prev v1.26.3

Reviewed-on: #325

.gitmodules

@@ -10,12 +10,15 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
-[submodule "generators/fsfwgen"]
-	path = generators/fsfwgen
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
 [submodule "thirdparty/arcsec_star_tracker"]
 	path = thirdparty/arcsec_star_tracker
 	url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
+[submodule "thirdparty/rapidcsv"]
+	path = thirdparty/rapidcsv
+	url = https://github.com/d99kris/rapidcsv.git
+[submodule "thirdparty/gomspace-sw"]
+	path = thirdparty/gomspace-sw
+	url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git

CHANGELOG.md

@@ -8,12 +8,445 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.
 
+Starting at v2.0.0, the following changes will consitute of a breaking
+change warranting a new major release:
+
+- The TMTC interface changes in any shape of form.
+- The behavour of the OBSW changes in a major shape or form relevant
+  for operations
+
 # [unreleased]
 
-# [v1.12.0]
+# [v1.26.3] 2023-02-09
+
+eive-tmtc: v2.12.2
+
+## Added
+
+- First version of a TCS controller heater control loop, but
+  the loop is disabled for now.
 
 ## Changed
 
+- Reworked dummy handling for the TCS controller.
+- Generator scripts now generate files for hosted and for Q7S build.
+
+## Fixed
+
+- GPS Controller: Set fix value to 0 when switching off to allow
+  `GPS_FIX_CHANGE` to work when switching the GPS back on.
+
+# [v1.26.2] 2023-02-08
+
+## Changed
+
+- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
+  that scheduling is done in big blocks to reduce risk of missed deadlines.
+- Replaced chained locks for polling new sensor data to the `AcsController`.
+- Made TM store even larger.
+
+## Fixed
+
+- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
+  be cleared on release builds. The dummy variable used to read the register
+  needs to be declared volatile to avoid compiler optimizations.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
+- Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge
+  inside the FSFW.
+
+## Added
+
+- Create TCS controller for EM build.
+
+# [v1.26.1] 2023-02-08
+
+- Initialize parameter helper in ACS controller.
+
+# [v1.26.0] 2023-02-08
+
+eive-tmtc v2.12.1
+
+## Changed
+
+### ACS
+
+- Readded calibration matrices for MGM calibration.
+- Added calculation of satellite velocity vector from GPS position data
+- Added detumble mode using GYR values
+- Added inertial pointing mode
+- Added nadir pointing mode
+- Added ground station target mode
+- Added antistiction for RWs
+- Added `sunTargetSafe` differentiation for LEOP
+- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
+  which `sunTargetSafe` to use
+- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
+- Removed deprecated `OutputValues`
+- Added `HasParametersIF` to `AcsParameters`
+- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
+- Updated `AcsParameters` with actual values and changed structure
+- Sun vector model and magnetic field vector model calculations are always executed now
+- `domainId` is now used as identifier for parameter structs
+- Changed onboard GYR value handling from deg/s to rad/s
+
+## Fixed
+
+- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
+  is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
+- Build system: Fixed small bug, where the version itself was
+  stored as the git SHA hash in `commonConfig.h`. This will be
+  an empty string now for regular versions.
+- Bump FSFW for important fix in PUS mode service.
+
+### ACS
+
+- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
+  transformed in body RF. However, the calibration values are in the body RF. Also fixed the
+  validity flag of 'mgmVecTotDerivative'.
+- Fixed calculation of model sun vector
+- Fixed calculation of model magnetic field vector
+- Fixed MEKF algorithm
+- Fixed several variable initializations
+- Fixed several variable types
+- Fixed use of `sunMagAngleMin` for safe mode
+- Fixed MEKF not using correct `sampleTime`
+- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
+- Various smaller bugfixes
+
+# [v1.25.0] 2023-02-06
+
+eive-tmtc version: v2.12.0
+
+## Changed
+
+- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.
+
+## Fixed
+
+- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
+  until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
+  where controller handling is done on 0.2 second timeouts.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
+
+# [v1.24.0] 2023-02-03
+
+- eive-tmtc v2.10.0
+- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
+  as well. Other modes still need to be tested.
+
+## Fixed
+
+- `AcsController`: Parameter fix in `DetumbleParameter`.
+- Set GPS set entries to invalid on MODE_OFF command.
+- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
+  properly
+- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
+  commands the MTQ to match the actual commanding range.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
+- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
+  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
+
+## Changed
+
+- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
+  timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
+  will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
+- ACS Subsystem Sequence Mode IDs updated.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
+- Update and tweak ACS subsystem to represent the actual ACS design
+- Event handling in the ACS subsystem for events triggered by the ACS controller.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+
+# [v1.23.1] 2023-02-02
+
+TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
+
+## Fixed
+
+- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
+  instead of unsegmented (0b11).
+- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123
+
+# [v1.23.0] 2023-02-01
+
+TMTC version: v2.9.0
+
+## Changed
+
+- Bumped FSFW to include improvements and bugfix for Health Service. The health service now
+  supports the announce all health info command.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+
+## Fixed
+
+- Bumped FSFW to include fixes in the time service.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times
+  out the timer when the handler is commanded to MODE_OFF
+- If the timer is timed out the CCSDS handler will disable the TX clock which will cause the
+  syrlinks to got to standby mode
+- PDEC handler now parses the FAR register also in interrupt mode
+
+
+# [v1.22.1] 2023-01-30
+
+## Changed
+
+- Updated FSFW to include addition where the `SO_REUSEADDR` option is set
+  on the TCP server, which should improve its ergonomics.
+
+# [v1.22.0] 2023-01-28
+
+TMTC version: v2.6.1
+
+## Added
+
+- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
+  care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+- The CCSDS handler has has a new submode (3) to configure the default datarate.
+- Default datarate parameter commanding moved to COM subsystem.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+
+# [v1.21.0] 2023-01-26
+
+TMTC version: v2.5.0
+Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353
+
+## Fixed
+
+- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
+- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
+- Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID.
+
+## Changed
+
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than
+  just HK and is also responsible for setting the TX mode of the device.
+- `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on
+  by default.
+- `SyrlinksHandler`: Go to normal mode at startup.
+
+## Added
+
+- The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default
+  datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4).
+  The submodes apply for both ON and NORMAL mode. The default datarate can be updated using
+  a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate.
+- The Syrlinks handler always sets TX to standby when switching off
+- The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully
+  and a TX_OFF event when it was switched off successfully.
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
+  it has a submode for low datarate (1) and high datarate (2) for the ON command.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352
+
+# [v1.20.0] 2023-01-24
+
+## Added
+
+- The Q7S SW now checks for a file named `boot_delay_secs.txt` in the home directory.
+  If it exists and the file is empty, it will delay for 6 seconds before continuing
+  with the regular boot. It can also try to read delay seconds from the file.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/340.
+- Basic TCS Subsystem component.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
+- Expose base set of STR periodic housekeeping packets
+
+## Changed
+
+- Moved some PDEC/PTME configuration to `common/config/eive/definitions.h`
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
+- The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now.
+- Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC
+- Syrlinks module now always included for both EM and FM
+- SA Deployment: Allow specifying the switch interval and the initial channel. This allows testing
+  the new deployment procedure where each channel is burned for half of the whole burn duration.
+  It also allows burning only one channel for the whole burn duration. The autonomous mechanism
+  was adapted to burn each channel for half of the burn time by default.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/347
+  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/127
+- `Max31865RtdLowlevelHandler.cpp`: For each RTD device, the config is now re-written before
+  every read. This seems to fix some issue with invalid temperature sensor readings.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/345
+
+## Fixed
+
+- `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL`
+  register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the
+  previous range setting was wrong. Also fixed a small error properly set internal state
+  on shut-down.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
+- Syrlinks Handler: Read RX frequency shift as 24 bit signed number now. Also include
+  validity handling for datasets.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/350
+- `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of 
+  max. range based, as previous fix still left an margin of error between ADIS16505 sensors 
+  and L3GD20 sensors.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/346
+
+# [v1.19.0] 2023-01-10
+
+## Changed
+
+- 5V stack is now off by default
+
+## Fixed
+
+- PLOC SUPV: Minor adaptions and important bugfix for UART manager
+- Allow cloning and building the hosted OBSW version without proprietary libraries,
+  which also avoids the need to have a Gitea account.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/337
+
+## Added
+
+- First version of ACS controller
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
+- Allow commanding the 5V stack internally in software
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/334
+- Add automatic 5V stack commanding for all connected devices
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/335
+
+# [v1.18.0] 2022-12-01
+
+## Changed
+
+- PLOC Supervisor: Changes baudrate to 921600
+- Renamed `/dev/ul-plsv` to `/dev/ploc_supv`, is not a UART lite anymore
+- Renamed `/dev/i2c_eive` to `/dev/i2c_pl` and `/dev/i2c-2` to `/dev/i2c_ps`.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/328
+
+# [v1.17.0] 2022-11-28
+
+## Added
+
+- PLOC Supervisor Update: Update SW to use newest PLOC SUPV version by TAS
+  PR 1: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/316
+  PR 2: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/324
+  PR 3: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/326
+
+# [v1.16.0] 2022-11-18
+
+- It is now possible to compile Linux components for the hosted build conditionally
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/322
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Payload Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Add IRQ mode for PDEC handler. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
+- Extended TM funnels to allow multiple TM recipients.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/312
+- DHB: Transitions to normal mode now possible directly, which simplifies subsystem implementations
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
+- MAX3185 Low Level Handler and Device Handler: Simplifications and bugfixes to allow switching
+  off without triggering unrequested replies
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
+- Add remaining missing TMP1075 device handlers.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318
+
+# [v1.15.0] 2022-10-27
+
+- Consistent device file naming
+- Remove rad sensor from EM build, lead to weird bugs on EM which
+  prevented `xsc_boot_copy` from working properly
+- CFDP closure handling is now working
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/307
+- Safety mechanism for SD card handling on graceful reboots
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/308
+- Solar Array Deployment handler update
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/305
+- IMTQ updates as preparation for ACS controller expansion
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/306
+- P60 Module: Reduce number of set IDs, use same set IDs for core, auxiliary
+  and config HK set across the three PCDU modules
+
+# [v1.14.1] 11.10.2022
+
+- Various bugfixes and regression fixes
+- General file handling at program initialization now works properly again
+- Scratch buffer preferred SD card handling works again
+- Use scoped locks in TCS controller to avoid deadlocks
+
+# [v1.14.0] 10.10.2022
+
+- Provide full SW update capability for the OBSW.
+  This includes very basic CFDP integration, a software update
+  procedure specified in detail in the README and some high level
+  commands to make this easier for operators.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/302
+- Update for FSFW: `HasReturnvaluesIF` class replaced by namespace `returnvalue`
+- Add some GomSpace clients as a submodule dependency. Use this dependency to deserialize the
+  GomSpace TM tables
+- Add API to retrieve GomSpace device parameter tables
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/287
+- Add API to save and load GomSpace config tables
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/293
+- Increase number of allowed consescutive action commands from 3 to 16
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/294
+- Fix for EM SW: Always create ACS Task
+- Added Scex device handler and Scex uart reader
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228
+
+# [v1.13.0] 24.08.2022
+
+- Added first version of ACS Controller with gathers MGM data in a set
+- Some tweaks for IMTQ handler
+
+# [v1.12.1] 05.07.2022
+
+- Disable periodic TCS controller HK generation by default
+
+# [v1.12.0] 04.07.2022
+
+## Added
+
+- Dummy components to run OBSW without relying on external hardware
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
+- Basic Thermal Controller
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
+- PUS11 TC scheduler
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259
+- Regular reboot command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
+- Commands for individual RTD devices
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
+- `RwAssembly` added to system components. Assembly works in principle,
+  issues making 4 consecutives RWs communicate at once..
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
+- Adds a yocto helper script which is able to install the release build binaries
+  (OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package`
+  or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo.
+  This makes updating the root filesystem a lot easier. It also creates and installs a
+  version file.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+- Create the generic image by default for the Q7S build. The unique binary with the
+  username appended at the end is created as a side-product now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+
+## Fixed
+
+- `q7s-cp.py` bugfix
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/256
+- Generator scripts output now produce platform-independent artifacts
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/267
+
+### Heater
+
+- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
+- SW will attempt to shut down heaters which are on but marked faulty
+- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
+- Some additional input sanity checks in `executeAction`
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236
+
+## Changed
+
+- CCSDS handler improvements
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/268
 - Build unittest as default side product of hosted builds
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244
 - Let CI/CD build host build and run unittest side product in same step

CMakeLists.txt

@@ -1,42 +1,50 @@
-################################################################################
+# ##############################################################################
 # CMake support for the EIVE OBSW
-# 
+#
 # Author: R. Mueller
-################################################################################
+# ##############################################################################
 
-################################################################################
+# ##############################################################################
 # Pre-Project preparation
-################################################################################
+# ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
+set(OBSW_VERSION_MAJOR 1)
+set(OBSW_VERSION_MINOR 26)
+set(OBSW_VERSION_REVISION 3)
 
 # set(CMAKE_VERBOSE TRUE)
 
-option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
+option(
+  EIVE_HARDCODED_TOOLCHAIN_FILE
+  "\
 For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
-if a different toolchain file is set externally" ON
-)
+if a different toolchain file is set externally"
+  ON)
 
 if(NOT FSFW_OSAL)
-    set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
+  set(FSFW_OSAL
+      linux
+      CACHE STRING "OS for the FSFW.")
 endif()
 
 if(TGT_BSP)
-    if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
-        option(LINUX_CROSS_COMPILE ON)
-    endif()
-    if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
-        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
-    elseif(TGT_BSP MATCHES "arm/q7s")
-        option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
-        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
-    endif()
-    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
+  if(TGT_BSP MATCHES "arm/q7s"
+     OR TGT_BSP MATCHES "arm/raspberrypi"
+     OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(LINUX_CROSS_COMPILE ON)
+  endif()
+  if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
+  elseif(TGT_BSP MATCHES "arm/q7s")
+    option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
+    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
+  endif()
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         ON)
 else()
-    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         OFF)
 endif()
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
@@ -56,61 +64,135 @@ include(EiveHelpers)
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 
-if(EIVE_Q7S_EM)
-    set(OBSW_Q7S_EM 1 CACHE STRING "Q7S EM configuration")
-    set(INIT_VAL 0)
-else()
-    set(OBSW_Q7S_EM 0 CACHE STRING "Q7S EM configuration")
-    set(INIT_VAL 1)
-endif()
-set(OBSW_ADD_MGT ${INIT_VAL} CACHE STRING "Add MGT module" )
-set(OBSW_ADD_BPX_BATTERY_HANDLER ${INIT_VAL} CACHE STRING "Add MGT module")
-set(OBSW_ADD_STAR_TRACKER ${INIT_VAL} CACHE STRING "Add Startracker module")
-set(OBSW_ADD_SUN_SENSORS ${INIT_VAL} CACHE STRING "Add sun sensor module")
-set(OBSW_ADD_SUS_BOARD_ASS ${INIT_VAL} CACHE STRING "Add sun sensor board assembly")
-set(OBSW_ADD_ACS_BOARD ${INIT_VAL} CACHE STRING "Add ACS board module")
-set(OBSW_ADD_ACS_HANDLERS ${INIT_VAL} CACHE STRING "Add ACS handlers")
-set(OBSW_ADD_RTD_DEVICES ${INIT_VAL} CACHE STRING "Add RTD devices")
-set(OBSW_ADD_RAD_SENSORS ${INIT_VAL} CACHE STRING "Add Rad Sensor module")
-set(OBSW_ADD_PL_PCDU ${INIT_VAL} CACHE STRING "Add Payload PCDU modukle")
-set(OBSW_ADD_SYRLINKS ${INIT_VAL} CACHE STRING "Add Syrlinks module")
-set(OBSW_ADD_TMP_DEVICES ${INIT_VAL} CACHE STRING "Add TMP devices")
-set(OBSW_ADD_GOMSPACE_PCDU ${INIT_VAL} CACHE STRING "Add GomSpace PCDU modules")
-set(OBSW_ADD_RW ${INIT_VAL} CACHE STRING "Add RW modules")
+set(OBSW_MAX_SCHEDULED_TCS 500)
 
-################################################################################
+if(EIVE_Q7S_EM)
+  set(OBSW_Q7S_EM
+      1
+      CACHE STRING "Q7S EM configuration")
+  set(INIT_VAL 0)
+else()
+  set(OBSW_Q7S_EM
+      0
+      CACHE STRING "Q7S EM configuration")
+  set(INIT_VAL 1)
+endif()
+set(OBSW_ADD_MGT
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_BPX_BATTERY_HANDLER
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_STAR_TRACKER
+    ${INIT_VAL}
+    CACHE STRING "Add Startracker module")
+set(OBSW_ADD_SUN_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor module")
+set(OBSW_ADD_SUS_BOARD_ASS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_ACS_BOARD
+    ${INIT_VAL}
+    CACHE STRING "Add ACS board module")
+set(OBSW_ADD_GPS_CTRL
+    ${INIT_VAL}
+    CACHE STRING "Add GPS controllers")
+set(OBSW_ADD_CCSDS_IP_CORES
+    1
+    CACHE STRING "Add CCSDS IP cores")
+set(OBSW_TM_TO_PTME
+    1
+    CACHE STRING "Send telemetry to PTME IP core")
+set(OBSW_TC_FROM_PDEC
+    1
+    CACHE STRING "Poll telecommand from PDEC IP core")
+set(OBSW_ADD_TCS_CTRL
+    ${INIT_VAL}
+    CACHE STRING "Add TCS controllers")
+set(OBSW_ADD_HEATERS
+    ${INIT_VAL}
+    CACHE STRING "Add TCS heaters")
+set(OBSW_ADD_PLOC_SUPERVISOR
+    ${INIT_VAL}
+    CACHE STRING "Add PLOC supervisor handler")
+set(OBSW_ADD_SA_DEPL
+    ${INIT_VAL}
+    CACHE STRING "Add SA deployment handler")
+set(OBSW_ADD_PLOC_MPSOC
+    ${INIT_VAL}
+    CACHE STRING "Add MPSoC handler")
+set(OBSW_ADD_ACS_CTRL
+    ${INIT_VAL}
+    CACHE STRING "Add ACS controller")
+set(OBSW_ADD_RTD_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add RTD devices")
+set(OBSW_ADD_RAD_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add Rad Sensor module")
+set(OBSW_ADD_PL_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add Payload PCDU modukle")
+set(OBSW_ADD_SYRLINKS
+    1
+    CACHE STRING "Add Syrlinks module")
+set(OBSW_ADD_TMP_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add TMP devices")
+set(OBSW_ADD_GOMSPACE_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_RW
+    ${INIT_VAL}
+    CACHE STRING "Add RW modules")
+set(OBSW_ADD_SCEX_DEVICE
+    ${INIT_VAL}
+    CACHE STRING "Add Solar Cell Experiment module")
+set(OBSW_SYRLINKS_SIMULATED
+    0
+    CACHE STRING "Syrlinks is simulated")
+
+# ##############################################################################
 # Pre-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Version handling
 set(GIT_VER_HANDLING_OK FALSE)
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-    determine_version_with_git("--exclude" "docker_*")
-    set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
-    if(GIT_INFO)
-        set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
-        list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
-        list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
-        list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
-        list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
-        if(NOT OBSW_VERSION_MAJOR)
-            set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-        endif()
-        if(NOT OBSW_VERSION_MINOR)
-            set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-        endif()
-        if(NOT OBSW_VERSION_REVISION)
-            set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
-        endif()
-        set(GIT_VER_HANDLING_OK TRUE)
-   else()
-        set(GIT_VER_HANDLING_OK FALSE)
-   endif()
+  determine_version_with_git("--exclude" "docker_*")
+  set(GIT_INFO
+      ${GIT_INFO}
+      CACHE STRING "Version information retrieved with git describe")
+  if(GIT_INFO)
+    set(GIT_INFO
+        ${GIT_INFO}
+        CACHE STRING "Version information retrieved with git describe")
+    # CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
+    # OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
+    # GIT_INFO 3 OBSW_VERSION_REVISION)
+    list(LENGTH GIT_INFO LIST_LEN)
+    if(LIST_LEN GREATER 4)
+      list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    endif()
+    if(NOT OBSW_VERSION_MAJOR)
+      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
+    endif()
+    if(NOT OBSW_VERSION_MINOR)
+      set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
+    endif()
+    if(NOT OBSW_VERSION_REVISION)
+      set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+    endif()
+    set(GIT_VER_HANDLING_OK TRUE)
+  else()
+    set(GIT_VER_HANDLING_OK FALSE)
+  endif()
 endif()
 if(NOT GIT_VER_HANDLING_OK)
-    set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-    set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-    set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+  set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
+  set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
+  set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
 endif()
 
 # Set names and variables
@@ -124,24 +206,29 @@ set(LIB_ETL_TARGET etl::etl)
 set(LIB_CSP_NAME libcsp)
 set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
+set(LIB_GOMSPACE_CLIENTS gs_clients)
+set(LIB_GOMSPACE_CSP gs_csp)
+
 set(THIRD_PARTY_FOLDER thirdparty)
 set(LIB_CXX_FS -lstdc++fs)
 set(LIB_CATCH2 Catch2)
 set(LIB_GPS gps)
 set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
+set(LIB_DUMMIES dummies)
 
 # Set path names
 set(FSFW_PATH fsfw)
 set(TEST_PATH test)
 set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
+set(LIB_GOMSPACE_PATH ${THIRD_PARTY_FOLDER}/gomspace-sw)
 set(COMMON_PATH common)
+set(DUMMY_PATH dummies)
 set(WATCHDOG_PATH watchdog)
 set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
 set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)
 
 set(LIB_EIVE_MISSION_PATH mission)
-set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
 set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
 set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
 set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
@@ -149,178 +236,188 @@ set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
-set(EIVE_ADD_LINUX_FILES False)
+set(EIVE_ADD_LINUX_FILES OFF)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
 pre_source_hw_os_config()
 
 if(TGT_BSP)
-    set(LIBGPS_VERSION_MAJOR 3)
-    # I assume a newer version than 3.17 will be installed on other Linux board than the Q7S
-    set(LIBGPS_VERSION_MINOR 20)
-    if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
-        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
-        OR TGT_BSP MATCHES "arm/te0720-1cfa"
-    )
-        find_library(${LIB_GPS} gps)
-        set(FSFW_CONFIG_PATH "linux/fsfwconfig")
-        if(NOT BUILD_Q7S_SIMPLE_MODE)
-            set(EIVE_ADD_LINUX_FILES TRUE)
-            set(ADD_CSP_LIB TRUE)
-            set(FSFW_HAL_ADD_LINUX ON)
-        endif()
-    endif()
-   
-    if(TGT_BSP MATCHES "arm/raspberrypi" )
-        # Used by configure file
-        set(RASPBERRY_PI ON)
-        set(FSFW_HAL_ADD_RASPBERRY_PI ON)
+  set(LIBGPS_VERSION_MAJOR 3)
+  # I assume a newer version than 3.17 will be installed on other Linux board
+  # than the Q7S
+  set(LIBGPS_VERSION_MINOR 20)
+  if(TGT_BSP MATCHES "arm/q7s"
+     OR TGT_BSP MATCHES "arm/raspberrypi"
+     OR TGT_BSP MATCHES "arm/beagleboneblack"
+     OR TGT_BSP MATCHES "arm/egse"
+     OR TGT_BSP MATCHES "arm/te0720-1cfa")
+    find_library(${LIB_GPS} gps)
+    set(FSFW_CONFIG_PATH "linux/fsfwconfig")
+    if(NOT BUILD_Q7S_SIMPLE_MODE)
+      set(EIVE_ADD_LINUX_FILES TRUE)
+      set(EIVE_ADD_LINUX_FSFWCONFIG TRUE)
+      set(ADD_GOMSPACE_CSP TRUE)
+      set(ADD_GOMSPACE_CLIENTS TRUE)
+      set(FSFW_HAL_ADD_LINUX ON)
+      set(FSFW_HAL_LINUX_ADD_LIBGPIOD ON)
+      set(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS ON)
     endif()
+  elseif(UNIX)
+    set(EIVE_ADD_LINUX_FILES ON)
+  endif()
 
-    if(TGT_BSP MATCHES "arm/egse")
-        # Used by configure file
-        set(EGSE ON)
-        set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
-        set(OBSW_ADD_STAR_TRACKER 1)
-        set(OBSW_DEBUG_STARTRACKER 1)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/beagleboneblack")
-        # Used by configure file
-        set(BEAGLEBONEBLACK ON)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/q7s")
-        # Used by configure file
-        set(XIPHOS_Q7S ON)
-        set(LIBGPS_VERSION_MAJOR 3)
-        set(LIBGPS_VERSION_MINOR 17)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/te0720-1cfa")
-        set(TE0720_1CFA ON)
-    endif()
+  if(TGT_BSP MATCHES "arm/raspberrypi")
+    # Used by configure file
+    set(RASPBERRY_PI ON)
+    set(FSFW_HAL_ADD_RASPBERRY_PI ON)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/egse")
+    # Used by configure file
+    set(EGSE ON)
+    set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
+    set(OBSW_ADD_STAR_TRACKER 1)
+    set(OBSW_DEBUG_STARTRACKER 1)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/beagleboneblack")
+    # Used by configure file
+    set(BEAGLEBONEBLACK ON)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/q7s")
+    # Used by configure file
+    set(XIPHOS_Q7S ON)
+    set(LIBGPS_VERSION_MAJOR 3)
+    set(LIBGPS_VERSION_MINOR 17)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/te0720-1cfa")
+    set(TE0720_1CFA ON)
+  endif()
 else()
-    # Required by FSFW library
-    set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+  # Required by FSFW library
+  set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+  if(UNIX)
+    set(EIVE_ADD_LINUX_FILES ON)
+  endif()
 endif()
 
