From 6f0362b9566bd3303a7598517a4ee362d9816bfd Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 28 Mar 2022 12:48:15 +0200
Subject: [PATCH 01/19] refactor power module

---
 src/fsfw/power/CMakeLists.txt         | 12 ++++----
 src/fsfw/power/DummyPowerSwitcher.cpp | 42 +++++++++++++++++++++++++++
 src/fsfw/power/DummyPowerSwitcher.h   | 31 ++++++++++++++++++++
 src/fsfw/power/Fuse.h                 | 16 +++++-----
 src/fsfw/power/PowerSensor.cpp        |  4 ++-
 src/fsfw/power/PowerSwitchIF.h        |  7 +++--
 src/fsfw/power/PowerSwitcher.cpp      | 40 ++++++++++++++++---------
 src/fsfw/power/PowerSwitcher.h        | 20 ++++++-------
 src/fsfw/power/definitions.h          | 13 +++++++++
 9 files changed, 143 insertions(+), 42 deletions(-)
 create mode 100644 src/fsfw/power/DummyPowerSwitcher.cpp
 create mode 100644 src/fsfw/power/DummyPowerSwitcher.h
 create mode 100644 src/fsfw/power/definitions.h

diff --git a/src/fsfw/power/CMakeLists.txt b/src/fsfw/power/CMakeLists.txt
index 1c625db1..10e4a44d 100644
--- a/src/fsfw/power/CMakeLists.txt
+++ b/src/fsfw/power/CMakeLists.txt
@@ -1,7 +1,7 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Fuse.cpp
-		PowerComponent.cpp
-		PowerSensor.cpp
-		PowerSwitcher.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    Fuse.cpp
+    PowerComponent.cpp
+    PowerSensor.cpp
+    PowerSwitcher.cpp
+    DummyPowerSwitcher.cpp
 )
\ No newline at end of file
diff --git a/src/fsfw/power/DummyPowerSwitcher.cpp b/src/fsfw/power/DummyPowerSwitcher.cpp
new file mode 100644
index 00000000..fe900e72
--- /dev/null
+++ b/src/fsfw/power/DummyPowerSwitcher.cpp
@@ -0,0 +1,42 @@
+#include "DummyPowerSwitcher.h"
+
+DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs)
+: switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) {
+}
+
+void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
+  this->switcherList = switcherList;
+}
+
+void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
+  this->fuseList = fuseList;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (switchNr < switcherList.capacity()) {
+    switcherList[switchNr] = onOff;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
+  if(fuseNr < fuseList.capacity()) {
+    fuseList[fuseNr] = FUSE_ON;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
+  if (switchNr < switcherList.capacity()) {
+    return switcherList[switchNr];
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
+  return RETURN_OK;
+}
+
+uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const {
+  return 5000;
+}
diff --git a/src/fsfw/power/DummyPowerSwitcher.h b/src/fsfw/power/DummyPowerSwitcher.h
new file mode 100644
index 00000000..39de608d
--- /dev/null
+++ b/src/fsfw/power/DummyPowerSwitcher.h
@@ -0,0 +1,31 @@
+#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+
+#include "PowerSwitchIF.h"
+#include "definitions.h"
+
+#include <vector>
+#include <cstddef>
+
+class DummyPowerSwitcher: public PowerSwitchIF {
+public:
+  DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs = 5000);
+
+  void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
+  void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
+
+  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  virtual uint32_t getSwitchDelayMs(void) const override;
+
+private:
+  std::vector<ReturnValue_t> switcherList;
+  std::vector<ReturnValue_t> fuseList;
+  uint32_t switchDelayMs = 5000;
+};
+
+
+
+#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */
diff --git a/src/fsfw/power/Fuse.h b/src/fsfw/power/Fuse.h
index e6f9c149..0b57a6a9 100644
--- a/src/fsfw/power/Fuse.h
+++ b/src/fsfw/power/Fuse.h
@@ -34,14 +34,14 @@ class Fuse : public SystemObject,
   };
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(
-      1, severity::LOW);  //!< PSS detected that current on a fuse is totally out of bounds.
-  static const Event FUSE_WENT_OFF =
-      MAKE_EVENT(2, severity::LOW);  //!< PSS detected a fuse that went off.
-  static const Event POWER_ABOVE_HIGH_LIMIT =
-      MAKE_EVENT(4, severity::LOW);  //!< PSS detected a fuse that violates its limits.
-  static const Event POWER_BELOW_LOW_LIMIT =
-      MAKE_EVENT(5, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  //! PSS detected that current on a fuse is totally out of bounds.
+  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
+  //! PSS detected a fuse that went off.
+  static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
 
   typedef std::list<PowerComponentIF *> DeviceList;
   Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,
diff --git a/src/fsfw/power/PowerSensor.cpp b/src/fsfw/power/PowerSensor.cpp
index 08ff4724..1936e8ee 100644
--- a/src/fsfw/power/PowerSensor.cpp
+++ b/src/fsfw/power/PowerSensor.cpp
@@ -15,7 +15,9 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/power/PowerSwitchIF.h b/src/fsfw/power/PowerSwitchIF.h
index a31d8971..71c5523d 100644
--- a/src/fsfw/power/PowerSwitchIF.h
+++ b/src/fsfw/power/PowerSwitchIF.h
@@ -1,6 +1,7 @@
 #ifndef FSFW_POWER_POWERSWITCHIF_H_
 #define FSFW_POWER_POWERSWITCHIF_H_
 
+#include "definitions.h"
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 /**
@@ -37,11 +38,11 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    * @param switchNr
    * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
    */
-  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0;
+  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) = 0;
   /**
    * Sends a command to the Power Unit to enable a certain fuse.
    */
-  virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0;
 
