Merge branch 'mueller/tc-packet-pus-improvement' into develop

Reviewed-on: fsfw/fsfw#643

.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

@@ -210,7 +210,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
       return result;
     }
-    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 {

scripts/auto-formatter.sh

@@ -4,9 +4,10 @@ if [[ ! -f README.md ]]; then
 fi
 
 cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
-  cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
+  ${cmake_fmt} -i CMakeLists.txt
-  eval ${cmake_fmt_cmd}
+  find ./src ${file_selectors} | xargs ${cmake_fmt}  -i
 else
   echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi
@@ -14,9 +15,9 @@ fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
-  find ./src ${file_selectors} | xargs clang-format --style=file -i
+  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
-  find ./hal ${file_selectors} | xargs clang-format --style=file -i
+  find ./hal ${file_selectors} | xargs ${cpp_format} --style=file -i
-  find ./tests ${file_selectors} | xargs clang-format --style=file -i
+  find ./tests ${file_selectors} | xargs ${cpp_format} --style=file -i
 else
   echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi

src/CMakeLists.txt

@@ -1,9 +1,6 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
 
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
+target_include_directories(${LIB_FSFW_NAME}
-    ${CMAKE_CURRENT_SOURCE_DIR}
+                           INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
-)
 
 add_subdirectory(fsfw)

src/fsfw/CMakeLists.txt

@@ -1,6 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE version.cpp)
-    version.cpp
-)
 
 # Core
 
@@ -37,22 +35,22 @@ add_subdirectory(tmtcservices)
 # Optional
 
 if(FSFW_ADD_MONITORING)
-add_subdirectory(monitoring)
+  add_subdirectory(monitoring)
 endif()
 if(FSFW_ADD_PUS)
-    add_subdirectory(pus)
+  add_subdirectory(pus)
 endif()
 if(FSFW_ADD_TMSTORAGE)
-    add_subdirectory(tmstorage)
+  add_subdirectory(tmstorage)
 endif()
 if(FSFW_ADD_COORDINATES)
-    add_subdirectory(coordinates)
+  add_subdirectory(coordinates)
 endif()
 if(FSFW_ADD_RMAP)
-    add_subdirectory(rmap)
+  add_subdirectory(rmap)
 endif()
 if(FSFW_ADD_DATALINKLAYER)
-    add_subdirectory(datalinklayer)
+  add_subdirectory(datalinklayer)
 endif()
 
 # OSAL

src/fsfw/action/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-    PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ActionHelper.cpp ActionMessage.cpp
-        ActionHelper.cpp
+                           CommandActionHelper.cpp SimpleActionHelper.cpp)
-        ActionMessage.cpp
-        CommandActionHelper.cpp
-        SimpleActionHelper.cpp
-)

src/fsfw/cfdp/CMakeLists.txt

@@ -1,7 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
-    CFDPHandler.cpp
-    CFDPMessage.cpp
-)
 
 add_subdirectory(pdu)
 add_subdirectory(tlv)

src/fsfw/cfdp/pdu/CMakeLists.txt

@@ -1,32 +1,30 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    PduConfig.cpp
+  ${LIB_FSFW_NAME}
-    VarLenField.cpp
+  PRIVATE PduConfig.cpp
-    HeaderSerializer.cpp
+          VarLenField.cpp
-    HeaderDeserializer.cpp
+          HeaderSerializer.cpp
-    FileDirectiveDeserializer.cpp
+          HeaderDeserializer.cpp
-    FileDirectiveSerializer.cpp
+          FileDirectiveDeserializer.cpp
- 
+          FileDirectiveSerializer.cpp
-    AckInfo.cpp
+          AckInfo.cpp
-    AckPduSerializer.cpp
+          AckPduSerializer.cpp
-    AckPduDeserializer.cpp
+          AckPduDeserializer.cpp
-    EofInfo.cpp
+          EofInfo.cpp
-    EofPduSerializer.cpp
+          EofPduSerializer.cpp
-    EofPduDeserializer.cpp
+          EofPduDeserializer.cpp
-    NakInfo.cpp
+          NakInfo.cpp
-    NakPduSerializer.cpp
+          NakPduSerializer.cpp
-    NakPduDeserializer.cpp
+          NakPduDeserializer.cpp
-    FinishedInfo.cpp
+          FinishedInfo.cpp
-    FinishedPduSerializer.cpp
+          FinishedPduSerializer.cpp
-    FinishedPduDeserializer.cpp
+          FinishedPduDeserializer.cpp
-    MetadataInfo.cpp
+          MetadataInfo.cpp
-    MetadataPduSerializer.cpp
+          MetadataPduSerializer.cpp
-    MetadataPduDeserializer.cpp
+          MetadataPduDeserializer.cpp
-    KeepAlivePduSerializer.cpp
+          KeepAlivePduSerializer.cpp
-    KeepAlivePduDeserializer.cpp
+          KeepAlivePduDeserializer.cpp
-    PromptPduSerializer.cpp
+          PromptPduSerializer.cpp
-    PromptPduDeserializer.cpp
+          PromptPduDeserializer.cpp
-
+          FileDataSerializer.cpp
-    FileDataSerializer.cpp
+          FileDataDeserializer.cpp
-    FileDataDeserializer.cpp
+          FileDataInfo.cpp)
-    FileDataInfo.cpp
-)

src/fsfw/cfdp/tlv/CMakeLists.txt

@@ -1,10 +1,10 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    EntityIdTlv.cpp
+  ${LIB_FSFW_NAME}
-    FilestoreRequestTlv.cpp
+  PRIVATE EntityIdTlv.cpp
-    FilestoreResponseTlv.cpp
+          FilestoreRequestTlv.cpp
-    Lv.cpp
+          FilestoreResponseTlv.cpp
-    Tlv.cpp
+          Lv.cpp
-    FlowLabelTlv.cpp
+          Tlv.cpp
-    MessageToUserTlv.cpp
+          FlowLabelTlv.cpp
-    FaultHandlerOverrideTlv.cpp
+          MessageToUserTlv.cpp
-)
+          FaultHandlerOverrideTlv.cpp)

src/fsfw/container/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE SharedRingBuffer.cpp
-    PRIVATE 
+                                        SimpleRingBuffer.cpp)
-        SharedRingBuffer.cpp
-        SimpleRingBuffer.cpp
-)

src/fsfw/controller/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE ControllerBase.cpp
-    ControllerBase.cpp
+                                        ExtendedControllerBase.cpp)
-    ExtendedControllerBase.cpp
-)

src/fsfw/controller/ExtendedControllerBase.h

@@ -46,18 +46,14 @@ class ExtendedControllerBase : public ControllerBase,
    */
   virtual void performControlOperation() = 0;
 
-  /* Handle the four messages mentioned above */
+  // Handle the four messages mentioned above
   void handleQueue() override;
 
-  /* HasActionsIF overrides */
+  // HasActionsIF overrides
   virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                       const uint8_t* data, size_t size) override;
 