+include(BuildType)
+set_build_type()
 
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
 configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
 if(TGT_BSP MATCHES "arm/q7s")
-    configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
+  configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
 elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
-    configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
+  configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
 endif()
 
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATHS 
-    "${COMMON_PATH}/config"
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
+set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
+                              ${CMAKE_CURRENT_BINARY_DIR})
 
-################################################################################
+# ##############################################################################
 # Executable and Sources
-################################################################################
+# ##############################################################################
 
-#global compiler options need to be set before adding executables
+# global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    add_compile_options(
-        "-Wall"
-        "-Wextra"
-        "-Wimplicit-fallthrough=1"
-        "-Wno-unused-parameter"
-        "-Wno-psabi"
-        "-Wduplicated-cond" # check for duplicate conditions
-        "-Wduplicated-branches" # check for duplicate branches
-        "-Wlogical-op" # Search for bitwise operations instead of logical
-        "-Wnull-dereference" # Search for NULL dereference
-        "-Wundef" # Warn if undefind marcos are used
-        "-Wformat=2" # Format string problem detection
-        "-Wformat-overflow=2" # Formatting issues in printf
-        "-Wformat-truncation=2" # Formatting issues in printf
-        "-Wformat-security" # Search for dangerous printf operations
-        "-Wstrict-overflow=3" # Warn if integer overflows might happen
-        "-Warray-bounds=2" # Some array bounds violations will be found
-        "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
-        "-Wcast-qual" # Warn if the constness is cast away
-        "-Wstringop-overflow=4"
-        # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives
-        # -Warith-conversion # Use with Wconversion to find more implicit conversions
-        # -fanalyzer # Should be used to look through problems
-    )
-    # Remove unused sections.
-    add_compile_options(
-        "-ffunction-sections"
-        "-fdata-sections"
-    )
+  # Remove unused sections.
+  add_compile_options("-ffunction-sections" "-fdata-sections")
 
-    # Removed unused sections.
-    add_link_options(
-        "-Wl,--gc-sections"
-    )
+  # Removed unused sections.
+  add_link_options("-Wl,--gc-sections")
 
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-	set(COMPILER_FLAGS "/permissive-")
+  set(COMPILER_FLAGS "/permissive-")
 endif()
 
 add_library(${LIB_EIVE_MISSION})
+add_library(${LIB_DUMMIES})
 
 # Add main executable
 add_executable(${OBSW_NAME})
-if(EIVE_CREATE_UNIQUE_OBSW_BIN)
-    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
-else()
-    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
+set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+  set(WARNING_FLAGS
+      "-Wall"
+      "-Wextra"
+      "-Wimplicit-fallthrough=1"
+      "-Wno-unused-parameter"
+      "-Wno-psabi"
+      "-Wduplicated-cond" # check for duplicate conditions
+      "-Wduplicated-branches" # check for duplicate branches
+      "-Wlogical-op" # Search for bitwise operations instead of logical
+      "-Wnull-dereference" # Search for NULL dereference
+      "-Wundef" # Warn if undefind marcos are used
+      "-Wformat=2" # Format string problem detection
+      "-Wformat-overflow=2" # Formatting issues in printf
+      "-Wformat-truncation=2" # Formatting issues in printf
+      "-Wformat-security" # Search for dangerous printf operations
+      "-Wstrict-overflow=3" # Warn if integer overflows might happen
+      "-Warray-bounds=2" # Some array bounds violations will be found
+      "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
+      "-Wcast-qual" # Warn if the constness is cast away
+      "-Wstringop-overflow=4"
+      # -Wstack-protector # Emits a few false positives for low level access
+      # -Wconversion # Creates many false positives -Warith-conversion # Use
+      # with Wconversion to find more implicit conversions -fanalyzer # Should
+      # be used to look through problems
+  )
+  target_compile_options(${OBSW_NAME} PRIVATE ${WARNING_FLAGS})
+  target_compile_options(${LIB_EIVE_MISSION} PRIVATE ${WARNING_FLAGS})
+  target_compile_options(${LIB_DUMMIES} PRIVATE ${WARNING_FLAGS})
 endif()
+
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
 
 # Watchdog
 if(TGT_BSP MATCHES "arm/q7s")
-    add_executable(${WATCHDOG_NAME})
+  add_executable(${WATCHDOG_NAME})
 else()
-    add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+  add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
 endif()
 
-add_subdirectory(${WATCHDOG_PATH}) 
-target_link_libraries(${WATCHDOG_NAME} PUBLIC
-    ${LIB_CXX_FS}
-)
-target_include_directories(${WATCHDOG_NAME} PUBLIC
-    ${CMAKE_BINARY_DIR}
-)
+add_subdirectory(${WATCHDOG_PATH})
+target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
+target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})
 
 # unittests
 if(NOT TGT_BSP)
-    add_executable(${UNITTEST_NAME})
+  add_executable(${UNITTEST_NAME})
 else()
-    add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+  add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
 endif()
 
 if(EIVE_ADD_ETL_LIB)
+
 endif()
 
 if(EIVE_ADD_JSON_LIB)
-    add_subdirectory(${LIB_JSON_PATH})
-endif()
- 
-if(EIVE_ADD_LINUX_FILES)
-    add_subdirectory(${LIB_ARCSEC_PATH})
-    add_subdirectory(${LINUX_PATH})
-endif()
-add_subdirectory(${BSP_PATH})
-if(ADD_CSP_LIB)
-    add_subdirectory(${LIB_CSP_PATH})
+  add_subdirectory(${LIB_JSON_PATH})
 endif()
 
+add_subdirectory(thirdparty)
+
+if(EIVE_ADD_LINUX_FILES)
+  if(TGT_BSP MATCHES "arm/q7s")
+    add_subdirectory(${LIB_GOMSPACE_PATH})
+    add_subdirectory(${LIB_ARCSEC_PATH})
+  endif()
+  add_subdirectory(${LINUX_PATH})
+endif()
+add_subdirectory(${BSP_PATH})
+
 add_subdirectory(${COMMON_PATH})
+add_subdirectory(${DUMMY_PATH})
 
 add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
@@ -329,174 +426,142 @@ add_subdirectory(${TEST_PATH})
 
 add_subdirectory(${UNITTEST_PATH})
 
-# This should have already been downloaded by the FSFW
-# Still include it to be safe
-find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
-# Not installed, so use FetchContent to download and provide etl
-if(NOT etl_FOUND)
-    message(STATUS
-        "No ETL installation was found with find_package. Installing and providing "
-        "etl with FindPackage"
-    )
-    include(FetchContent)
-    FetchContent_Declare(
-        etl
-        GIT_REPOSITORY https://github.com/ETLCPP/etl
-        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
-    )
-    list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
-endif()
+# This should have already been downloaded by the FSFW Still include it to be
+# safe find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) Not
+# installed, so use FetchContent to download and provide etl if(NOT etl_FOUND)
+message(
+  STATUS
+    "No ETL installation was found with find_package. Installing and providing "
+    "etl with FindPackage")
+include(FetchContent)
+FetchContent_Declare(
+  etl
+  GIT_REPOSITORY https://github.com/ETLCPP/etl
+  GIT_TAG ${FSFW_ETL_LIB_VERSION})
+list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
+# endif()
 
 # Use same Catch2 version as framework
-if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s")
-        AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
-    # Check whether the user has already installed Catch2 first
-    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
-    # Not installed, so use FetchContent to download and provide Catch2
-    if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
-        include(FetchContent)
+if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
+   AND NOT (TGT_BSP MATCHES "arm/q7s")
+   AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
+  # Check whether the user has already installed Catch2 first
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+  # Not installed, so use FetchContent to download and provide Catch2
+  if(NOT Catch2_FOUND)
+    message(
+      STATUS
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
+    include(FetchContent)
 
-        FetchContent_Declare(
-            Catch2
-            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
-        )
+    FetchContent_Declare(
+      Catch2
+      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
 
-        list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
-    endif()
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
+  endif()
 endif()
 
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
 if(FSFW_FETCH_CONTENT_TARGETS)
-    FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
-    if(TARGET etl)
-        add_library(${LIB_ETL_TARGET} ALIAS etl)
-    endif()
-    if(TARGET Catch2)
-        # Fixes regression -preview4, to be confirmed in later releases
-        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
-        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-        set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
-        set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
-    endif()
+  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+  if(TARGET etl)
+    add_library(${LIB_ETL_TARGET} ALIAS etl)
+  endif()
+  if(TARGET Catch2)
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+  endif()
 endif()
 
-################################################################################
+# ##############################################################################
 # Post-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_FSFW_NAME}
-    ${LIB_LWGPS_NAME}
-    ${LIB_OS_NAME}
-)
+target_link_libraries(${LIB_EIVE_MISSION}
+                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
 
-target_link_libraries(${OBSW_NAME} PRIVATE
-    ${LIB_EIVE_MISSION}
-)
+target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
+
+target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})
 
 if(TGT_BSP MATCHES "arm/q7s")
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_GPS}
-        ${LIB_ARCSEC}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC}
+                                                   ${LIB_GOMSPACE_CLIENTS})
 endif()
 
-target_link_libraries(${UNITTEST_NAME} PRIVATE
-    Catch2
-    ${LIB_EIVE_MISSION}
-)
+target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
+                                               rapidcsv ${LIB_DUMMIES})
 
 if(TGT_BSP MATCHES "arm/egse")
-    target_link_libraries(${OBSW_NAME} PRIVATE
-	    ${LIB_ARCSEC}
-	)
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
 endif()
 
-if(ADD_CSP_LIB)
-    target_link_libraries(${OBSW_NAME} PRIVATE
-        ${LIB_CSP_NAME}
-    )
-endif()
-
-
 if(EIVE_ADD_ETL_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ETL_TARGET}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
 endif()
 
 if(EIVE_ADD_JSON_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_JSON_NAME}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
 endif()
 
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_CXX_FS}
-)
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_CXX_FS})
 
 # Add include paths for all sources.
-target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-	${FSFW_CONFIG_PATH}
-	${CMAKE_CURRENT_BINARY_DIR}
-	${LIB_ARCSEC_PATH}
-)
+target_include_directories(
+  ${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
+                             ${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})
+
+target_include_directories(
+  ${LIB_DUMMIES} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
+                        ${CMAKE_CURRENT_BINARY_DIR})
 
 if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
-    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-        ${ARCSEC_LIB_PATH}
-    )
+  target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
 endif()
 
 if(CMAKE_VERBOSE)
-	message(STATUS "Warning flags: ${WARNING_FLAGS}")
+  message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
 
-
-
 if(CMAKE_CROSSCOMPILING)
-	include (HardwareOsPostConfig)
-	post_source_hw_os_config()
+  include(HardwareOsPostConfig)
+  post_source_hw_os_config()
 endif()
 
 if(NOT CMAKE_SIZE)
-	set(CMAKE_SIZE size)
-	if(WIN32)
-		set(FILE_SUFFIX ".exe")
-	endif()
+  set(CMAKE_SIZE size)
+  if(WIN32)
+    set(FILE_SUFFIX ".exe")
+  endif()
 endif()
 
 if(EIVE_BUILD_WATCHDOG)
-    set(TARGET_STRING "OBSW Watchdog")
+  set(TARGET_STRING "OBSW Watchdog")
 else()
-    if(TGT_BSP)
-        set(TARGET_STRING "Target BSP: ${TGT_BSP}")
-    else()
-        set(TARGET_STRING "Target BSP: Hosted")
-    endif()
+  if(TGT_BSP)
+    set(TARGET_STRING "Target BSP: ${TGT_BSP}")
+  else()
+    set(TARGET_STRING "Target BSP: Hosted")
+  endif()
 endif()
 
 install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
 
-string(CONCAT POST_BUILD_COMMENT
-    "Build directory: ${CMAKE_BINARY_DIR}\n"
-    "Target OSAL: ${FSFW_OSAL}\n"
-    "Target Build Type: ${CMAKE_BUILD_TYPE}\n"
-    "${TARGET_STRING}"
-)
+string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
+              "Target OSAL: ${FSFW_OSAL}\n"
+              "Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")
 
 add_custom_command(
-   TARGET ${OBSW_NAME}
-   POST_BUILD
-   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
-   COMMENT ${POST_BUILD_COMMENT}
-)
-
-include (BuildType)
-set_build_type()
+  TARGET ${OBSW_NAME}
+  POST_BUILD
+  COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
+  COMMENT ${POST_BUILD_COMMENT})

README.md

@@ -70,8 +70,9 @@ prerequisites.
 ## Building the OBSW and flashing it on the Q7S
 
 1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
-   as a [separate download](#arm-toolchain)
-2. [Q7S sysroot](#sysroot) on local development machine
+   as a [separate download](#arm-toolchain). The Xiphos SDK also installs a cross-compiler,
+   but its version is currently too old to compile the OBSW (7.3.0).
+2. [Q7S sysroot](#sysroot) on local development machine. It is installed by the Xiphos SDK
 3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
 3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
 
@@ -88,15 +89,13 @@ When using Windows, run theses steps in MSYS2.
 1. Clone the repository with
 
    ```sh
-   git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
+   git clone https://egit.irs.uni-stuttgart.de/eive/eive-obsw.git
    ```
 
 2. Update all the submodules
 
    ```sh
-   git submodule init
-   git submodule sync
-   git submodule update
+   git submodule update --init
    ```
 
 3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
@@ -143,7 +142,7 @@ When using Windows, run theses steps in MSYS2.
    
    There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
    or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
-   
+
 5. Build the software with
 
    ```sh
@@ -151,6 +150,125 @@ When using Windows, run theses steps in MSYS2.
    cmake --build . -j
    ```
 
+## Preparing and executing an OBSW update
+
+A OBSW update consists of a `xz` compressed file `eive-sw-update.tar.xz`
+which contains the following two files:
+
+1. Stripped OBSW binary `eive-obsw-stripped`
+2. OBSW version text file with the name `obsw_version.txt`
+
+These files can be created manually:
+
+1. Build the release image inside `cmake-build-release-q7s`
+2. Switch into the build directory
+3. Run the following command to create the version file
+
+   ```sh
+   git describe --tags --always --exclude docker_* > obsw_version.txt
+   ```
+
+   You can also use the `create-version-file.sh` helper shell script
+   located in the `scripts` folder to do this.
+
+4. Set the Q7S user as the file owner for both files
+
+   ```sh
+   sudo chown root:root eive-obsw-stripped
+   sudo chown root:root obsw_version.txt
+   ```
+
+5. Run the following command to create the compressed archive
+
+   ```sh
+   tar -cJvf eive-sw-update.tar.xz eive-obsw-stripped obsw_version.txt
+   ```
+
+You can also use the helper script `create-sw-update.sh` inside the build folder
+after sourcing the `q7s-env.sh` helper script to perform all steps including
+a rebuild.
+
+After creating these files, they need to be transferred onto the Q7S
+to either the `/mnt/sd0/bin` or `/mnt/sd1/bin` folder if the OBSW update
+is performed from the SD card. It can also be transferred to the `/tmp` folder
+to perform the update from a temporary directory, which does not rely on any
+of the SD cards being on and mounted. However, all files in the temporary
+directory will be deleted if the Linux OS is rebooted for any reason.
+
+After both files are in place (this is checked by the OBSW), the example command
+sequence is used by the OBSW to write the OBSW update to the QSPI chip 0 and
+slot 0 using SD card 0:
+
+```sh
+tar -xJvf eive-update.tar.xz
+xsc_mount_copy 0 0
+cp eive-obsw-stripped /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/bin/eive-obsw
+cp obsw_update.txt /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/share/obsw_update.txt
+writeprotect 0 0 1
+```
+
+Some context information about the used commands:
+
+1. It mounts the target chip and copy combination into the `/tmp` folder
+   using the `xsc_mount_copy <chip> <copy>` utility. This also unlocks the
+   writeprotection for the chip. The mount point name inside `/tmp` depends
+   on which chip and copy is used
+
+   - Chip 0 Copy 0: `/tmp/mntupdate-xdi-qspi0-nom-rootfs`
+   - Chip 0 Copy 1: `/tmp/mntupdate-xdi-qspi0-gold-rootfs`
+   - Slot 1 Copy 0: `/tmp/mntupdate-xdi-qspi1-nom-rootfs`
+   - Slot 1 Copy 1: `/tmp/mntupdate-xdi-qspi1-gold-rootfs`
+
+2. Writing the file with a regular `cp <source> <target>` command
+3. Enabling the writeprotection using the `writeprotect <chip> <copy> 1` utility.
+
+## Build for the Q7S target root filesystem with `yocto`
+
+The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
+It is currently generated with `yocto`, but the tool can not compile the primary
+OBSW due to toolchain version incompatibility. Therefore, the OBSW components
+are currently compiled using the toolchain specified in this README (e.g. installed by Vivado).
+
+However, it is still possible to install the two components using yocto. A few helper files were
+provided to make this process easier. The following steps can be used to install the OBSW
+components and a version file to the yocto sources for the generation of the complete EIVE root
+file system image. The steps here are shown for Ubuntu, you can use the according Windows
+helper scripts as well.
+
+1. Copy the `q7s-env.sh` script to the same layer as the `eive-obsw`.
+   
+   ```sh
+   cp scripts/q7s-env.sh ..
+   cd ..
+   ./q7s-env.sh
+   q7s-make-release.sh
+   ```
+
+2. Compile the OBSW components in release mode
+
+   ```sh
+   cd cmake-build-release-q7s
+   cmake --build . -j
+   ```
+
+3. Make sure the [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository or the [`q7s-package`](https://egit.irs.uni-stuttgart.de/eive/q7s-package.git)
+   repository and its `q7s-yocto` submodule were cloned in the same directory layer as
+   the `eive-obsw`.
+
+4. Run the install script to install the files into `q7s-yocto`.
+
+   ```sh
+   install-obsw-yocto.sh
+   ```
+
+5. Navigate into the `q7s-yocto` repo and review the changes. You can then add and push those
+   changes.
+
+6. You can now rebuild the root filesystem with the updated OBSW using `yocto`. This probably needs
+   to be done on another machine or in a VM. The [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository contains details on how to best do this.
+
 ## Building in Xilinx SDK 2018.2
 
 1. Open Xilinx SDK 2018.2
@@ -170,7 +288,7 @@ When using Windows, run theses steps in MSYS2.
 4. Run build command by double clicking the created target or by right clicking
    the project folder and selecting Build Project.
 
-# <a id="host-commands"></a> Useful and Common Commands (Host)
+# <a id="host-commands"></a> Useful and Common Commands
 
 ## Build generation
 
@@ -199,14 +317,11 @@ cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
 cmake --build . -j
 ```
 
-### Q7S Watchdog
-
-The watchdog will be built along side the primary OBSW binary.
-
-### Hosted
+### Hosted OBSW
 
 You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
-Note: Currently this is not supported.
+You can use the `clone-submodules-no-privlibs.sh` script to only clone the required (non-private)
+submodules required to build the hosted OBSW.
 
 ```sh
 mkdir cmake-build-debug && cd cmake-build-debug
@@ -214,6 +329,21 @@ cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
+You can also use the `linux` OSAL:
+
+```sh
+mkdir cmake-build-debug && cd cmake-build-debug
+cmake -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
+cmake --build . -j
+```
+
+Please note that some additional Linux setup might be necessary.
+You can find more information in the [Linux section of the FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu/src/branch/mueller/master/doc/README-linux.md#raising-message-queue-size-limit)
+
+### Q7S Watchdog
+
+The watchdog will be built along side the primary OBSW binary.
+
 ### Unittests
 
 To build the unittests, the corresponding target must be specified in the build command.
@@ -326,7 +456,7 @@ If you are comiling for the Raspberry Pi, you have to set the `LINUX_ROOTFS` env
 variable instead. You can find a base root filesystem for the Raspberry Pi
 [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs).
 
-## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
+## <a id="vivado"></a> Installing Vivado and the Xilinx development tools
 
 It's also possible to perform debugging with a normal Eclipse installation by installing 
 the TCF plugin and downloading the cross-compiler as specified in the section below. However,
@@ -342,9 +472,9 @@ installed Vivado with the SDK core tools.
 
 <img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-edition.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/vivado-hl-design.png" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-hl-design.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/xilinx-install.PNG" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/xilinx-install.PNG" width="50%"> <br>
 
 * For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf . 
   Installation was tested on Windows and Ubuntu 21.04.
@@ -661,35 +791,7 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
    * When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
      is 192.168.133.2
-     
-4. Run tcf-agent on Q7S
-
-   * Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
-   
-    ```sh
-    git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
-    cd org.eclipse.tcf.agent/agent
-    make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
-    ```
-
-   * Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
-   
-    ```sh
-    cd obj/GNU/Linux/arm/Debug
-    scp agent root@192.168.133.10:/tmp
-    ```
-
-   * On Q7S 
-    ```sh
-    cd /tmp
-    chmod +x agent
-    ```
-
-   * Run agent
-    ```sh
-    ./agent
-    ```
-
+4. Make sure th `tcf-agent` is running by checking `systemctl status tcf-agent`
 5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
 6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr; 
 7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
@@ -699,8 +801,8 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 11. Test connection (This ensures the TCF Agent is running on the Q7S)
 12. Select Application tab
    * Project Name: eive_obsw
-   * Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
-   * Remote File Path: `/tmp/eive_obsw.elf`
+   * Local File Path: Path to OBSW application image with debug symbols (non-stripped)
+   * Remote File Path: `/tmp/<OBSW NAME>`
 
 # <a id="file-transfer"></a> Transfering Files to the Q7S
 
@@ -726,7 +828,8 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr
 pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
 ````
 
-More detailed information about the used q7s commands can be found in the Q7S user manual.
+A helper script named `q7s-cp.py` can be used together with the `q7s-port.sh`
+script to make this process easier.
 
 # <a id="q7s"></a> Q7S OBC
 
@@ -962,6 +1065,29 @@ Get fill count:
 xsc_scratch read | wc -c
 ```
 
+## Custom device names in Linux with the `udev` module
+
+You can assign custom device names using the Linux `udev` system.
+This works by specifying a rules file inside the `/etc/udev/rules.d` folder
+which creates a SYMLINK if certain device properties are true.
+
+Each rule is a new line inside a rules file.
+For example, the rule
+
+```txt
+SUBSYSTEM=="tty", ATTRS{interface}=="Dual RS232-HS", ATTRS{bInterfaceNumber}=="01", SYMLINK+="ploc_supv
+```
+
+Will create a symlink `/dev/ploc_supv` if a connected USB device has the
+same `interface` and `bInterfaceNumber` properties as shown above.
+
+You can list the properties for a given connected device using `udevadm`.
+For example, you can do this for a connected example device `/dev/ttyUSB0`
+by using
+
+```txt
+udevadm info -a /dev/ttyUSB0
+```
 
 ## Using `system` when debugging
 
@@ -1015,11 +1141,19 @@ cat /proc/tty/driver
 
 ## I2C
 
-Getting information about I2C device
-````
+Getting information about some I2C device
+
+```sh
 ls /sys/class/i2c-dev/i2c-0/device/device/driver
-````
-This shows the memory mapping of /dev/i2c-0
+```
+This shows the memory mapping of `/dev/i2c-0`.
+
+You can use the `i2cdetect` utility to scan for I2C devices.
+For example, to do this for bus 0 (`/dev/i2c-0`), you can use
+
+```sh
+i2cdetect -r -y 0
+```
 
 ## CAN
 
@@ -1106,16 +1240,28 @@ Eclipse indexer.
 
 The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
 
-1. Install the TCF agent plugin in Eclipse from
+1. Copy the `.cproject` file and the `.project` file inside the `misc/eclipse` folder into the
+   repo root
+
+   ```sh
+   cd eive-obsw
+   cp misc/eclipse/.cproject .
+   cp misc/eclipse/.project .
+   ```
+
+2. Open the repo in Eclipse as a folder.
+
+3. Install the TCF agent plugin in Eclipse from
    the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
    Help &rarr; Install New Software and use the download page, for
-   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
+   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and
+   install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
 
-2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
+4. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
    Here, the Q7S should show up if the local port forwarding was set up as explained previously.
    Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
    
-3. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
+5. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
    Alternatively:
 
  - Create a new **TCF Remote Application** by pressing the cogs button at the top or going to
@@ -1204,7 +1350,7 @@ in the same way.
 
