unittest
+mkdir build-tests && cd build-tests
 cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 

automation/Jenkinsfile

@@ -14,7 +14,7 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
                 }
             }
         }

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

@@ -215,7 +215,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
       return result;
     }
     updateLinePolarity(fileDescriptor);
-    ReturnValue_t result = gpioComIF->pullLow(gpioId);
+    result = gpioComIF->pullLow(gpioId);
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h

@@ -10,6 +10,10 @@
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
 
+#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
+#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
+#endif
+
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
 
 class GyroL3GD20H {

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -700,8 +700,7 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed."
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
-                 << std::endl;
 #else
     sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -1,27 +1,23 @@
 #include "fsfw/osal/freertos/FixedTimeslotTask.h"
 
-#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
 FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-                                     TaskStackSize setStack, TaskPeriod overallPeriod,
+                                     TaskStackSize setStack, TaskPeriod period,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(nullptr), pst(overallPeriod * 1000) {
+    : FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
-  // All additional attributes are applied to the object.
-  this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
 
-FixedTimeslotTask::~FixedTimeslotTask() {}
+FixedTimeslotTask::~FixedTimeslotTask() = default;
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as FixedTimeslotTask. The Task object is
   // global, so it is found from any place.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -32,26 +28,18 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
              << std::endl;
+#else
+  sif::printDebug("Polling task returned from taskFunctionality\n");
 #endif
 }
 
-void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
-#endif
-  }
-}
-
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
 
@@ -63,31 +51,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-                                         int8_t executionStep) {
-  ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (handler != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   // A local iterator for the Polling Sequence Table is created to find the
   // start time for the first entry.
-  auto slotListIter = pst.current;
+  auto slotListIter = pollingSeqTable.current;
 
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -108,10 +77,10 @@ void FixedTimeslotTask::taskFunctionality() {
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     // The component for this slot is executed and the next one is chosen.
-    this->pst.executeAndAdvance();
+    this->pollingSeqTable.executeAndAdvance();
-    if (not pst.slotFollowsImmediately()) {
+    if (not pollingSeqTable.slotFollowsImmediately()) {
       // Get the interval till execution of the next slot.
-      intervalMs = this->pst.getIntervalToPreviousSlotMs();
+      intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
       interval = pdMS_TO_TICKS(intervalMs);
 
 #if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@@ -132,8 +101,8 @@ void FixedTimeslotTask::taskFunctionality() {
 }
 
 void FixedTimeslotTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }
 

src/fsfw/osal/freertos/FixedTimeslotTask.h

@@ -4,11 +4,11 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/tasks/FixedSlotSequence.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in mind that you need to call before vTaskStartScheduler()!
@@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * @return Pointer to the newly created task.
    */
   FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
-                    TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
+                    TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
 
   /**
    * @brief	The destructor of the class.
@@ -32,26 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * initialization for the PST and the device handlers. This is done by
    * calling the PST's destructor.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
-  /**
-   * This static function can be used as #deadlineMissedFunc.
-   * It counts missedDeadlines and prints the number of missed deadlines
-   * every 10th time.
-   */
-  static void missedDeadlineCounter();
-  /**
-   * A helper variable to count missed deadlines.
-   */
-  static uint32_t deadlineMissedCount;
-
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                        int8_t executionStep) override;
-
-  uint32_t getPeriodMs() const override;
-
-  ReturnValue_t checkSequence() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -61,17 +44,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
   bool started;
   TaskHandle_t handle;
 
-  FixedSlotSequence pst;
-
-  /**
-   * @brief	This attribute holds a function pointer that is executed when
-   *          a deadline was missed.
-   * @details
-   * Another function may be announced to determine the actions to perform
-   * when a deadline was missed. Currently, only one function for missing
-   * any deadline is allowed. If not used, it shall be declared NULL.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the entry point for a new task.
    * @details
@@ -88,7 +60,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };

src/fsfw/osal/freertos/FreeRTOSTaskIF.h

@@ -6,11 +6,11 @@
 
 class FreeRTOSTaskIF {
  public:
-  virtual ~FreeRTOSTaskIF() {}
+  virtual ~FreeRTOSTaskIF() = default;
   virtual TaskHandle_t getTaskHandle() = 0;
 
  protected:
-  bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
+  static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
     /* Check whether deadline was missed while also taking overflows
      * into account. Drawing this on paper with a timeline helps to understand
      * it. */

src/fsfw/osal/freertos/PeriodicTask.cpp

@@ -5,27 +5,28 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), handle(nullptr) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
   if (status != pdPASS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+    sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: "
-                  "Status: "
                << status << std::endl;
+#else
+    sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n",
+                    status);
 #endif
   }
 }
 