-  /* HasLocalDatapoolIF overrides */
+  // HasLocalDatapoolIF overrides
-  virtual LocalDataPoolManager* getHkManagerHandle() override;
-  virtual object_id_t getObjectId() const override;
-  virtual uint32_t getPeriodicOperationFrequency() const override;
-
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override = 0;
   virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
@@ -65,6 +61,12 @@ class ExtendedControllerBase : public ControllerBase,
   // Mode abstract functions
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                          uint32_t* msToReachTheMode) override = 0;
+
+  virtual LocalDataPoolManager* getHkManagerHandle() override;
+  virtual object_id_t getObjectId() const override;
+  virtual uint32_t getPeriodicOperationFrequency() const override;
+
+
 };
 
 #endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

src/fsfw/coordinates/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE CoordinateTransformations.cpp
-	PRIVATE 
+                                        Sgp4Propagator.cpp)
-		CoordinateTransformations.cpp
-		Sgp4Propagator.cpp
-)

src/fsfw/datalinklayer/CMakeLists.txt

@@ -1,12 +1,11 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		Clcw.cpp
+  PRIVATE Clcw.cpp
-		DataLinkLayer.cpp
+          DataLinkLayer.cpp
-		Farm1StateLockout.cpp
+          Farm1StateLockout.cpp
-		Farm1StateOpen.cpp
+          Farm1StateOpen.cpp
-		Farm1StateWait.cpp
+          Farm1StateWait.cpp
-		MapPacketExtraction.cpp
+          MapPacketExtraction.cpp
-		TcTransferFrame.cpp
+          TcTransferFrame.cpp
-		TcTransferFrameLocal.cpp
+          TcTransferFrameLocal.cpp
-		VirtualChannelReception.cpp
+          VirtualChannelReception.cpp)
-)

src/fsfw/datapool/CMakeLists.txt

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

src/fsfw/datapoollocal/CMakeLists.txt

@@ -1,10 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		LocalDataPoolManager.cpp
+  PRIVATE LocalDataPoolManager.cpp LocalDataSet.cpp LocalPoolDataSetBase.cpp
-		LocalDataSet.cpp
+          LocalPoolObjectBase.cpp SharedLocalDataSet.cpp)
-		LocalPoolDataSetBase.cpp
-		LocalPoolObjectBase.cpp
-		SharedLocalDataSet.cpp
-)
 
-add_subdirectory(internal)
+add_subdirectory(internal)

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -696,9 +696,9 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
 #else
-    sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
+    sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif
   }
 }

src/fsfw/datapoollocal/internal/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE HasLocalDpIFUserAttorney.cpp
-	PRIVATE 
+                                        HasLocalDpIFManagerAttorney.cpp)
-		HasLocalDpIFUserAttorney.cpp
-		HasLocalDpIFManagerAttorney.cpp
-)

src/fsfw/devicehandlers/CMakeLists.txt

@@ -1,11 +1,10 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		AssemblyBase.cpp
+  PRIVATE AssemblyBase.cpp
-		ChildHandlerBase.cpp
+          ChildHandlerBase.cpp
-		ChildHandlerFDIR.cpp
+          ChildHandlerFDIR.cpp
-		DeviceHandlerBase.cpp
+          DeviceHandlerBase.cpp
-		DeviceHandlerFailureIsolation.cpp
+          DeviceHandlerFailureIsolation.cpp
-		DeviceHandlerMessage.cpp
+          DeviceHandlerMessage.cpp
-		DeviceTmReportingWrapper.cpp
+          DeviceTmReportingWrapper.cpp
-		HealthDevice.cpp
+          HealthDevice.cpp)
-)

src/fsfw/events/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE EventManager.cpp EventMessage.cpp)
-    EventManager.cpp
-    EventMessage.cpp
-)
 
 add_subdirectory(eventmatching)

src/fsfw/events/eventmatching/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE EventIdRangeMatcher.cpp EventMatchTree.cpp
-		EventIdRangeMatcher.cpp
+                           ReporterRangeMatcher.cpp SeverityRangeMatcher.cpp)
-		EventMatchTree.cpp
-		ReporterRangeMatcher.cpp
-		SeverityRangeMatcher.cpp
-)

src/fsfw/events/fwSubsystemIdRanges.h

@@ -27,6 +27,7 @@ enum : uint8_t {
   PUS_SERVICE_6 = 86,
   PUS_SERVICE_8 = 88,
   PUS_SERVICE_9 = 89,
+  PUS_SERVICE_11 = 91,
   PUS_SERVICE_17 = 97,
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,

src/fsfw/fdir/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE EventCorrelation.cpp FailureIsolationBase.cpp
-		EventCorrelation.cpp
+                           FaultCounter.cpp)
-		FailureIsolationBase.cpp
-		FaultCounter.cpp
-)

src/fsfw/globalfunctions/CMakeLists.txt

@@ -1,13 +1,12 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		arrayprinter.cpp
+  PRIVATE arrayprinter.cpp
-		AsciiConverter.cpp
+          AsciiConverter.cpp
-		CRC.cpp
+          CRC.cpp
-		DleEncoder.cpp
+          DleEncoder.cpp
-		PeriodicOperationDivider.cpp
+          PeriodicOperationDivider.cpp
-		timevalOperations.cpp
+          timevalOperations.cpp
-		Type.cpp
+          Type.cpp
-		bitutility.cpp
+          bitutility.cpp)
-)
 
 add_subdirectory(math)

src/fsfw/globalfunctions/math/CMakeLists.txt

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

src/fsfw/health/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE HealthHelper.cpp HealthMessage.cpp
-	PRIVATE 
+                                        HealthTable.cpp)
-		HealthHelper.cpp
-		HealthMessage.cpp
-		HealthTable.cpp	
-)

src/fsfw/housekeeping/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE HousekeepingMessage.cpp
-	PRIVATE 
+                                        PeriodicHousekeepingHelper.cpp)
-		HousekeepingMessage.cpp
-		PeriodicHousekeepingHelper.cpp
-)

src/fsfw/internalerror/CMakeLists.txt

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

src/fsfw/ipc/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    CommandMessage.cpp
+  ${LIB_FSFW_NAME} PRIVATE CommandMessage.cpp CommandMessageCleaner.cpp
-    CommandMessageCleaner.cpp
+                           MessageQueueMessage.cpp MessageQueueBase.cpp)
-    MessageQueueMessage.cpp
-    MessageQueueBase.cpp
-)

src/fsfw/memory/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE MemoryHelper.cpp MemoryMessage.cpp
-    MemoryHelper.cpp
+                                        GenericFileSystemMessage.cpp)
-    MemoryMessage.cpp
-    GenericFileSystemMessage.cpp
-)

src/fsfw/modes/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE ModeHelper.cpp ModeMessage.cpp)
-	PRIVATE 
-		ModeHelper.cpp
-		ModeMessage.cpp
-)

src/fsfw/monitoring/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE LimitViolationReporter.cpp
-	PRIVATE 
+                                        MonitoringMessage.cpp)
-		LimitViolationReporter.cpp
-		MonitoringMessage.cpp
-)