 * the formatting is based on the clang-format tools
 
-## Setting up eclipse auto-fromatter with clang-format
+## Setting up auto-formatter with clang-format in Xilinx SDK
 
 1. Help &rarr; Install New Software &rarr; Add
 2. In location insert the link http://www.cppstyle.com/luna
@@ -1214,3 +1360,11 @@ in the same way.
 6. Insert the path to the clang-format executable
 7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
 8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f
+
+## Setting up auto-fromatter with clang-format in eclipse
+1. Help &rarr; Eclipse market place &rarr; Search for "Cppstyle" and install
+2. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
+3. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle 
+4. Insert the path to the clang-format executable
+5. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
+6. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

bsp_egse/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)

bsp_egse/InitMission.cpp

@@ -2,7 +2,7 @@
 
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
@@ -40,7 +40,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   if (factory == nullptr) {
     /* Should never happen ! */
     return;
@@ -55,28 +55,28 @@ void initmission::initTasks() {
   PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
       "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
 
   PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
       "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Add component TMTC Bridge failed" << std::endl;
   }
   PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Add component TMTC Polling failed" << std::endl;
   }
 
@@ -88,7 +88,7 @@ void initmission::initTasks() {
   FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
       "STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstUart(pst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   pstTasks.push_back(pst);
@@ -96,7 +96,7 @@ void initmission::initTasks() {
   PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
       "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = strHelperTask->addComponent(objects::STR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
   }
   pstTasks.push_back(strHelperTask);
@@ -125,11 +125,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
       "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   taskVec.push_back(pusVerification);
@@ -137,11 +137,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
       "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
   taskVec.push_back(pusEvents);
@@ -149,11 +149,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
       "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   taskVec.push_back(pusHighPrio);
@@ -161,19 +161,19 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
   taskVec.push_back(pusMedPrio);
@@ -181,11 +181,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
       "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
   result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
   }
   taskVec.push_back(pusLowPrio);

bsp_egse/ObjectFactory.cpp

@@ -1,8 +1,8 @@
 #include "ObjectFactory.h"
 
 #include <devConf.h>
-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
 
 #include "OBSWConfig.h"
 #include "busConf.h"
@@ -39,7 +39,7 @@ void ObjectFactory::produce(void* args) {
   UartCookie* starTrackerCookie =
       new UartCookie(objects::STAR_TRACKER, egse::STAR_TRACKER_UART, UartModes::NON_CANONICAL,
                      uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
-  new UartComIF(objects::UART_COM_IF);
+  newSerialComIF(objects::UART_COM_IF);
   starTrackerCookie->setNoFixedSizeReply();
   StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
   StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(

bsp_egse/boardconfig/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_hosted/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC scheduling.cpp main.cpp ObjectFactory.cpp)
 
 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)

bsp_hosted/Dockerfile

@@ -14,7 +14,7 @@ RUN set -ex; \
     rm -rf build-hosted; \
     mkdir build-hosted; \
     cd build-hosted; \
-    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux ..;
+    cmake -DCMAKE_BUILD_TYPE=Release -DOSAL_FSFW=host ..;
 
 ENTRYPOINT ["cmake", "--build", "build-hosted"]
 CMD ["-j"]

bsp_hosted/InitMission.cpp

@@ -1,157 +0,0 @@
-#include "InitMission.h"
-
-#include <OBSWConfig.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/tasks/FixedTimeslotTaskIF.h>
-#include <fsfw/tasks/PeriodicTaskIF.h>
-#include <fsfw/tasks/TaskFactory.h>
-#include <mission/utility/InitMission.h>
-
-#include <iostream>
-
-#include "ObjectFactory.h"
-
-#ifdef LINUX
-ServiceInterfaceStream sif::debug("DEBUG");
-ServiceInterfaceStream sif::info("INFO");
-ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR", false, false, true);
-#else
-ServiceInterfaceStream sif::debug("DEBUG", true);
-ServiceInterfaceStream sif::info("INFO", true);
-ServiceInterfaceStream sif::warning("WARNING", true);
-ServiceInterfaceStream sif::error("ERROR", true, false, true);
-#endif
-
-ObjectManagerIF* objectManager = nullptr;
-
-void initmission::initMission() {
-  sif::info << "Building global objects.." << std::endl;
-  /* Instantiate global object manager and also create all objects */
-  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
-  sif::info << "Initializing all objects.." << std::endl;
-  ObjectManager::instance()->initialize();
-
-  /* This function creates and starts all tasks */
-  initTasks();
-}
-
-void initmission::initTasks() {
-  TaskFactory* factory = TaskFactory::instance();
-  if (factory == nullptr) {
-    /* Should never happen ! */
-    return;
-  }
-#if OBSW_PRINT_MISSED_DEADLINES == 1
-  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
-#else
-  void (*missedDeadlineFunc)(void) = nullptr;
-#endif
-
-  /* TMTC Distribution */
-  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-
-  /* UDP bridge */
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
-  }
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component UDP Polling failed" << std::endl;
-  }
-
-  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-
-  PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
-  }
-
-  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
-  }
-
-  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
-  }
-
-  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
-  }
-
-  PeriodicTaskIF* testTask = factory->createPeriodicTask(
-      "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-#if OBSW_ADD_TEST_CODE == 1
-  result = testTask->addComponent(objects::TEST_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
-  }
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
-  sif::info << "Starting tasks.." << std::endl;
-  tmTcDistributor->startTask();
-  tmtcBridgeTask->startTask();
-  tmtcPollingTask->startTask();
-
-  pusVerification->startTask();
-  pusEvents->startTask();
-  pusHighPrio->startTask();
-  pusMedPrio->startTask();
-  pusLowPrio->startTask();
-
-#if OBSW_ADD_TEST_CODE == 1
-  testTask->startTask();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
-  sif::info << "Tasks started.." << std::endl;
-}

bsp_hosted/InitMission.h

@@ -1,9 +0,0 @@
-#ifndef BSP_LINUX_INITMISSION_H_
-#define BSP_LINUX_INITMISSION_H_
-
-namespace initmission {
-void initMission();
-void initTasks();
-};  // namespace initmission
-
-#endif /* BSP_LINUX_INITMISSION_H_ */

bsp_hosted/OBSWConfig.h.in

@@ -7,7 +7,6 @@
 #define FSFWCONFIG_OBSWCONFIG_H_
 
 #include "commonConfig.h"
-#include "OBSWVersion.h"
     
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
@@ -24,6 +23,7 @@
 #define OBSW_ADD_GPS_0                              0
 #define OBSW_ADD_GPS_1                              0
 #define OBSW_ADD_RW                                 0
+#define OBSW_DEBUG_TMP1075                          0
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
 #define OBSW_ADD_RTD_DEVICES                        0
 #define OBSW_ADD_PL_PCDU                            0
@@ -100,6 +100,10 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
+
+#define OBSW_ADD_TMTC_UDP_SERVER            1
+#define OBSW_ADD_TMTC_TCP_SERVER            1
+
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@

bsp_hosted/ObjectFactory.cpp

@@ -1,48 +1,103 @@
 #include "ObjectFactory.h"
 
+#include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
+#include <mission/controller/ThermalController.h>
 #include <mission/core/GenericFactory.h>
-#include <mission/utility/TmFunnel.h>
+#include <mission/tmtc/TmFunnelHandler.h>
 #include <objects/systemObjectList.h>
-#include <tmtc/apid.h>
-#include <tmtc/pusIds.h>
 
 #include "OBSWConfig.h"
+#include "fsfw/platform.h"
 #include "fsfw_tests/integration/task/TestTask.h"
 
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #include "fsfw/osal/common/UdpTmTcBridge.h"
-#else
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
 #include "fsfw/osal/common/TcpTmTcBridge.h"
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif
 
-#include <fsfw/tmtcpacket/pus/tm.h>
-
 #if OBSW_ADD_TEST_CODE == 1
 #include <test/testtasks/TestTask.h>
 #endif
 
+#include <dummies/AcuDummy.h>
+#include <dummies/CoreControllerDummy.h>
+
+#include "dummies/helpers.h"
+#include "mission/utility/GlobalConfigHandler.h"
+
+#ifdef PLATFORM_UNIX
+#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+
+#include "devices/gpioIds.h"
+#include "fsfw_hal/linux/gpio/Gpio.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocSupvUartMan.h"
+#include "test/gpio/DummyGpioIF.h"
+#endif
+
 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }
 
 void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
-  ObjectFactory::produceGenericObjects();
+  PusTmFunnel* pusFunnel;
+  CfdpTmFunnel* cfdpFunnel;
+  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
 
+  auto* dummyGpioIF = new DummyGpioIF();
+  auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(dummyGpioIF);
+#ifdef PLATFORM_UNIX
+  new SerialComIF(objects::UART_COM_IF);
+#if OBSW_ADD_PLOC_MPSOC == 1
+  std::string mpscoDev = "";
+  auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
+                                    mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  mpsocCookie->setNoFixedSizeReply();
+  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
+                       objects::PLOC_SUPERVISOR_HANDLER);
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  std::string plocSupvString = "/dev/ploc_supv";
+  auto supervisorCookie =
+      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvString, uart::PLOC_SUPV_BAUD,
+                       supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  supervisorCookie->setNoFixedSizeReply();
+  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
+                            Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF), pcdu::PDU1_CH6_PLOC_12V,
+                            *supvHelper);
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#endif
+
+  dummy::DummyCfg cfg;
+  dummy::createDummies(cfg, *dummySwitcher);
+
+  HeaterHandler* heaterHandler = nullptr;
+  // new ThermalController(objects::THERMAL_CONTROLLER);
+  ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
+  if (heaterHandler == nullptr) {
+    sif::error << "HeaterHandler could not be created" << std::endl;
+  } else {
+    ObjectFactory::createThermalController(*heaterHandler);
+  }
   new TestTask(objects::TEST_TASK);
 }

bsp_hosted/boardconfig/CMakeLists.txt

@@ -1,10 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_hosted/comIF/ArduinoComIF.cpp

@@ -129,9 +129,7 @@ ArduinoComIF::~ArduinoComIF() {
   CloseHandle(hCom);
 #endif
 }
-ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
-  return HasReturnvaluesIF::RETURN_OK;
-}
+ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) { return returnvalue::OK; }
 
 ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
   ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
@@ -142,10 +140,10 @@ ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, s
   return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
 }
 
-ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
+ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
 
 ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@@ -158,7 +156,7 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buff
 
   *buffer = arduinoCookie->replyBuffer.data();
   *size = arduinoCookie->receivedDataLen;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
@@ -178,14 +176,14 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 
   ReturnValue_t result =
       DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   currentPosition += encodedLen;
   remainingLen -= encodedLen;  // DleEncoder will never return encodedLen > remainingLen
 
   result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -199,7 +197,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 
   result =
       DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -207,7 +205,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 
   // encoding the actual data
   result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -224,7 +222,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 
   result =
       DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -241,16 +239,16 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
   ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
   if (writtenlen < 0) {
     // we could try to find out what happened...
-    return RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   if (writtenlen != encodedLen) {
     // the OS failed us, we do not try to block until everything is written, as
     // we can not block the whole system here
-    return RETURN_FAILED;
+    return returnvalue::FAILED;
   }
-  return RETURN_OK;
+  return returnvalue::OK;
 #elif WIN32
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 #endif
 }
 
@@ -297,7 +295,7 @@ void ArduinoComIF::handleSerialPortRx() {
                                             packet, sizeof(packet), &packetLen);
 
   size_t toDelete = firstSTXinRawData;
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     handlePacket(packet, packetLen);
 
     // after handling the packet, we can delete it from the raw stream,

bsp_hosted/comIF/ArduinoComIF.h

@@ -5,7 +5,7 @@
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 
 #include <cstdint>
 #include <map>

bsp_hosted/comIF/CMakeLists.txt

@@ -1,8 +1 @@
-target_sources(${TARGET_NAME} PUBLIC
-	ArduinoComIF.cpp
-	ArduinoCookie.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PUBLIC ArduinoComIF.cpp ArduinoCookie.cpp)

bsp_hosted/fsfwconfig/CMakeLists.txt

@@ -1,27 +1,17 @@
-target_sources(${OBSW_NAME} PRIVATE
-	ipc/MissionMessageTypes.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
 endif()
 
 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
 endif()
+
+add_subdirectory(pollingsequence)

bsp_hosted/fsfwconfig/FSFWConfig.h.in

@@ -7,41 +7,41 @@
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
-#define FSFW_CPP_OSTREAM_ENABLED 	1
+#define FSFW_CPP_OSTREAM_ENABLED 1
 
 //! More FSFW related printouts depending on level. Useful for development.
-#define FSFW_VERBOSE_LEVEL			1
+#define FSFW_VERBOSE_LEVEL 1
 
 //! Can be used to completely disable printouts, even the C stdio ones.
 #if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
-	#define FSFW_DISABLE_PRINTOUT 	0
+#define FSFW_DISABLE_PRINTOUT 0
 #endif
 
-#define FSFW_USE_PUS_C_TELEMETRY    1
+#define FSFW_USE_PUS_C_TELEMETRY 1
 #define FSFW_USE_PUS_C_TELECOMMANDS 1
 
 //! Can be used to disable the ANSI color sequences for C stdio.
-#define FSFW_COLORED_OUTPUT 		1
+#define FSFW_COLORED_OUTPUT 1
 
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiled source files)
-#define FSFW_OBJ_EVENT_TRANSLATION	1
+#define FSFW_OBJ_EVENT_TRANSLATION 1
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
-#include "objects/translateObjects.h"
+#define FSFW_DEBUG_INFO 1
 #include "events/translateEvents.h"
+#include "objects/translateObjects.h"
 #else
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	            1
+#define FSFW_NO_C99_IO 1
 
 //! Specify whether a special mode store is used for Subsystem components.
-#define FSFW_USE_MODESTORE          0
+#define FSFW_USE_MODESTORE 0
 
 //! Defines if the real time scheduler for linux should be used.
 //! If set to 0, this will also disable priority settings for linux
@@ -58,7 +58,7 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
 //! Configure the allocated pool sizes for the event manager.
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
-static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
@@ -70,6 +70,6 @@ static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
 
 static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 
-}
+}  // namespace fsfwconfig
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

bsp_hosted/fsfwconfig/OBSWConfig.h.in

@@ -16,7 +16,7 @@
 debugging. */
 #define OBSW_VEBOSE_LEVEL                           1
 
-#define OBSW_USE_CCSDS_IP_CORE                      0
+#define OBSW_ADD_CCSDS_IP_CORES                     0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core

bsp_hosted/fsfwconfig/events/subsystemIdRanges.h

@@ -1,10 +1,10 @@
 #ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 #define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 
-#include <common/config/commonSubsystemIds.h>
-
 #include <cstdint>
 
+#include "eive/eventSubsystemIds.h"
+
 /**
  * These IDs are part of the ID for an event thrown by a subsystem.
  * Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 83 translations.
+ * @brief    Auto-generated event translation file. Contains 256 translations.
  * @details
- * Generated on: 2021-05-17 19:49:55
+ * Generated on: 2023-02-09 15:57:01
  */
 #include "translateEvents.h"
 
@@ -34,6 +34,7 @@ const char *DEVICE_UNREQUESTED_REPLY_STRING = "DEVICE_UNREQUESTED_REPLY";
 const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
 const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
 const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
+const char *DEVICE_WANTS_HARD_REBOOT_STRING = "DEVICE_WANTS_HARD_REBOOT";
 const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
 const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
 const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
@@ -59,7 +60,6 @@ const char *MONITOR_CHANGED_STATE_STRING = "MONITOR_CHANGED_STATE";
 const char *VALUE_BELOW_LOW_LIMIT_STRING = "VALUE_BELOW_LOW_LIMIT";
 const char *VALUE_ABOVE_HIGH_LIMIT_STRING = "VALUE_ABOVE_HIGH_LIMIT";
 const char *VALUE_OUT_OF_RANGE_STRING = "VALUE_OUT_OF_RANGE";
-const char *SWITCHING_TM_FAILED_STRING = "SWITCHING_TM_FAILED";
 const char *CHANGING_MODE_STRING = "CHANGING_MODE";
 const char *MODE_INFO_STRING = "MODE_INFO";
 const char *FALLBACK_FAILED_STRING = "FALLBACK_FAILED";
@@ -75,22 +75,190 @@ const char *OVERWRITING_HEALTH_STRING = "OVERWRITING_HEALTH";
 const char *TRYING_RECOVERY_STRING = "TRYING_RECOVERY";
 const char *RECOVERY_STEP_STRING = "RECOVERY_STEP";
 const char *RECOVERY_DONE_STRING = "RECOVERY_DONE";
+const char *HANDLE_PACKET_FAILED_STRING = "HANDLE_PACKET_FAILED";
 const char *RF_AVAILABLE_STRING = "RF_AVAILABLE";
 const char *RF_LOST_STRING = "RF_LOST";
 const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
+const char *STORE_ERROR_STRING = "STORE_ERROR";
+const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
+const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
+const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
+const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
+const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
+const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
+const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
+const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
+const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
+const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
+const char *BURN_PHASE_START_STRING = "BURN_PHASE_START";
+const char *BURN_PHASE_DONE_STRING = "BURN_PHASE_DONE";
+const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
+const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
+const char *DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_OFF_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_OFF_FAILED";
+const char *AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING = "AUTONOMOUS_DEPLOYMENT_COMPLETED";
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
-const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
+const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
+const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
+const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
+const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
+const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
+const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
+const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
+const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
+const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
+const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
+const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
+const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
+const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
+const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
+const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
+const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
+const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
+const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
+const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
+const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
+const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
+const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
+const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
+const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
+const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
+const char *INVALID_FAR_STRING = "INVALID_FAR";
+const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
+const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
+const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
+const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
+const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
+const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
+const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
+const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
+const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
+const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
+const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
+const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
+const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
+const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
+const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
+const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
+const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
+const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
+const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
+const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
+const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
+const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
+const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
+const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
+const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
+const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
+const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
+const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
+const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
+const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
+const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
+const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
+const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
+const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
+const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
+const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
+const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
+const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
+const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
+const char *I_DRO_OUT_OF_BOUNDS_STRING = "I_DRO_OUT_OF_BOUNDS";
+const char *U_X8_OUT_OF_BOUNDS_STRING = "U_X8_OUT_OF_BOUNDS";
+const char *I_X8_OUT_OF_BOUNDS_STRING = "I_X8_OUT_OF_BOUNDS";
+const char *U_TX_OUT_OF_BOUNDS_STRING = "U_TX_OUT_OF_BOUNDS";
+const char *I_TX_OUT_OF_BOUNDS_STRING = "I_TX_OUT_OF_BOUNDS";
+const char *U_MPA_OUT_OF_BOUNDS_STRING = "U_MPA_OUT_OF_BOUNDS";
+const char *I_MPA_OUT_OF_BOUNDS_STRING = "I_MPA_OUT_OF_BOUNDS";
+const char *U_HPA_OUT_OF_BOUNDS_STRING = "U_HPA_OUT_OF_BOUNDS";
+const char *I_HPA_OUT_OF_BOUNDS_STRING = "I_HPA_OUT_OF_BOUNDS";
+const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
+const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
+const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
+const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
+const char *BATT_MODE_STRING = "BATT_MODE";
+const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
+const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
+const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
+const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
+const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
+const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
+const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
+const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
+const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
+const char *SUPV_MEM_CHECK_OK_STRING = "SUPV_MEM_CHECK_OK";
+const char *SUPV_MEM_CHECK_FAIL_STRING = "SUPV_MEM_CHECK_FAIL";
+const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
+const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
+const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
+const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
+const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
+const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
+const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
+const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
+const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
+const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
+const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
+const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
+const char *SUPV_REPLY_SIZE_MISSMATCH_STRING = "SUPV_REPLY_SIZE_MISSMATCH";
+const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
+const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
+const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
+const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
+const char *TX_ON_STRING = "TX_ON";
+const char *TX_OFF_STRING = "TX_OFF";
+const char *MISSING_PACKET_STRING = "MISSING_PACKET";
+const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
+const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
+const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
+const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
+const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
+const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
+const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
+const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
+const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
+const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
+const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
+const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
 
 const char *translateEvents(Event event) {
-  switch ((event & 0xffff)) {
+  switch ((event & 0xFFFF)) {
     case (2200):
       return STORE_SEND_WRITE_FAILED_STRING;
     case (2201):
@@ -149,6 +317,8 @@ const char *translateEvents(Event event) {
       return MONITORING_LIMIT_EXCEEDED_STRING;
     case (2810):
       return MONITORING_AMBIGUOUS_STRING;
+    case (2811):
+      return DEVICE_WANTS_HARD_REBOOT_STRING;
     case (4201):
       return FUSE_CURRENT_HIGH_STRING;
     case (4202):
@@ -199,8 +369,6 @@ const char *translateEvents(Event event) {
       return VALUE_ABOVE_HIGH_LIMIT_STRING;
     case (7204):
       return VALUE_OUT_OF_RANGE_STRING;
-    case (7301):
-      return SWITCHING_TM_FAILED_STRING;
     case (7400):
       return CHANGING_MODE_STRING;
     case (7401):
@@ -231,6 +399,8 @@ const char *translateEvents(Event event) {
       return RECOVERY_STEP_STRING;
     case (7512):
       return RECOVERY_DONE_STRING;
+    case (7600):
+      return HANDLE_PACKET_FAILED_STRING;
     case (7900):
       return RF_AVAILABLE_STRING;
     case (7901):
@@ -244,19 +414,353 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
       return CLOCK_SET_FAILURE_STRING;
+    case (9100):
+      return TC_DELETION_FAILED_STRING;
     case (9700):
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
-    case (11101):
+    case (10800):
+      return STORE_ERROR_STRING;
+    case (10801):
+      return MSG_QUEUE_ERROR_STRING;
+    case (10802):
+      return SERIALIZATION_ERROR_STRING;
+    case (11200):
+      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
+    case (11300):
+      return SWITCH_CMD_SENT_STRING;
+    case (11301):
+      return SWITCH_HAS_CHANGED_STRING;
+    case (11302):
+      return SWITCHING_Q7S_DENIED_STRING;
+    case (11303):
+      return FDIR_REACTION_IGNORED_STRING;
+    case (11400):
+      return GPIO_PULL_HIGH_FAILED_STRING;
+    case (11401):
+      return GPIO_PULL_LOW_FAILED_STRING;
+    case (11402):
+      return HEATER_WENT_ON_STRING;
+    case (11403):
+      return HEATER_WENT_OFF_STRING;
+    case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
+      return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
+    case (11500):
+      return BURN_PHASE_START_STRING;
+    case (11501):
+      return BURN_PHASE_DONE_STRING;
+    case (11502):
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
+    case (11503):
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
+    case (11504):
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11505):
+      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11506):
+      return DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11507):
+      return DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11508):
+      return AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING;
+    case (11601):
       return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11102):
+    case (11602):
       return ACK_FAILURE_STRING;
-    case (11103):
+    case (11603):
       return EXE_FAILURE_STRING;
-    case (11104):
-      return CRC_FAILURE_EVENT_STRING;
+    case (11604):
+      return MPSOC_HANDLER_CRC_FAILURE_STRING;
+    case (11605):
+      return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
+    case (11606):
+      return MPSOC_SHUTDOWN_FAILED_STRING;
+    case (11701):
+      return SELF_TEST_I2C_FAILURE_STRING;
+    case (11702):
+      return SELF_TEST_SPI_FAILURE_STRING;
+    case (11703):
+      return SELF_TEST_ADC_FAILURE_STRING;
+    case (11704):
+      return SELF_TEST_PWM_FAILURE_STRING;
+    case (11705):
+      return SELF_TEST_TC_FAILURE_STRING;
+    case (11706):
+      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+    case (11707):
+      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+    case (11708):
+      return INVALID_ERROR_BYTE_STRING;
+    case (11801):
+      return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
+    case (11901):
+      return BOOTING_FIRMWARE_FAILED_STRING;
+    case (11902):
+      return BOOTING_BOOTLOADER_FAILED_STRING;
+    case (12001):
+      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
+    case (12002):
+      return SUPV_UNKNOWN_TM_STRING;
+    case (12003):
+      return SUPV_UNINIMPLEMENTED_TM_STRING;
+    case (12004):
+      return SUPV_ACK_FAILURE_STRING;
+    case (12005):
+      return SUPV_EXE_FAILURE_STRING;
+    case (12006):
+      return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12007):
+      return SUPV_HELPER_EXECUTING_STRING;
+    case (12008):
+      return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
+    case (12100):
+      return SANITIZATION_FAILED_STRING;
+    case (12101):
+      return MOUNTED_SD_CARD_STRING;
+    case (12300):
+      return SEND_MRAM_DUMP_FAILED_STRING;
+    case (12301):
+      return MRAM_DUMP_FAILED_STRING;
+    case (12302):
+      return MRAM_DUMP_FINISHED_STRING;
+    case (12401):
+      return INVALID_TC_FRAME_STRING;
+    case (12402):
+      return INVALID_FAR_STRING;
+    case (12403):
+      return CARRIER_LOCK_STRING;
+    case (12404):
+      return BIT_LOCK_PDEC_STRING;
+    case (12405):
+      return LOST_CARRIER_LOCK_PDEC_STRING;
+    case (12406):
+      return LOST_BIT_LOCK_PDEC_STRING;
+    case (12407):
+      return POLL_SYSCALL_ERROR_PDEC_STRING;
+    case (12408):
+      return WRITE_SYSCALL_ERROR_PDEC_STRING;
+    case (12500):
+      return IMAGE_UPLOAD_FAILED_STRING;
+    case (12501):
+      return IMAGE_DOWNLOAD_FAILED_STRING;
+    case (12502):
+      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+    case (12503):
+      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+    case (12504):
+      return FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12505):
+      return FLASH_READ_SUCCESSFUL_STRING;
+    case (12506):
+      return FLASH_READ_FAILED_STRING;
+    case (12507):
+      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
+    case (12508):
+      return FIRMWARE_UPDATE_FAILED_STRING;
+    case (12509):
+      return STR_HELPER_READING_REPLY_FAILED_STRING;
+    case (12510):
+      return STR_HELPER_COM_ERROR_STRING;
+    case (12511):
+      return STR_HELPER_NO_REPLY_STRING;
+    case (12512):
+      return STR_HELPER_DEC_ERROR_STRING;
+    case (12513):
+      return POSITION_MISMATCH_STRING;
+    case (12514):
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+    case (12515):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12516):
+      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
+    case (12600):
+      return MPSOC_FLASH_WRITE_FAILED_STRING;
+    case (12601):
+      return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12602):
+      return MPSOC_SENDING_COMMAND_FAILED_STRING;
+    case (12603):
+      return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (12604):
+      return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
+    case (12605):
+      return MPSOC_MISSING_ACK_STRING;
+    case (12606):
+      return MPSOC_MISSING_EXE_STRING;
+    case (12607):
+      return MPSOC_ACK_FAILURE_REPORT_STRING;
+    case (12608):
+      return MPSOC_EXE_FAILURE_REPORT_STRING;
+    case (12609):
+      return MPSOC_ACK_INVALID_APID_STRING;
+    case (12610):
+      return MPSOC_EXE_INVALID_APID_STRING;
+    case (12611):
+      return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
+    case (12612):
+      return MPSOC_TM_SIZE_ERROR_STRING;
+    case (12613):
+      return MPSOC_TM_CRC_MISSMATCH_STRING;
+    case (12700):
+      return TRANSITION_BACK_TO_OFF_STRING;
+    case (12701):
+      return NEG_V_OUT_OF_BOUNDS_STRING;
+    case (12702):
+      return U_DRO_OUT_OF_BOUNDS_STRING;
+    case (12703):
+      return I_DRO_OUT_OF_BOUNDS_STRING;
+    case (12704):
+      return U_X8_OUT_OF_BOUNDS_STRING;
+    case (12705):
+      return I_X8_OUT_OF_BOUNDS_STRING;
+    case (12706):
+      return U_TX_OUT_OF_BOUNDS_STRING;
+    case (12707):
+      return I_TX_OUT_OF_BOUNDS_STRING;
+    case (12708):
+      return U_MPA_OUT_OF_BOUNDS_STRING;
+    case (12709):
+      return I_MPA_OUT_OF_BOUNDS_STRING;
+    case (12710):
+      return U_HPA_OUT_OF_BOUNDS_STRING;
+    case (12711):
+      return I_HPA_OUT_OF_BOUNDS_STRING;
+    case (12800):
+      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+    case (12801):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+    case (12802):
+      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+    case (12803):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (13000):
+      return CHILDREN_LOST_MODE_STRING;
+    case (13100):
+      return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
+    case (13200):
+      return P60_BOOT_COUNT_STRING;
+    case (13201):
+      return BATT_MODE_STRING;
+    case (13202):
+      return BATT_MODE_CHANGED_STRING;
+    case (13600):
+      return SUPV_UPDATE_FAILED_STRING;
+    case (13601):
+      return SUPV_UPDATE_SUCCESSFUL_STRING;
+    case (13602):
+      return SUPV_CONTINUE_UPDATE_FAILED_STRING;
+    case (13603):
+      return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
+    case (13604):
+      return TERMINATED_UPDATE_PROCEDURE_STRING;
+    case (13605):
+      return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
+    case (13606):
+      return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
+    case (13607):
+      return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
+    case (13608):
+      return SUPV_MEM_CHECK_OK_STRING;
+    case (13609):
+      return SUPV_MEM_CHECK_FAIL_STRING;
+    case (13616):
+      return SUPV_SENDING_COMMAND_FAILED_STRING;
+    case (13617):
+      return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (13618):
+      return SUPV_HELPER_READING_REPLY_FAILED_STRING;
+    case (13619):
+      return SUPV_MISSING_ACK_STRING;
+    case (13620):
+      return SUPV_MISSING_EXE_STRING;
+    case (13621):
+      return SUPV_ACK_FAILURE_REPORT_STRING;
+    case (13622):
+      return SUPV_EXE_FAILURE_REPORT_STRING;
+    case (13623):
+      return SUPV_ACK_INVALID_APID_STRING;
+    case (13624):
+      return SUPV_EXE_INVALID_APID_STRING;
+    case (13625):
+      return ACK_RECEPTION_FAILURE_STRING;
+    case (13626):
+      return EXE_RECEPTION_FAILURE_STRING;
+    case (13627):
+      return WRITE_MEMORY_FAILED_STRING;
+    case (13628):
+      return SUPV_REPLY_SIZE_MISSMATCH_STRING;
+    case (13629):
+      return SUPV_REPLY_CRC_MISSMATCH_STRING;
+    case (13630):
+      return SUPV_UPDATE_PROGRESS_STRING;
+    case (13631):
+      return HDLC_FRAME_REMOVAL_ERROR_STRING;
+    case (13632):
+      return HDLC_CRC_ERROR_STRING;
+    case (13701):
+      return TX_ON_STRING;
+    case (13702):
+      return TX_OFF_STRING;
+    case (13800):
+      return MISSING_PACKET_STRING;
+    case (13801):
+      return EXPERIMENT_TIMEDOUT_STRING;
+    case (13802):
+      return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13901):
+      return SET_CONFIGFILEVALUE_FAILED_STRING;
+    case (13902):
+      return GET_CONFIGFILEVALUE_FAILED_STRING;
+    case (13903):
+      return INSERT_CONFIGFILEVALUE_FAILED_STRING;
+    case (13904):
+      return WRITE_CONFIGFILE_FAILED_STRING;
+    case (13905):
+      return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
+    case (14100):
+      return NO_VALID_SENSOR_TEMPERATURE_STRING;
+    case (14101):
+      return NO_HEALTHY_HEATER_AVAILABLE_STRING;
+    case (14102):
+      return SYRLINKS_OVERHEATING_STRING;
+    case (14103):
+      return PLOC_OVERHEATING_STRING;
+    case (14104):
+      return OBC_OVERHEATING_STRING;
+    case (14105):
+      return HPA_OVERHEATING_STRING;
+    case (14106):
+      return PLPCDU_OVERHEATING_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/events/translateEvents.h