-PeriodicTask::~PeriodicTask(void) {
+// Do not delete objects, we were responsible for ptrs only.
-  // Do not delete objects, we were responsible for ptrs only.
+PeriodicTask::~PeriodicTask() = default;
-}
 
 void PeriodicTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as PeriodicTask. The Task object is
   // global, so it is found from any place.
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -36,7 +37,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
@@ -62,13 +63,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicTask::taskFunctionality() {
+[[noreturn]] void PeriodicTask::taskFunctionality() {
   TickType_t xLastWakeTime;
   const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 
-  for (auto const& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
   /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to
@@ -77,8 +76,8 @@ void PeriodicTask::taskFunctionality() {
   xLastWakeTime = xTaskGetTickCount();
   /* Enter the loop that defines the task behavior. */
   for (;;) {
-    for (auto const& object : objectList) {
+    for (auto const& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
 
 #if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
   }
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-                  "it implement ExecutableObjectIF"
-               << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
 
 void PeriodicTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }

src/fsfw/osal/freertos/PeriodicTask.h

@@ -6,8 +6,8 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
 class ExecutableObjectIF;
@@ -17,7 +17,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
+class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object) override;
-
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -83,28 +62,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
   bool started;
   TaskHandle_t handle;
 
-  //! Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-  /**
-   * @brief	The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed so each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details
@@ -125,7 +82,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * the next period.
    * On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };

src/fsfw/osal/host/FixedTimeslotTask.cpp

@@ -74,8 +74,10 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
+void FixedTimeslotTask::taskFunctionality() {
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // A local iterator for the Polling Sequence Table is created to
   // find the start time for the first entry.
@@ -109,26 +111,6 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   }
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << "0x" << componentId
-             << "not found, "
-                "not adding it to PST.."
-             << std::dec << std::endl;
-#else
-  sif::printError("Component 0x%08x not found, not adding it to PST..\n",
-                  static_cast<unsigned int>(componentId));
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
 bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -50,16 +50,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
    */
   ReturnValue_t startTask() override;
 
-  /**
-   * Add timeslot to the polling sequence table.
-   * @param componentId
-   * @param slotTimeMs
-   * @param executionStep
-   * @return
-   */
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                        int8_t executionStep) override;
-
   ReturnValue_t sleepFor(uint32_t ms) override;
 
  protected:
@@ -93,7 +83,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  [[noreturn]] void taskFunctionality();
+  void taskFunctionality();
 
   static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };

src/fsfw/osal/host/PeriodicTask.cpp

@@ -133,5 +133,3 @@ bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms
   (*previousWakeTimeMs) = currentStartTime;
   return false;
 }
-
-bool PeriodicTask::isEmpty() const { return objectList.empty(); }

src/fsfw/osal/host/PeriodicTask.h

@@ -52,8 +52,6 @@ class PeriodicTask : public PeriodicTaskBase {
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
-  bool isEmpty() const override;
-
  protected:
   using chron_ms = std::chrono::milliseconds;
   bool started;

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -4,7 +4,6 @@
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
@@ -37,7 +36,8 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
     posixThread.suspend();
   }
 
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Returnvalue ignored for now
+  static_cast<void>(pollingSeqTable.intializeSequenceAfterTaskCreation());
 
   // The start time for the first entry is read.
   uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
@@ -54,20 +54,12 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
       // If the deadline was missed, the deadlineMissedFunc is called.
       if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
         // No time left on timer -> we missed the deadline
-        missedDeadlineCounter();
+        if(dlmFunc != nullptr){
+          dlmFunc();
+        }
       }
     }
     // The device handler for this slot is executed and the next one is chosen.
     pollingSeqTable.executeAndAdvance();
   }
 }
-
-void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
-               << std::endl;
-#endif
-  }
-}

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -30,17 +30,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
-  /**
-   * This static function can be used as #deadlineMissedFunc.
-   * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
-   */
-  static void missedDeadlineCounter();
-
-  /**
-   * A helper variable to count missed deadlines.
-   */
-  static uint32_t deadlineMissedCount;
-
  protected:
   /**
    * @brief	This function holds the main functionality of the thread.

src/fsfw/osal/rtems/FixedTimeslotTask.cpp

@@ -1,42 +1,32 @@
 #include "fsfw/osal/rtems/FixedTimeslotTask.h"
 
-#include <rtems/bspIo.h>
 #include <rtems/io.h>
-#include <rtems/rtems/ratemon.h>
 #include <rtems/rtems/status.h>
 #include <rtems/rtems/tasks.h>
 #include <rtems/rtems/types.h>
-#include <sys/_stdint.h>
 
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tasks/FixedSequenceSlot.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 #include <iostream>
 #endif
 