src/fsfw/objectmanager/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE ObjectManager.cpp SystemObject.cpp)
-	PRIVATE 
-		ObjectManager.cpp
-		SystemObject.cpp
-)

src/fsfw/objectmanager/frameworkObjects.h

@@ -14,6 +14,7 @@ enum framework_objects : object_id_t {
   PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
   PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
   PUS_SERVICE_9_TIME_MGMT = 0x53000009,
+  PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
   PUS_SERVICE_17_TEST = 0x53000017,
   PUS_SERVICE_20_PARAMETERS = 0x53000020,
   PUS_SERVICE_200_MODE_MGMT = 0x53000200,

src/fsfw/osal/CMakeLists.txt

@@ -1,35 +1,33 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
-    add_subdirectory(freertos)
+  add_subdirectory(freertos)
 elseif(FSFW_OSAL MATCHES "rtems")
-    add_subdirectory(rtems)
+  add_subdirectory(rtems)
 elseif(FSFW_OSAL MATCHES "linux")
-    add_subdirectory(linux)
+  add_subdirectory(linux)
 elseif(FSFW_OSAL MATCHES "host")
-    add_subdirectory(host)
+  add_subdirectory(host)
-    if (WIN32)
+  if(WIN32)
-        add_subdirectory(windows)
+    add_subdirectory(windows)
-    elseif(UNIX)
+  elseif(UNIX)
-        # We still need to pull in some Linux specific sources
+    # We still need to pull in some Linux specific sources
-        target_sources(${LIB_FSFW_NAME} PUBLIC
+    target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
-            linux/tcpipHelpers.cpp
+  endif()
-        )
-    endif ()
 
 else()
 
-    message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
+  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
-    # Not set. Assumuing this is a host build, try to determine host OS
+  # Not set. Assumuing this is a host build, try to determine host OS
-    if (WIN32)
+  if(WIN32)
-        add_subdirectory(host)
+    add_subdirectory(host)
-        add_subdirectory(windows)
+    add_subdirectory(windows)
-    elseif (UNIX)
+  elseif(UNIX)
-        add_subdirectory(linux)
+    add_subdirectory(linux)
-    else ()
+  else()
-        # MacOS or other OSes have not been tested yet / are not supported.
+    # MacOS or other OSes have not been tested yet / are not supported.
-        message(FATAL_ERROR "The host OS could not be determined! Aborting.")
+    message(FATAL_ERROR "The host OS could not be determined! Aborting.")
-    endif()
+  endif()
 
 endif()
 
-add_subdirectory(common)
+add_subdirectory(common)

src/fsfw/osal/common/CMakeLists.txt

@@ -1,17 +1,10 @@
 if(DEFINED WIN32 OR DEFINED UNIX)
-    target_sources(${LIB_FSFW_NAME} PRIVATE 
+  target_sources(
-        tcpipCommon.cpp
+    ${LIB_FSFW_NAME}
-        TcpIpBase.cpp
+    PRIVATE tcpipCommon.cpp TcpIpBase.cpp UdpTcPollingTask.cpp
-        UdpTcPollingTask.cpp
+            UdpTmTcBridge.cpp TcpTmTcServer.cpp TcpTmTcBridge.cpp)
-        UdpTmTcBridge.cpp
-        TcpTmTcServer.cpp
-        TcpTmTcBridge.cpp
-    )
 endif()
 
 if(WIN32)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE wsock32 ws2_32)
-        wsock32 
+endif()
-        ws2_32
-    )
-endif()

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -109,8 +109,8 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
   using namespace tcpip;
   // If a connection is accepted, the corresponding socket will be assigned to the new socket
   socket_t connSocket = 0;
-  // sockaddr clientSockAddr = {};
+  sockaddr clientSockAddr = {};
-  // socklen_t connectorSockAddrLen = 0;
+  socklen_t connectorSockAddrLen = 0;
   int retval = 0;
 
   // Listen for connection requests permanently for lifetime of program
@@ -121,8 +121,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
       continue;
     }
 
-    // connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
+    connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
-    connSocket = accept(listenerTcpSocket, nullptr, nullptr);
 
     if (connSocket == INVALID_SOCKET) {
       handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@@ -137,6 +136,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
     if (retval != 0) {
       handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
     }
+
     closeSocket(connSocket);
     connSocket = 0;
   }

src/fsfw/osal/freertos/CMakeLists.txt

@@ -1,32 +1,30 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		Clock.cpp
+  PRIVATE Clock.cpp
-		FixedTimeslotTask.cpp
+          FixedTimeslotTask.cpp
-		BinarySemaphore.cpp
+          BinarySemaphore.cpp
-		BinSemaphUsingTask.cpp
+          BinSemaphUsingTask.cpp
-		CountingSemaphore.cpp
+          CountingSemaphore.cpp
-		CountingSemaphUsingTask.cpp
+          CountingSemaphUsingTask.cpp
-		MessageQueue.cpp
+          MessageQueue.cpp
-		Mutex.cpp
+          Mutex.cpp
-		MutexFactory.cpp
+          MutexFactory.cpp
-		PeriodicTask.cpp
+          PeriodicTask.cpp
-		QueueFactory.cpp
+          QueueFactory.cpp
-		SemaphoreFactory.cpp
+          SemaphoreFactory.cpp
-		TaskFactory.cpp
+          TaskFactory.cpp
-		Timekeeper.cpp
+          Timekeeper.cpp
-		TaskManagement.cpp
+          TaskManagement.cpp
-		QueueMapManager.cpp
+          QueueMapManager.cpp)
-)
 
-# FreeRTOS is required to link the FSFW now. It is recommended to compile 
+# FreeRTOS is required to link the FSFW now. It is recommended to compile
-# FreeRTOS as a static library and set LIB_OS_NAME to the target name of the 
+# FreeRTOS as a static library and set LIB_OS_NAME to the target name of the
 # library.
 if(NOT LIB_OS_NAME)
-	message(STATUS
+  message(
-		"LIB_OS_NAME is empty. Make sure to include the FreeRTOS header path properly."
+    STATUS
-	)
+      "LIB_OS_NAME is empty. Make sure to include the FreeRTOS header path properly."
+  )
 else()
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
-        ${LIB_OS_NAME}
-    )
 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::error << "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/CMakeLists.txt

@@ -1,27 +1,23 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-  Clock.cpp
+  ${LIB_FSFW_NAME}
-  FixedTimeslotTask.cpp
+  PRIVATE Clock.cpp
-  MessageQueue.cpp
+          FixedTimeslotTask.cpp
-  Mutex.cpp
+          MessageQueue.cpp
-  MutexFactory.cpp
+          Mutex.cpp
-  PeriodicTask.cpp
+          MutexFactory.cpp
-  QueueFactory.cpp
+          PeriodicTask.cpp
-  QueueMapManager.cpp
+          QueueFactory.cpp
-  SemaphoreFactory.cpp
+          QueueMapManager.cpp
-  TaskFactory.cpp
+          SemaphoreFactory.cpp
-  taskHelpers.cpp
+          TaskFactory.cpp
-)
+          taskHelpers.cpp)
 
 if(UNIX)
   find_package(Threads REQUIRED)
 