@@ -1,8 +1,8 @@
 #ifndef FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
 #define FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
 
-#include <fsfw/events/Event.h>
+#include "fsfw/events/Event.h"
 
-const char* translateEvents(Event event);
+const char *translateEvents(Event event);
 
 #endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_ */

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -1,10 +1,10 @@
 #ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
-#include <commonObjects.h>
-
 #include <cstdint>
 
+#include "eive/objects.h"
+
 // The objects will be instantiated in the ID order
 namespace objects {
 enum sourceObjects : uint32_t {
@@ -16,16 +16,15 @@ enum sourceObjects : uint32_t {
   PUS_SERVICE_23 = 0x51002300,
   PUS_SERVICE_201 = 0x51020100,
 
-  TM_FUNNEL = 0x52000002,
-
   /* Test Task */
 
   TEST_TASK = 0x42694269,
   DUMMY_INTERFACE = 0xCAFECAFE,
-  DUMMY_HANDLER = 0x4400AFFE,
-
+  DUMMY_HANDLER = 0x44000001,
   /* 0x49 ('I') for Communication Interfaces **/
-  ARDUINO_COM_IF = 0x49000001
+  ARDUINO_COM_IF = 0x49000001,
+
+  DUMMY_COM_IF = 0x49000002,
 };
 }
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,21 +1,108 @@
 /**
- * @brief	Auto-generated object translation file.
+ * @brief  Auto-generated object translation file.
  * @details
- * Contains 31 translations.
- * Generated on: 2021-05-17 19:12:49
+ * Contains 147 translations.
+ * Generated on: 2023-02-09 15:57:01
  */
 #include "translateObjects.h"
 
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
+const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
+const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
+const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
+const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
+const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
+const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
+const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
+const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
+const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
+const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
+const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
+const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
+const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
+const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
+const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
+const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
+const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
+const char *RW1_STRING = "RW1";
+const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
+const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
+const char *RW2_STRING = "RW2";
+const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
+const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
+const char *RW3_STRING = "RW3";
+const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
+const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
+const char *RW4_STRING = "RW4";
+const char *STAR_TRACKER_STRING = "STAR_TRACKER";
+const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
+const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
+const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
+const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
+const char *ACU_HANDLER_STRING = "ACU_HANDLER";
+const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
+const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
+const char *RAD_SENSOR_STRING = "RAD_SENSOR";
+const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
+const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
+const char *STR_HELPER_STRING = "STR_HELPER";
+const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
+const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
+const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
+const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
+const char *SCEX_STRING = "SCEX";
+const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
+const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
+const char *TMP1075_HANDLER_TCS_0_STRING = "TMP1075_HANDLER_TCS_0";
+const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
+const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
+const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
+const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
+const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
+const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
+const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
+const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
+const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
+const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
+const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
+const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
+const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
+const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
+const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
+const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
+const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
+const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
+const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
+const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
+const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
+const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
+const char *UART_COM_IF_STRING = "UART_COM_IF";
+const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
+const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
+const char *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
+const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
+const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
+const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
+const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
+const char *SDC_MANAGER_STRING = "SDC_MANAGER";
+const char *PTME_STRING = "PTME";
+const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
+const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
 const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
 const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
 const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
 const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
 const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
 const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
 const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
 const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@@ -23,9 +110,12 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
 const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
+const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
+const char *PUS_SERVICE_201_HEALTH_STRING = "PUS_SERVICE_201_HEALTH";
+const char *CFDP_PACKET_DISTRIBUTOR_STRING = "CFDP_PACKET_DISTRIBUTOR";
 const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
 const char *MODE_STORE_STRING = "MODE_STORE";
 const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
@@ -34,7 +124,33 @@ const char *TC_STORE_STRING = "TC_STORE";
 const char *TM_STORE_STRING = "TM_STORE";
 const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
+const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
+const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
+const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
+const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *TM_FUNNEL_STRING = "TM_FUNNEL";
+const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
+const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
+const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
+const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
+const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
+const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
+const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
+const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
+const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -42,10 +158,186 @@ const char *translateObject(object_id_t object) {
   switch ((object & 0xFFFFFFFF)) {
     case 0x42694269:
       return TEST_TASK_STRING;
-    case 0x4400AFFE:
+    case 0x43000002:
+      return ACS_CONTROLLER_STRING;
+    case 0x43000003:
+      return CORE_CONTROLLER_STRING;
+    case 0x43000006:
+      return GLOBAL_JSON_CFG_STRING;
+    case 0x43400001:
+      return THERMAL_CONTROLLER_STRING;
+    case 0x44000001:
       return DUMMY_HANDLER_STRING;
+    case 0x44120006:
+      return MGM_0_LIS3_HANDLER_STRING;
+    case 0x44120010:
+      return GYRO_0_ADIS_HANDLER_STRING;
+    case 0x44120032:
+      return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
+    case 0x44120033:
+      return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
+    case 0x44120034:
+      return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
+    case 0x44120035:
+      return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
+    case 0x44120036:
+      return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
+    case 0x44120037:
+      return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
+    case 0x44120038:
+      return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
+    case 0x44120039:
+      return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
+    case 0x44120040:
+      return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
+    case 0x44120041:
+      return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
+    case 0x44120042:
+      return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
+    case 0x44120043:
+      return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
+    case 0x44120047:
+      return RW1_STRING;
+    case 0x44120107:
+      return MGM_1_RM3100_HANDLER_STRING;
+    case 0x44120111:
+      return GYRO_1_L3G_HANDLER_STRING;
+    case 0x44120148:
+      return RW2_STRING;
+    case 0x44120208:
+      return MGM_2_LIS3_HANDLER_STRING;
+    case 0x44120212:
+      return GYRO_2_ADIS_HANDLER_STRING;
+    case 0x44120249:
+      return RW3_STRING;
+    case 0x44120309:
+      return MGM_3_RM3100_HANDLER_STRING;
+    case 0x44120313:
+      return GYRO_3_L3G_HANDLER_STRING;
+    case 0x44120350:
+      return RW4_STRING;
+    case 0x44130001:
+      return STAR_TRACKER_STRING;
+    case 0x44130045:
+      return GPS_CONTROLLER_STRING;
+    case 0x44140014:
+      return IMTQ_HANDLER_STRING;
+    case 0x442000A1:
+      return PCDU_HANDLER_STRING;
+    case 0x44250000:
+      return P60DOCK_HANDLER_STRING;
+    case 0x44250001:
+      return PDU1_HANDLER_STRING;
+    case 0x44250002:
+      return PDU2_HANDLER_STRING;
+    case 0x44250003:
+      return ACU_HANDLER_STRING;
+    case 0x44260000:
+      return BPX_BATT_HANDLER_STRING;
+    case 0x44300000:
+      return PLPCDU_HANDLER_STRING;
+    case 0x443200A5:
+      return RAD_SENSOR_STRING;
+    case 0x44330000:
+      return PLOC_UPDATER_STRING;
+    case 0x44330001:
+      return PLOC_MEMORY_DUMPER_STRING;
+    case 0x44330002:
+      return STR_HELPER_STRING;
+    case 0x44330003:
+      return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
+    case 0x44330015:
+      return PLOC_MPSOC_HANDLER_STRING;
+    case 0x44330016:
+      return PLOC_SUPERVISOR_HANDLER_STRING;
+    case 0x44330017:
+      return PLOC_SUPERVISOR_HELPER_STRING;
+    case 0x44330032:
+      return SCEX_STRING;
+    case 0x444100A2:
+      return SOLAR_ARRAY_DEPL_HANDLER_STRING;
+    case 0x444100A4:
+      return HEATER_HANDLER_STRING;
+    case 0x44420004:
+      return TMP1075_HANDLER_TCS_0_STRING;
+    case 0x44420005:
+      return TMP1075_HANDLER_TCS_1_STRING;
+    case 0x44420006:
+      return TMP1075_HANDLER_PLPCDU_0_STRING;
+    case 0x44420007:
+      return TMP1075_HANDLER_PLPCDU_1_STRING;
+    case 0x44420008:
+      return TMP1075_HANDLER_IF_BOARD_STRING;
+    case 0x44420016:
+      return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
+    case 0x44420017:
+      return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
+    case 0x44420018:
+      return RTD_2_IC5_4K_CAMERA_STRING;
+    case 0x44420019:
+      return RTD_3_IC6_DAC_HEATSPREADER_STRING;
+    case 0x44420020:
+      return RTD_4_IC7_STARTRACKER_STRING;
+    case 0x44420021:
+      return RTD_5_IC8_RW1_MX_MY_STRING;
+    case 0x44420022:
+      return RTD_6_IC9_DRO_STRING;
+    case 0x44420023:
+      return RTD_7_IC10_SCEX_STRING;
+    case 0x44420024:
+      return RTD_8_IC11_X8_STRING;
+    case 0x44420025:
+      return RTD_9_IC12_HPA_STRING;
+    case 0x44420026:
+      return RTD_10_IC13_PL_TX_STRING;
+    case 0x44420027:
+      return RTD_11_IC14_MPA_STRING;
+    case 0x44420028:
+      return RTD_12_IC15_ACU_STRING;
+    case 0x44420029:
+      return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
+    case 0x44420030:
+      return RTD_14_IC17_TCS_BOARD_STRING;
+    case 0x44420031:
+      return RTD_15_IC18_IMTQ_STRING;
+    case 0x445300A3:
+      return SYRLINKS_HANDLER_STRING;
     case 0x49000001:
       return ARDUINO_COM_IF_STRING;
+    case 0x49000002:
+      return DUMMY_COM_IF_STRING;
+    case 0x49010006:
+      return SCEX_UART_READER_STRING;
+    case 0x49020006:
+      return SPI_RTD_COM_IF_STRING;
+    case 0x49030003:
+      return UART_COM_IF_STRING;
+    case 0x50000100:
+      return CCSDS_PACKET_DISTRIBUTOR_STRING;
+    case 0x50000200:
+      return PUS_PACKET_DISTRIBUTOR_STRING;
+    case 0x50000300:
+      return TCP_TMTC_SERVER_STRING;
+    case 0x50000301:
+      return UDP_TMTC_SERVER_STRING;
+    case 0x50000400:
+      return TCP_TMTC_POLLING_TASK_STRING;
+    case 0x50000401:
+      return UDP_TMTC_POLLING_TASK_STRING;
+    case 0x50000500:
+      return FILE_SYSTEM_HANDLER_STRING;
+    case 0x50000550:
+      return SDC_MANAGER_STRING;
+    case 0x50000600:
+      return PTME_STRING;
+    case 0x50000700:
+      return PDEC_HANDLER_STRING;
+    case 0x50000800:
+      return CCSDS_HANDLER_STRING;
     case 0x51000300:
       return PUS_SERVICE_3_STRING;
     case 0x51000400:
@@ -58,8 +350,6 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_23_STRING;
     case 0x51020100:
       return PUS_SERVICE_201_STRING;
-    case 0x52000002:
-      return TM_FUNNEL_STRING;
     case 0x53000000:
       return FSFW_OBJECTS_START_STRING;
     case 0x53000001:
@@ -74,12 +364,18 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
     case 0x53000009:
       return PUS_SERVICE_9_TIME_MGMT_STRING;
+    case 0x53000011:
+      return PUS_SERVICE_11_TC_SCHEDULER_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
       return PUS_SERVICE_20_PARAMETERS_STRING;
     case 0x53000200:
       return PUS_SERVICE_200_MODE_MGMT_STRING;
+    case 0x53000201:
+      return PUS_SERVICE_201_HEALTH_STRING;
+    case 0x53001000:
+      return CFDP_PACKET_DISTRIBUTOR_STRING;
     case 0x53010000:
       return HEALTH_TABLE_STRING;
     case 0x53010100:
@@ -96,8 +392,60 @@ const char *translateObject(object_id_t object) {
       return IPC_STORE_STRING;
     case 0x53500010:
       return TIME_STAMPER_STRING;
+    case 0x53500020:
+      return VERIFICATION_REPORTER_STRING;
     case 0x53ffffff:
       return FSFW_OBJECTS_END_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
+    case 0x73000001:
+      return ACS_BOARD_ASS_STRING;
+    case 0x73000002:
+      return SUS_BOARD_ASS_STRING;
+    case 0x73000003:
+      return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
+    case 0x73000006:
+      return CAM_SWITCHER_STRING;
+    case 0x73000100:
+      return TM_FUNNEL_STRING;
+    case 0x73000101:
+      return PUS_TM_FUNNEL_STRING;
+    case 0x73000102:
+      return CFDP_TM_FUNNEL_STRING;
+    case 0x73000205:
+      return CFDP_HANDLER_STRING;
+    case 0x73000206:
+      return CFDP_DISTRIBUTOR_STRING;
+    case 0x73010000:
+      return EIVE_SYSTEM_STRING;
+    case 0x73010001:
+      return ACS_SUBSYSTEM_STRING;
+    case 0x73010002:
+      return PL_SUBSYSTEM_STRING;
+    case 0x73010003:
+      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
+    case 0x73500000:
+      return CCSDS_IP_CORE_BRIDGE_STRING;
+    case 0x90000003:
+      return THERMAL_TEMP_INSERTER_STRING;
     case 0xCAFECAFE:
       return DUMMY_INTERFACE_STRING;
     case 0xFFFFFFFF:

bsp_hosted/fsfwconfig/objects/translateObjects.h

@@ -3,6 +3,6 @@
 
 #include <fsfw/objectmanager/SystemObjectIF.h>
 
-const char* translateObject(object_id_t object);
+const char *translateObject(object_id_t object);
 
 #endif /* FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

bsp_hosted/fsfwconfig/pollingsequence/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${OBSW_NAME} PRIVATE DummyPst.cpp)

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp

@@ -0,0 +1,139 @@
+#include "DummyPst.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <objects/systemObjectList.h>
+
+ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
+  uint32_t length = thisSequence->getPeriodMs();
+
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  if (thisSequence->checkSequence() == returnvalue::OK) {
+    return returnvalue::OK;
+  } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl;
+#endif
+    return returnvalue::FAILED;
+  }
+}

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h

@@ -0,0 +1,14 @@
+#ifndef POLLINGSEQUENCEFACTORY_H_
+#define POLLINGSEQUENCEFACTORY_H_
+
+#include <fsfw/returnvalues/returnvalue.h>
+
+class FixedTimeslotTaskIF;
+
+namespace dummy_pst {
+
+ReturnValue_t pst(FixedTimeslotTaskIF *thisSequence);
+
+}
+
+#endif /* POLLINGSEQUENCEINIT_H_ */

bsp_hosted/fsfwconfig/returnvalues/classIds.h

@@ -3,7 +3,7 @@
 
 #include <fsfw/returnvalues/FwClassIds.h>
 
-#include "commonClassIds.h"
+#include "eive/resultClassIds.h"
 
 /**
  * Source IDs starts at 73 for now
@@ -13,6 +13,7 @@
 namespace CLASS_ID {
 enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
+  CLASS_ID_END  // [EXPORT] : [END]
 };
 }
 

bsp_hosted/fsfwconfig/tmtc/apid.h

@@ -1,18 +0,0 @@
-#ifndef FSFWCONFIG_TMTC_APID_H_
-#define FSFWCONFIG_TMTC_APID_H_
-
-#include <stdint.h>
-
-/**
- * Application Process Definition: entity, uniquely identified by an
- * application process ID (APID), capable of generating telemetry source
- * packets and receiving telecommand packets
- *
- * SOURCE APID: 0x73 / 115 / s
- * APID is a 11 bit number
- */
-namespace apid {
-static const uint16_t EIVE_OBSW = 0x65;
-}
-
-#endif /* FSFWCONFIG_TMTC_APID_H_ */

bsp_hosted/fsfwconfig/tmtc/pusIds.h

@@ -1,23 +0,0 @@
-#ifndef CONFIG_TMTC_PUSIDS_HPP_
-#define CONFIG_TMTC_PUSIDS_HPP_
-
-namespace pus {
-enum Ids {
-  PUS_SERVICE_1 = 1,
-  PUS_SERVICE_2 = 2,
-  PUS_SERVICE_3 = 3,
-  PUS_SERVICE_3_PSB = 3,
-  PUS_SERVICE_5 = 5,
-  PUS_SERVICE_6 = 6,
-  PUS_SERVICE_8 = 8,
-  PUS_SERVICE_9 = 9,
-  PUS_SERVICE_17 = 17,
-  PUS_SERVICE_19 = 19,
-  PUS_SERVICE_20 = 20,
-  PUS_SERVICE_23 = 23,
-  PUS_SERVICE_200 = 200,
-  PUS_SERVICE_201 = 201,
-};
-};
-
-#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

bsp_hosted/main.cpp

@@ -1,9 +1,17 @@
+#include <objects/systemObjectList.h>
+
 #include <iostream>
 
-#include "InitMission.h"
 #include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
+#include "fsfw/controller/ControllerBase.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/modes/ModeMessage.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "scheduling.h"
+
 #ifdef WIN32
 static const char* COMPILE_PRINTOUT = "Windows";
 #elif LINUX
@@ -23,8 +31,11 @@ int main(void) {
             << "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
             << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
+  std::cout << "-- "
+            << " BSP HOSTED"
+            << " --" << std::endl;
 
-  initmission::initMission();
+  scheduling::initMission();
 
   for (;;) {
     // suspend main thread by sleeping it.

bsp_hosted/scheduling.cpp

@@ -0,0 +1,231 @@
+#include "linux/scheduling.h"
+
+#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <mission/utility/InitMission.h>
+
+#include <iostream>
+
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "mission/core/scheduling.h"
+#include "scheduling.h"
+
+#ifdef LINUX
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR", false, false, true);
+#else
+ServiceInterfaceStream sif::debug("DEBUG", true);
+ServiceInterfaceStream sif::info("INFO", true);
+ServiceInterfaceStream sif::warning("WARNING", true);
+ServiceInterfaceStream sif::error("ERROR", true, false, true);
+#endif
+
+ObjectManagerIF* objectManager = nullptr;
+
+void scheduling::initMission() {
+  sif::info << "Building global objects.." << std::endl;
+  /* Instantiate global object manager and also create all objects */
+  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void scheduling::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
+#else
+  void (*missedDeadlineFunc)(void) = nullptr;
+#endif
+
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
+      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+  }
+
+  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+      "UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Polling failed" << std::endl;
+  }
+  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
+      "TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Polling failed" << std::endl;
+  }
+
+  /* PUS Services */
+  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+
+  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
+      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = eventHandling->addComponent(objects::EVENT_MANAGER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+  }
+  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+
+  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+
+  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+
+  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+  }
+
+  PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
+      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+  }
+
+  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+  }
+
+  FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
+      "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = dummy_pst::pst(pstTask);
+  if (result != returnvalue::OK) {
+    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
+  }
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::addMpsocSupvHandlers(plTask);
+#if OBSW_ADD_TEST_CODE == 1
+  result = testTask->addComponent(objects::TEST_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+  }
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
+      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::scheduleTmpTempSensors(dummyTask);
+  scheduling::scheduleRtdSensors(dummyTask);
+  dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
+  dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
+  dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
+  dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
+  dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
+  dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
+  dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
+  dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
+  dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
+  dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
+  dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmtcDistributor->startTask();
+  udpPollingTask->startTask();
+  tcpPollingTask->startTask();
+
+  pusVerification->startTask();
+  eventHandling->startTask();
+  pusHighPrio->startTask();
+  pusMedPrio->startTask();
+  pusLowPrio->startTask();
+
+  pstTask->startTask();
+  thermalTask->startTask();
+  dummyTask->startTask();
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif
+#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
+  plTask->startTask();
+#endif
+
+#if OBSW_ADD_TEST_CODE == 1
+  testTask->startTask();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  sif::info << "Tasks started.." << std::endl;
+}

bsp_hosted/scheduling.h

@@ -0,0 +1,6 @@
+#pragma once
+
+namespace scheduling {
+void initMission();
+void initTasks();
+};  // namespace scheduling

bsp_linux_board/CMakeLists.txt

@@ -1,9 +1,6 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	gpioInit.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
+                                   ObjectFactory.cpp RPiSdCardManager.cpp)
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
+add_subdirectory(fsfwconfig)

bsp_linux_board/InitMission.cpp

@@ -1,12 +1,14 @@
 #include "InitMission.h"
 