 #include <cstddef>
-#include <list>
-
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 
 FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
-                                     size_t setStack, uint32_t setOverallPeriod,
+                                     size_t setStack, TaskPeriod setOverallPeriod,
-                                     void (*setDeadlineMissedFunc)(void))
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
+    : FixedTimeslotTaskBase(setOverallPeriod, dlmFunc_),
-  // All additional attributes are applied to the object.
+      RTEMSTaskBase(setPriority, setStack, name),
-  this->deadlineMissedFunc = setDeadlineMissedFunc;
+      periodId(0) {}
-}
 
-FixedTimeslotTask::~FixedTimeslotTask() {}
+FixedTimeslotTask::~FixedTimeslotTask() = default;
 
 rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
   /* The argument is re-interpreted as a FixedTimeslotTask */
-  FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
+  auto *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
   /* The task's functionality is called. */
   return originalTask->taskFunctionality();
   /* Should never be reached */
@@ -46,16 +36,6 @@ rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
 #endif
 }
 
-void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
-#endif
-  }
-}
-
 ReturnValue_t FixedTimeslotTask::startTask() {
   rtems_status_code status =
       rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, rtems_task_argument((void *)this));
@@ -79,54 +59,35 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   }
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-                                         int8_t executionStep) {
-  ExecutableObjectIF *object = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (object != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   /* A local iterator for the Polling Sequence Table is created to find the start time for
       the first entry. */
-  FixedSlotSequence::SlotListIter it = pst.current;
+  auto it = pollingSeqTable.current;
 
   /* Initialize the PST with the correct calling task */
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   /* The start time for the first entry is read. */
   rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
   RTEMSTaskBase::setAndStartPeriod(interval, &periodId);
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
-    if (pst.slotFollowsImmediately()) {
+    if (pollingSeqTable.slotFollowsImmediately()) {
       /* Do nothing */
     } else {
       /* The interval for the next polling slot is selected. */
-      interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
+      interval = RtemsBasic::convertMsToTicks(pollingSeqTable.getIntervalToNextSlotMs());
       /* The period is checked and restarted with the new interval.
                   If the deadline was missed, the deadlineMissedFunc is called. */
       rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId);
       if (status == RTEMS_TIMEOUT) {
-        if (this->deadlineMissedFunc != nullptr) {
+        if (dlmFunc != nullptr) {
-          this->deadlineMissedFunc();
+          dlmFunc();
         }
       }
     }
     /* The device handler for this slot is executed and the next one is chosen. */
-    this->pst.executeAndAdvance();
+    this->pollingSeqTable.executeAndAdvance();
   }
 }
 

src/fsfw/osal/rtems/FixedTimeslotTask.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
 #define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
 
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "RTEMSTaskBase.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
 
-class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase, public RTEMSTaskBase {
  public:
   /**
    * @brief	The standard constructor of the class.
@@ -17,7 +17,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
    * @param	getPst The object id of the completely initialized polling sequence.
    */
   FixedTimeslotTask(const char *name, rtems_task_priority setPriority, size_t setStackSize,
-                    uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
+                    TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
 
   /**
    * @brief	The destructor of the class.
@@ -25,44 +25,17 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
    * The destructor frees all heap memory that was allocated on thread initialization
    * for the PST andthe device handlers. This is done by calling the PST's destructor.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
   ReturnValue_t startTask(void);
-  /**
-   * This static function can be used as #deadlineMissedFunc.
-   * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
-   */
-  static void missedDeadlineCounter();
-  /**
-   * A helper variable to count missed deadlines.
-   */
-  static uint32_t deadlineMissedCount;
 
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+  ReturnValue_t sleepFor(uint32_t ms) override;
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t checkSequence() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   /**
    * @brief id of the associated OS period
    */
   rtems_id periodId;
-
-  FixedSlotSequence pst;
-
-  /**
-   * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
-   *
-   * @details
-   * Another function may be announced to determine the actions to perform when a deadline
-   * was missed. Currently, only one function for missing any deadline is allowed.
-   * If not used, it shall be declared NULL.
-   */
-  void (*deadlineMissedFunc)(void) = nullptr;
   /**
    * @brief	This is the entry point in a new polling thread.
    * @details	This method is the entry point in the new thread
@@ -76,7 +49,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
    * It links the functionalities provided by FixedSlotSequence with the OS's system calls to
    * keep the timing of the periods.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 };
 
 #endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/rtems/MessageQueue.cpp

@@ -65,7 +65,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
   }
 
   ReturnValue_t returnCode = convertReturnCode(result);
-  if (result == MessageQueueIF::EMPTY) {
+  if (returnCode == MessageQueueIF::EMPTY) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 

src/fsfw/osal/rtems/MessageQueue.h

@@ -36,9 +36,9 @@ class MessageQueue : public MessageQueueBase {
    * @param max_message_size	With this parameter, the maximum message size can be adjusted.
    * 							This should be left default.
    */
-  MessageQueue(size_t message_depth = 3,
+  explicit MessageQueue(size_t message_depth = 3,
-               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
+                        size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
-               MqArgs* args = nullptr);
+                        MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
@@ -48,18 +48,19 @@ class MessageQueue : public MessageQueueBase {
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
-  virtual ~MessageQueue();
+  ~MessageQueue() override;
 
   // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   ReturnValue_t flush(uint32_t* count) override;
+
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
   ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                MessageQueueId_t sentFrom = NO_QUEUE,
+                                MessageQueueId_t sentFrom, bool ignoreFault) override;
-                                bool ignoreFault = false) override;
 
  private:
   /**
-   * \brief	This attribute stores a reference to the internal error reporter for reporting full
+   * @brief	This attribute stores a reference to the internal error reporter for reporting full
-   * queues. \details	In the event of a full destination queue, the reporter will be notified. The
+   * queues. @details	In the event of a full destination queue, the reporter will be notified. The
    * reference is set by lazy loading
    */
   InternalErrorReporterIF* internalErrorReporter;

src/fsfw/osal/rtems/PeriodicTask.cpp

@@ -5,12 +5,12 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack,
-                           rtems_interval setPeriod, void (*setDeadlineMissedFunc)())
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : RTEMSTaskBase(setPriority, setStack, name),
+    : PeriodicTaskBase(setPeriod, dlmFunc_),
-      periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
+      RTEMSTaskBase(setPriority, setStack, name),
-      deadlineMissedFunc(setDeadlineMissedFunc) {}
+      periodTicks(RtemsBasic::convertMsToTicks(static_cast<uint32_t>(setPeriod * 1000.0))) {}
 
-PeriodicTask::~PeriodicTask(void) {
+PeriodicTask::~PeriodicTask() {
   /* Do not delete objects, we were responsible for pointers only. */
   rtems_rate_monotonic_delete(periodId);
 }
@@ -18,7 +18,7 @@ PeriodicTask::~PeriodicTask(void) {
 rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
   /* The argument is re-interpreted as MultiObjectTask. The Task object is global,
   so it is found from any place. */
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
   return originalTask->taskFunctionality();
   ;
 }
@@ -28,8 +28,10 @@ ReturnValue_t PeriodicTask::startTask() {
       rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this));
   if (status != RTEMS_SUCCESSFUL) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec
+    sif::error << "PeriodicTask::startTask for " << std::hex << this->getId() << std::dec
-               << " failed." << std::endl;
+               << " failed" << std::endl;
+#else
+    sif::printError("PeriodicTask::startTask for 0x%08x failed\n", getId());
 #endif
   }
   switch (status) {
@@ -47,38 +49,20 @@ ReturnValue_t PeriodicTask::startTask() {
 
 ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); }
 
-void PeriodicTask::taskFunctionality() {
+[[noreturn]] void PeriodicTask::taskFunctionality() {
   RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId);
-  for (const auto& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
+
-  }
   /* The task's "infinite" inner loop is entered. */
-  while (1) {
+  while (true) {
-    for (const auto& object : objectList) {
+    for (const auto& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
     rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId);
     if (status == RTEMS_TIMEOUT) {
-      if (this->deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        dlmFunc();
       }
     }
   }
 }
-
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return RtemsBasic::convertTicksToMs(periodTicks); }

src/fsfw/osal/rtems/PeriodicTask.h

@@ -3,9 +3,10 @@
 
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
 #include "RTEMSTaskBase.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
 
 class ExecutableObjectIF;
 
@@ -18,7 +19,7 @@ class ExecutableObjectIF;
  * @author  baetz
  * @ingroup task_handling
  */
-class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
+class PeriodicTask : public PeriodicTaskBase, public RTEMSTaskBase {
  public:
   /**
    * @brief	Standard constructor of the class.
@@ -36,12 +37,12 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * 								that shall be assigned.
    */
   PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
-               rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
+               TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
   /**
    * @brief	Currently, the executed object's lifetime is not coupled with the task object's
    * 			lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -50,33 +51,11 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * 			The address of the task object is passed as an argument
    * 			to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object) override;
-
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object pointer to the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF *object) override;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
  protected:
-  typedef std::vector<ExecutableObjectIF *> ObjectList;  //!< Typedef for the List of objects.
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
   /**
    * @brief	The period of the task.
    * @details	The period determines the frequency of the task's execution. It is expressed in
@@ -87,14 +66,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * @brief id of the associated OS period
    */
   rtems_id periodId = 0;
-  /**
+
-   * @brief	The pointer to the deadline-missed function.
-   * @details	This pointer stores the function that is executed if the task's deadline is missed.
-   * 			So, each may react individually on a timing failure. The pointer may be
-   * nullptr, then nothing happens on missing the deadline. The deadline is equal to the next
-   * execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details	It converts the argument back to the thread object type and copies the class
@@ -110,7 +82,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * are called. Afterwards the checkAndRestartPeriod system call blocks the task until the next
    * period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 };
 