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${CMAKE_THREAD_LIBS_INIT})
-    ${CMAKE_THREAD_LIBS_INIT}
-  )
   if(NOT APPLE)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE rt)
-      rt
-      )
   endif()
 
-endif()
+endif()

src/fsfw/osal/host/FixedTimeslotTask.cpp

@@ -3,9 +3,7 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/osal/host/FixedTimeslotTask.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
@@ -22,12 +20,8 @@
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
                                      TaskStackSize setStack, TaskPeriod setPeriod,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false),
+    : FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
-      pollingSeqTable(setPeriod * 1000),
-      taskName(name),
-      period(setPeriod),
-      deadlineMissedFunc(setDeadlineMissedFunc) {
   // It is propably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
@@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-FixedTimeslotTask::~FixedTimeslotTask(void) {
+FixedTimeslotTask::~FixedTimeslotTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -81,7 +75,9 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 }
 
 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.
@@ -106,37 +102,15 @@ void FixedTimeslotTask::taskFunctionality() {
       // we need to wait before executing the current slot
       // this gives us the time to wait:
       interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
-      delayForInterval(&currentStartTime, interval);
+      if (not delayForInterval(&currentStartTime, interval)) {
-      // TODO deadline missed check
+        if (dlmFunc != nullptr) {
+          dlmFunc();
+        }
+      }
     }
   }
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  ExecutableObjectIF* 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;
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
-
 bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -6,10 +6,10 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "../../tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  * @details
  * @ingroup task_handling
  */
-class FixedTimeslotTask : public FixedTimeslotTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * @brief   Standard constructor of the class.
@@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * @brief   Currently, the executed object's lifetime is not coupled with
    *          the task object's lifetime, so the destructor is empty.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
   /**
    * @brief   The method to start the task.
@@ -48,56 +48,22 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    *          The address of the task object is passed as an argument
    *          to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
 
-  /**
+  ReturnValue_t sleepFor(uint32_t ms) 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);
-
-  ReturnValue_t checkSequence() const override;
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   using chron_ms = std::chrono::milliseconds;
 
   bool started;
-  //!< Typedef for the List of objects.
+
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  //! Polling sequence table which contains the object to execute
-  //! and information like the timeslots and the passed execution step.
-  FixedSlotSequence pollingSeqTable;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
-   * @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
@@ -117,9 +83,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/host/PeriodicTask.cpp

@@ -3,13 +3,10 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
 
 #if defined(PLATFORM_WIN)
 #include <processthreadsapi.h>
@@ -20,8 +17,8 @@
 #endif
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
   // It is probably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
@@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-PeriodicTask::~PeriodicTask(void) {
+PeriodicTask::~PeriodicTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -75,47 +72,27 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 }
 
 void PeriodicTask::taskFunctionality() {
-  for (const auto& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
   std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
   auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
       std::chrono::system_clock::now().time_since_epoch())};
-  auto nextStartTime{currentStartTime};
-
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     if (terminateThread.load()) {
       break;
     }
-    for (const auto& object : objectList) {
+    for (const auto& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
     if (not delayForInterval(&currentStartTime, periodChrono)) {
-      if (deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        this->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;
-  }
-  object->setTaskIF(this);
-  objectList.push_back(object);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/PeriodicTask.h

@@ -6,9 +6,9 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  *
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF {
+class PeriodicTask : public PeriodicTaskBase {
  public:
   /**
    * @brief	Standard constructor of the class.
@@ -34,12 +34,12 @@ class PeriodicTask : public PeriodicTaskIF {
    * assigned.
    */
   PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-               TaskPeriod 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.
@@ -48,63 +48,20 @@ class PeriodicTask : 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
-   *  -@c RETURN_OK on success
-   *  -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object);
 
-  /**
+  ReturnValue_t sleepFor(uint32_t ms) 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
-   *  -@c RETURN_OK on success
-   *  -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object);
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   using chron_ms = std::chrono::milliseconds;
   bool started;
-  //!< Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
+
-   * @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
@@ -124,9 +81,9 @@ class PeriodicTask : public PeriodicTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
-#endif /* PERIODICTASK_H_ */
+#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */

src/fsfw/osal/host/TaskFactory.cpp

@@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 // Not used for the host implementation for now because C++ thread abstraction is used
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
 
-TaskFactory::TaskFactory() {}
+TaskFactory::TaskFactory() = default;
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 

src/fsfw/osal/host/taskHelpers.cpp

@@ -6,7 +6,7 @@
 std::mutex nameMapLock;
 std::map<std::thread::id, std::string> taskNameMap;
 
-ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
+ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) {
   std::lock_guard<std::mutex> lg(nameMapLock);
   auto returnPair = taskNameMap.emplace(threadId, taskName);
   if (not returnPair.second) {

src/fsfw/osal/host/taskHelpers.h

@@ -7,7 +7,7 @@
 
 namespace tasks {
 
-ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
+ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName);
 std::string getTaskName(std::thread::id threadId);
 
 }  // namespace tasks

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,29 +1,25 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-  Clock.cpp
+  ${LIB_FSFW_NAME}
-  BinarySemaphore.cpp
+  PRIVATE Clock.cpp
-  CountingSemaphore.cpp
+          BinarySemaphore.cpp
-  FixedTimeslotTask.cpp
+          CountingSemaphore.cpp
-  InternalErrorCodes.cpp
+          FixedTimeslotTask.cpp
-  MessageQueue.cpp
+          InternalErrorCodes.cpp
-  Mutex.cpp
+          MessageQueue.cpp
-  MutexFactory.cpp
+          Mutex.cpp
-  PeriodicPosixTask.cpp
+          MutexFactory.cpp
-  PosixThread.cpp
+          PeriodicPosixTask.cpp
-  QueueFactory.cpp
+          PosixThread.cpp
-  SemaphoreFactory.cpp
+          QueueFactory.cpp
-  TaskFactory.cpp
+          SemaphoreFactory.cpp
-  tcpipHelpers.cpp
+          TaskFactory.cpp
-  unixUtility.cpp
+          tcpipHelpers.cpp
-  )
+          unixUtility.cpp)
 
 find_package(Threads REQUIRED)
 
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${CMAKE_THREAD_LIBS_INIT})
-  ${CMAKE_THREAD_LIBS_INIT}
-  )
 
 if(NOT APPLE)
-  target_link_libraries(${LIB_FSFW_NAME} PUBLIC
+  target_link_libraries(${LIB_FSFW_NAME} PUBLIC rt)
-    rt
-  )
 endif()

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -1,22 +1,20 @@
 #include "fsfw/osal/linux/FixedTimeslotTask.h"
 