   /**
    * get the state of the Switches.
@@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    *     - @c SWITCH_OFF if the specified switch is off.
    *     - @c RETURN_FAILED if an error occured
    */
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
   /**
    * get state of a fuse.
    * @param fuseNr
diff --git a/src/fsfw/power/PowerSwitcher.cpp b/src/fsfw/power/PowerSwitcher.cpp
index 0a3f8521..83679772 100644
--- a/src/fsfw/power/PowerSwitcher.cpp
+++ b/src/fsfw/power/PowerSwitcher.cpp
@@ -1,19 +1,12 @@
+#include "definitions.h"
 #include "fsfw/power/PowerSwitcher.h"
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
-                             PowerSwitcher::State_t setStartState)
-    : state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
-
-ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
-  power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
-  if (power == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
+PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                             power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
+    : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
   SwitchReturn_t result = howManySwitches();
@@ -52,18 +45,37 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
   return;
 }
 
-void PowerSwitcher::turnOn() {
+void PowerSwitcher::turnOn(bool checkCurrentState) {
+  if(checkCurrentState) {
+    if(getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
+      state = SWITCH_IS_ON;
+      return;
+    }
+  }
   commandSwitches(PowerSwitchIF::SWITCH_ON);
   state = WAIT_ON;
 }
 
-void PowerSwitcher::turnOff() {
+void PowerSwitcher::turnOff(bool checkCurrentState) {
+  if(checkCurrentState) {
+    if(getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
+      state = SWITCH_IS_OFF;
+      return;
+    }
+  }
   commandSwitches(PowerSwitchIF::SWITCH_OFF);
   state = WAIT_OFF;
 }
 
+bool PowerSwitcher::active() {
+  if(state == WAIT_OFF or state == WAIT_ON) {
+    return true;
+  }
+  return false;
+}
+
 PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
-  if (secondSwitch == NO_SWITCH) {
+  if (secondSwitch == power::NO_SWITCH) {
     return ONE_SWITCH;
   } else {
     return TWO_SWITCHES;
diff --git a/src/fsfw/power/PowerSwitcher.h b/src/fsfw/power/PowerSwitcher.h
index c72c241d..853bbb40 100644
--- a/src/fsfw/power/PowerSwitcher.h
+++ b/src/fsfw/power/PowerSwitcher.h
@@ -14,28 +14,28 @@ class PowerSwitcher : public HasReturnvaluesIF {
     SWITCH_IS_OFF,
     SWITCH_IS_ON,
   };
-  State_t state;
+
   static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
   static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
   static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-  PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
-  ReturnValue_t initialize(object_id_t powerSwitchId);
-  void turnOn();
-  void turnOff();
+  void turnOn(bool checkCurrentState = true);
+  void turnOff(bool checkCurrentState = true);
+  bool active();
   void doStateMachine();
   State_t getState();
   ReturnValue_t checkSwitchState();
   uint32_t getSwitchDelay();
-  uint8_t getFirstSwitch() const;
-  uint8_t getSecondSwitch() const;
+  power::Switch_t getFirstSwitch() const;
+  power::Switch_t getSecondSwitch() const;
 
  private:
-  uint8_t firstSwitch;
-  uint8_t secondSwitch;
   PowerSwitchIF* power = nullptr;
+  State_t state;
+  power::Switch_t firstSwitch = power::NO_SWITCH;
+  power::Switch_t secondSwitch = power::NO_SWITCH;
 
-  static const uint8_t NO_SWITCH = 0xFF;
   enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 };
   ReturnValue_t getStateOfSwitches();
   void commandSwitches(ReturnValue_t onOff);
diff --git a/src/fsfw/power/definitions.h b/src/fsfw/power/definitions.h
new file mode 100644
index 00000000..1e4fe296
--- /dev/null
+++ b/src/fsfw/power/definitions.h
@@ -0,0 +1,13 @@
+#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace power {
+
+using Switch_t = uint8_t;
+static constexpr Switch_t NO_SWITCH = 0xFF;
+
+}
+
+#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */

From b32d1da4211c62b024cba4310fbecfaf1af01478 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 28 Mar 2022 12:57:11 +0200
Subject: [PATCH 02/19] this should compile

---
 src/fsfw/power/DummyPowerSwitcher.cpp | 16 ++++-----
 src/fsfw/power/DummyPowerSwitcher.h   | 14 ++++----
 src/fsfw/power/PowerSensor.cpp        |  5 ++-
 src/fsfw/power/PowerSwitchIF.h        |  2 +-
 src/fsfw/power/PowerSwitcher.cpp      | 12 +++----
 src/fsfw/power/definitions.h          |  2 +-
 src/fsfw/version.cpp                  |  3 +-
 src/fsfw/version.h                    |  2 +-
 tests/src/fsfw_tests/unit/version.cpp | 50 +++++++++++++--------------
 9 files changed, 50 insertions(+), 56 deletions(-)

diff --git a/src/fsfw/power/DummyPowerSwitcher.cpp b/src/fsfw/power/DummyPowerSwitcher.cpp
index fe900e72..92d9cfbd 100644
--- a/src/fsfw/power/DummyPowerSwitcher.cpp
+++ b/src/fsfw/power/DummyPowerSwitcher.cpp
@@ -1,8 +1,8 @@
 #include "DummyPowerSwitcher.h"
 
-DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs)
-: switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) {
-}
+DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses,
+                                       uint32_t switchDelayMs)
+    : switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) {}
 
 void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
   this->switcherList = switcherList;
@@ -20,7 +20,7 @@ ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, Re
 }
 
 ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
-  if(fuseNr < fuseList.capacity()) {
+  if (fuseNr < fuseList.capacity()) {
     fuseList[fuseNr] = FUSE_ON;
   }
   return RETURN_FAILED;
@@ -33,10 +33,6 @@ ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
-  return RETURN_OK;
-}
+ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const { return RETURN_OK; }
 
-uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const {
-  return 5000;
-}
+uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return 5000; }
diff --git a/src/fsfw/power/DummyPowerSwitcher.h b/src/fsfw/power/DummyPowerSwitcher.h
index 39de608d..3582f8d7 100644
--- a/src/fsfw/power/DummyPowerSwitcher.h
+++ b/src/fsfw/power/DummyPowerSwitcher.h
@@ -1,14 +1,14 @@
 #ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
 #define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
 
+#include <cstddef>
+#include <vector>
+
 #include "PowerSwitchIF.h"
 #include "definitions.h"
 
-#include <vector>
-#include <cstddef>
-
-class DummyPowerSwitcher: public PowerSwitchIF {
-public:
+class DummyPowerSwitcher : public PowerSwitchIF {
+ public:
   DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
@@ -20,12 +20,10 @@ public:
   virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
   virtual uint32_t getSwitchDelayMs(void) const override;
 
-private:
+ private:
   std::vector<ReturnValue_t> switcherList;
   std::vector<ReturnValue_t> fuseList;
   uint32_t switchDelayMs = 5000;
 };
 
-
-
 #endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */
diff --git a/src/fsfw/power/PowerSensor.cpp b/src/fsfw/power/PowerSensor.cpp
index 1936e8ee..e73b12d0 100644
--- a/src/fsfw/power/PowerSensor.cpp
+++ b/src/fsfw/power/PowerSensor.cpp
@@ -15,9 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue =
+      QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
diff --git a/src/fsfw/power/PowerSwitchIF.h b/src/fsfw/power/PowerSwitchIF.h
index 71c5523d..bc883fbc 100644
--- a/src/fsfw/power/PowerSwitchIF.h
+++ b/src/fsfw/power/PowerSwitchIF.h
@@ -1,9 +1,9 @@
 #ifndef FSFW_POWER_POWERSWITCHIF_H_
 #define FSFW_POWER_POWERSWITCHIF_H_
 
-#include "definitions.h"
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
+#include "definitions.h"
 /**
  *
  * @brief   This interface defines a connection to a device that is capable of
diff --git a/src/fsfw/power/PowerSwitcher.cpp b/src/fsfw/power/PowerSwitcher.cpp
index 83679772..7608c6e7 100644
--- a/src/fsfw/power/PowerSwitcher.cpp
+++ b/src/fsfw/power/PowerSwitcher.cpp
@@ -1,6 +1,6 @@
-#include "definitions.h"
 #include "fsfw/power/PowerSwitcher.h"
 
+#include "definitions.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -46,8 +46,8 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
 }
 
 void PowerSwitcher::turnOn(bool checkCurrentState) {
-  if(checkCurrentState) {
-    if(getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
+  if (checkCurrentState) {
+    if (getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
       state = SWITCH_IS_ON;
       return;
     }
@@ -57,8 +57,8 @@ void PowerSwitcher::turnOn(bool checkCurrentState) {
 }
 
 void PowerSwitcher::turnOff(bool checkCurrentState) {
-  if(checkCurrentState) {
-    if(getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
+  if (checkCurrentState) {
+    if (getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
       state = SWITCH_IS_OFF;
       return;
     }
@@ -68,7 +68,7 @@ void PowerSwitcher::turnOff(bool checkCurrentState) {
 }
 
 bool PowerSwitcher::active() {
-  if(state == WAIT_OFF or state == WAIT_ON) {
+  if (state == WAIT_OFF or state == WAIT_ON) {
     return true;
   }
   return false;
diff --git a/src/fsfw/power/definitions.h b/src/fsfw/power/definitions.h
index 1e4fe296..ed2a0037 100644
--- a/src/fsfw/power/definitions.h
+++ b/src/fsfw/power/definitions.h
@@ -8,6 +8,6 @@ namespace power {
 using Switch_t = uint8_t;
 static constexpr Switch_t NO_SWITCH = 0xFF;
 
-}
+}  // namespace power
 
 #endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */
diff --git a/src/fsfw/version.cpp b/src/fsfw/version.cpp
index 926e465f..e4a62002 100644
--- a/src/fsfw/version.cpp
+++ b/src/fsfw/version.cpp
@@ -1,8 +1,9 @@
 #include "version.h"
-#include "fsfw/FSFWVersion.h"
 
 #include <cstdio>
 
+#include "fsfw/FSFWVersion.h"
+
 #ifdef major
 #undef major
 #endif
diff --git a/src/fsfw/version.h b/src/fsfw/version.h
index 7cddf193..bb4d0399 100644
--- a/src/fsfw/version.h
+++ b/src/fsfw/version.h
@@ -29,7 +29,7 @@ class Version {
   }
 
   friend bool operator>(const Version& v1, const Version& v2) {
-    return not (v1 < v2) and not (v1 == v2);
+    return not(v1 < v2) and not(v1 == v2);
   }
 
   friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); }
diff --git a/tests/src/fsfw_tests/unit/version.cpp b/tests/src/fsfw_tests/unit/version.cpp
index 92a930dc..2967dfa5 100644
--- a/tests/src/fsfw_tests/unit/version.cpp
+++ b/tests/src/fsfw_tests/unit/version.cpp
@@ -17,15 +17,15 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
   fsfw::Version v1 = fsfw::Version(1, 1, 1);
   fsfw::Version v2 = fsfw::Version(1, 1, 1);
   REQUIRE(v1 == v2);
-  REQUIRE(not (v1 < v2));
-  REQUIRE(not (v1 > v2));
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 > v2));
   REQUIRE(v1 <= v2);
   REQUIRE(v1 >= v2);
   v1.revision -= 1;
   REQUIRE(v1 != v2);
-  REQUIRE(not (v1 == v2));
-  REQUIRE(not (v1 > v2));
-  REQUIRE(not (v1 >= v2));
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 >= v2));
   REQUIRE(v1 < v2);
   REQUIRE(v1 <= v2);
   v1.revision += 1;
@@ -33,60 +33,60 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
   REQUIRE(v1 != v2);
   REQUIRE(v1 < v2);
   REQUIRE(v1 <= v2);
-  REQUIRE(not (v1 == v2));
-  REQUIRE(not (v1 > v2));
-  REQUIRE(not (v1 >= v2));
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 >= v2));
   v1.minor += 1;
   v1.major -= 1;
   REQUIRE(v1 != v2);
   REQUIRE(v1 < v2);
   REQUIRE(v1 <= v2);
-  REQUIRE(not (v1 == v2));
-  REQUIRE(not (v1 > v2));
-  REQUIRE(not (v1 >= v2));
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 >= v2));
   v1.major += 1;
   REQUIRE(v1 == v2);
   REQUIRE(v1 <= v2);
   REQUIRE(v1 >= v2);
-  REQUIRE(not (v1 != v2));
-  REQUIRE(not (v1 > v2));
-  REQUIRE(not (v1 < v2));
+  REQUIRE(not(v1 != v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 < v2));
   v1.major += 1;
   v1.minor -= 1;
   REQUIRE(v1 != v2);
   REQUIRE(v1 > v2);
   REQUIRE(v1 >= v2);
-  REQUIRE(not (v1 == v2));
-  REQUIRE(not (v1 < v2));
-  REQUIRE(not (v1 <= v2));
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 <= v2));
   v1.major -= 1;
   v1.minor += 2;
   v1.revision -= 1;
   REQUIRE(v1 != v2);
   REQUIRE(v1 > v2);
   REQUIRE(v1 >= v2);
-  REQUIRE(not (v1 == v2));
-  REQUIRE(not (v1 < v2));
-  REQUIRE(not (v1 <= v2));
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 <= v2));
   v1.minor -= 1;
   v1.revision += 2;
   REQUIRE(v1 != v2);
   REQUIRE(v1 > v2);
   REQUIRE(v1 >= v2);
-  REQUIRE(not (v1 == v2));
-  REQUIRE(not (v1 < v2));
-  REQUIRE(not (v1 <= v2));
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 <= v2));
   v1.revision -= 1;
   REQUIRE(v1 == v2);
   REQUIRE(v1 <= v2);
   REQUIRE(v1 >= v2);
-  REQUIRE(not (v1 != v2));
+  REQUIRE(not(v1 != v2));
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::info << "v" << fsfw::FSFW_VERSION << std::endl;
 #endif
   char verString[10] = {};
   fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString));
 #if FSFW_DISABLE_PRINTOUT == 0
-  printf("v%s\n",verString);
+  printf("v%s\n", verString);
 #endif
 }

From 23af1702297e3a614eb9344fbaa66baff464af8f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 28 Mar 2022 12:59:03 +0200
Subject: [PATCH 03/19] small tweaks

---
 src/fsfw/power/DummyPowerSwitcher.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/fsfw/power/DummyPowerSwitcher.cpp b/src/fsfw/power/DummyPowerSwitcher.cpp
index 92d9cfbd..4f18901d 100644
--- a/src/fsfw/power/DummyPowerSwitcher.cpp
+++ b/src/fsfw/power/DummyPowerSwitcher.cpp
@@ -33,6 +33,11 @@ ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const { return RETURN_OK; }
+ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
+  if (fuseNr < fuseList.capacity()) {
+    return fuseList[fuseNr];
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
 
-uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return 5000; }
+uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return switchDelayMs; }

From b42987059a165c4b80991391574192e442ffed6b Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 30 Mar 2022 17:41:38 +0200
Subject: [PATCH 04/19] make dummy power switcher a system object

---
 src/fsfw/power/DummyPowerSwitcher.cpp | 9 ++++++---
 src/fsfw/power/DummyPowerSwitcher.h   | 6 ++++--
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/src/fsfw/power/DummyPowerSwitcher.cpp b/src/fsfw/power/DummyPowerSwitcher.cpp
index 4f18901d..d0a87288 100644
--- a/src/fsfw/power/DummyPowerSwitcher.cpp
+++ b/src/fsfw/power/DummyPowerSwitcher.cpp
@@ -1,8 +1,11 @@
 #include "DummyPowerSwitcher.h"
 
-DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses,
-                                       uint32_t switchDelayMs)
-    : switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) {}
+DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
+                                       size_t numberOfFuses, uint32_t switchDelayMs)
+    : SystemObject(objectId),
+      switcherList(numberOfSwitches),
+      fuseList(numberOfFuses),
+      switchDelayMs(switchDelayMs) {}
 
 void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
   this->switcherList = switcherList;
diff --git a/src/fsfw/power/DummyPowerSwitcher.h b/src/fsfw/power/DummyPowerSwitcher.h
index 3582f8d7..24e9d648 100644
--- a/src/fsfw/power/DummyPowerSwitcher.h
+++ b/src/fsfw/power/DummyPowerSwitcher.h
@@ -6,10 +6,12 @@
 
 #include "PowerSwitchIF.h"
 #include "definitions.h"
+#include "fsfw/objectmanager/SystemObject.h"
 
-class DummyPowerSwitcher : public PowerSwitchIF {
+class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
  public:
-  DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs = 5000);
+  DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
+                     uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
   void setInitialFusesList(std::vector<ReturnValue_t> switcherList);

From c20be13733b0731c30c1d44eb08caf5e5862eb06 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Apr 2022 16:40:13 +0200
Subject: [PATCH 05/19] change switch type in header as well