 #endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

src/fsfw/osal/rtems/QueueFactory.cpp

@@ -45,9 +45,9 @@ QueueFactory* QueueFactory::instance() {
   return factoryInstance;
 }
 
-QueueFactory::QueueFactory() {}
+QueueFactory::QueueFactory() = default;
 
-QueueFactory::~QueueFactory() {}
+QueueFactory::~QueueFactory() = default;
 
 MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
                                                  MqArgs* args) {

src/fsfw/osal/rtems/RTEMSTaskBase.cpp

@@ -32,7 +32,7 @@ RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size
 
 RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); }
 
-rtems_id RTEMSTaskBase::getId() { return this->id; }
+rtems_id RTEMSTaskBase::getId() const { return this->id; }
 
 ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
   rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));

src/fsfw/osal/rtems/RTEMSTaskBase.h

@@ -36,9 +36,9 @@ class RTEMSTaskBase {
   /**
    * @brief	This method returns the task id of this class.
    */
-  rtems_id getId();
+  rtems_id getId() const;
 
-  ReturnValue_t sleepFor(uint32_t ms);
+  static ReturnValue_t sleepFor(uint32_t ms);
   static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
   static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
 

src/fsfw/osal/rtems/TaskFactory.cpp

@@ -1,7 +1,6 @@
 #include "fsfw/tasks/TaskFactory.h"
 
 #include "fsfw/osal/rtems/FixedTimeslotTask.h"
-#include "fsfw/osal/rtems/InitTask.h"
 #include "fsfw/osal/rtems/PeriodicTask.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
@@ -9,29 +8,29 @@
 // TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::TaskFactory() = default;
+
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
 PeriodicTaskIF* TaskFactory::createPeriodicTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
+  return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
-
+                                                       periodInSeconds_, deadLineMissedFunction_));
-  return static_cast<PeriodicTaskIF*>(
-      new PeriodicTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
+  return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(
-  return static_cast<FixedTimeslotTaskIF*>(
+      name_, taskPriority_, stackSize_, periodInSeconds_, deadLineMissedFunction_));
-      new FixedTimeslotTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
-  // TODO not implemented
+  // This should call the OS specific destructor
+  delete (dynamic_cast<PeriodicTask*>(task));
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -45,5 +44,3 @@ void TaskFactory::printMissedDeadline() {
   /* TODO: Implement */
   return;
 }
-
-TaskFactory::TaskFactory() {}

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -615,23 +615,23 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidD
 
 template <size_t MAX_NUM_TCS>
 inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent() const {
-  for ([[maybe_unused]] const auto &dit : telecommandMap) {
 #if FSFW_DISABLE_PRINTOUT == 0
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
+  sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
-               << std::endl;
+             << std::endl;
+#else
+  sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
+#endif
+  for (const auto &dit : telecommandMap) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "[" << dit.first << "]: Request ID: " << dit.second.requestId << " | "
                << "Store Address: " << dit.second.storeAddr.raw << std::endl;
 #else
-    sif::printDebug(
+    sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit.first, dit.second.requestId,
-        "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
+                    dit.second.storeAddr);
-    for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
-      sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit->first,
-                      dit->second.requestId, dit->second.storeAddr);
-    }
-#endif
 #endif
   }
+#endif
 }
 
 template <size_t MAX_NUM_TCS>

src/fsfw/storagemanager/StorageAccessor.cpp

@@ -13,7 +13,7 @@ StorageAccessor::StorageAccessor(store_address_t storeId, StorageManagerIF* stor
 StorageAccessor& StorageAccessor::operator=(StorageAccessor&& other) {
   // Call the parent move assignment and also assign own member.
   dataPointer = other.dataPointer;
-  StorageAccessor::operator=(std::move(other));
+  ConstStorageAccessor::operator=(std::move(other));
   return *this;
 }
 

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -29,7 +29,7 @@ void FixedSlotSequence::executeAndAdvance() {
 
 uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
   uint32_t oldTime;
-  SlotListIter slotListIter = current;
+  auto slotListIter = current;
   // Get the pollingTimeMs of the current slot object.
   oldTime = slotListIter->pollingTimeMs;
   // Advance to the next object.
@@ -51,7 +51,7 @@ uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
 
 uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
   uint32_t currentTime;
-  SlotListIter slotListIter = current;
+  auto slotListIter = current;
   // Get the pollingTimeMs of the current slot object.
   currentTime = slotListIter->pollingTimeMs;
 