-#include <limits.h>
+#include <climits>
 
-#include "fsfw/objectmanager/ObjectManager.h"
 #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_, int priority_, size_t stackSize_,
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                                     uint32_t periodMs_)
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
-    : PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
+    : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
-
+      posixThread(name_, priority_, stackSize_),
-FixedTimeslotTask::~FixedTimeslotTask() {}
+      started(false) {}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
   return nullptr;
@@ -24,7 +22,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
-  createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -32,63 +30,36 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   return PosixThread::sleep((uint64_t)ms * 1000000);
 }
 
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, 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::dec << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   // Like FreeRTOS pthreads are running as soon as they are created
   if (!started) {
-    suspend();
+    posixThread.suspend();
   }
 
-  pst.intializeSequenceAfterTaskCreation();
+  // Returnvalue ignored for now
+  static_cast<void>(pollingSeqTable.intializeSequenceAfterTaskCreation());
 
   // The start time for the first entry is read.
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
-  uint64_t interval = pst.getIntervalToNextSlotMs();
+  uint32_t interval = 0;
 
   // 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 = this->pst.getIntervalToPreviousSlotMs();
+      interval = pollingSeqTable.getIntervalToPreviousSlotMs();
       // The period is checked and restarted with the new interval.
       // 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.
-    this->pst.executeAndAdvance();
+    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

@@ -3,11 +3,12 @@
 
 #include <pthread.h>
 
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
+#include "fsfw/tasks/definitions.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -21,29 +22,13 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+  FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-  virtual ~FixedTimeslotTask();
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
+  ~FixedTimeslotTask() override = default;
 
-  virtual ReturnValue_t startTask();
+  ReturnValue_t startTask() override;
 
-  virtual ReturnValue_t sleepFor(uint32_t ms);
+  ReturnValue_t sleepFor(uint32_t ms) override;
-
-  virtual uint32_t getPeriodMs() const;
-
-  virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
-
-  virtual ReturnValue_t checkSequence() const;
-
-  /**
-   * 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:
   /**
@@ -53,9 +38,12 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  virtual void taskFunctionality();
+  [[noreturn]] virtual void taskFunctionality();
 
  private:
+  PosixThread posixThread;
+  bool started;
+
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -68,9 +56,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * arbitrary data.
    */
   static void* taskEntryPoint(void* arg);
-  FixedSlotSequence pst;
-
-  bool started;
 };
 
 #endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -1,86 +1,54 @@
-#include "fsfw/osal/linux/PeriodicPosixTask.h"
+#include "PeriodicPosixTask.h"
 
-#include <errno.h>
+#include "fsfw/serviceinterface.h"
-
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     uint32_t period_, void(deadlineMissedFunc_)())
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
-    : PosixThread(name_, priority_, stackSize_),
+    : PeriodicTaskBase(period_, dlmFunc_),
-      objectList(),
+      posixThread(name_, priority_, stackSize_),
-      started(false),
+      started(false) {}
-      periodMs(period_),
-      deadlineMissedFunc(deadlineMissedFunc_) {}
-
-PeriodicPosixTask::~PeriodicPosixTask() {
-  // Not Implemented
-}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
+  auto* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
-  return NULL;
+  return nullptr;
-}
-
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-               << " it implements ExecutableObjectIF!" << std::endl;
-#else
-    sif::printError(
-        "PeriodicTask::addComponent: Invalid object. Make sure it "
-        "implements ExecutableObjectIF!\n");
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
-  return PosixThread::sleep((uint64_t)ms * 1000000);
+  return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
 }
 
-ReturnValue_t PeriodicPosixTask::startTask(void) {
+ReturnValue_t PeriodicPosixTask::startTask() {
+  if (isEmpty()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
   started = true;
-  PosixThread::createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void) {
+[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
   if (not started) {
-    suspend();
+    posixThread.suspend();
   }
 
-  for (auto const& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
+  uint64_t periodMs = getPeriodMs();
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
-    for (auto const& object : objectList) {
+    for (auto const& objOpCodePair : objectList) {
-      object->performOperation();
+      objOpCodePair.first->performOperation(objOpCodePair.second);
     }
 
     if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
-      if (this->deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        dlmFunc();
       }
     }
   }
 }
-
-uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -3,12 +3,13 @@
 
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/ExecutableObjectIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
 
-class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
+class PeriodicPosixTask : public PeriodicTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -22,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
+  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
-                    void (*deadlineMissedFunc_)());
+                    TaskDeadlineMissedFunction dlmFunc_);
-  virtual ~PeriodicPosixTask();
+  ~PeriodicPosixTask() override = default;
 
   /**
    * @brief	The method to start the task.
@@ -34,42 +35,17 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * 			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 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;
 
  private:
-  typedef std::vector<ExecutableObjectIF*> ObjectList;  //!< Typedef for the List of objects.
+  PosixThread posixThread;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
 
   /**
    * @brief Flag to indicate that the task was started and is allowed to run
    */
   bool started;
 
-  /**
-   * @brief Period of the task in milliseconds
-   */
-  uint32_t periodMs;
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
@@ -78,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
    * executed.
    */
-  virtual void taskFunctionality(void);
+  [[noreturn]] virtual void taskFunctionality();
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -86,14 +62,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * of the child class. Needs a valid pointer to the derived class.
    */
   static void* taskEntryPoint(void* arg);
-  /**
-   * @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)();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

src/fsfw/osal/linux/PosixThread.h

@@ -35,6 +35,21 @@ class PosixThread {
    */
   void resume();
 
+  /**
+   * @brief     Function that has to be called by derived class because the
+   *        derived class pointer has to be valid as argument.
+   * @details
+   * This function creates a pthread with the given parameters. As the
+   * function requires a pointer to the derived object it has to be called
+   * after the this pointer of the derived object is valid.
+   * Sets the taskEntryPoint as function to be called by new a thread.
+   * @param fnc_ Function which will be executed by the thread.
+   * @param arg_
+   * argument of the taskEntryPoint function, needs to be this pointer
+   * of derived class
+   */
+  void createTask(void* (*fnc_)(void*), void* arg_);
+
   /**
    * Delay function similar to FreeRtos delayUntil function
    *
@@ -55,21 +70,6 @@ class PosixThread {
  protected:
   pthread_t thread;
 
-  /**
-   * @brief 	Function that has to be called by derived class because the
-   *  		derived class pointer has to be valid as argument.
-   * @details
-   * This function creates a pthread with the given parameters. As the
-   * function requires a pointer to the derived object it has to be called
-   * after the this pointer of the derived object is valid.
-   * Sets the taskEntryPoint as function to be called by new a thread.
-   * @param fnc_ Function which will be executed by the thread.
-   * @param arg_
-   * argument of the taskEntryPoint function, needs to be this pointer
-   * of derived class
-   */
-  void createTask(void* (*fnc_)(void*), void* arg_);
-
  private:
   char name[PTHREAD_MAX_NAMELEN];
   int priority;

src/fsfw/osal/linux/TaskFactory.cpp

@@ -8,21 +8,22 @@
 // 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::instance() { return TaskFactory::factoryInstance; }
 