---
 src/fsfw/power/PowerSwitcher.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/fsfw/power/PowerSwitcher.h b/src/fsfw/power/PowerSwitcher.h
index 853bbb40..279ffacf 100644
--- a/src/fsfw/power/PowerSwitcher.h
+++ b/src/fsfw/power/PowerSwitcher.h
@@ -18,7 +18,8 @@ class PowerSwitcher : public HasReturnvaluesIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
   static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
   static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-  PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                power::Switch_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
   void turnOn(bool checkCurrentState = true);
   void turnOff(bool checkCurrentState = true);

From 738f5720432cefb5a40292491babb6cd5d829010 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Apr 2022 18:38:25 +0200
Subject: [PATCH 06/19] added unit tests, minor API change

---
 src/fsfw/power/DummyPowerSwitcher.cpp         |  5 +-
 src/fsfw/power/DummyPowerSwitcher.h           |  2 +-
 tests/src/fsfw_tests/unit/CMakeLists.txt      |  3 +
 .../src/fsfw_tests/unit/mocks/CMakeLists.txt  |  3 +
 .../unit/mocks/PowerSwitcherMock.cpp          | 77 +++++++++++++++++++
 .../fsfw_tests/unit/mocks/PowerSwitcherMock.h | 52 +++++++++++++
 .../src/fsfw_tests/unit/power/CMakeLists.txt  |  3 +
 .../unit/power/testPowerSwitcher.cpp          | 66 ++++++++++++++++
 .../unit/testcfg/objects/systemObjectList.h   |  3 +-
 9 files changed, 210 insertions(+), 4 deletions(-)
 create mode 100644 tests/src/fsfw_tests/unit/mocks/CMakeLists.txt
 create mode 100644 tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp
 create mode 100644 tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h
 create mode 100644 tests/src/fsfw_tests/unit/power/CMakeLists.txt
 create mode 100644 tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp

diff --git a/src/fsfw/power/DummyPowerSwitcher.cpp b/src/fsfw/power/DummyPowerSwitcher.cpp
index d0a87288..799d49aa 100644
--- a/src/fsfw/power/DummyPowerSwitcher.cpp
+++ b/src/fsfw/power/DummyPowerSwitcher.cpp
@@ -1,8 +1,9 @@
 #include "DummyPowerSwitcher.h"
 
 DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
-                                       size_t numberOfFuses, uint32_t switchDelayMs)
-    : SystemObject(objectId),
+                                       size_t numberOfFuses, bool registerGlobally,
+                                       uint32_t switchDelayMs)
+    : SystemObject(objectId, registerGlobally),
       switcherList(numberOfSwitches),
       fuseList(numberOfFuses),
       switchDelayMs(switchDelayMs) {}
diff --git a/src/fsfw/power/DummyPowerSwitcher.h b/src/fsfw/power/DummyPowerSwitcher.h
index 24e9d648..b2dd40d5 100644
--- a/src/fsfw/power/DummyPowerSwitcher.h
+++ b/src/fsfw/power/DummyPowerSwitcher.h
@@ -11,7 +11,7 @@
 class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
  public:
   DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
-                     uint32_t switchDelayMs = 5000);
+                     bool registerGlobally = true, uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
   void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
diff --git a/tests/src/fsfw_tests/unit/CMakeLists.txt b/tests/src/fsfw_tests/unit/CMakeLists.txt
index a8d31d88..b5143c3b 100644
--- a/tests/src/fsfw_tests/unit/CMakeLists.txt
+++ b/tests/src/fsfw_tests/unit/CMakeLists.txt
@@ -11,7 +11,10 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
 )
 