@@ -67,7 +67,7 @@ uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
 
 bool FixedSlotSequence::slotFollowsImmediately() {
   uint32_t currentTime = current->pollingTimeMs;
-  SlotListIter fixedSequenceIter = this->current;
+  auto fixedSequenceIter = this->current;
   // Get the pollingTimeMs of the current slot object.
   if (fixedSequenceIter == slotList.begin()) return false;
   fixedSequenceIter--;
@@ -96,8 +96,8 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
     return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
   }
 
-  if (customCheckFunction != nullptr) {
+  if (customChecker != nullptr) {
-    ReturnValue_t result = customCheckFunction(slotList);
+    ReturnValue_t result = customChecker(slotList, customCheckArgs);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       // Continue for now but print error output.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -161,8 +161,9 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
+void FixedSlotSequence::addCustomCheck(CustomCheckFunc customChecker_, void* checkerArgs_) {
-  this->customCheckFunction = customCheckFunction;
+  customChecker = customChecker_;
+  customCheckArgs = checkerArgs_;
 }
 
 bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }

src/fsfw/tasks/FixedSlotSequence.h

@@ -30,7 +30,7 @@ class FixedSlotSequence {
  public:
   using SlotList = std::multiset<FixedSequenceSlot>;
   using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
-
+  using CustomCheckFunc = ReturnValue_t (*)(const SlotList&, void* args);
   /**
    * @brief	The constructor of the FixedSlotSequence object.
    * @param	setLength	The period length, expressed in ms.
@@ -106,7 +106,7 @@ class FixedSlotSequence {
   /**
    * @brief	This method returns the length of this FixedSlotSequence instance.
    */
-  uint32_t getLengthMs() const;
+  [[nodiscard]] uint32_t getLengthMs() const;
 
   /**
    * @brief	The method to execute the device handler entered in the current
@@ -137,7 +137,7 @@ class FixedSlotSequence {
    * @return
    *  - SLOT_LIST_EMPTY if the slot list is empty
    */
-  ReturnValue_t checkSequence() const;
+  [[nodiscard]] ReturnValue_t checkSequence() const;
 
   /**
    * @brief   A custom check can be injected for the respective slot list.
@@ -149,7 +149,7 @@ class FixedSlotSequence {
    * @param customCheckFunction
    *
    */
-  void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&));
+  void addCustomCheck(CustomCheckFunc func, void* userArgs);
 
   /**
    * @brief 	Perform any initialization steps required after the executing
@@ -157,9 +157,9 @@ class FixedSlotSequence {
    * 			executing task!
    * @return
    */
-  ReturnValue_t intializeSequenceAfterTaskCreation() const;
+  [[nodiscard]] ReturnValue_t intializeSequenceAfterTaskCreation() const;
 
-  bool isEmpty() const;
+  [[nodiscard]] bool isEmpty() const;
 
  protected:
   /**
@@ -175,7 +175,8 @@ class FixedSlotSequence {
    */
   SlotList slotList;
 
-  ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
+  CustomCheckFunc customChecker = nullptr;
+  void* customCheckArgs = nullptr;
 
   uint32_t lengthMs;
 };

src/fsfw/tasks/FixedTimeslotTaskBase.cpp

@@ -11,19 +11,17 @@ bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty();
 
 ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
 
-ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t execId, ExecutableObjectIF* execObj,
-                                             int8_t executionStep) {
+                                             uint32_t slotTimeMs, int8_t executionStep) {
-  auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
+  if (execObj == nullptr) {
-  if (executableObject != nullptr) {
-    pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << componentId
+    sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execObj
-             << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
+               << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
 #else
-  sif::printError("Component 0x%08x not found, not adding it to PST\n");
+    sif::printError("Component 0x%08x not found, not adding it to PST\n");
 #endif
-  return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  pollingSeqTable.addSlot(execId, slotTimeMs, executionStep, execObj, this);
+  return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/tasks/FixedTimeslotTaskBase.h

@@ -37,7 +37,7 @@ class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
 
   [[nodiscard]] bool isEmpty() const override;
 
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+  ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* componentId, uint32_t slotTimeMs,
                         int8_t executionStep) override;
 };
 

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -2,6 +2,7 @@
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
 #include "PeriodicTaskIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/returnvalues/FwClassIds.h"
 
@@ -15,6 +16,19 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 
   static constexpr ReturnValue_t SLOT_LIST_EMPTY =
       HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
+
+  /**
+   * Add an object with a slot time and the execution step to the task.
+   * The execution step will be passed to the object (e.g. as an operation
+   * code in #performOperation)
+   * @param componentId
+   * @param slotTimeMs
+   * @param executionStep
+   * @return
+   */
+  virtual ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* obj, uint32_t slotTimeMs,
+                                int8_t executionStep) = 0;
+
   /**
    * Add an object with a slot time and the execution step to the task.
    * The execution step will be passed to the object (e.g. as an operation
@@ -25,12 +39,24 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
    * @return
    */
   virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                int8_t executionStep) = 0;
+                                int8_t executionStep) {
+    auto* execObj = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
+    return addSlot(componentId, execObj, slotTimeMs, executionStep);
+  }
+
   /**
    * Check whether the sequence is valid and perform all other required
    * initialization steps which are needed after task creation
    */
   virtual ReturnValue_t checkSequence() = 0;
+
+  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
 };
 