 PeriodicTaskIF* TaskFactory::createPeriodicTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
+  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
+  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+                               deadLineMissedFunction_);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/osal/rtems/CMakeLists.txt

@@ -1,20 +1,17 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		Clock.cpp
+  PRIVATE Clock.cpp
-		CpuUsage.cpp
+          CpuUsage.cpp
-		InitTask.cpp
+          InitTask.cpp
-		InternalErrorCodes.cpp
+          InternalErrorCodes.cpp
-		MessageQueue.cpp
+          MessageQueue.cpp
-		PeriodicTask.cpp
+          PeriodicTask.cpp
-		Mutex.cpp
+          Mutex.cpp
-		MutexFactory.cpp
+          MutexFactory.cpp
-		FixedTimeslotTask.cpp
+          FixedTimeslotTask.cpp
-		QueueFactory.cpp
+          QueueFactory.cpp
-		RtemsBasic.cpp
+          RtemsBasic.cpp
-		RTEMSTaskBase.cpp
+          RTEMSTaskBase.cpp
-		TaskFactory.cpp
+          TaskFactory.cpp
-		BinarySemaphore.cpp
+          BinarySemaphore.cpp
-		SemaphoreFactory.cpp
+          SemaphoreFactory.cpp)
-)
-
-

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::error << "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/osal/windows/CMakeLists.txt

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

src/fsfw/parameters/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ParameterHelper.cpp ParameterMessage.cpp
-		ParameterHelper.cpp
+                           ParameterWrapper.cpp)
-		ParameterMessage.cpp
-		ParameterWrapper.cpp
-)

src/fsfw/power/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    Fuse.cpp
+  ${LIB_FSFW_NAME}
-    PowerComponent.cpp
+  PRIVATE Fuse.cpp PowerComponent.cpp PowerSensor.cpp PowerSwitcher.cpp
-    PowerSensor.cpp
+          DummyPowerSwitcher.cpp PowerSwitcherComponent.cpp)
-    PowerSwitcher.cpp
-    DummyPowerSwitcher.cpp
-    PowerSwitcherComponent.cpp
-)

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -3,9 +3,12 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/power/PowerSwitchIF.h>
 
-PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t pwrSwitch)
+PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
-  : SystemObject(objectId), switcher(pwrSwitcher, pwrSwitch), modeHelper(this),
+                                               power::Switch_t pwrSwitch)
-    healthHelper(this, objectId) {
+    : SystemObject(objectId),
+      switcher(pwrSwitcher, pwrSwitch),
+      modeHelper(this),
+      healthHelper(this, objectId) {
   queue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -25,12 +28,12 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
       continue;
     }
   }
-  if(switcher.active()) {
+  if (switcher.active()) {
     switcher.doStateMachine();
     auto currState = switcher.getState();
     if (currState == PowerSwitcher::SWITCH_IS_OFF) {
       setMode(MODE_OFF, 0);
-    } else if(currState == PowerSwitcher::SWITCH_IS_ON) {
+    } else if (currState == PowerSwitcher::SWITCH_IS_ON) {
       setMode(MODE_ON, 0);
     }
   }
@@ -39,19 +42,17 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
 
 ReturnValue_t PowerSwitcherComponent::initialize() {
   ReturnValue_t result = modeHelper.initialize();
-  if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = healthHelper.initialize();
-  if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return SystemObject::initialize();
 }
 
-MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const {
+MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
-  return queue->getId();
-}
 
 void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
   *mode = this->mode;
@@ -64,25 +65,25 @@ ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
 }
 
 ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
-    uint32_t *msToReachTheMode) {
+                                                       uint32_t *msToReachTheMode) {
   *msToReachTheMode = 5000;
-  if(mode != MODE_ON and mode != MODE_OFF) {
+  if (mode != MODE_ON and mode != MODE_OFF) {
     return TRANS_NOT_ALLOWED;
   }
   return RETURN_OK;
 }
 
 void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) {
-  if(mode == MODE_OFF) {
+  if (mode == MODE_OFF) {
     switcher.turnOff(true);
     switcher.doStateMachine();
-    if(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
       setMode(MODE_OFF, 0);
     }
   } else if (mode == MODE_ON) {
     switcher.turnOn(true);
     switcher.doStateMachine();
-    if(switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
       setMode(MODE_ON, 0);
     }
   }
@@ -103,6 +104,4 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
   announceMode(false);
 }
 
-HasHealthIF::HealthState PowerSwitcherComponent::getHealth() {
+HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }
-  return healthHelper.getHealth();
-}

src/fsfw/power/PowerSwitcherComponent.h

@@ -6,8 +6,8 @@
 #include <fsfw/modes/HasModesIF.h>
 #include <fsfw/modes/ModeHelper.h>
 #include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/power/definitions.h>
 #include <fsfw/power/PowerSwitcher.h>
+#include <fsfw/power/definitions.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
 class PowerSwitchIF;
@@ -22,19 +22,17 @@ class PowerSwitchIF;
  * Commanding this component to MODE_OFF will cause the switcher to turn the switch off while
  * commanding in to MODE_ON will cause the switcher to turn the switch on.
  */
-class PowerSwitcherComponent:
+class PowerSwitcherComponent : public SystemObject,
-    public SystemObject,
+                               public HasReturnvaluesIF,
-    public HasReturnvaluesIF,
+                               public ExecutableObjectIF,
-    public ExecutableObjectIF,
+                               public HasModesIF,
-    public HasModesIF,
+                               public HasHealthIF {
-    public HasHealthIF {
+ public:
-public:
+  PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
-  PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+                         power::Switch_t pwrSwitch);
-      power::Switch_t pwrSwitch);
 
-private:
+ private:
-
+  MessageQueueIF *queue = nullptr;
-  MessageQueueIF* queue = nullptr;
   PowerSwitcher switcher;
 
   Mode_t mode = MODE_OFF;
@@ -52,7 +50,7 @@ private:
   MessageQueueId_t getCommandQueue() const override;
   void getMode(Mode_t *mode, Submode_t *submode) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override;
+                                 uint32_t *msToReachTheMode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void setToExternalControl() override;
   void announceMode(bool recursive) override;

src/fsfw/pus/CMakeLists.txt

@@ -1,12 +1,12 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(
-    Service1TelecommandVerification.cpp
+  ${LIB_FSFW_NAME}
-    Service2DeviceAccess.cpp
+  PRIVATE Service1TelecommandVerification.cpp
-    Service3Housekeeping.cpp
+          Service2DeviceAccess.cpp
-    Service5EventReporting.cpp
+          Service3Housekeeping.cpp
-    Service8FunctionManagement.cpp
+          Service5EventReporting.cpp
-    Service9TimeManagement.cpp
+          Service8FunctionManagement.cpp
-    Service17Test.cpp
+          Service9TimeManagement.cpp
-    Service20ParameterManagement.cpp
+          Service17Test.cpp
-    CService200ModeCommanding.cpp
+          Service20ParameterManagement.cpp
-    CService201HealthCommanding.cpp
+          CService200ModeCommanding.cpp
-)
+          CService201HealthCommanding.cpp)