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
+#include <linux/InitMission.h>
 #include <mission/utility/InitMission.h>
 
 #include <iostream>
@@ -36,7 +38,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   if (factory == nullptr) {
     /* Should never happen ! */
     return;
@@ -51,15 +53,15 @@ void initmission::initTasks() {
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
       "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
 
@@ -67,16 +69,22 @@ void initmission::initTasks() {
   PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
       "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Add component TMTC Bridge failed" << std::endl;
   }
   PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Add component TMTC Polling failed" << std::endl;
   }
 
+#if OBSW_ADD_SCEX_DEVICE == 1
+  PeriodicTaskIF* scexDevHandler;
+  PeriodicTaskIF* scexReaderTask;
+  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+#endif
+
   /* PUS Services */
   std::vector<PeriodicTaskIF*> pusTasks;
   createPusTasks(*factory, missedDeadlineFunc, pusTasks);
@@ -109,6 +117,10 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
   taskStarter(pstTasks, "PST Tasks");
 
+#if OBSW_ADD_SCEX_DEVICE == 1
+  scexDevHandler->startTask();
+  scexReaderTask->startTask();
+#endif
 #if OBSW_ADD_TEST_PST == 1
   if (startTestPst) {
     pstTestTask->startTask();
@@ -120,11 +132,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
       "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   taskVec.push_back(pusVerification);
@@ -132,11 +144,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
       "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
   taskVec.push_back(pusEvents);
@@ -144,11 +156,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
       "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   taskVec.push_back(pusHighPrio);
@@ -156,19 +168,19 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
   taskVec.push_back(pusMedPrio);
@@ -176,11 +188,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
       "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
   result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
   }
   taskVec.push_back(pusLowPrio);
@@ -189,45 +201,55 @@ void initmission::createPusTasks(TaskFactory& factory,
 void initmission::createPstTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
       "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  if (result != returnvalue::OK) {
+    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::error << "InitMission::createPstTasks: Creating PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(spiPst);
   }
-  taskVec.push_back(spiPst);
 #endif
 }
 
 void initmission::createTestTasks(TaskFactory& factory,
                                   TaskDeadlineMissedFunction missedDeadlineFunc,
                                   std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   PeriodicTaskIF* testTask = factory.createPeriodicTask(
       "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = testTask->addComponent(objects::TEST_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
   }
 #if OBSW_ADD_SPI_TEST_CODE == 1
   result = testTask->addComponent(objects::SPI_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
   }
 #endif /* RPI_ADD_SPI_TEST == 1 */
 #if RPI_ADD_GPIO_TEST == 1
   result = testTask->addComponent(objects::LIBGPIOD_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
   }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
 #if OBSW_ADD_UART_TEST_CODE == 1
   result = testTask->addComponent(objects::UART_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
   }
+  PeriodicTaskIF* scexReaderTask = factory.createPeriodicTask(
+      "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
+  }
+  taskVec.push_back(scexReaderTask);
 #endif /* RPI_ADD_GPIO_TEST == 1 */
   taskVec.push_back(testTask);
 
@@ -237,7 +259,7 @@ void initmission::createTestTasks(TaskFactory& factory,
   FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
       "TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
   result = pst::pstTest(pstTestTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
     startTestPst = false;
   }

bsp_linux_board/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_linux_board/OBSWConfig.h.in

@@ -28,6 +28,7 @@
 #define OBSW_ADD_RTD_DEVICES                        0
 #define OBSW_ADD_PL_PCDU                            0
 #define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_SCEX_DEVICE                        1
 #define OBSW_ADD_RAD_SENSORS                        0
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
@@ -102,6 +103,12 @@
 /*******************************************************************/
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
+#define OBSW_ADD_CCSDS_IP_CORES                     0
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             0
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           0
+
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
 #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
 

bsp_linux_board/ObjectFactory.cpp

@@ -1,5 +1,8 @@
 #include "ObjectFactory.h"
 
+#include <bsp_linux_board/RPiSdCardManager.h>
+#include <linux/devices/ScexUartReader.h>
+
 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
@@ -18,9 +21,8 @@
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/GPSHyperionHandler.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
-#include "mission/utility/TmFunnel.h"
+#include "mission/tmtc/TmFunnel.h"
 #include "objects/systemObjectList.h"
-#include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
 /* UDP server includes */
@@ -32,8 +34,8 @@
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #endif
 
-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
 
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
@@ -45,8 +47,8 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 
 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
@@ -54,9 +56,6 @@ void Factory::setStaticFrameworkObjectIds() {
   TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
   // No storage object for now.
   TmFunnel::storageDestination = objects::NO_OBJECT;
-
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
 void ObjectFactory::produce(void* args) {
@@ -67,7 +66,7 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
 
-  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, spi::DEV, gpioIF);
   static_cast<void>(spiComIF);
   auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
   static_cast<void>(pwrSwitcher);
@@ -76,12 +75,17 @@ void ObjectFactory::produce(void* args) {
   createRpiAcsBoard(gpioIF, spiDev);
 #endif
 
-#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
+#if OBSW_ADD_SUN_SENSORS == 1 || OBSW_ADD_RTD_DEVICES == 1
 #ifdef RASPBERRY_PI
   rpi::gpio::initSpiCsDecoder(gpioIF);
 #endif
 #endif
 
+#if OBSW_ADD_SCEX_DEVICE == 1
+  auto* sdcMan = new RPiSdCardManager("/tmp");
+  createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
+#endif
+
 #if OBSW_ADD_SUN_SENSORS == 1
   createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
 #endif
@@ -116,73 +120,72 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
                             gpio::Direction::OUT, gpio::Levels::HIGH);
   gpioIF->addGpios(gpioCookie);
   SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   auto mgmLis3Handler =
-      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmLis3Handler->setStartUpImmediately();
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
   auto mgmRm3100Handler =
-      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmRm3100Handler->setStartUpImmediately();
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   mgmLis3Handler =
-      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmLis3Handler->setStartUpImmediately();
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
   mgmRm3100Handler =
-      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmRm3100Handler->setStartUpImmediately();
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-                                              spiCookie, ADIS1650X::Type::ADIS16505);
-  adisHandler->setStartUpImmediately();
-  spiCookie =
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto adisHandler =
+      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                               ADIS1650X::Type::ADIS16505);
+  adisHandler->setStartUpImmediately();
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
   auto gyroL3gHandler =
-      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   gyroL3gHandler->setStartUpImmediately();
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
 
-  spiCookie =
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
   gyroL3gHandler =
-      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   gyroL3gHandler->setStartUpImmediately();
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -199,7 +202,7 @@ void ObjectFactory::createTestTasks() {
 #if OBSW_ADD_UART_TEST_CODE == 1
   new UartTestClass(objects::UART_TEST);
 #else
-  new UartComIF(objects::UART_COM_IF);
+  newSerialComIF(objects::UART_COM_IF);
 #endif
 
 #if RPI_LOOPBACK_TEST_GPIO == 1

bsp_linux_board/RPiSdCardManager.cpp

@@ -0,0 +1,13 @@
+#include "RPiSdCardManager.h"
+
+RPiSdCardManager::RPiSdCardManager(std::string prefix) : prefix(std::move(prefix)) {}
+
+const std::string& RPiSdCardManager::getCurrentMountPrefix() const { return prefix; }
+
+bool RPiSdCardManager::isSdCardUsable(sd::SdCard sdCard) { return true; }
+
+std::optional<sd::SdCard> RPiSdCardManager::getPreferredSdCard() const { return std::nullopt; }
+
+void RPiSdCardManager::setActiveSdCard(sd::SdCard sdCard) {}
+
+std::optional<sd::SdCard> RPiSdCardManager::getActiveSdCard() const { return std::nullopt; }

bsp_linux_board/RPiSdCardManager.h

@@ -0,0 +1,18 @@
+#ifndef BSP_LINUX_BOARD_RPISDCARDMANAGER_H_
+#define BSP_LINUX_BOARD_RPISDCARDMANAGER_H_
+#include <mission/memory/SdCardMountedIF.h>
+
+class RPiSdCardManager : public SdCardMountedIF {
+ public:
+  RPiSdCardManager(std::string prefix);
+  const std::string& getCurrentMountPrefix() const override;
+  bool isSdCardUsable(sd::SdCard sdCard) override;
+  std::optional<sd::SdCard> getPreferredSdCard() const override;
+  void setActiveSdCard(sd::SdCard sdCard) override;
+  std::optional<sd::SdCard> getActiveSdCard() const override;
+
+ private:
+  std::string prefix;
+};
+
+#endif /* BSP_LINUX_BOARD_RPISDCARDMANAGER_H_ */

bsp_linux_board/boardconfig/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_linux_board/boardtest/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)

bsp_linux_board/definitions.h

@@ -13,6 +13,12 @@ static constexpr char DEV[] = "/dev/spidev0.1";
 
 }
 
+namespace uart {
+
+static constexpr char DEV[] = "/dev/serial0";
+
+}
+
 /* Adapt these values accordingly */
 namespace gpio {
 static constexpr uint8_t MGM_0_BCM_PIN = 17;

bsp_linux_board/gpioInit.cpp

@@ -40,14 +40,14 @@ void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
   for (const auto& info : muxInfo) {
     result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
                                  Direction::OUT, Levels::LOW);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
       sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
       return;
     }
   }
 
   result = gpioComIF->addGpios(spiMuxGpios);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
     return;
   }

bsp_q7s/CMakeLists.txt

@@ -1,20 +1,13 @@
-#simple mode
+# simple mode
 add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
-target_sources(${SIMPLE_OBSW_NAME} PUBLIC
-	main.cpp
-)
-#I think this is unintentional? (produces linker errors for stuff in /linux)
-target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
-    ${LIB_FSFW_NAME}
-)
+target_sources(${SIMPLE_OBSW_NAME} PUBLIC main.cpp)
+# I think this is unintentional? (produces linker errors for stuff in /linux)
+target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
 add_subdirectory(simple)
 
-target_sources(${OBSW_NAME} PUBLIC
-	main.cpp
-    obsw.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 
 add_subdirectory(boardtest)
 
@@ -23,11 +16,12 @@ add_subdirectory(comIF)
 add_subdirectory(core)
 
 if(EIVE_Q7S_EM)
-    add_subdirectory(em)
+  add_subdirectory(em)
 else()
-    add_subdirectory(fm)
+  target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
 endif()
 
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)
+add_subdirectory(fs)

bsp_q7s/OBSWConfig.h.in

@@ -8,37 +8,46 @@
 
 #include "commonConfig.h"
 #include "q7sConfig.h"
-#include "OBSWVersion.h"
+
+#cmakedefine RELEASE_BUILD
 
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-#define OBSW_USE_CCSDS_IP_CORE                      1
-// Set to 1 if all telemetry should be sent to the PTME IP Core
-#define OBSW_TM_TO_PTME                             0
-// Set to 1 if telecommands are received via the PDEC IP Core
-#define OBSW_TC_FROM_PDEC                           0
-
-#define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
-#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_PLOC_SUPERVISOR                    @OBSW_ADD_PLOC_SUPERVISOR@
+#define OBSW_ADD_PLOC_MPSOC                         @OBSW_ADD_PLOC_MPSOC@
 #define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
-#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
+#define OBSW_ADD_ACS_CTRL                           1
+#define OBSW_ADD_GPS_CTRL                           @OBSW_ADD_GPS_CTRL@
+#define OBSW_ADD_TCS_CTRL                           @OBSW_ADD_TCS_CTRL@
 #define OBSW_ADD_RW                                 @OBSW_ADD_RW@
 #define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_SA_DEPL                            @OBSW_ADD_SA_DEPL@
+#define OBSW_ADD_SCEX_DEVICE                        @OBSW_ADD_SCEX_DEVICE@
+#define OBSW_ADD_HEATERS                            @OBSW_ADD_HEATERS@
 #define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
 #define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
 #define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
+#define OBSW_ADD_CCSDS_IP_CORES                     @OBSW_ADD_CCSDS_IP_CORES@
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           @OBSW_TC_FROM_PDEC@
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 
+// Configuration parameter which causes the core controller to try to keep at least one SD card
+// working
+#define OBSW_SD_CARD_MUST_BE_ON                     1
+#define OBSW_ENABLE_TIMERS                          1
+
 // This is a really tricky switch.. It initializes the PCDU switches to their default states
 // at powerup. I think it would be better
 // to leave it off for now. It makes testing a lot more difficult and it might mess with
@@ -52,11 +61,12 @@
 /*******************************************************************/
 
 // Can be used to switch device to NORMAL mode immediately
-#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 
+#define OBSW_MPSOC_JTAG_BOOT                        0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_SYRLINKS_SIMULATED                     @OBSW_SYRLINKS_SIMULATED@
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0
 #define OBSW_ADD_TEST_PST                           0
@@ -95,6 +105,7 @@
 #define OBSW_PRINT_CORE_HK                          0
 #define OBSW_DEBUG_PDU1                             0
 #define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_TMP1075                          0
 #define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
@@ -109,12 +120,19 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
+
+// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
+// because UDP packets are not allowed in the VPN
+// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
+// CCSDS IP Cores. 
+#define OBSW_ADD_TMTC_TCP_SERVER            1
+#define OBSW_ADD_TMTC_UDP_SERVER            1
+
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
 #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
 
-
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

bsp_q7s/boardconfig/CMakeLists.txt

@@ -1,12 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE print.c)
 
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_q7s/boardconfig/busConf.h

@@ -3,21 +3,28 @@
 
 namespace q7s {
 
-static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
-static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi_main";
+static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
 
-static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
+static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
+
+//! I2C bus using an I2C IP core in the programmable logic (PL)
+static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
+//! I2C bus using the I2C peripheral of the ARM processing system (PS)
+static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";
 
 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
-static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
-static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
-static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ploc_supv";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul_syrlinks";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul_str";
+static constexpr char UART_SCEX_DEV[] = "/dev/scex";
 
-static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
-static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
-static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
-static constexpr char UIO_PTME[] = "/dev/uio1";
+static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
+static constexpr char UIO_PTME[] = "/dev/uio_ptme";
+static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
+static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
+static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
 static constexpr int MAP_ID_PTME_CONFIG = 3;
 
 namespace uiomapids {

bsp_q7s/boardconfig/etl_profile.h

@@ -34,5 +34,6 @@ SOFTWARE.
 
 #define ETL_CPP11_SUPPORTED 1
 #define ETL_NO_NULLPTR_SUPPORT 0
+#define ETL_HAS_ERROR_ON_STRING_TRUNCATION 1
 
 #endif

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -16,16 +16,6 @@
 /** Other flags                                                    */
 /*******************************************************************/
 
-#define Q7S_SD_NONE                                 0
-#define Q7S_SD_COLD_REDUNDANT                       1
-#define Q7S_SD_HOT_REDUNDANT                        2
-// The OBSW will perform different actions to set up the SD cards depending on the flag set here
-// Set to Q7S_SD_NONE: Don't do anything
-// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and 
-//     turn off the second SD card if it is on
-// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them  
-#define Q7S_SD_CARD_CONFIG                          Q7S_SD_COLD_REDUNDANT
-
 // Probably better if this is disabled for mission code. Convenient for development
 #define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
 

bsp_q7s/boardtest/CMakeLists.txt

@@ -1,10 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemTest.cpp
-    Q7STestTask.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
 
 if(EIVE_BUILD_Q7S_SIMPLE_MODE)
-    target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-        FileSystemTest.cpp
-    )
-endif()
+  target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)
+endif()

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -1,11 +1,14 @@
 #include "Q7STestTask.h"
 
 #include <bsp_q7s/core/CoreController.h>
-#include <bsp_q7s/memory/FileSystemHandler.h>
 #include <bsp_q7s/xadc/Xadc.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw_hal/host/HostFilesystem.h>
 #include <gps.h>
 #include <libgpsmm.h>
+#include <param/param_string.h>
+#include <param/rparam_client.h>
 
 #include <cstdio>
 #include <ctime>
@@ -14,12 +17,17 @@
 #include <iostream>
 #include <nlohmann/json.hpp>
 
-#include "bsp_q7s/memory/SdCardManager.h"
+#include "OBSWConfig.h"
+#include "bsp_q7s/fs/SdCardManager.h"
+#include "bsp_q7s/fs/helpers.h"
 #include "bsp_q7s/memory/scratchApi.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/timemanager/Stopwatch.h"
+#include "p60pdu.h"
 #include "test/DummyParameter.h"
 
+using namespace returnvalue;
+
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
   doTestSdCard = false;
   doTestScratchApi = false;
@@ -35,13 +43,42 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
   if (doTestScratchApi) {
     testScratchApi();
   }
+  if (DO_TEST_GOMSPACE_API) {
+    uint8_t p60pdu_node = 3;
+    uint8_t hk_mem[P60PDU_HK_SIZE];
+    param_index_t p60pdu_hk{};
+    p60pdu_hk.physaddr = hk_mem;
+    if (!p60pdu_get_hk(&p60pdu_hk, p60pdu_node, 1000)) {
+      printf("Error getting p60pdu hk\n");
+    } else {
+      param_list(&p60pdu_hk, 1);
+    }
+  }
+
+  if (DO_TEST_GOMSPACE_GET_CONFIG) {
+    uint8_t p60pdu_node = 3;
+    param_index_t requestStruct{};
+    requestStruct.table = p60pdu_config;
+    requestStruct.mem_id = P60PDU_PARAM;
+    uint8_t hk_mem[P60PDU_PARAM_SIZE];
+    requestStruct.count = p60pdu_config_count;
+    requestStruct.size = P60PDU_PARAM_SIZE;
+    requestStruct.physaddr = hk_mem;
+    int result = rparam_get_full_table(&requestStruct, p60pdu_node, P60_PORT_RPARAM,
+                                       requestStruct.mem_id, 1000);
+    param_list(&requestStruct, 1);
+    return (result == 0);
+  }
+
   // testJsonLibDirect();
   // testDummyParams();
   if (doTestProtHandler) {
     testProtHandler();
   }
-  FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
-  testFileSystemHandlerDirect(opCode);
+  if (DO_TEST_FS_HANDLER) {
+    FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
+    testFileSystemHandlerDirect(opCode);
+  }
   return TestTask::performOneShotAction();
 }
 
@@ -95,23 +132,23 @@ void Q7STestTask::fileTests() {
 
 void Q7STestTask::testScratchApi() {
   ReturnValue_t result = scratch::writeNumber("TEST", 1);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
   }
   int number = 0;
   result = scratch::readNumber("TEST", number);
   sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
   }
 
   result = scratch::writeString("TEST2", "halloWelt");
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
   }
   std::string string;
   result = scratch::readString("TEST2", string);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
   }
   sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
@@ -143,7 +180,7 @@ void Q7STestTask::testDummyParams() {
   }
 
   ReturnValue_t result = param.readJsonFile();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
   }
 
   param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@@ -154,13 +191,13 @@ void Q7STestTask::testDummyParams() {
 
   int test = 0;
   result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
                  << " does not exist" << std::endl;
   }
   std::string test2;
   result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
                  << " does not exist" << std::endl;
   }
@@ -179,18 +216,18 @@ ReturnValue_t Q7STestTask::initialize() {
 
 void Q7STestTask::testProtHandler() {
   bool opPerformed = false;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   // If any chips are unlocked, lock them here
   result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
                                                  opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
 
   // unlock own copy
   result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
                                                  opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -204,7 +241,7 @@ void Q7STestTask::testProtHandler() {
   // lock own copy
   result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
                                                  opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -218,7 +255,7 @@ void Q7STestTask::testProtHandler() {
   // unlock specific copy
   result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
                                                  opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -232,7 +269,7 @@ void Q7STestTask::testProtHandler() {
   // lock specific copy
   result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
                                                  opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -335,150 +372,28 @@ void Q7STestTask::testGpsDaemonSocket() {
 }
 
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
-  auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
-  if (fsHandler == nullptr) {
-    sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
-                 << std::endl;
-  }
-  FileSystemHandler::FsCommandCfg cfg = {};
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-
-  // Lambda for common code
-  auto createNonEmptyTmpDir = [&]() {
-    if (not std::filesystem::exists("/tmp/test")) {
-      result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-      }
+  HostFilesystem hostFs;
+  auto* sdcMan = SdCardManager::instance();
+  std::string mountPrefix = sdcMan->getCurrentMountPrefix();
+  sif::info << "Current mount prefix: " << mountPrefix << std::endl;
+  auto prefixedPath = fshelpers::getPrefixedPath(*sdcMan, "conf/test.txt");
+  sif::info << "Prefixed path: " << prefixedPath << std::endl;
+  if (opCode == FsOpCodes::CREATE_EMPTY_FILE_IN_TMP) {
+    FilesystemParams params("/tmp/hello.txt");
+    auto res = hostFs.createFile(params);
+    if (res != OK) {
+      sif::warning << "Creating empty file in /tmp failed" << std::endl;
     }
-    // Creating sample files
-    sif::info << "Creating sample files in directory" << std::endl;
-    result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      return result;
-    }
-    result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      return result;
-    }
-    return result;
-  };
-
-  switch (opCode) {
-    case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      sif::info << "Creating empty file in /tmp folder" << std::endl;
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      break;
-    }
-    case (FsOpCodes::REMOVE_TMP_FILE): {
-      sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (not std::filesystem::exists("/tmp/test.txt")) {
-        // Creating sample file
-        sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
-        fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      }
-      result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "File removed successfully" << std::endl;
-      } else {
-        sif::warning << "File removal failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::CREATE_DIR_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      sif::info << "Creating empty file in /tmp folder" << std::endl;
-      // Do not delete file, user can check existence in shell
-      ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory created successfully" << std::endl;
-      } else {
-        sif::warning << "Directory creation failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (not std::filesystem::exists("/tmp/test")) {
-        result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
-      } else {
-        // Delete any leftover files to regular dir removal works
-        std::remove("/tmp/test/*");
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removed successfully" << std::endl;
-      } else {
-        sif::warning << "Directory removal failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
-      result = createNonEmptyTmpDir();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return;
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removed recursively successfully" << std::endl;
-      } else {
-        sif::warning << "Recursive directory removal failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
-      result = createNonEmptyTmpDir();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return;
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removal attempt failed as expected" << std::endl;
-      } else {
-        sif::warning << "Directory removal worked when it should not have!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::RENAME_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
-      break;
-    }
-    case (FsOpCodes::APPEND_TO_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
-      std::string content = "Hello World\n";
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
-                              content.size(), 0, &cfg);
+    bool fileExists = std::filesystem::exists("/tmp/hello.txt");
+    if (not fileExists) {
+      sif::warning << "File was not created!" << std::endl;
     }
+    hostFs.removeFile("/tmp/hello.txt");
   }
 }
 
 void Q7STestTask::xadcTest() {
-  ReturnValue_t result = RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   float temperature = 0;
   float vccPint = 0;
   float vccPaux = 0;
@@ -490,39 +405,39 @@ void Q7STestTask::xadcTest() {
   float vrefn = 0;
   Xadc xadc;
   result = xadc.getTemperature(temperature);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: Chip Temperature: " << temperature << " °C" << std::endl;
   }
   result = xadc.getVccPint(vccPint);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PS internal: " << vccPint << " mV" << std::endl;
   }
   result = xadc.getVccPaux(vccPaux);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PS auxilliary: " << vccPaux << " mV" << std::endl;
   }
   result = xadc.getVccInt(vccInt);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PL internal: " << vccInt << " mV" << std::endl;
   }
   result = xadc.getVccAux(vccAux);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PL auxilliary: " << vccAux << " mV" << std::endl;
   }
   result = xadc.getVccBram(vccBram);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: VCC BRAM: " << vccBram << " mV" << std::endl;
   }
   result = xadc.getVccOddr(vccOddr);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PS I/O DDR : " << vccOddr << " mV" << std::endl;
   }
   result = xadc.getVrefp(vrefp);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: Vrefp : " << vrefp << " mV" << std::endl;
   }
   result = xadc.getVrefn(vrefn);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     sif::info << "Q7STestTask::xadcTest: Vrefn : " << vrefn << " mV" << std::endl;
   }
 }

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,7 +3,7 @@
 
 #include <libgpsmm.h>
 
-#include "test/testtasks/TestTask.h"
+#include "test/TestTask.h"
 
 class CoreController;
 
@@ -16,6 +16,9 @@ class Q7STestTask : public TestTask {
  private:
   bool doTestSdCard = false;
   bool doTestScratchApi = false;
+  static constexpr bool DO_TEST_GOMSPACE_API = false;
+  static constexpr bool DO_TEST_GOMSPACE_GET_CONFIG = false;
+  static constexpr bool DO_TEST_FS_HANDLER = false;
   bool doTestGpsShm = false;
   bool doTestGpsSocket = false;
   bool doTestProtHandler = false;

bsp_q7s/callbacks/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-	rwSpiCallback.cpp
-	gnssCallback.cpp
-	pcduSwitchCb.cpp
-	q7sGpioCallbacks.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp
+                                    pcduSwitchCb.cpp q7sGpioCallbacks.cpp)

bsp_q7s/callbacks/gnssCallback.cpp

@@ -1,25 +1,29 @@
 #include "gnssCallback.h"
 
 #include "devices/gpioIds.h"
+#include "fsfw/action/HasActionsIF.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(void* args) {
+ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
+  // At least one byte which denotes which GPS to reset is required
+  if (len < 1 or actionData == nullptr) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
   ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
   if (args == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   if (resetArgs->gpioComIF == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   gpioId_t gpioId;
-  if (resetArgs->gnss1) {
-    gpioId = gpioIds::GNSS_1_NRESET;
-
-  } else {
+  if (actionData[0] == 0) {
     gpioId = gpioIds::GNSS_0_NRESET;
+  } else {
+    gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);
   TaskFactory::delayTask(resetArgs->waitPeriodMs);
   resetArgs->gpioComIF->pullHigh(gpioId);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

bsp_q7s/callbacks/gnssCallback.h

@@ -1,18 +1,17 @@
 #ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
 #define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
 