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

src/fsfw/tasks/PeriodicTaskBase.cpp

@@ -21,8 +21,14 @@ uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(pe
 
 bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
 
+ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object) { return addComponent(object, 0); }
+
+ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object) {
+  return addComponent(object, 0);
+}
+
 ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
-  std::multiset<ExecutableObjectIF*> uniqueObjects;
+  std::set<ExecutableObjectIF*> uniqueObjects;
   ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
   uint32_t count = 0;
   for (const auto& obj : objectList) {

src/fsfw/tasks/PeriodicTaskBase.h

@@ -17,6 +17,9 @@ class PeriodicTaskBase : public PeriodicTaskIF {
   ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
   ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
 
+  ReturnValue_t addComponent(object_id_t object) override;
+  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
+
   [[nodiscard]] uint32_t getPeriodMs() const override;
 
   [[nodiscard]] bool isEmpty() const override;

src/fsfw/tasks/PeriodicTaskIF.h

@@ -31,9 +31,8 @@ class PeriodicTaskIF {
    * @param object Id of the object to add.
    * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
+  virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode) = 0;
-    return HasReturnvaluesIF::RETURN_FAILED;
+  virtual ReturnValue_t addComponent(object_id_t object) { return addComponent(object, 0); };
-  };
 
   /**
    * Adds an object to the list of objects to be executed.
@@ -41,15 +40,14 @@ class PeriodicTaskIF {
    * @param object pointer to the object to add.
    * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) = 0;
-    return HasReturnvaluesIF::RETURN_FAILED;
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { return addComponent(object, 0); }
-  };
 
   virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 
-  virtual uint32_t getPeriodMs() const = 0;
+  [[nodiscard]] virtual uint32_t getPeriodMs() const = 0;
 
-  virtual bool isEmpty() const = 0;
+  [[nodiscard]] virtual bool isEmpty() const = 0;
 };
 
-#endif /* PERIODICTASKIF_H_ */
+#endif /* FRAMEWORK_TASK_PERIODICTASKIF_H_ */

tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp

@@ -13,14 +13,14 @@ TestDevice::TestDevice(object_id_t objectId, object_id_t comIF, CookieIF* cookie
       dataset(this),
       fullInfoPrintout(fullInfoPrintout) {}
 
-TestDevice::~TestDevice() {}
+TestDevice::~TestDevice() = default;
 
 void TestDevice::performOperationHook() {
   if (periodicPrintout) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
 #else
-    sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
+    sif::printInfo("TestDevice%d::performOperationHook: Alive!\n", deviceIdx);
 #endif
   }
 

tests/src/fsfw_tests/integration/task/TestTask.cpp

@@ -12,7 +12,7 @@ TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(test
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 }
 
-TestTask::~TestTask() {}
+TestTask::~TestTask() = default;
 
 ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
   ReturnValue_t result = RETURN_OK;

tests/src/fsfw_tests/integration/task/TestTask.h

@@ -13,9 +13,9 @@
  */
 class TestTask : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
  public:
-  TestTask(object_id_t objectId);
+  explicit TestTask(object_id_t objectId);
-  virtual ~TestTask();
+  ~TestTask() override;
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
 
  protected:
   virtual ReturnValue_t performOneShotAction();

tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp

@@ -2,7 +2,9 @@
 
 #include <catch2/catch_test_macros.hpp>
 #include <fstream>
+#include <iostream>
 
+#include "tests/TestsConfig.h"
 #include "fsfw/container/DynamicFIFO.h"
 #include "fsfw/container/SimpleRingBuffer.h"
 #include "fsfw/platform.h"
@@ -61,6 +63,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
   std::string cmpString = "Hello World\n";
   CHECK(readString == cmpString);
   outputBuffer.deleteData(12, true);
+
+  // Issues with CI/CD
+#if FSFW_CICD_BUILD == 0
   // Test more complex command
   result = cmdExecutor.load("ping -c 1 localhost", false, false);
   REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
@@ -81,16 +86,27 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
   REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
   readBytes = 0;
   sizesFifo.retrieve(&readBytes);
-  // That's about the size of the reply
-  bool beTrue = (readBytes > 200) and (readBytes < 300);
-  REQUIRE(beTrue);
   uint8_t largerReadBuffer[1024] = {};
+  // That's about the size of the reply
+  bool beTrue = (readBytes > 100) and (readBytes < 400);
+  if (not beTrue) {
+    size_t readLen = outputBuffer.getAvailableReadData();
+    if (readLen > sizeof(largerReadBuffer) - 1) {
+      readLen = sizeof(largerReadBuffer) - 1;
+    }
+    outputBuffer.readData(largerReadBuffer, readLen);
+    std::string readString(reinterpret_cast<char*>(largerReadBuffer));
+    std::cerr << "Catch2 tag cmd-exec: Read " << readBytes << ": " << std::endl;
+    std::cerr << readString << std::endl;
+  }
+  REQUIRE(beTrue);
   outputBuffer.readData(largerReadBuffer, readBytes);
   // You can also check this output in the debugger
   std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
   // I am just going to assume that this string is the same across ping implementations
   // of different Linux systems
   REQUIRE(allTheReply.find("PING localhost") != std::string::npos);
+#endif
 
   // Now check failing command
   result = cmdExecutor.load("false", false, false);

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

@@ -16,7 +16,7 @@
 #include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
 
 TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
-  PeriodicTaskMock task(10);
+  PeriodicTaskMock task(10, nullptr);
   ObjectManagerIF* manager = ObjectManager::instance();
   if (manager == nullptr) {
     FAIL();
@@ -27,6 +27,8 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
     FAIL();
   }
   task.addComponent(objects::INTERNAL_ERROR_REPORTER);
+  // This calls the initializeAfterTaskCreation function
+  task.startTask();
   MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
   MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
   internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(
@@ -115,4 +117,4 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
   }
   QueueFactory::instance()->deleteMessageQueue(testQueue);
   QueueFactory::instance()->deleteMessageQueue(hkQueue);
-}
+}

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

@@ -2,36 +2,24 @@
 #define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
 
 #include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskBase.h>
 
-class PeriodicTaskMock : public PeriodicTaskIF {
+class PeriodicTaskMock : public PeriodicTaskBase {
  public:
-  PeriodicTaskMock(uint32_t period = 5) : period(period) {}
+  PeriodicTaskMock(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc)
-  /**
+      : PeriodicTaskBase(period, dlmFunc) {}
-   * @brief	A virtual destructor as it is mandatory for interfaces.
+
-   */
   virtual ~PeriodicTaskMock() {}
   /**
    * @brief	With the startTask method, a created task can be started
    *          for the first time.
    */
-  virtual ReturnValue_t startTask() override { return HasReturnvaluesIF::RETURN_OK; };
+  virtual ReturnValue_t startTask() override {
-
+    initObjsAfterTaskCreation();
-  virtual ReturnValue_t addComponent(object_id_t object) override {
-    ExecutableObjectIF* executableObject =
-        ObjectManager::instance()->get<ExecutableObjectIF>(objects::INTERNAL_ERROR_REPORTER);
-    if (executableObject == nullptr) {
-      return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    executableObject->setTaskIF(this);
-    executableObject->initializeAfterTaskCreation();
     return HasReturnvaluesIF::RETURN_OK;
   };
 
   virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
-
-  virtual uint32_t getPeriodMs() const override { return period; };
-  uint32_t period;
 };
 
-#endif  // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
+#endif  // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_

tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp

@@ -156,4 +156,31 @@ TEST_CASE("New Accessor", "[NewAccessor]") {
       CHECK(receptionArray[i] == 42);
     }
   }
+
+  SECTION("Operators"){
+    result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+    REQUIRE(result == retval::CATCH_OK);
+    {
+      StorageAccessor accessor(testStoreId);
+      StorageAccessor accessor2(0);
+      accessor2 = std::move(accessor);
+      REQUIRE(accessor.data() == nullptr);
+      std::array<uint8_t, 6> data;
+      size_t size = 6;
+      result = accessor.write(data.data(), data.size());
+      REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+      result = SimplePool.modifyData(testStoreId, accessor2);
+      REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+      CHECK(accessor2.getId() == testStoreId);
+      CHECK(accessor2.size() == 10);
+      
+      std::array<uint8_t, 10> newData;
+      // Expect data to be invalid so this must return RETURN_FAILED
+      result = accessor.getDataCopy(newData.data(),newData.size());
+      REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+      // Expect data to be too small 
+      result = accessor2.getDataCopy(data.data(),data.size());
+      REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+    }
+  }
 }

tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp

@@ -3,6 +3,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 #include <cstring>
+#include <array>
 
 #include "fsfw_tests/unit/CatchDefinitions.h"
 

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

@@ -1,6 +1,8 @@
 #ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
 #define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
 
+#cmakedefine01 FSFW_CICD_BUILD
+
 #define FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS 1
 
 #ifdef __cplusplus