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -44,6 +44,12 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   static constexpr ReturnValue_t INVALID_RELATIVE_TIME =
       HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
 
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
+
+  //! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
+  //! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
+  static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+
   // The types of PUS-11 subservices
   enum Subservice : uint8_t {
     ENABLE_SCHEDULING = 1,
@@ -73,7 +79,10 @@ class Service11TelecommandScheduling final : public PusServiceBase {
                                  uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
                                  bool debugMode = false);
 
-  ~Service11TelecommandScheduling();
+  ~Service11TelecommandScheduling() override;
+
+  void enableExpiredTcDeletion();
+  void disableExpiredTcDeletion();
 
   /** PusServiceBase overrides */
   ReturnValue_t handleRequest(uint8_t subservice) override;
@@ -82,8 +91,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
 
  private:
   struct TelecommandStruct {
-    uint64_t requestId;
+    uint64_t requestId{};
-    uint32_t seconds;
+    uint32_t seconds{};
     store_address_t storeAddr;  // uint16
   };
 
@@ -92,9 +101,11 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   // minimum release time offset to insert into schedule
   const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5;
 
-  // the maximum amount of stored TCs is defined here
+  /**
-  static constexpr uint16_t MAX_STORED_TELECOMMANDS = 500;
+   * By default, the scheduling will be disabled. This is a standard requirement
-
+   */
+  bool schedulingEnabled = false;
+  bool deleteExpiredTcWhenDisabled = true;
   bool debugMode = false;
   StorageManagerIF* tcStore = nullptr;
   AcceptsTelecommandsIF* tcRecipient = nullptr;
@@ -109,6 +120,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
 
   TelecommandMap telecommandMap;
 
+  ReturnValue_t handleResetCommand();
   /**
    * @brief Logic to be performed on an incoming TC[11,4].
    * @return RETURN_OK if successful
@@ -139,17 +151,6 @@ class Service11TelecommandScheduling final : public PusServiceBase {
    */
   ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size);
 
-  /**
-   * @brief Deserializes a generic type from a payload buffer by using the FSFW
-   * SerializeAdapter Interface.
-   * @param output Output to be deserialized
-   * @param buf Payload buffer (application data)
-   * @param bufsize Remaining size of payload buffer (application data size)
-   * @return RETURN_OK if successful
-   */
-  template <typename T>
-  ReturnValue_t deserializeViaFsfwInterface(T& output, const uint8_t* buf, size_t bufsize);
-
   /**
    * @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the
    * class TcPacketPus.
@@ -177,7 +178,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
    * @param ssc Source Sequence Count
    * @return Request ID
    */
-  uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
+  [[nodiscard]] uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
 
   /**
    * @brief Gets the filter range for filter TCs from a data packet
@@ -194,7 +195,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   /**
    * @brief Prints content of multimap. Use for simple debugging only.
    */
-  void debugPrintMultimapContent(void) const;
+  void debugPrintMultimapContent() const;
 };
 
 #include "Service11TelecommandScheduling.tpp"

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -1,11 +1,12 @@
 #pragma once
 
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serialize/SerializeAdapter.h>
-#include <fsfw/tmtcservices/AcceptsTelecommandsIF.h>
-
 #include <cstddef>
 
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
 template <size_t MAX_NUM_TCS>
@@ -18,7 +19,7 @@ inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduli
       tcRecipient(tcRecipient) {}
 
 template <size_t MAX_NUM_TCS>
-inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() {}
+inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() = default;
 
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
@@ -37,6 +38,17 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
     return handleInvalidData("handleRequest");
   }
   switch (subservice) {
+    case Subservice::ENABLE_SCHEDULING: {
+      schedulingEnabled = true;
+      break;
+    }
+    case Subservice::DISABLE_SCHEDULING: {
+      schedulingEnabled = false;
+      break;
+    }
+    case Subservice::RESET_SCHEDULING: {
+      return handleResetCommand();
+    }
     case Subservice::INSERT_ACTIVITY:
       return doInsertActivity(data, size);
     case Subservice::DELETE_ACTIVITY:
@@ -48,41 +60,43 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
     case Subservice::FILTER_TIMESHIFT_ACTIVITY:
       return doFilterTimeshiftActivity(data, size);
     default:
-      break;
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
-
+  return RETURN_OK;
-  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
-  // DEBUG
+  if (not schedulingEnabled) {
-  // DebugPrintMultimapContent();
+    return RETURN_OK;
-
+  }
   // get current time as UNIX timestamp
   timeval tNow = {};
   Clock::getClock_timeval(&tNow);
 
+  // TODO: Optionally limit the max number of released TCs per cycle?
   // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
   // does not work in this case as we are deleting the current element here.
   for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
     if (it->first <= tNow.tv_sec) {
-      // release tc
+      if (schedulingEnabled) {
-      TmTcMessage releaseMsg(it->second.storeAddr);
+        // release tc
-      auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
+        TmTcMessage releaseMsg(it->second.storeAddr);
+        auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
 
-      if (sendRet != HasReturnvaluesIF::RETURN_OK) {
+        if (sendRet != HasReturnvaluesIF::RETURN_OK) {
-        return sendRet;
+          return sendRet;
-      }
+        }
-
+        if (debugMode) {
-      telecommandMap.erase(it++);
-
-      if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "Released TC & erased it from TC map" << std::endl;
+          sif::info << "Released TC & erased it from TC map" << std::endl;
 #else
-        sif::printInfo("Released TC & erased it from TC map\n");
+          sif::printInfo("Released TC & erased it from TC map\n");
 #endif
+        }
+        telecommandMap.erase(it++);
+      } else if (deleteExpiredTcWhenDisabled) {
+        telecommandMap.erase(it++);
       }
       continue;
     }
@@ -112,12 +126,30 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::initialize() {
   return res;
 }
 
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleResetCommand() {
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    ReturnValue_t result = tcStore->deleteData(it->second.storeAddr);
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      // This should not happen
+      sif::warning << "Service11TelecommandScheduling::handleRequestDeleting: Deletion failed"
+                   << std::endl;
+#else
+      sif::printWarning("Service11TelecommandScheduling::handleRequestDeleting: Deletion failed\n");
+#endif
+      triggerEvent(TC_DELETION_FAILED, (it->second.requestId >> 32) & 0xffffffff,
+                   it->second.requestId & 0xffffffff);
+    }
+  }
+  telecommandMap.clear();
+  return RETURN_OK;
+}
+
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
     const uint8_t *data, size_t size) {
   uint32_t timestamp = 0;
-  const uint8_t *initData = data;
-  size_t initSz = size;
   ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
   if (result != RETURN_OK) {
     return result;
@@ -142,7 +174,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
 