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 
 struct ResetArgs {
-  bool gnss1 = false;
   LinuxLibgpioIF* gpioComIF = nullptr;
   uint32_t waitPeriodMs = 100;
 };
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(void* args);
+ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
 
 }
 

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

@@ -47,8 +47,8 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
   spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
   result = gpioComIF->addGpios(spiMuxGpios);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+  if (result != returnvalue::OK) {
+    sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
     return;
   }
 }

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -1,5 +1,7 @@
 #include "rwSpiCallback.h"
 
+#include <fsfw/timemanager/Stopwatch.h>
+
 #include "devices/gpioIds.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
@@ -8,61 +10,72 @@
 
 namespace rwSpiCallback {
 
+namespace {
+static bool MODE_SET = false;
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd);
+/**
+ * @brief   This function closes a spi session. Pulls the chip select to high an releases the
+ *          mutex.
+ * @param gpioId    Gpio ID of chip select
+ * @param gpioIF    Pointer to gpio interface to drive the chip select
+ * @param mutex     The spi mutex
+ */
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
+}  // namespace
+
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  // Stopwatch watch;
+  ReturnValue_t result = returnvalue::OK;
 
   RwHandler* handler = reinterpret_cast<RwHandler*>(args);
   if (handler == nullptr) {
     sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
 
-  uint8_t writeBuffer[2];
+  uint8_t writeBuffer[2] = {};
   uint8_t writeSize = 0;
 
   gpioId_t gpioId = cookie->getChipSelectPin();
-  GpioIF* gpioIF = comIf->getGpioInterface();
+  GpioIF& gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
-  if (mutex == nullptr or gpioIF == nullptr) {
+  MutexIF* mutex = comIf->getCsMutex();
+  cookie->getMutexParams(timeoutType, timeoutMs);
+  if (mutex == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
 
   int fileDescriptor = 0;
-  std::string device = cookie->getSpiDevice();
-  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
-  }
-  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-  uint32_t spiSpeed = 0;
-  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
-  comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
-
-  result = mutex->lockMutex(timeoutType, timeoutMs);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
+  const std::string& dev = comIf->getSpiDev();
+  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != returnvalue::OK) {
     return result;
   }
 
-  /** Sending frame start sign */
-  writeBuffer[0] = 0x7E;
-  writeSize = 1;
-
-  // Pull SPI CS low. For now, no support for active high given
-  if (gpioId != gpio::NO_GPIO) {
-    if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
-      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
-    }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  // We are in protected section, so we can use the static variable here without issues.
+  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
+  // correctly for all RWs
+  if (not MODE_SET) {
+    comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    MODE_SET = true;
   }
 
+  /** Sending frame start sign */
+  writeBuffer[0] = FLAG_BYTE;
+  writeSize = 1;
+
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
@@ -87,33 +100,39 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     }
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
       return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
   }
 
   /** Sending frame end sign */
-  writeBuffer[0] = 0x7E;
+  writeBuffer[0] = FLAG_BYTE;
   writeSize = 1;
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(gpioId, gpioIF, mutex);
+  if (result != returnvalue::OK) {
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
     return result;
   }
 
   size_t replyBufferSize = cookie->getMaxBufferSize();
 
-  /** There must be a delay of at least 20 ms after sending the command */
+  // There must be a delay of at least 20 ms after sending the command.
+  // Delay for 70 ms here and release the SPI bus for that duration.
+  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
   usleep(RwDefinitions::SPI_REPLY_DELAY);
+  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != returnvalue::OK) {
+    return result;
+  }
 
   /**
    * The reaction wheel responds with empty frames while preparing the reply data.
@@ -123,13 +142,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
       return RwHandler::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
         return RwHandler::NO_START_MARKER;
       }
     }
@@ -140,7 +159,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
       return RwHandler::NO_REPLY;
     }
   }
@@ -180,7 +199,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
         result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
@@ -201,32 +220,64 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         result = RwHandler::SPI_READ_FAILURE;
         break;
       }
-      if (byteRead != 0x7E) {
-        sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
+      if (byteRead != FLAG_BYTE) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
+                   << std::endl;
         decodedFrameLen--;
         result = RwHandler::MISSING_END_SIGN;
         break;
       }
     }
-    result = HasReturnvaluesIF::RETURN_OK;
+    result = returnvalue::OK;
   }
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
 
   return result;
 }
 
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+namespace {
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd) {
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != returnvalue::OK) {
+    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
+    return result;
+  }
+
+  fd = open(devname.c_str(), flags);
+  if (fd < 0) {
+    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+
+  // Pull SPI CS low. For now, no support for active high given
   if (gpioId != gpio::NO_GPIO) {
-    if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
+    result = gpioIF->pullLow(gpioId);
+    if (result != returnvalue::OK) {
+      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
+      return result;
+    }
+  }
+  return returnvalue::OK;
+}
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+  close(fd);
+  if (gpioId != gpio::NO_GPIO) {
+    if (gpioIF->pullHigh(gpioId) != returnvalue::OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
     }
   }
-  if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
+  if (mutex->unlockMutex() != returnvalue::OK) {
     sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
     ;
   }
 }
+
+}  // namespace
+
 }  // namespace rwSpiCallback

bsp_q7s/callbacks/rwSpiCallback.h

@@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
 #define BSP_Q7S_RW_SPI_CALLBACK_H_
 
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 
@@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args);
 
-/**
- * @brief   This function closes a spi session. Pulls the chip select to high an releases the
- *          mutex.
- * @param gpioId    Gpio ID of chip select
- * @param gpioIF    Pointer to gpio interface to drive the chip select
- * @param mutex     The spi mutex
- */
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
-
 }  // namespace rwSpiCallback
 #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

bsp_q7s/comIF/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)

bsp_q7s/core/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    CoreController.cpp
-    InitMission.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
+                                    ObjectFactory.cpp)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    InitMission.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)

bsp_q7s/core/CoreController.h

@@ -7,7 +7,8 @@
 #include <cstddef>
 
 #include "CoreDefinitions.h"
-#include "bsp_q7s/memory/SdCardManager.h"
+#include "OBSWConfig.h"
+#include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
@@ -51,29 +52,53 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CHIP_PROT_SCRIPT[] = "get-chip-prot-status.sh";
   static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
   static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
+
   static constexpr char CONF_FOLDER[] = "conf";
+
   static constexpr char VERSION_FILE_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
   static constexpr char TIME_FILE_NAME[] = "time.txt";
+
   const std::string VERSION_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
   const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
+  static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
+  static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
+  static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
+  static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
+
+  static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
+  static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
+
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
+  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
   static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
   static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
 
-  static constexpr ActionId_t REBOOT_OBC = 32;
+  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
+  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
+  static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
+
+  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
+  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
+  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
+
+  //! Reboot using the xsc_boot_copy command
+  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+  //! Reboot using the reboot command
+  static constexpr ActionId_t REBOOT_OBC = 34;
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occured. Can also be a systemd reboot.
+  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
   //! P1: Current Chip, P2: Current Copy
   static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
   //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
@@ -83,6 +108,15 @@ class CoreController : public ExtendedControllerBase {
       event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
   //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
   static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
+  //! a SD card.
+  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+  //! [EXPORT] : [COMMENT]
+  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
+  //! P2: First four letters of Git SHA is the last byte of P1 is set.
+  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
+  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
+  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
 
   CoreController(object_id_t objectId);
   virtual ~CoreController();
@@ -104,6 +138,7 @@ class CoreController : public ExtendedControllerBase {
   static ReturnValue_t generateChipStateFile();
   static ReturnValue_t incrementAllocationFailureCount();
   static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
+  static const char* getXscMountDir(xsc::Chip chip, xsc::Copy copy);
 
   ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
 
@@ -148,38 +183,46 @@ class CoreController : public ExtendedControllerBase {
     SKIP_CYCLE_BEFORE_INFO_UPDATE,
     UPDATE_INFO,
     // SD initialization done
-    IDLE,
-    // Used if SD switches or mount commands are issued via telecommand
-    SET_STATE_FROM_COMMAND,
+    IDLE
   };
+
+  enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
+
   static constexpr bool BLOCKING_SD_INIT = false;
 
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
-  struct SdInfo {
-    sd::SdCard pref = sd::SdCard::NONE;
-    sd::SdState prefState = sd::SdState::OFF;
+  SdStates sdFsmState = SdStates::START;
+  enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
+
+  struct SdFsmParams {
+    SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
+    sd::SdCard active = sd::SdCard::NONE;
     sd::SdCard other = sd::SdCard::NONE;
+    sd::SdState activeState = sd::SdState::OFF;
     sd::SdState otherState = sd::SdState::OFF;
-    std::string prefChar = "0";
+    std::string activeChar = "0";
     std::string otherChar = "1";
-    SdStates state = SdStates::START;
+    std::pair<bool, bool> mountSwitch = {true, true};
     // Used to track whether a command was executed
     bool commandExecuted = true;
     bool initFinished = false;
     SdCardManager::SdStatePair currentState;
     uint16_t cycleCount = 0;
-    // These two flags are related to external commanding
-    bool commandIssued = false;
-    bool commandFinished = false;
-    sd::SdState currentlyCommandedState = sd::SdState::OFF;
-    sd::SdCard commandedCard = sd::SdCard::NONE;
-    sd::SdState commandedState = sd::SdState::OFF;
   } sdInfo;
+
+  struct SdCommanding {
+    bool cmdPending = false;
+    MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
+    DeviceCommandId_t actionId;
+  } sdCommandingInfo;
+
   RebootFile rebootFile = {};
   std::string currMntPrefix;
-  bool doPerformMountedSdCardOps = true;
+  bool performOneShotSdCardOpsSwitch = false;
+  uint8_t shortSdCardCdCounter = 0;
+  Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
    * Index 0: Chip 0 Copy 0
@@ -191,37 +234,52 @@ class CoreController : public ExtendedControllerBase {
   PeriodicOperationDivider opDivider5;
   PeriodicOperationDivider opDivider10;
 
+  PoolEntry<float> tempPoolEntry = PoolEntry<float>(0.0);
+  PoolEntry<float> psVoltageEntry = PoolEntry<float>(0.0);
+  PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
+
   core::HkSet hkSet;
 
+#if OBSW_SD_CARD_MUST_BE_ON == 1
+  bool remountAttemptFlag = true;
+#endif
+
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
+
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
 
   ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t performSdCardCheck();
   ReturnValue_t timeFileHandler();
-  ReturnValue_t initBootCopy();
+  ReturnValue_t initBootCopyFile();
   ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
+  bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
+                           DeviceCommandId_t actionId);
   void initPrint();
 
   ReturnValue_t sdStateMachine();
   void updateSdInfoOther();
   ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
                             bool printOutput = true);
+  ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
   ReturnValue_t sdColdRedundantBlockingInit();
 
   void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
-  void determinePreferredSdCard();
   void executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
   void performRebootFileHandling(bool recreateFile);
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
-  ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionReboot(const uint8_t* data, size_t size);
+
+  ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   void performWatchdogControlOperation();
 

bsp_q7s/core/InitMission.cpp

@@ -1,439 +0,0 @@
-#include "bsp_q7s/core/InitMission.h"
-
-#include <iostream>
-#include <vector>
-
-#include "OBSWConfig.h"
-#include "bsp_q7s/core/ObjectFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/platform.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
-#include "fsfw/tasks/TaskFactory.h"
-#include "mission/utility/InitMission.h"
-#include "pollingsequence/pollingSequenceFactory.h"
-
-/* This is configured for linux without CR */
-#ifdef PLATFORM_UNIX
-ServiceInterfaceStream sif::debug("DEBUG");
-ServiceInterfaceStream sif::info("INFO");
-ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR");
-#else
-ServiceInterfaceStream sif::debug("DEBUG", true);
-ServiceInterfaceStream sif::info("INFO", true);
-ServiceInterfaceStream sif::warning("WARNING", true);
-ServiceInterfaceStream sif::error("ERROR", true, false, true);
-#endif
-
-ObjectManagerIF* objectManager = nullptr;
-
-void initmission::initMission() {
-  sif::info << "Building global objects.." << std::endl;
-  /* Instantiate global object manager and also create all objects */
-  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
-  sif::info << "Initializing all objects.." << std::endl;
-  ObjectManager::instance()->initialize();
-
-  /* This function creates and starts all tasks */
-  initTasks();
-}
-
-void initmission::initTasks() {
-  TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  if (factory == nullptr) {
-    /* Should never happen ! */
-    return;
-  }
-#if OBSW_PRINT_MISSED_DEADLINES == 1
-  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
-#else
-  void (*missedDeadlineFunc)(void) = nullptr;
-#endif
-
-  PeriodicTaskIF* coreController = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = coreController->addComponent(objects::CORE_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
-  }
-
-  /* TMTC Distribution */
-  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
-  }
-  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
-  }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
-  }
-
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-  // TMTC bridge
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
-  }
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
-  }
-#endif
-
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
-  }
-
-  // Minimal distance between two received TCs amounts to 0.6 seconds
-  // If a command has not been read before the next one arrives, the old command will be
-  // overwritten by the PDEC.
-  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
-  }
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-
-#if OBSW_ADD_ACS_HANDLERS == 1
-  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
-      "ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = acsTask->addComponent(objects::GPS_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
-  }
-
-#endif /* OBSW_ADD_ACS_HANDLERS */
-
-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
-  }
-#if OBSW_ADD_SUS_BOARD_ASS == 1
-  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
-  }
-#endif
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
-  }
-
-  // FS task, task interval does not matter because it runs in permanent loop, priority low
-  // because it is a non-essential background task
-  PeriodicTaskIF* fsTask = factory->createPeriodicTask(
-      "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
-  }
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
-  }
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
-#if OBSW_ADD_PLOC_MPSOC == 1
-  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
-  }
-#endif /* OBSW_ADD_PLOC_MPSOC */
-
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
-      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
-  }
-#endif
-
-  std::vector<PeriodicTaskIF*> pusTasks;
-  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
-  std::vector<PeriodicTaskIF*> pstTasks;
-  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
-
-#if OBSW_ADD_TEST_CODE == 1
-  std::vector<PeriodicTaskIF*> testTasks;
-  createTestTasks(*factory, missedDeadlineFunc, testTasks);
-#endif
-
-  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
-    for (const auto& task : taskVector) {
-      if (task != nullptr) {
-        task->startTask();
-      } else {
-        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
-      }
-    }
-  };
-
-  sif::info << "Starting tasks.." << std::endl;
-  tmTcDistributor->startTask();
-
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-  tmtcBridgeTask->startTask();
-  tmtcPollingTask->startTask();
-#endif
-
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  ccsdsHandlerTask->startTask();
-  pdecHandlerTask->startTask();
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-
-  coreController->startTask();
-
-  taskStarter(pstTasks, "PST task vector");
-  taskStarter(pusTasks, "PUS task vector");
-#if OBSW_ADD_TEST_CODE == 1
-  taskStarter(testTasks, "Test task vector");
-#endif
-
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  ptmeTestTask->startTask();
-#endif
-
-  fsTask->startTask();
-#if OBSW_ADD_STAR_TRACKER == 1
-  strHelperTask->startTask();
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
-#if OBSW_ADD_ACS_HANDLERS == 1
-  acsTask->startTask();
-#endif
-  sysTask->startTask();
-
-  sif::info << "Tasks started.." << std::endl;
-}
-
-void initmission::createPstTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  /* Polling Sequence Table Default */
-#if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstSpi(spiPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(spiPst);
-  }
-#endif
-
-  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstUart(uartPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(uartPst);
-  }
-
-  FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstGpio(gpioPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(gpioPst);
-  }
-#if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstI2c(i2cPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(i2cPst);
-  }
-#endif
-
-#if OBSW_ADD_GOMSPACE_PCDU == 1
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
-  result = pst::pstGompaceCan(gomSpacePstTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
-    }
-  }
-  taskVec.push_back(gomSpacePstTask);
-#endif
-}
-
-void initmission::createPusTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
-  }
-  taskVec.push_back(pusVerification);
-
-  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
-  }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
-  }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
-  }
-  taskVec.push_back(pusHighPrio);
-
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
-  }
-  taskVec.push_back(pusMedPrio);
-
-  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
-  }
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
-}
-
-void initmission::createTestTasks(TaskFactory& factory,
-                                  TaskDeadlineMissedFunction missedDeadlineFunc,
-                                  std::vector<PeriodicTaskIF*>& taskVec) {
-#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  static_cast<void>(result);  // supress warning in case it is not used
-
-  PeriodicTaskIF* testTask = factory.createPeriodicTask(
-      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
-
-  result = testTask->addComponent(objects::TEST_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
-  }
-
-#if OBSW_ADD_SPI_TEST_CODE == 1
-  result = testTask->addComponent(objects::SPI_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
-  }
-#endif
-#if OBSW_ADD_I2C_TEST_CODE == 1
-  result = testTask->addComponent(objects::I2C_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
-  }
-#endif
-#if OBSW_ADD_UART_TEST_CODE == 1
-  result = testTask->addComponent(objects::UART_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
-  }
-#endif
-
-  taskVec.push_back(testTask);
-
-#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
-}
-
-/**
-                   ▄              ▄
-                  ▌▒█           ▄▀▒▌
-                  ▌▒▒█        ▄▀▒▒▒▐
-                 ▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
-               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
-             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
-            ▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
-            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
-           ▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
-           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
-          ▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
-          ▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
-          ▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
-           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
-           ▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
-            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
-              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
-                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
-                   ▒▒▒▒▒▒▒▒▒▒▀▀
- **/

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,7 @@
-#include <mission/system/fdir/GomspacePowerFdir.h>
-#include <mission/system/fdir/SyrlinksFdir.h>
+#include "ObjectFactory.h"
+
+#include <fsfw/subsystem/Subsystem.h>
+#include <mission/system/objects/CamSwitcher.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -7,15 +9,13 @@
 #include "bsp_q7s/callbacks/pcduSwitchCb.h"
 #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
-#include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
-#include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
+#include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
 #include "linux/boardtest/I2cTestClass.h"
@@ -23,32 +23,42 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
-#include "linux/csp/CspCookie.h"
-#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/GpsHyperionLinuxController.h"
+#include "linux/devices/ScexUartReader.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/ploc/PlocUpdater.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
 #include "linux/devices/startracker/StrHelper.h"
-#include "linux/obc/AxiPtmeConfig.h"
-#include "linux/obc/PapbVcInterface.h"
-#include "linux/obc/PdecHandler.h"
-#include "linux/obc/Ptme.h"
-#include "linux/obc/PtmeConfig.h"
-#include "mission/system/SusAssembly.h"
-#include "mission/system/TcsBoardAssembly.h"
+#include "linux/ipcore/AxiPtmeConfig.h"
+#include "linux/ipcore/PapbVcInterface.h"
+#include "linux/ipcore/PdecHandler.h"
+#include "linux/ipcore/Ptme.h"
+#include "linux/ipcore/PtmeConfig.h"
+#include "mission/csp/CspCookie.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
 #include "mission/system/fdir/SusFdir.h"
-#include "tmtc/apid.h"
+#include "mission/system/fdir/SyrlinksFdir.h"
+#include "mission/system/objects/AcsSubsystem.h"
+#include "mission/system/objects/RwAssembly.h"
+#include "mission/system/objects/TcsBoardAssembly.h"
+#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/comModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
+#include <mission/devices/ImtqHandler.h>
+#include <mission/devices/PcduHandler.h>
+#include <mission/devices/SyrlinksHandler.h>
+
 #include <sstream>
 
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@@ -63,167 +73,86 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/serial/SerialComIF.h"
+#include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/HeaterHandler.h"
-#include "mission/devices/IMTQHandler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
 #include "mission/devices/P60DockHandler.h"
-#include "mission/devices/PCDUHandler.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
 #include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/SusHandler.h"
-#include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/AcsBoardAssembly.h"
-#include "mission/tmtc/CCSDSHandler.h"
+#include "mission/system/objects/AcsBoardAssembly.h"
+#include "mission/tmtc/CcsdsIpCoreHandler.h"
+#include "mission/tmtc/TmFunnelHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
-#include "mission/utility/TmFunnel.h"
-ResetArgs resetArgsGnss0;
-ResetArgs resetArgsGnss1;
 
-void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
+ResetArgs RESET_ARGS_GNSS;
 
 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
-  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
-  //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
-#if OBSW_TM_TO_PTME == 1
-  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
+#if OBSW_Q7S_EM == 1
+  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 #else
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-#endif /* OBSW_TM_TO_PTME == 1 */
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
+  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
+#endif /* OBSW_Q7S_EM == 1 */
 
   LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
 
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }
 
-void ObjectFactory::produce(void* args) {
-  ObjectFactory::setStatics();
-  ObjectFactory::produceGenericObjects();
-
-  LinuxLibgpioIF* gpioComIF = nullptr;
-  UartComIF* uartComIF = nullptr;
-  SpiComIF* spiComIF = nullptr;
-  I2cComIF* i2cComIF = nullptr;
-  PowerSwitchIF* pwrSwitcher = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
-  createTmpComponents();
-  new CoreController(objects::CORE_CONTROLLER);
-
-  gpioCallbacks::disableAllDecoder(gpioComIF);
-  createPcduComponents(gpioComIF, &pwrSwitcher);
-  createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-
-#if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
-#endif
-  createHeaterComponents();
-  createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
-#if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents(pwrSwitcher);
-#endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
-  createPayloadComponents(gpioComIF);
-
-#if OBSW_ADD_MGT == 1
-  I2cCookie* imtqI2cCookie =
-      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
-  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
-                                     pcdu::Switches::PDU1_CH3_MGT_5V);
-  imtqHandler->setPowerSwitcher(pwrSwitcher);
-  static_cast<void>(imtqHandler);
-#if OBSW_TEST_IMTQ == 1
-  imtqHandler->setStartUpImmediately();
-  imtqHandler->setToGoToNormal(true);
-#endif
-#if OBSW_DEBUG_IMTQ == 1
-  imtqHandler->setDebugMode(true);
-#endif
-#endif
-  createReactionWheelComponents(gpioComIF);
-
-#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
-  BpxBatteryHandler* bpxHandler =
-      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
-  bpxHandler->setStartUpImmediately();
-  bpxHandler->setToGoToNormalMode(true);
-#if OBSW_DEBUG_BPX_BATT == 1
-  bpxHandler->setDebugMode(true);
-#endif
-#endif
-  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  UartCookie* starTrackerCookie =
-      new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
-                     startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
-  starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
-  auto starTracker =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
-                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
-  starTracker->setPowerSwitcher(pwrSwitcher);
-
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  createCcsdsComponents(gpioComIF);
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-  /* Test Task */
-#if OBSW_ADD_TEST_CODE == 1
-  createTestComponents(gpioComIF);
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-  new PlocUpdater(objects::PLOC_UPDATER);
-  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
-}
+void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
 
 void ObjectFactory::createTmpComponents() {
-  I2cCookie* i2cCookieTmp1075tcs1 =
-      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
-  I2cCookie* i2cCookieTmp1075tcs2 =
-      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
+  std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
+      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      // damaged
+      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+  std::vector<I2cCookie*> tmpDevCookies;
 
-  /* Temperature sensors */
-  Tmp1075Handler* tmp1075Handler_1 =
-      new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
-  (void)tmp1075Handler_1;
-  Tmp1075Handler* tmp1075Handler_2 =
-      new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
-  (void)tmp1075Handler_2;
+  for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
+    tmpDevCookies.push_back(
+        new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
+    auto* tmpDevHandler =
+        new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
+    // TODO: Remove this after TCS subsystem was added
+    // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
+    // we set them to normal mode immediately here.
+    tmpDevHandler->setModeNormal();
+  }
 }
 
-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
+                                                  SerialComIF** uartComIF, SpiComIF** spiMainComIF,
+                                                  I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
+      spiRWComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
   }
@@ -232,18 +161,16 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   /* Communication interfaces */
   new CspComIF(objects::CSP_COM_IF);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
-  *uartComIF = new UartComIF(objects::UART_COM_IF);
-  *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
-
-  /* Adding gpios for chip select decoding to the gpioComIf */
-  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+  *uartComIF = new SerialComIF(objects::UART_COM_IF);
+  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
+  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
-  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
-  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
-  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
+  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
+  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
+  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
 
   auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
   P60DockHandler* p60dockhandler =
@@ -281,8 +208,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
 #endif
 }
 
-void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
+                                                      Stack5VHandler& stackHandler) {
   using namespace gpio;
+  if (gpioComIF == nullptr) {
+    return returnvalue::FAILED;
+  }
   GpioCookie* gpioCookieRadSensor = new GpioCookie;
   std::stringstream consumer;
   consumer << "0x" << std::hex << objects::RAD_SENSOR;
@@ -292,27 +223,26 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
-  gpioComIF->addGpios(gpioCookieRadSensor);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
 
-  SpiCookie* spiCookieRadSensor = new SpiCookie(
-      addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
-      RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
-  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
-                                              spiCookieRadSensor, gpioComIF);
+  SpiCookie* spiCookieRadSensor =
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
+                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
+  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
+                                              spiCookieRadSensor, gpioComIF, stackHandler);
   static_cast<void>(radSensor);
-  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
-  radSensor->setStartUpImmediately();
-  // It's a simple sensor, so just to to normal mode immediately
-  radSensor->setToGoToNormalModeImmediately();
 #if OBSW_DEBUG_RAD_SENSOR == 1
   radSensor->enablePeriodicDataPrint(true);
 #endif
+  return returnvalue::OK;
 }
 