 add_subdirectory(testcfg)
+add_subdirectory(mocks)
+
 add_subdirectory(action)
+add_subdirectory(power)
 add_subdirectory(container)
 add_subdirectory(osal)
 add_subdirectory(serialize)
diff --git a/tests/src/fsfw_tests/unit/mocks/CMakeLists.txt b/tests/src/fsfw_tests/unit/mocks/CMakeLists.txt
new file mode 100644
index 00000000..1b86547c
--- /dev/null
+++ b/tests/src/fsfw_tests/unit/mocks/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+	PowerSwitcherMock.cpp
+)
diff --git a/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp b/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp
new file mode 100644
index 00000000..5c6935e4
--- /dev/null
+++ b/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp
@@ -0,0 +1,77 @@
+#include "PowerSwitcherMock.h"
+
+static uint32_t SWITCH_REQUEST_UPDATE_VALUE = 0;
+
+PowerSwitcherMock::PowerSwitcherMock() {}
+
+ReturnValue_t PowerSwitcherMock::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (switchMap.count(switchNr) == 0) {
+    switchMap.emplace(switchNr, SwitchInfo(switchNr, onOff));
+  } else {
+    SwitchInfo& info = switchMap.at(switchNr);
+    info.currentState = onOff;
+    if (onOff == PowerSwitchIF::SWITCH_ON) {
+      info.timesCalledOn++;
+    } else {
+      info.timesCalledOff++;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherMock::sendFuseOnCommand(uint8_t fuseNr) {
+  if (fuseMap.count(fuseNr) == 0) {
+    fuseMap.emplace(fuseNr, FuseInfo(fuseNr));
+  } else {
+    FuseInfo& info = fuseMap.at(fuseNr);
+    info.timesCalled++;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherMock::getSwitchState(power::Switch_t switchNr) const {
+  if (switchMap.count(switchNr) == 1) {
+    auto& info = switchMap.at(switchNr);
+    SWITCH_REQUEST_UPDATE_VALUE++;
+    return info.currentState;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t PowerSwitcherMock::getFuseState(uint8_t fuseNr) const {
+  if (fuseMap.count(fuseNr) == 1) {
+    return FUSE_ON;
+  } else {
+    return FUSE_OFF;
+  }
+  return RETURN_FAILED;
+}
+
+uint32_t PowerSwitcherMock::getSwitchDelayMs(void) const { return 5000; }
+
+SwitchInfo::SwitchInfo() : switcher(0) {}
+
+SwitchInfo::SwitchInfo(power::Switch_t switcher, ReturnValue_t initState)
+    : switcher(switcher), currentState(initState) {}
+
+FuseInfo::FuseInfo(uint8_t fuse) : fuse(fuse) {}
+
+void PowerSwitcherMock::getSwitchInfo(power::Switch_t switcher, SwitchInfo& info) {
+  if (switchMap.count(switcher) == 1) {
+    info = switchMap.at(switcher);
+  }
+}
+
+void PowerSwitcherMock::getFuseInfo(uint8_t fuse, FuseInfo& info) {
+  if (fuseMap.count(fuse) == 1) {
+    info = fuseMap.at(fuse);
+  }
+}
+
+uint32_t PowerSwitcherMock::getAmountSwitchStatWasRequested() {
+  return SWITCH_REQUEST_UPDATE_VALUE;
+}
+
+void PowerSwitcherMock::initSwitch(power::Switch_t switchNr) {
+  switchMap.emplace(switchNr, SwitchInfo(switchNr, PowerSwitchIF::SWITCH_OFF));
+}
diff --git a/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h b/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h
new file mode 100644
index 00000000..3a740e66
--- /dev/null
+++ b/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h
@@ -0,0 +1,52 @@
+#ifndef FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
+#define FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
+
+#include <fsfw/power/PowerSwitchIF.h>
+
+#include <map>
+#include <utility>
+
+struct SwitchInfo {
+ public:
+  SwitchInfo();
+  SwitchInfo(power::Switch_t switcher, ReturnValue_t initState);
+
+  power::Switch_t switcher;
+  ReturnValue_t currentState = PowerSwitchIF::SWITCH_OFF;
+  uint32_t timesCalledOn = 0;
+  uint32_t timesCalledOff = 0;
+  uint32_t timesStatusRequested = 0;
+};
+
+struct FuseInfo {
+ public:
+  FuseInfo(uint8_t fuse);
+  uint8_t fuse;
+  uint32_t timesCalled = 0;
+};
+
+class PowerSwitcherMock : public PowerSwitchIF {
+ public:
+  PowerSwitcherMock();
+
+  ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
+
+  void getSwitchInfo(power::Switch_t switcher, SwitchInfo& info);
+  void getFuseInfo(uint8_t fuse, FuseInfo& info);
+
+  uint32_t getAmountSwitchStatWasRequested();
+
+  void initSwitch(power::Switch_t switchNr);
+
+ private:
+  using SwitchOnOffPair = std::pair<power::Switch_t, ReturnValue_t>;
+  using FuseOnOffPair = std::pair<uint8_t, ReturnValue_t>;
+  std::map<power::Switch_t, SwitchInfo> switchMap;
+  std::map<uint8_t, FuseInfo> fuseMap;
+};
+
+#endif /* FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_ */
diff --git a/tests/src/fsfw_tests/unit/power/CMakeLists.txt b/tests/src/fsfw_tests/unit/power/CMakeLists.txt
new file mode 100644
index 00000000..667e6f51
--- /dev/null
+++ b/tests/src/fsfw_tests/unit/power/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+    testPowerSwitcher.cpp
+)
diff --git a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
new file mode 100644
index 00000000..c368729d
--- /dev/null
+++ b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
@@ -0,0 +1,66 @@
+#include <fsfw/power/DummyPowerSwitcher.h>
+#include <fsfw/power/PowerSwitcher.h>
+#include <fsfw_tests/unit/mocks/PowerSwitcherMock.h>
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "objects/systemObjectList.h"
+
+TEST_CASE("Power Switcher", "[power-switcher]") {
+  PowerSwitcherMock mock;
+  PowerSwitcher switcher(&mock, 1);
+  DummyPowerSwitcher dummySwitcher(objects::DUMMY_POWER_SWITCHER, 5, 5, false);
+  PowerSwitcher switcherUsingDummy(&dummySwitcher, 1);
+  SwitchInfo switchInfo;
+  mock.initSwitch(1);
+
+  SECTION("Basic Tests") {
+    REQUIRE(switcher.getFirstSwitch() == 1);
+    REQUIRE(switcher.getSecondSwitch() == power::NO_SWITCH);
+    // Default start state
+    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    switcher.turnOn(true);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 1);
+    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_ON);
+    REQUIRE(switcher.active());
+    switcher.doStateMachine();
+    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_ON);
+    mock.getSwitchInfo(1, switchInfo);
+    REQUIRE(switchInfo.timesCalledOn == 1);
+    REQUIRE(not switcher.active());
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
+    switcher.turnOff(false);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
+    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
+    REQUIRE(switcher.active());
+    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
+    switcher.doStateMachine();
+    mock.getSwitchInfo(1, switchInfo);
+    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    REQUIRE(switchInfo.timesCalledOn == 1);
+    REQUIRE(switchInfo.timesCalledOff == 1);
+    REQUIRE(not switcher.active());
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
+  }
+
+  SECTION("Dummy Test") {
+    // Same tests, but we can't really check the dummy
+    REQUIRE(switcherUsingDummy.getFirstSwitch() == 1);
+    REQUIRE(switcherUsingDummy.getSecondSwitch() == power::NO_SWITCH);
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    switcherUsingDummy.turnOn(true);
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_ON);
+    REQUIRE(switcherUsingDummy.active());
+    switcherUsingDummy.doStateMachine();
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_ON);
+    REQUIRE(not switcherUsingDummy.active());
+
+    switcherUsingDummy.turnOff(false);
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
+    REQUIRE(switcherUsingDummy.active());
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
+    switcherUsingDummy.doStateMachine();
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    REQUIRE(not switcherUsingDummy.active());
+  }
+}
diff --git a/tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h b/tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h
index 3eba1484..3fcd8368 100644
--- a/tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h
+++ b/tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h
@@ -21,8 +21,9 @@ enum sourceObjects : uint32_t {
   HK_RECEIVER_MOCK = 22,
   TEST_LOCAL_POOL_OWNER_BASE = 25,
 