   // store currentPacket and receive the store address
   store_address_t addr{};
-  if (tcStore->addData(&addr, initData, initSz) != RETURN_OK ||
+  if (tcStore->addData(&addr, data, size) != RETURN_OK ||
       addr.raw == storeId::INVALID_STORE_ADDRESS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
@@ -404,7 +436,6 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimesh
     // and then insert it again as new entry
     telecommandMap.insert(std::make_pair(tempKey, tempTc));
     shiftedItemsCount++;
-    continue;
   }
 
   if (debugMode) {
@@ -463,9 +494,9 @@ template <size_t MAX_NUM_TCS>
 inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::buildRequestId(uint32_t sourceId,
                                                                             uint16_t apid,
                                                                             uint16_t ssc) const {
-  uint64_t sourceId64 = static_cast<uint64_t>(sourceId);
+  auto sourceId64 = static_cast<uint64_t>(sourceId);
-  uint64_t apid64 = static_cast<uint64_t>(apid);
+  auto apid64 = static_cast<uint64_t>(apid);
-  uint64_t ssc64 = static_cast<uint64_t>(ssc);
+  auto ssc64 = static_cast<uint64_t>(ssc);
 
   return (sourceId64 << 32) | (apid64 << 16) | ssc64;
 }
@@ -483,7 +514,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
   if (typeRaw > 3) {
     return INVALID_TYPE_TIME_WINDOW;
   }
-  TypeOfTimeWindow type = static_cast<TypeOfTimeWindow>(typeRaw);
+  auto type = static_cast<TypeOfTimeWindow>(typeRaw);
 
   // we now have the type of delete activity - so now we set the range to delete,
   // according to the type of time window.
@@ -558,7 +589,10 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
 
   // additional security check, this should never be true
   if (itBegin->first > itEnd->first) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#else
     sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
+#endif
     return RETURN_FAILED;
   }
 
@@ -580,19 +614,32 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidD
 }
 
 template <size_t MAX_NUM_TCS>
-inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent(void) const {
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent() const {
 #if FSFW_DISABLE_PRINTOUT == 0
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
              << std::endl;
-  sif::debug << "[" << dit->first << "]: Request ID: " << dit->second.requestId << " | "
-             << "Store Address: " << dit->second.storeAddr << std::endl;
 #else
   sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
-  for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
+#endif
-    sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit->first,
+  for (const auto &dit : telecommandMap) {
-                    dit->second.requestId, dit->second.storeAddr);
+#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("[%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>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::enableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = true;
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::disableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = false;
 }

src/fsfw/pus/Service5EventReporting.cpp

@@ -86,8 +86,8 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // In addition to the default PUSServiceBase initialization, this service needs
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == NULL) {
+  if (manager == nullptr) {
     return RETURN_FAILED;
   }
   // register Service 5 as listener for events

src/fsfw/rmap/CMakeLists.txt

@@ -1,7 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE RMAP.cpp RMAPCookie.cpp
-	PRIVATE 
+                                        RmapDeviceCommunicationIF.cpp)
-		RMAP.cpp
-		RMAPCookie.cpp
-		RmapDeviceCommunicationIF.cpp
-)
-

src/fsfw/serialize/CMakeLists.txt

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

src/fsfw/serviceinterface/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(
-	ServiceInterfaceStream.cpp
+  ${LIB_FSFW_NAME}
-	ServiceInterfaceBuffer.cpp
+  PRIVATE ServiceInterfaceStream.cpp ServiceInterfaceBuffer.cpp
-	ServiceInterfacePrinter.cpp
+          ServiceInterfacePrinter.cpp)
-)

src/fsfw/storagemanager/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ConstStorageAccessor.cpp StorageAccessor.cpp
-		ConstStorageAccessor.cpp
+                           LocalPool.cpp PoolManager.cpp)
-		StorageAccessor.cpp
-		LocalPool.cpp
-		PoolManager.cpp
-)

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/subsystem/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp)
-	PRIVATE 
-		Subsystem.cpp
-		SubsystemBase.cpp
-)
 
-add_subdirectory(modes)
+add_subdirectory(modes)

src/fsfw/subsystem/modes/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE ModeSequenceMessage.cpp ModeStore.cpp)
-	PRIVATE 
-		ModeSequenceMessage.cpp
-		ModeStore.cpp
-)

src/fsfw/tasks/CMakeLists.txt

@@ -1,5 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
-		FixedSequenceSlot.cpp
+                           PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)
-		FixedSlotSequence.cpp
-)

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
@@ -161,6 +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

@@ -30,12 +30,12 @@ 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.
    */
-  FixedSlotSequence(uint32_t setLengthMs);
+  explicit FixedSlotSequence(uint32_t setLengthMs);
 
   /**
    * @brief	The destructor of the FixedSlotSequence object.
@@ -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
@@ -157,7 +157,9 @@ class FixedSlotSequence {
    * 			executing task!
    * @return
    */
-  ReturnValue_t intializeSequenceAfterTaskCreation() const;
+  [[nodiscard]] ReturnValue_t intializeSequenceAfterTaskCreation() const;
+
+  [[nodiscard]] bool isEmpty() const;
 
  protected:
   /**
@@ -173,7 +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

@@ -0,0 +1,27 @@
+#include "FixedTimeslotTaskBase.h"
+
+#include "fsfw/objectmanager/ObjectManager.h"
+
+FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
+                                             TaskDeadlineMissedFunction dlmFunc_)
+    : period(period_), pollingSeqTable(getPeriodMs()), dlmFunc(dlmFunc_) {}
+uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
+
+bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); }
+
+ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
+
+ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t execId, ExecutableObjectIF* execObj,
+                                             uint32_t slotTimeMs, int8_t executionStep) {
+  if (execObj == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    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;
+#else
+    sif::printError("Component 0x%08x not found, not adding it to PST\n");
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  pollingSeqTable.addSlot(execId, slotTimeMs, executionStep, execObj, this);
+  return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw/tasks/FixedTimeslotTaskBase.h

@@ -0,0 +1,44 @@
+#ifndef FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
+#define FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
+
+#include "FixedSlotSequence.h"
+#include "FixedTimeslotTaskIF.h"
+#include "definitions.h"
+
+class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
+ public:
+  explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
+  ~FixedTimeslotTaskBase() override = default;
+  ;
+
+ protected:
+  /**
+   * @brief Period of task in floating point seconds
+   */
+  TaskPeriod period;
+
+  //! Polling sequence table which contains the object to execute
+  //! and information like the timeslots and the passed execution step.
+  FixedSlotSequence pollingSeqTable;
+
+  /**
+   * @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.
+   */
+  TaskDeadlineMissedFunction dlmFunc = nullptr;
+
+  ReturnValue_t checkSequence() override;
+
+  [[nodiscard]] uint32_t getPeriodMs() const override;
+
+  [[nodiscard]] bool isEmpty() const override;
+
+  ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* componentId, uint32_t slotTimeMs,
+                        int8_t executionStep) override;
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H

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"
 
@@ -11,10 +12,23 @@
  */
 class FixedTimeslotTaskIF : public PeriodicTaskIF {
  public:
-  virtual ~FixedTimeslotTaskIF() {}
+  ~FixedTimeslotTaskIF() override = default;
 
   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() const = 0;
+  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_ */