-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                                              PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+  std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
 
   std::stringstream consumer;
   GpiodRegularByLineName* gpio = nullptr;
@@ -408,20 +338,20 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
-  gpioComIF->addGpios(gpioCookieAcsBoard);
+  gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
   AcsBoardFdir* fdir = nullptr;
   static_cast<void>(fdir);
 
-#if OBSW_ADD_ACS_HANDLERS == 1
+#if OBSW_ADD_ACS_BOARD == 1
   std::string spiDev = q7s::SPI_DEFAULT_DEV;
   SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
-                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
+      objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  static_cast<void>(mgmLis3Handler);
+  mgmLis3Handler0->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmLis3Handler0);
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -430,14 +360,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
-                                               spiCookie, spi::RM3100_TRANSITION_DELAY);
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  auto mgmRm3100Handler1 =
+      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmRm3100Handler);
+  mgmRm3100Handler1->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmRm3100Handler1);
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -446,14 +376,13 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
-                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
+      objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmLis3Handler);
+  mgmLis3Handler2->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmLis3Handler2);
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -462,13 +391,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
-                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  auto* mgmRm3100Handler3 =
+      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
+  mgmRm3100Handler3->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmRm3100Handler3);
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -478,15 +408,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #endif
   // Commented until ACS board V2 in in clean room again
   // Gyro 0 Side A
-  spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-                            spi::DEFAULT_ADIS16507_SPEED);
-  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-                                              spiCookie, ADIS1650X::Type::ADIS16505);
+  spiCookie =
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  auto adisHandler =
+      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                               ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(adisHandler);
+  assemblyChildren.push_back(*adisHandler);
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
@@ -495,15 +425,13 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   adisHandler->enablePeriodicPrintouts(true, 10);
 #endif
   // Gyro 1 Side A
-  spiCookie =
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-                                               spiCookie, spi::L3G_TRANSITION_DELAY);
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
+      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(gyroL3gHandler);
+  gyroL3gHandler1->setCustomFdir(fdir);
+  assemblyChildren.push_back(*gyroL3gHandler1);
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -512,27 +440,26 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   gyroL3gHandler->enablePeriodicPrintouts(true, 10);
 #endif
   // Gyro 2 Side B
-  spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-                            spi::DEFAULT_ADIS16507_SPEED);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+  spiCookie =
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
+  assemblyChildren.push_back(*adisHandler);
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
 #endif
   // Gyro 3 Side B
-  spiCookie =
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
-                                          spiCookie, spi::L3G_TRANSITION_DELAY);
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
+      objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
+  gyroL3gHandler3->setCustomFdir(fdir);
+  assemblyChildren.push_back(*gyroL3gHandler3);
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -544,27 +471,34 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_GPS == 1
   debugGps = true;
 #endif
-  resetArgsGnss1.gnss1 = true;
-  resetArgsGnss1.gpioComIF = gpioComIF;
-  resetArgsGnss1.waitPeriodMs = 100;
-  resetArgsGnss0.gnss1 = false;
-  resetArgsGnss0.gpioComIF = gpioComIF;
-  resetArgsGnss0.waitPeriodMs = 100;
-  auto gpsHandler0 =
-      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
-  gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+  RESET_ARGS_GNSS.gpioComIF = gpioComIF;
+  RESET_ARGS_GNSS.waitPeriodMs = 100;
+  auto gpsCtrl =
+      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+  gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
       objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
       objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                                     acsBoardHelper, gpioComIF);
+  auto acsAss =
+      new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
   static_cast<void>(acsAss);
+  for (auto& assChild : assemblyChildren) {
+    ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
+                 << " failed" << std::endl;
+    }
+  }
+  gpsCtrl->connectModeTreeParent(*acsAss);
+  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
-void ObjectFactory::createHeaterComponents() {
+void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
+                                           HealthTableIF* healthTable,
+                                           HeaterHandler*& heaterHandler) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -605,11 +539,13 @@ void ObjectFactory::createHeaterComponents() {
                                     Levels::LOW);
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
-  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+  gpioIF->addGpios(heaterGpiosCookie);
+
+  ObjectFactory::createGenericHeaterComponents(*gpioIF, *pwrSwitcher, heaterHandler);
 }
 
-void ObjectFactory::createSolarArrayDeploymentComponents() {
+void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
+                                                         GpioIF& gpioIF) {
   using namespace gpio;
   GpioCookie* solarArrayDeplCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -622,68 +558,79 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
+  ReturnValue_t result = gpioIF.addGpios(solarArrayDeplCookie);
+  if (result != returnvalue::OK) {
+    sif::error << "Adding Solar Array Deployment GPIO cookie failed" << std::endl;
+  }
 
-  // TODO: Find out burn time. For now set to 1000 ms.
-  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
-                                  solarArrayDeplCookie, objects::PCDU_HANDLER,
+  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
                                   pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
+                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
 }
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
-  UartCookie* syrlinksUartCookie =
-      new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
-                     syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  auto* syrlinksUartCookie =
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+                       syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
-  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+  syrlinksHandler->setStartUpImmediately();
+  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
 #endif
 }
 
-void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
   using namespace gpio;
   std::stringstream consumer;
+  auto* camSwitcher =
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
+  camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
   auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
                                                     consumer.str(), Direction::OUT, Levels::HIGH);
   auto mpsocGpioCookie = new GpioCookie;
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
-  gpioComIF->addGpios(mpsocGpioCookie);
+  gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
   auto mpsocCookie =
-      new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                     mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
+                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
-                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                       objects::PLOC_SUPERVISOR_HANDLER);
+  auto* mpsocHandler = new PlocMPSoCHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
+  mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
   auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
-                                                   Direction::OUT, Levels::HIGH);
+                                                   Direction::OUT, Levels::LOW);
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
-                                         q7s::UART_PLOC_SUPERVSIOR_DEV, uart::PLOC_SUPERVISOR_BAUD,
-                                         supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  auto supervisorCookie =
+      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
+                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
-  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V);
+  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
+  auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
+                                                Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
+                                                pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
+  supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }
 
-void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
+                                                  PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieRw = new GpioCookie;
   GpioCallback* csRw1 =
@@ -725,54 +672,50 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
                                     Levels::LOW);
   gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
 
-  gpioComIF->addGpios(gpioCookieRw);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
 
 #if OBSW_ADD_RW == 1
-  auto rw1SpiCookie =
-      new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw2SpiCookie =
-      new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw3SpiCookie =
-      new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw4SpiCookie =
-      new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+  std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
+      {{addresses::RW1, gpioIds::CS_RW1},
+       {addresses::RW2, gpioIds::CS_RW2},
+       {addresses::RW3, gpioIds::CS_RW3},
+       {addresses::RW4, gpioIds::CS_RW4}}};
+  std::array<SpiCookie*, 4> rwCookies = {};
+  std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
+  std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
+                                       gpioIds::EN_RW4};
+  std::array<RwHandler*, 4> rws = {};
+  for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
+    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
+                                   &rwSpiCallback::spiCallback, nullptr);
+    rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
+                             rwGpioIds[idx]);
+    rwCookies[idx]->setCallbackArgs(rws[idx]);
+#if OBSW_TEST_RW == 1
+    rws[idx]->setStartUpImmediately();
+#endif
+#if OBSW_DEBUG_RW == 1
+    rws[idx]->setDebugMode(true);
+#endif
+  }
 
-  auto rwHandler1 =
-      new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
-  rw1SpiCookie->setCallbackArgs(rwHandler1);
-#if OBSW_DEBUG_RW == 1
-  rwHandler1->setStartUpImmediately();
-  rwHandler1->setDebugMode(true);
-#endif
-  auto rwHandler2 =
-      new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
-  rw2SpiCookie->setCallbackArgs(rwHandler2);
-#if OBSW_DEBUG_RW == 1
-  rwHandler2->setStartUpImmediately();
-  rwHandler2->setDebugMode(true);
-#endif
-  auto rwHandler3 =
-      new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
-  rw3SpiCookie->setCallbackArgs(rwHandler3);
-#if OBSW_DEBUG_RW == 1
-  rwHandler3->setStartUpImmediately();
-  rwHandler3->setDebugMode(true);
-#endif
-  auto rwHandler4 =
-      new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
-  rw4SpiCookie->setCallbackArgs(rwHandler4);
-#if OBSW_DEBUG_RW == 1
-  rwHandler4->setStartUpImmediately();
-  rwHandler4->setDebugMode(true);
-#endif
+  RwHelper rwHelper(rwIds);
+  auto* rwAss =
+      new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
+  for (uint8_t idx = 0; idx < rws.size(); idx++) {
+    ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
+                 << std::endl;
+    }
+  }
+  rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
-void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
+                                                   CcsdsIpCoreHandler** ipCoreHandler) {
   using namespace gpio;
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
@@ -806,9 +749,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   consumer.str("PAPB VC 3");
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
-
-  gpioComIF->addGpios(gpioCookiePtmeIp);
-
+  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
   // Creating virtual channel interfaces
   VcInterfaceIF* vc0 =
       new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
@@ -822,14 +763,12 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   VcInterfaceIF* vc3 =
       new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
                           q7s::uiomapids::PTME_VC3);
-
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
   ptme->addVcInterface(ccsds::VC0, vc0);
   ptme->addVcInterface(ccsds::VC1, vc1);
   ptme->addVcInterface(ccsds::VC2, vc2);
   ptme->addVcInterface(ccsds::VC3, vc3);
-
   AxiPtmeConfig* axiPtmeConfig =
       new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
   PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
@@ -839,19 +778,25 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
 #else
   static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
 #endif
-  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
+  *ipCoreHandler = new CcsdsIpCoreHandler(
       objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
       gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
-
   VirtualChannel* vc = nullptr;
-  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
-  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
-  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
-  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
+  vc = new VirtualChannel(ccsds::VC0, config::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);
+  vc = new VirtualChannel(ccsds::VC1, config::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC1, vc);
+  vc = new VirtualChannel(ccsds::VC2, config::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC2, vc);
+  vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
+
+  ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    sif::error
+        << "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
+        << std::endl;
+  }
 
   GpioCookie* gpioCookiePdec = new GpioCookie;
   consumer.str("");
@@ -860,12 +805,14 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
-
-  gpioComIF->addGpios(gpioCookiePdec);
-
+  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
+  struct UioNames uioNames {};
+  uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
+  uioNames.ramMemory = q7s::UIO_PDEC_RAM;
+  uioNames.registers = q7s::UIO_PDEC_REGISTERS;
+  uioNames.irq = q7s::UIO_PDEC_IRQ;
   new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
-                  q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
-
+                  uioNames);
   GpioCookie* gpioRS485Chip = new GpioCookie;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
@@ -873,7 +820,6 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
-
   // Default configuration enables RX channels (RXEN = LOW)
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
@@ -881,12 +827,13 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
-
-  gpioComIF->addGpios(gpioRS485Chip);
+  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
+  return returnvalue::OK;
 }
 
 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                           PowerSwitchIF* pwrSwitcher) {
+                                           PowerSwitchIF* pwrSwitcher,
+                                           Stack5VHandler& stackHandler) {
   using namespace gpio;
   // Create all GPIO components first
   GpioCookie* plPcduGpios = new GpioCookie;
@@ -927,15 +874,14 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
                                     gpio::Levels::HIGH);
   plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
-  gpioComIF->addGpios(plPcduGpios);
-  SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
-                                       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
-                                       spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
+  gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
+                    spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
   // Create device handler components
-  auto plPcduHandler = new PayloadPcduHandler(
-      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
-      pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
-      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
+  auto plPcduHandler =
+      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                             gpioComIF, SdCardManager::instance(), stackHandler, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
 //  static_cast<void>(plPcduHandler);
@@ -946,6 +892,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   plPcduHandler->setToGoToNormalModeImmediately(true);
   plPcduHandler->enablePeriodicPrintout(true, 10);
 #endif
+  plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }
 
 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
@@ -954,19 +901,63 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
   new SpiTestClass(objects::SPI_TEST, gpioComIF);
 #endif
 #if OBSW_ADD_I2C_TEST_CODE == 1
-  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
+  new I2cTestClass(objects::I2C_TEST, q7s::I2C_PL_EIVE);
 #endif
 #if OBSW_ADD_UART_TEST_CODE == 1
+  // auto* reader= new ScexUartReader(objects::SCEX_UART_READER);
   new UartTestClass(objects::UART_TEST);
 #endif
 }
 
+void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
+  auto* starTrackerCookie =
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+                       startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
+  starTrackerCookie->setNoFixedSizeReply();
+  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  auto starTracker =
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
+                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+  starTracker->setPowerSwitcher(pwrSwitcher);
+  starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+}
+
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+                                     pcdu::Switches::PDU1_CH3_MGT_5V);
+  imtqHandler->setUpThermalModule(ThermalStateCfg());
+  imtqHandler->setPowerSwitcher(pwrSwitcher);
+  imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  static_cast<void>(imtqHandler);
+#if OBSW_TEST_IMTQ == 1
+  imtqHandler->setStartUpImmediately();
+  imtqHandler->setToGoToNormal(true);
+#endif
+#if OBSW_DEBUG_IMTQ == 1
+  imtqHandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createBpxBatteryComponent() {
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
+  BpxBatteryHandler* bpxHandler =
+      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
+  bpxHandler->setStartUpImmediately();
+  bpxHandler->setToGoToNormalMode(true);
+#if OBSW_DEBUG_BPX_BATT == 1
+  bpxHandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createMiscComponents() { new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); }
+
 void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
   CommandMessage msg;
   ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
                               duallane::A_SIDE);
   ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::warning << "Sending mode command failed" << std::endl;
   }
 }

bsp_q7s/core/ObjectFactory.h

@@ -1,33 +1,51 @@
 #ifndef BSP_Q7S_OBJECTFACTORY_H_
 #define BSP_Q7S_OBJECTFACTORY_H_
 
+#include <fsfw/returnvalues/returnvalue.h>
+#include <mission/devices/HeaterHandler.h>
+#include <mission/system/objects/Stack5VHandler.h>
+#include <mission/tmtc/CcsdsIpCoreHandler.h>
+#include <mission/tmtc/CfdpTmFunnel.h>
+#include <mission/tmtc/PusTmFunnel.h>
+
+#include <string>
+
 class LinuxLibgpioIF;
-class UartComIF;
+class SerialComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class HealthTableIF;
 class AcsBoardAssembly;
+class GpioIF;
 
 namespace ObjectFactory {
 
 void setStatics();
 void produce(void* args);
 
-void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
+void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                   SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                            PowerSwitchIF* pwrSwitcher);
+                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
 void createTmpComponents();
-void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
+void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents();
-void createSolarArrayDeploymentComponents();
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
+                            HeaterHandler*& heaterHandler);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createBpxBatteryComponent();
+void createStrComponents(PowerSwitchIF* pwrSwitcher);
+void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
-void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
-void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
-void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
+void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
+void createMiscComponents();
+
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);

bsp_q7s/core/scheduling.cpp

@@ -0,0 +1,587 @@
+#include "scheduling.h"
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+#include <linux/scheduling.h>
+
+#include <iostream>
+#include <vector>
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/platform.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "mission/core/scheduling.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+#include "mission/utility/InitMission.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+/* This is configured for linux without CR */
+#ifdef PLATFORM_UNIX
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR");
+#else
+ServiceInterfaceStream sif::debug("DEBUG", true);
+ServiceInterfaceStream sif::info("INFO", true);
+ServiceInterfaceStream sif::warning("WARNING", true);
+ServiceInterfaceStream sif::error("ERROR", true, false, true);
+#endif
+
+ObjectManagerIF* objectManager = nullptr;
+
+void scheduling::initMission() {
+  sif::info << "Building global objects.." << std::endl;
+  try {
+    /* Instantiate global object manager and also create all objects */
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  } catch (const std::invalid_argument& e) {
+    sif::error << "scheduling::initMission: Object Construction failed with an "
+                  "invalid argument: "
+               << e.what();
+    std::exit(1);
+  }
+
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void scheduling::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  ReturnValue_t result = returnvalue::OK;
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
+#else
+  void (*missedDeadlineFunc)(void) = nullptr;
+#endif
+
+#if OBSW_ADD_SA_DEPL == 1
+  // Could add this to the core controller but the core controller does so many thing that I would
+  // prefer to have the solar array deployment in a seprate task.
+  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
+      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
+  }
+#endif
+
+  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+  }
+  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
+      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
+  }
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
+  }
+#endif
+#endif
+  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
+  }
+  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
+  }
+  result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
+  }
+  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
+  }
+
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
+  }
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
+      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
+  }
+#endif
+#endif
+
+  PeriodicTaskIF* comTask = factory->createPeriodicTask(
+      "COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = comTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
+  }
+
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  result = comTask->addComponent(objects::CCSDS_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
+  }
+
+  // Runs in IRQ mode, frequency does not really matter
+  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
+  }
+#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
+
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
+      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+  }
+#endif
+
+#if OBSW_ADD_GPS_CTRL == 1
+  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
+  }
+#endif /* OBSW_ADD_GPS_CTRL */
+
+  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
+      "SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(acsSysTask);
+#if OBSW_ADD_ACS_BOARD == 1
+  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+  }
+#endif /* OBSW_ADD_ACS_HANDLERS */
+#if OBSW_ADD_RW == 1
+  result = acsSysTask->addComponent(objects::RW_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
+  }
+#endif
+#if OBSW_ADD_SUS_BOARD_ASS == 1
+  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+  }
+#endif
+  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
+  }
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+  }
+
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  scheduling::scheduleRtdSensors(tcsTask);
+#endif
+
+  PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
+  }
+#if OBSW_ADD_RTD_DEVICES == 1
+  result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
+#if OBSW_ADD_TCS_CTRL == 1
+  result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+  }
+#endif
+#if OBSW_ADD_HEATERS == 1
+  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
+      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = strHelperTask->addComponent(objects::STR_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+  }
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
+#if OBSW_ADD_PLOC_MPSOC == 1
+  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
+      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_MPSOC */
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::addMpsocSupvHandlers(plTask);
+  plTask->addComponent(objects::CAM_SWITCHER);
+
+#if OBSW_ADD_SCEX_DEVICE == 1
+  PeriodicTaskIF* scexDevHandler;
+  PeriodicTaskIF* scexReaderTask;
+  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+#endif
+
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+  std::vector<PeriodicTaskIF*> pstTasks;
+  AcsPstCfg cfg;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
+
+#if OBSW_ADD_TEST_CODE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
+      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
+  }
+#endif
+  std::vector<PeriodicTaskIF*> testTasks;
+  createTestTasks(*factory, missedDeadlineFunc, testTasks);
+#endif
+
+  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+    for (const auto& task : taskVector) {
+      if (task != nullptr) {
+        task->startTask();
+      } else {
+        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+      }
+    }
+  };
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmTcDistributor->startTask();
+
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  udpPollingTask->startTask();
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  tcpPollingTask->startTask();
+#endif
+#endif
+
+  comTask->startTask();
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  pdecHandlerTask->startTask();
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+
+  sysTask->startTask();
+#if OBSW_ADD_SA_DEPL == 1
+  solarArrayDeplTask->startTask();
+#endif
+
+  taskStarter(pstTasks, "PST task vector");
+  taskStarter(pusTasks, "PUS task vector");
+#if OBSW_ADD_SCEX_DEVICE == 1
+  scexDevHandler->startTask();
+  scexReaderTask->startTask();
+#endif
+
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  ptmeTestTask->startTask();
+#endif
+
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  cfdpTask->startTask();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  strHelperTask->startTask();
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
+#if OBSW_ADD_GPS_CTRL == 1
+  gpsTask->startTask();
+#endif
+  acsSysTask->startTask();
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+  if (not tcsSystemTask->isEmpty()) {
+    tcsSystemTask->startTask();
+  }
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+  plTask->startTask();
+
+#if OBSW_ADD_TEST_CODE == 1
+  taskStarter(testTasks, "Test task vector");
+#endif
+
+  sif::info << "Tasks started.." << std::endl;
+}
+
+void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                                std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
+  ReturnValue_t result = returnvalue::OK;
+
+#ifdef RELEASE_BUILD
+  static constexpr float acsPstPeriod = 0.4;
+#else
+  static constexpr float acsPstPeriod = 0.6;
+#endif
+  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  result = pst::pstAcs(acsPst, cfg);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(acsPst);
+  }
+
+  /* Polling Sequence Table Default */
+#if OBSW_ADD_SPI_TEST_CODE == 0
+  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
+      "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstSpiAndSyrlinks(spiPst);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(spiPst);
+  }
+#endif
+
+#if OBSW_ADD_I2C_TEST_CODE == 0
+  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
+      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+  result = pst::pstI2c(i2cPst);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating I2C PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(i2cPst);
+  }
+#endif
+
+#if OBSW_ADD_GOMSPACE_PCDU == 1
+  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
+      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+  result = pst::pstGompaceCan(gomSpacePstTask);
+  if (result != returnvalue::OK) {
+    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
+    }
+  }
+  taskVec.push_back(gomSpacePstTask);
+#endif
+}
+
+void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                                std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = returnvalue::OK;
+  /* PUS Services */
+  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
+  }
+  taskVec.push_back(pusVerification);
+
+  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
+      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+  }
+  taskVec.push_back(pusEvents);
+
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+
+  taskVec.push_back(pusHighPrio);
+
+  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+  }
+  // Used for connection tests, therefore use higher priority
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+  }
+  taskVec.push_back(pusMedPrio);
+
+  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
+      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+  }
+  taskVec.push_back(pusLowPrio);
+}
+
+void scheduling::createTestTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
+  ReturnValue_t result = returnvalue::OK;
+  static_cast<void>(result);  // supress warning in case it is not used
+
+  PeriodicTaskIF* testTask = factory.createPeriodicTask(
+      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
+
+  result = testTask->addComponent(objects::TEST_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+  }
+
+#if OBSW_ADD_SPI_TEST_CODE == 1
+  result = testTask->addComponent(objects::SPI_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
+  }
+#endif
+#if OBSW_ADD_I2C_TEST_CODE == 1
+  result = testTask->addComponent(objects::I2C_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
+  }
+#endif
+#if OBSW_ADD_UART_TEST_CODE == 1
+  result = testTask->addComponent(objects::UART_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
+  }
+#endif
+
+  taskVec.push_back(testTask);
+
+#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
+}
+
+/**
+                   ▄              ▄
+                  ▌▒█           ▄▀▒▌
+                  ▌▒▒█        ▄▀▒▒▒▐
+                 ▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
+               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
+             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
+            ▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
+            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
+           ▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
+           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
+          ▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
+          ▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
+          ▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
+           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
+           ▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
+            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
+              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
+                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
+                   ▒▒▒▒▒▒▒▒▒▒▀▀
+ **/

bsp_q7s/core/scheduling.h

@@ -1,23 +1,27 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
+#include <pollingsequence/pollingSequenceFactory.h>
+
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
+
+using pst::AcsPstCfg;
 
 class PeriodicTaskIF;
 class TaskFactory;
 
-namespace initmission {
+namespace scheduling {
 void initMission();
 void initTasks();
 
 void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
+                    std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                     std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                      std::vector<PeriodicTaskIF*>& taskVec);
-};  // namespace initmission
+};  // namespace scheduling
 
 #endif /* BSP_Q7S_INITMISSION_H_ */

bsp_q7s/em/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-    emObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE emObjectFactory.cpp)

bsp_q7s/fm/CMakeLists.txt

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

bsp_q7s/fmObjectFactory.cpp

@@ -0,0 +1,94 @@
+#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "busConf.h"
+#include "devConf.h"
+#include "eive/objects.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "mission/core/GenericFactory.h"
+#include "mission/system/tree/system.h"
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  HealthTableIF* healthTable = nullptr;
+  PusTmFunnel* pusFunnel = nullptr;
+  CfdpTmFunnel* cfdpFunnel = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  SerialComIF* uartComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  /* Adding gpios for chip select decoding to the gpioComIf */
+  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+
+  new CoreController(objects::CORE_CONTROLLER);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
+
+#if OBSW_ADD_RAD_SENSORS == 1
+  createRadSensorComponent(gpioComIF, *stackHandler);
+#endif
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
+#endif
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
+#if OBSW_ADD_TMP_DEVICES == 1
+  createTmpComponents();
+#endif
+  createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF, *pwrSwitcher);
+
+#if OBSW_ADD_MGT == 1
+  createImtqComponents(pwrSwitcher);
+#endif
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  createStrComponents(pwrSwitcher);
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
+  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+#if OBSW_TM_TO_PTME == 1
+  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+#endif
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+
+#if OBSW_ADD_SCEX_DEVICE == 1
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
+                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
+#endif
+  /* Test Task */
+#if OBSW_ADD_TEST_CODE == 1
+  createTestComponents(gpioComIF);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  createMiscComponents();
+  createThermalController(*heaterHandler);
+  createAcsController(true);
+  satsystem::init();
+}

bsp_q7s/fs/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_sources(${OBSW_NAME} PRIVATE helpers.cpp SdCardManager.cpp
+                                    FilesystemHelper.cpp)

bsp_q7s/fs/FilesystemHelper.cpp

@@ -3,38 +3,36 @@
 #include <filesystem>
 #include <fstream>
 
-#include "bsp_q7s/memory/SdCardManager.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "SdCardManager.h"
+#include "eive/definitions.h"
+#include "fsfw/serviceinterface.h"
 