-  SHARED_SET_ID = 26
+  SHARED_SET_ID = 26,
 
+  DUMMY_POWER_SWITCHER = 27
 };
 }
 

From 2d0e4ba951da0cf245bfc8b78b5a27552b9dd0cc Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Apr 2022 18:38:54 +0200
Subject: [PATCH 07/19] applied afmt

---
 hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp | 4 ++--
 hal/src/fsfw_hal/linux/uart/UartCookie.cpp            | 4 +---
 src/fsfw/osal/rtems/PeriodicTask.h                    | 5 ++---
 3 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index 52b6dc07..644b488d 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -1,9 +1,9 @@
 #include "MgmLIS3MDLHandler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
index aa2dd214..3fedc9d4 100644
--- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
@@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
 Parity UartCookie::getParity() const { return parity; }
 
-void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) {
-  bitsPerWord = bitsPerWord_;
-}
+void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
 
 BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
 
diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h
index 24ce4af1..9f47dfc6 100644
--- a/src/fsfw/osal/rtems/PeriodicTask.h
+++ b/src/fsfw/osal/rtems/PeriodicTask.h
@@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    */
   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;
-
+  ReturnValue_t addComponent(ExecutableObjectIF *object) override;
 
   uint32_t getPeriodMs() const override;
 

From b764194ed07be714ae42d5bfe0d41dbe74727dc5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Apr 2022 18:43:46 +0200
Subject: [PATCH 08/19] added more unit tests

---
 tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
index c368729d..d8523558 100644
--- a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
+++ b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
@@ -22,6 +22,7 @@ TEST_CASE("Power Switcher", "[power-switcher]") {
     switcher.turnOn(true);
     REQUIRE(mock.getAmountSwitchStatWasRequested() == 1);
     REQUIRE(switcher.getState() == PowerSwitcher::WAIT_ON);
+    REQUIRE(switcher.checkSwitchState() == PowerSwitcher::IN_POWER_TRANSITION);
     REQUIRE(switcher.active());
     switcher.doStateMachine();
     REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_ON);
@@ -29,8 +30,10 @@ TEST_CASE("Power Switcher", "[power-switcher]") {
     REQUIRE(switchInfo.timesCalledOn == 1);
     REQUIRE(not switcher.active());
     REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
+    REQUIRE(switcher.checkSwitchState() == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
     switcher.turnOff(false);
-    REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
     REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
     REQUIRE(switcher.active());
     REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
@@ -40,7 +43,7 @@ TEST_CASE("Power Switcher", "[power-switcher]") {
     REQUIRE(switchInfo.timesCalledOn == 1);
     REQUIRE(switchInfo.timesCalledOff == 1);
     REQUIRE(not switcher.active());
-    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 4);
   }
 
   SECTION("Dummy Test") {
@@ -63,4 +66,8 @@ TEST_CASE("Power Switcher", "[power-switcher]") {
     REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
     REQUIRE(not switcherUsingDummy.active());
   }
+
+  SECTION("More Dummy Tests") {
+
+  }
 }

From 572d602b728e63507053014ca8184840761aecc1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 25 Apr 2022 15:42:44 +0200
Subject: [PATCH 09/19] improve changelog, add entry

---
 CHANGELOG.md | 47 +++++++++++++++++++++++++++++++++--------------
 1 file changed, 33 insertions(+), 14 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5181a862..06424aaf 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,28 +12,43 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+
+- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- HAL Devicehandlers: Periodic printout is run-time configurable now
+- `oneShotAction` flag in the `TestTask` class is not static anymore
+- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
+  creation call. It allows passing context information and an arbitrary user argument into
+  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+
+### HAL
+
 - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
   and mode
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
 - GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
   name clashes with Windows defines.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
-- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
-- HAL Devicehandlers: Periodic printout is run-time configurable now
-- `oneShotAction` flag in the `TestTask` class is not static anymore
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
-- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
-  creation call. It allows passing context information and an arbitrary user argument into
-  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-- Clock: 
-  - `timeval` to `TimeOfDay_t`
-  - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
-  - Moved the statics used by Clock in ClockCommon.cpp to this file
-  - Better check for leap seconds
-  - Added Unittests for Clock (only getter)
+
+### Time
+
+- `timeval` to `TimeOfDay_t`
+- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+- Moved the statics used by Clock in ClockCommon.cpp to this file
+- Better check for leap seconds
+- Added Unittests for Clock (only getter)
+
+### Power 
+
+- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
+  also specify a `ReturnValue_t` return type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
+  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 
 ## Removed
 
@@ -49,6 +64,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 - Added ETL dependency and improved library dependency management
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
+- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- New typedef for switcher type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 
 ## Fixed
 

From b94685e045f5fc6203f8f2a65cb03b757bf01c58 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 25 Apr 2022 15:44:46 +0200
Subject: [PATCH 10/19] added missing PR cross-ref

---
 CHANGELOG.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 06424aaf..5ffb84cc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -35,6 +35,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ### Time
 
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
+https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
+
 - `timeval` to `TimeOfDay_t`
 - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
 - Moved the statics used by Clock in ClockCommon.cpp to this file

From cb0c80d8dc7510435c15431d5e39c9a9e484948d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 02:22:16 +0200
Subject: [PATCH 11/19] add option and cmake module for lto support

---
 CMakeLists.txt | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bfe3da84..d34511e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,6 +24,13 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
 
 set(FSFW_ETL_LIB_NAME etl)
 
+include(CheckIPOSupported)
+check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
+if(NOT IPO_SUPPORTED)
+  message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+endif()
+
+option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" ON)
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
 )

From a943e4eebb1aeb3cc2a01e8df7e1069341ac085b Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 02:23:20 +0200
Subject: [PATCH 12/19] enable LTO where applicable

---
 CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d34511e8..1700236f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,6 +69,10 @@ set(FSFW_DUMMY_TGT fsfw-dummy)
 project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
+if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
+endif()
+
 if(FSFW_BUILD_UNITTESTS)
     message(STATUS "Building the FSFW unittests in addition to the static library")
     # Check whether the user has already installed Catch2 first

From a4bd5a2aaaff36e7ad1d207a48533eb42e51439d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:31:03 +0200
Subject: [PATCH 13/19] update changelog

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

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3d28c5c6..4d713f26 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -43,6 +43,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- 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
+  and can make good use of it and is usually makes the code faster and/or larger.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`

From 637512ad77023a13c15214b5b513535eee4f7f40 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:34:14 +0200
Subject: [PATCH 14/19] changelog update

---
 CHANGELOG.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4d713f26..dc9577f5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -44,8 +44,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ## Additions
 
 - 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
-  and can make good use of it and is usually makes the code faster and/or larger.
+  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.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information

From fd112ed5973bb522a351ed42e1e89995c484d3ad Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 16:07:05 +0200
Subject: [PATCH 15/19] enable lto for test target

---
 CMakeLists.txt | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 93f8c24f..2f4ffe75 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -106,6 +106,9 @@ if(FSFW_BUILD_UNITTESTS)
 
     project(${FSFW_TEST_TGT} CXX C)
     add_executable(${FSFW_TEST_TGT})
+    if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+      set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
+    endif()
 
     if(FSFW_TESTS_GEN_COV)
         message(STATUS "Generating coverage data for the library")

From 0fe1b70baedfe250d5d39be3e5545bab3806a9f0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 10 May 2022 11:19:29 +0200
Subject: [PATCH 16/19] keep LTO option off by default

---
 CHANGELOG.md   | 10 ++++++++++
 CMakeLists.txt | 17 +++++++++--------
 2 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0452e58b..f3523a73 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -49,6 +49,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - 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.
+  After some more research:
+  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
+  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
+  because if an application linking against the FSFW does not use LTO, there can be compile
+  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
+  can be seen in the multiple CMake issues for it: 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
+  Easiest solution for now: Keep this option OFF by default.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f686d1d..61145e1e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,11 +17,12 @@ set(FSFW_REVISION 0)
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
+set(FSFW_ETL_LIB_NAME etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
-    "ETL library major version requirement"
+  "ETL library major version requirement"
 )
 set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
-    "ETL library exact version requirement"
+  "ETL library exact version requirement"
 )
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -32,26 +33,26 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
     "Catch2 library exact version requirement"
 )
 
-set(FSFW_ETL_LIB_NAME etl)
-
 include(CheckIPOSupported)
 check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
 if(NOT IPO_SUPPORTED)
   message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
 endif()
 
-option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" ON)
+# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+# for information which keeping this on by default is problematic
+option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
 option(FSFW_GENERATE_SECTIONS
-    "Generate function and data sections. Required to remove unused code" ON
+  "Generate function and data sections. Required to remove unused code" ON
 )
 if(FSFW_GENERATE_SECTIONS)
-    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
 option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" 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)
+  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

From 25775614de4bf6e7d11e70f8b15965247b9a51ee Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 10 May 2022 11:56:51 +0200
Subject: [PATCH 17/19] only check IPO support if enabled

---
 CMakeLists.txt | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 61145e1e..e1ab522a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,15 +33,18 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
     "Catch2 library exact version requirement"
 )
 
+# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+# for information which keeping this on by default is problematic
+option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
+
+if(FSFW_ENABLE_IPO)
 include(CheckIPOSupported)
 check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
 if(NOT IPO_SUPPORTED)
   message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
 endif()
+endif()
 
-# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
-# for information which keeping this on by default is problematic
-option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
 option(FSFW_GENERATE_SECTIONS
   "Generate function and data sections. Required to remove unused code" ON
 )

From e05c72b062836eb5f9cd4cdc1d35b0a2846653e0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 10 May 2022 13:08:14 +0200
Subject: [PATCH 18/19] minor formatting fix

---
 CMakeLists.txt | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1ab522a..3cca727e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,13 +36,12 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
 # Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 # for information which keeping this on by default is problematic
 option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
-
 if(FSFW_ENABLE_IPO)
-include(CheckIPOSupported)
-check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
-if(NOT IPO_SUPPORTED)
-  message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
-endif()
+  include(CheckIPOSupported)
+  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
+  if(NOT IPO_SUPPORTED)
+    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+  endif()
 endif()
 
 option(FSFW_GENERATE_SECTIONS

From d11f898f70cb394c0be2450779dac4f5ad995e35 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 12 May 2022 15:02:06 +0200
Subject: [PATCH 19/19] update dummy power switcher docs

---
 src/fsfw/power/DummyPowerSwitcher.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/fsfw/power/DummyPowerSwitcher.h b/src/fsfw/power/DummyPowerSwitcher.h
index b2dd40d5..6ccd8dd7 100644
--- a/src/fsfw/power/DummyPowerSwitcher.h
+++ b/src/fsfw/power/DummyPowerSwitcher.h
@@ -8,6 +8,13 @@
 #include "definitions.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
+/**
+ * @brief   This component can be used to simulate a power switcher like a
+ *          Power Control Distribution Unit (PCDU)
+ * @details
+ * The dummy switcher will simply cache the commanded fuse and switch states and return them
+ * in the according switch getter functions. In that sense, it simulates an ideal PCDU.
+ */
 class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
  public:
   DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,