 FilesystemHelper::FilesystemHelper() {}
 
-FilesystemHelper::~FilesystemHelper() {}
-
 ReturnValue_t FilesystemHelper::checkPath(std::string path) {
   SdCardManager* sdcMan = SdCardManager::instance();
   if (sdcMan == nullptr) {
     sif::warning << "FilesystemHelper::checkPath: Invalid SD card manager" << std::endl;
-    return RETURN_FAILED;
+    return returnvalue::FAILED;
   }
-  if (path.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
-      std::string(SdCardManager::SD_0_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+  if (path.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }
-  } else if (path.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
-             std::string(SdCardManager::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+  } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
+             std::string(config::SD_1_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }
   }
-  return RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t FilesystemHelper::fileExists(std::string file) {
   if (not std::filesystem::exists(file)) {
     return FILE_NOT_EXISTS;
   }
-  return RETURN_OK;
+  return returnvalue::OK;
 }

bsp_q7s/fs/FilesystemHelper.h

@@ -3,15 +3,15 @@
 
 #include <string>
 
-#include "commonClassIds.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "eive/resultClassIds.h"
+#include "fsfw/returnvalues/returnvalue.h"
 
 /**
- * @brief   This class implements often used functions concerning the file system management.
+ * @brief   This class implements often used functions related to the file system management.
  *
  * @author  J. Meier
  */
-class FilesystemHelper : public HasReturnvaluesIF {
+class FilesystemHelper {
  public:
   static const uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM_HELPER;
 
@@ -20,16 +20,13 @@ class FilesystemHelper : public HasReturnvaluesIF {
   //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
   static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
 
-  FilesystemHelper();
-  virtual ~FilesystemHelper();
-
   /**
-   * @brief   In case the path points to a directory on the sd card the function checks if the
+   * @brief   In case the path points to a directory on the sd card, the function checks if the
    *          appropriate SD card is mounted.
    *
    * @param path  Path to check
    *
-   * @return  RETURN_OK if path points to SD card and the appropriate SD card is mounted or if
+   * @return  returnvalue::OK if path points to SD card and the appropriate SD card is mounted or if
    *          path does not point to SD card.
    *          Return error code if path points to SD card and the corresponding SD card is not
    *          mounted.
@@ -39,11 +36,14 @@ class FilesystemHelper : public HasReturnvaluesIF {
   /**
    * @brief   Checks if the file exists on the filesystem.
    *
-   * param file   File to check
+   * @param file   File to check
    *
-   * @return  RETURN_OK if fiel exists, otherwise return error code.
+   * @return  returnvalue::OK if file exists, otherwise return error code.
    */
   static ReturnValue_t fileExists(std::string file);
+
+ private:
+  FilesystemHelper();
 };
 
 #endif /* BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_ */

bsp_q7s/fs/SdCardManager.cpp

@@ -10,34 +10,62 @@
 #include <memory>
 
 #include "OBSWConfig.h"
-#include "common/config/commonObjects.h"
+#include "bsp_q7s/memory/scratchApi.h"
+#include "eive/definitions.h"
+#include "eive/objects.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "linux/utility/utility.h"
-#include "scratchApi.h"
 
-SdCardManager* SdCardManager::factoryInstance = nullptr;
+SdCardManager* SdCardManager::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
   mutex = MutexFactory::instance()->createMutex();
+  ReturnValue_t result = mutex->lockMutex();
+  if (result != returnvalue::OK) {
+    sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
+  }
+  uint8_t prefSdRaw = 0;
+  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
+  if (mutex->unlockMutex() != returnvalue::OK) {
+    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
+  }
+
+  if (result != returnvalue::OK) {
+    if (result == scratch::KEY_NOT_FOUND) {
+      sif::warning << "CoreController::sdCardInit: "
+                      "Preferred SD card not set. Setting to 0"
+                   << std::endl;
+      setPreferredSdCard(sd::SdCard::SLOT_0);
+      sdInfo.pref = sd::SdCard::SLOT_0;
+    } else {
+      // Should not happen.
+      // TODO: Maybe trigger event?
+      sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
+                    "buffer failed"
+                 << std::endl;
+      sdInfo.pref = sd::SdCard::SLOT_0;
+    }
+  }
+  sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
 }
 
 SdCardManager::~SdCardManager() {}
 
 void SdCardManager::create() {
-  if (factoryInstance == nullptr) {
-    factoryInstance = new SdCardManager();
+  if (INSTANCE == nullptr) {
+    INSTANCE = new SdCardManager();
   }
 }
 
 SdCardManager* SdCardManager::instance() {
   SdCardManager::create();
-  return SdCardManager::factoryInstance;
+  return SdCardManager::INSTANCE;
 }
 
 ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
                                             SdStatePair* statusPair) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   if (doMountSdCard) {
     if (not blocking) {
       sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
@@ -51,8 +79,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   if (statusPair == nullptr) {
     sdStatusPtr = std::make_unique<SdStatePair>();
     statusPair = sdStatusPtr.get();
-    result = getSdCardActiveStatus(*statusPair);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    result = getSdCardsStatus(*statusPair);
+    if (result != returnvalue::OK) {
       return result;
     }
   }
@@ -61,7 +89,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   if (sdCard == sd::SdCard::BOTH) {
     sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
                  << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
 
   sd::SdState currentState;
@@ -85,10 +113,10 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   } else if (currentState == sd::SdState::OFF) {
     result = setSdCardState(sdCard, true);
   } else {
-    result = HasReturnvaluesIF::RETURN_FAILED;
+    result = returnvalue::FAILED;
   }
 
-  if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
+  if (result != returnvalue::OK or not doMountSdCard) {
     return result;
   }
 
@@ -98,8 +126,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
 ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
                                              SdStatePair* statusPair) {
   std::pair<sd::SdState, sd::SdState> active;
-  ReturnValue_t result = getSdCardActiveStatus(active);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  ReturnValue_t result = getSdCardsStatus(active);
+  if (result != returnvalue::OK) {
     return result;
   }
   if (doUnmountSdCard) {
@@ -114,7 +142,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
   if (sdCard == sd::SdCard::BOTH) {
     sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
                  << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   if (sdCard == sd::SdCard::SLOT_0) {
     if (active.first == sd::SdState::OFF) {
@@ -128,7 +156,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
 
   if (doUnmountSdCard) {
     result = unmountSdCard(sdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
       return result;
     }
   }
@@ -159,13 +187,13 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
   command << "q7hw sd set " << sdstring << " " << statestring;
   cmdExecutor.load(command.str(), blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
   }
   return result;
 }
 
-ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
+ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
   using namespace std;
   MutexGuard mg(mutex);
   if (not filesystem::exists(SD_STATE_FILE)) {
@@ -184,7 +212,10 @@ ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
   while (std::getline(sdStatus, line)) {
     processSdStatusLine(active, line, idx, currentSd);
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  if (active.first != sd::SdState::MOUNTED && active.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
@@ -195,16 +226,16 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
   if (sdCard == sd::SdCard::BOTH) {
     sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
                  << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   string mountDev;
   string mountPoint;
   if (sdCard == sd::SdCard::SLOT_0) {
     mountDev = SD_0_DEV_NAME;
-    mountPoint = SD_0_MOUNT_POINT;
+    mountPoint = config::SD_0_MOUNT_POINT;
   } else if (sdCard == sd::SdCard::SLOT_1) {
     mountDev = SD_1_DEV_NAME;
-    mountPoint = SD_1_MOUNT_POINT;
+    mountPoint = config::SD_1_MOUNT_POINT;
   }
   if (not filesystem::exists(mountDev)) {
     sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
@@ -219,7 +250,7 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
   string sdMountCommand = "mount " + mountDev + " " + mountPoint;
   cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
   }
   return result;
@@ -233,13 +264,13 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
   if (sdCard == sd::SdCard::BOTH) {
     sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
                  << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   string mountPoint;
   if (sdCard == sd::SdCard::SLOT_0) {
-    mountPoint = SD_0_MOUNT_POINT;
+    mountPoint = config::SD_0_MOUNT_POINT;
   } else if (sdCard == sd::SdCard::SLOT_1) {
-    mountPoint = SD_1_MOUNT_POINT;
+    mountPoint = config::SD_1_MOUNT_POINT;
   }
   if (not filesystem::exists(mountPoint)) {
     sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
@@ -257,7 +288,7 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
   }
   cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
   }
   return result;
@@ -265,22 +296,17 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
 
 ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
   std::unique_ptr<SdStatePair> sdStatusPtr;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   // Enforce blocking operation for now. Be careful to reset it when returning prematurely!
   bool resetNonBlockingState = false;
   if (not this->blocking) {
     blocking = true;
     resetNonBlockingState = true;
   }
-  if (prefSdCard == sd::SdCard::NONE) {
-    result = getPreferredSdCard(prefSdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-    }
-  }
   if (statusPair == nullptr) {
     sdStatusPtr = std::make_unique<SdStatePair>();
     statusPair = sdStatusPtr.get();
-    getSdCardActiveStatus(*statusPair);
+    getSdCardsStatus(*statusPair);
   }
 
   if (statusPair->first == sd::SdState::ON) {
@@ -351,20 +377,21 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
   idx++;
 }
 
-ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
-  uint8_t prefSdCard = 0;
-  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
+std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
+  MutexGuard mg(mutex);
+  auto res = mg.getLockResult();
+  if (res != returnvalue::OK) {
+    sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
   }
-  sdCard = static_cast<sd::SdCard>(prefSdCard);
-  return HasReturnvaluesIF::RETURN_OK;
+  return sdInfo.pref;
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
+  MutexGuard mg(mutex);
   if (sdCard == sd::SdCard::BOTH) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
+  sdInfo.pref = sdCard;
   return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
 }
 
@@ -377,24 +404,15 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
   cmdExecutor.load(updateCmd, blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
   }
   return result;
 }
 
-std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
-  if (prefSdCard == sd::SdCard::NONE) {
-    ReturnValue_t result = getPreferredSdCard(prefSdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      return SD_0_MOUNT_POINT;
-    }
-  }
-  if (prefSdCard == sd::SdCard::SLOT_0) {
-    return SD_0_MOUNT_POINT;
-  } else {
-    return SD_1_MOUNT_POINT;
-  }
+const std::string& SdCardManager::getCurrentMountPrefix() const {
+  MutexGuard mg(mutex);
+  return currentPrefix;
 }
 
 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
@@ -424,10 +442,10 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
       case (CommandExecutor::EXECUTION_FINISHED): {
         return OpStatus::SUCCESS;
       }
-      case (HasReturnvaluesIF::RETURN_OK): {
+      case (returnvalue::OK): {
         return OpStatus::ONGOING;
       }
-      case (HasReturnvaluesIF::RETURN_FAILED): {
+      case (returnvalue::FAILED): {
         return OpStatus::FAIL;
       }
       default: {
@@ -441,28 +459,131 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
 
 void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
 
-bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
-  SdCardManager::SdStatePair active;
-  ReturnValue_t result = this->getSdCardActiveStatus(active);
+bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
+  {
+    MutexGuard mg(mutex);
+    if (markedUnusable) {
+      return false;
+    }
+  }
 
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  SdCardManager::SdStatePair active;
+  ReturnValue_t result = this->getSdCardsStatus(active);
+
+  if (result != returnvalue::OK) {
     sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
     return false;
   }
+  if (not sdCard) {
+    if (active.first == sd::MOUNTED or active.second == sd::MOUNTED) {
+      return true;
+    }
+    return false;
+  }
   if (sdCard == sd::SLOT_0) {
     if (active.first == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
-  } else if (sdCard == sd::SLOT_1) {
+  }
+  if (sdCard == sd::SLOT_1) {
     if (active.second == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
-  } else {
-    sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
+  }
+  if (sdCard == sd::BOTH) {
+    if (active.first == sd::MOUNTED && active.second == sd::MOUNTED) {
+      return true;
+    }
   }
   return false;
 }
+
+ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  } else if (sdcard == sd::SdCard::SLOT_1) {
+    command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  } else {
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = cmdExecutor.execute();
+  if (result != returnvalue::OK) {
+    int exitStatus = cmdExecutor.getLastError();
+    if (exitStatus == 1) {
+      readOnly = false;
+      return returnvalue::OK;
+    }
+    return result;
+  }
+  auto& readVec = cmdExecutor.getReadVector();
+  size_t readLen = strnlen(readVec.data(), readVec.size());
+  if (readLen == 0) {
+    readOnly = false;
+  }
+  readOnly = true;
+  return returnvalue::OK;
+}
+
+ReturnValue_t SdCardManager::remountReadWrite(sd::SdCard sdcard) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << config::SD_0_MOUNT_POINT;
+  } else {
+    command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << config::SD_1_MOUNT_POINT;
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return cmdExecutor.execute();
+}
+
+ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "fsck -y " << SD_0_DEV_NAME;
+  } else {
+    command << "fsck -y " << SD_1_DEV_NAME;
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = cmdExecutor.execute();
+  if (result != returnvalue::OK) {
+    linuxError = cmdExecutor.getLastError();
+  }
+  return result;
+}
+
+void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
+  MutexGuard mg(mutex);
+  sdInfo.active = sdCard;
+  if (sdInfo.active == sd::SdCard::SLOT_0) {
+    currentPrefix = config::SD_0_MOUNT_POINT;
+  } else {
+    currentPrefix = config::SD_1_MOUNT_POINT;
+  }
+}
+
+std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
+  MutexGuard mg(mutex);
+  if (markedUnusable) {
+    return std::nullopt;
+  }
+  return sdInfo.active;
+}
+
+void SdCardManager::markUnusable() {
+  MutexGuard mg(mutex);
+  markedUnusable = true;
+}

bsp_q7s/fs/SdCardManager.h

@@ -12,7 +12,7 @@
 
 #include "events/subsystemIdRanges.h"
 #include "fsfw/events/Event.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/CommandExecutor.h"
 #include "mission/memory/SdCardMountedIF.h"
 #include "mission/memory/definitions.h"
@@ -36,24 +36,25 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   using SdStatePair = std::pair<sd::SdState, sd::SdState>;
 
+  struct SdInfo {
+    sd::SdCard pref = sd::SdCard::NONE;
+    sd::SdCard other = sd::SdCard::NONE;
+    sd::SdCard active = sd::SdCard::NONE;
+  } sdInfo;
+
   static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
 
-  static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
-  static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
-  static constexpr ReturnValue_t ALREADY_MOUNTED =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
-  static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
-  static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
+  static constexpr ReturnValue_t OP_ONGOING = returnvalue::makeCode(INTERFACE_ID, 0);
+  static constexpr ReturnValue_t ALREADY_ON = returnvalue::makeCode(INTERFACE_ID, 1);
+  static constexpr ReturnValue_t ALREADY_MOUNTED = returnvalue::makeCode(INTERFACE_ID, 2);
+  static constexpr ReturnValue_t ALREADY_OFF = returnvalue::makeCode(INTERFACE_ID, 3);
+  static constexpr ReturnValue_t STATUS_FILE_NEXISTS = returnvalue::makeCode(INTERFACE_ID, 10);
   static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
-  static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
-  static constexpr ReturnValue_t UNMOUNT_ERROR =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
-  static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
-  static constexpr ReturnValue_t POPEN_CALL_ERROR =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
+      returnvalue::makeCode(INTERFACE_ID, 11);
+  static constexpr ReturnValue_t MOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 12);
+  static constexpr ReturnValue_t UNMOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 13);
+  static constexpr ReturnValue_t SYSTEM_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 14);
+  static constexpr ReturnValue_t POPEN_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 15);
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
 
@@ -63,8 +64,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   // C++17 does not support constexpr std::string yet
   static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
   static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
-  static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
-  static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
+
   static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";
 
   virtual ~SdCardManager();
@@ -91,7 +91,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param sdCard
    * @return
    */
-  ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const override;
+  std::optional<sd::SdCard> getPreferredSdCard() const override;
 
   /**
    * Switch on the specified SD card.
@@ -99,7 +99,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param doMountSdCard     Mount the SD card after switching it on, which is necessary
    *                          to use it
    * @param statusPair        If the status pair is already available, it can be passed here
-   * @return - RETURN_OK on success, ALREADY_ON if it is already on,
+   * @return - returnvalue::OK on success, ALREADY_ON if it is already on,
    *           SYSTEM_CALL_ERROR on system error
    */
   ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
@@ -111,7 +111,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param doUnmountSdCard   Unmount the SD card before switching the card off, which makes
    *                          the operation safer
    * @param statusPair        If the status pair is already available, it can be passed here
-   * @return - RETURN_OK on success, ALREADY_ON if it is already on,
+   * @return - returnvalue::OK on success, ALREADY_ON if it is already on,
    *           SYSTEM_CALL_ERROR on system error
    */
   ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
@@ -121,9 +121,9 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * Update the state file or creates one if it does not exist. You need to call this
    * function before calling #sdCardActive
    * @return
-   *  - RETURN_OK if the state file was updated successfully
+   *  - returnvalue::OK if the state file was updated successfully
    *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
-   *  - RETURN_FAILED: blocking command failed
+   *  - returnvalue::FAILED: blocking command failed
    */
   ReturnValue_t updateSdCardStateFile();
 
@@ -133,12 +133,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * the status of the SD cards and set the field of the provided boolean pair.
    * @param active Pair of booleans, where the first entry is the state of the first SD card
    * and the second one the state of the second SD card
-   * @return - RETURN_OK if the state was read successfully
+   * @return - returnvalue::OK if the state was read successfully
    *         - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user
    *           should call #updateSdCardStateFile again in that case
    *         - STATUS_FILE_NEXISTS if the status file does not exist
    */
-  ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
+  ReturnValue_t getSdCardsStatus(SdStatePair& active);
 
   /**
    * Mount the specified SD card. This is necessary to use it.
@@ -146,6 +146,20 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @return
    */
   ReturnValue_t mountSdCard(sd::SdCard sdCard);
+
+  /**
+   * Set the currently active SD card. This does not necessarily mean that the SD card is on or
+   * mounted
+   * @param sdCard
+   */
+  void setActiveSdCard(sd::SdCard sdCard) override;
+  /**
+   * Get the currently active SD card. This does not necessarily mean that the SD card is on or
+   * mounted
+   * @return
+   */
+  std::optional<sd::SdCard> getActiveSdCard() const override;
+
   /**
    * Unmount the specified SD card. This is recommended before switching it off. The SD card
    * can't be used after it has been unmounted.
@@ -173,7 +187,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE) override;
+  const std::string& getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -192,13 +206,23 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    *
    * @return  true if mounted, otherwise false
    */
-  bool isSdCardMounted(sd::SdCard sdCard) override;
+  bool isSdCardUsable(std::optional<sd::SdCard> sdCard) override;
+
+  ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
+
+  ReturnValue_t remountReadWrite(sd::SdCard sdcard);
+
+  ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
+
+  void markUnusable();
 
  private:
   CommandExecutor cmdExecutor;
   Operations currentOp = Operations::IDLE;
   bool blocking = false;
+  bool sdCardActive = true;
   bool printCmdOutput = true;
+  bool markedUnusable = false;
   MutexIF* mutex = nullptr;
 
   SdCardManager();
@@ -210,7 +234,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   std::string currentPrefix;
 
-  static SdCardManager* factoryInstance;
+  static SdCardManager* INSTANCE;
 };
 
 #endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

bsp_q7s/fs/helpers.cpp

@@ -0,0 +1,8 @@
+#include "helpers.h"
+
+std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
+                                                 std::filesystem::path pathWihtoutPrefix) {
+  auto prefix = man.getCurrentMountPrefix();
+  auto resPath = prefix / pathWihtoutPrefix;
+  return resPath;
+}

bsp_q7s/fs/helpers.h

@@ -0,0 +1,14 @@
+#ifndef BSP_Q7S_MEMORY_HELPERS_H_
+#define BSP_Q7S_MEMORY_HELPERS_H_
+
+#include <filesystem>
+
+#include "SdCardManager.h"
+
+namespace fshelpers {
+
+std::filesystem::path getPrefixedPath(SdCardManager& man, std::filesystem::path pathWihtoutPrefix);
+
+}
+
+#endif /* BSP_Q7S_MEMORY_HELPERS_H_ */

bsp_q7s/memory/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemHandler.cpp
-    SdCardManager.cpp
-    scratchApi.cpp
-    FilesystemHelper.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp)

bsp_q7s/memory/FileSystemHandler.cpp

@@ -1,243 +0,0 @@
-#include "FileSystemHandler.h"
-
-#include <cstring>
-#include <filesystem>
-#include <fstream>
-
-#include "bsp_q7s/core/CoreController.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/memory/GenericFileSystemMessage.h"
-#include "fsfw/tasks/TaskFactory.h"
-
-FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
-    : SystemObject(fileSystemHandler) {
-  auto mqArgs = MqArgs(this->getObjectId());
-  mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE,
-                                                    MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
-
-FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }
-
-ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
-  while (true) {
-    try {
-      fileSystemHandlerLoop();
-    } catch (std::bad_alloc& e) {
-      // Restart OBSW, hints at a memory leak
-      sif::error << "Allocation error in FileSystemHandler::performOperation" << e.what()
-                 << std::endl;
-      // Set up an error file or a special flag in the scratch buffer for these cases
-      triggerEvent(CoreController::ALLOC_FAILURE, 0, 0);
-      CoreController::incrementAllocationFailureCount();
-    }
-  }
-}
-
-void FileSystemHandler::fileSystemHandlerLoop() {
-  CommandMessage filemsg;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  while (true) {
-    if (opCounter % 5 == 0) {
-      if (coreCtrl->sdInitFinished()) {
-        fileSystemCheckup();
-      }
-    }
-    result = mq->receiveMessage(&filemsg);
-    if (result == MessageQueueIF::EMPTY) {
-      break;
-    } else if (result != HasReturnvaluesIF::RETURN_FAILED) {
-      sif::warning << "FileSystemHandler::performOperation: Message reception failed!" << std::endl;
-      break;
-    }
-    Command_t command = filemsg.getCommand();
-    switch (command) {
-      case (GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
-        break;
-      }
-      case (GenericFileSystemMessage::CMD_CREATE_FILE): {
-        break;
-      }
-    }
-    opCounter++;
-  }
-
-  // This task will have a low priority and will run permanently in the background
-  // so we will just run in a permanent loop here and check file system
-  // messages permanently
-  opCounter++;
-  TaskFactory::instance()->delayTask(1000);
-}
-
-void FileSystemHandler::fileSystemCheckup() {
-  SdCardManager::SdStatePair statusPair;
-  sdcMan->getSdCardActiveStatus(statusPair);
-  sd::SdCard preferredSdCard;
-  sdcMan->getPreferredSdCard(preferredSdCard);
-  if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
-    currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  } else if ((preferredSdCard == sd::SdCard::SLOT_1) and
-             (statusPair.second == sd::SdState::MOUNTED)) {
-    currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
-  } else {
-    std::string sdString;
-    if (preferredSdCard == sd::SdCard::SLOT_0) {
-      sdString = "0";
-    } else {
-      sdString = "1";
-    }
-    sif::warning << "FileSystemHandler::performOperation: "
-                    "Inconsistent state detected"
-                 << std::endl;
-    sif::warning << "Preferred SD card is " << sdString
-                 << " but does not appear to be mounted. Attempting fix.." << std::endl;
-    // This function will appear to fix the inconsistent state
-    ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      // Oh no.
-      triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
-      sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
-    }
-  }
-}
-
-MessageQueueId_t FileSystemHandler::getCommandQueue() const { return mq->getId(); }
-
-ReturnValue_t FileSystemHandler::initialize() {
-  coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
-  if (coreCtrl == nullptr) {
-    sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle"
-               << std::endl;
-  }
-  sdcMan = SdCardManager::instance();
-  sd::SdCard preferredSdCard;
-  ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  if (preferredSdCard == sd::SdCard::SLOT_0) {
-    currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  } else if (preferredSdCard == sd::SdCard::SLOT_1) {
-    currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath, const char* filename,
-                                              const uint8_t* data, size_t size,
-                                              uint16_t packetNumber, FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / filename;
-  if (not std::filesystem::exists(path)) {
-    return FILE_DOES_NOT_EXIST;
-  }
-  std::ofstream file(path, std::ios_base::app | std::ios_base::out);
-  file.write(reinterpret_cast<const char*>(data), size);
-  if (not file.good()) {
-    return GENERIC_FILE_ERROR;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath, const char* filename,
-                                            const uint8_t* data, size_t size,
-                                            FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / filename;
-  if (std::filesystem::exists(path)) {
-    return FILE_ALREADY_EXISTS;
-  }
-  std::ofstream file(path);
-  file.write(reinterpret_cast<const char*>(data), size);
-  if (not file.good()) {
-    return GENERIC_FILE_ERROR;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath, const char* filename,
-                                            FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / filename;
-  if (not std::filesystem::exists(path)) {
-    return FILE_DOES_NOT_EXIST;
-  }
-  int result = std::remove(path.c_str());
-  if (result != 0) {
-    sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
-    return GENERIC_FILE_ERROR;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::createDirectory(const char* repositoryPath, const char* dirname,
-                                                 bool createParentDirs, FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / dirname;
-  if (std::filesystem::exists(path)) {
-    return DIRECTORY_ALREADY_EXISTS;
-  }
-  if (std::filesystem::create_directory(path)) {
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-  sif::warning << "Creating directory " << path << " failed" << std::endl;
-  return GENERIC_FILE_ERROR;
-}
-
-ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, const char* dirname,
-                                                 bool deleteRecurively, FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / dirname;
-  if (not std::filesystem::exists(path)) {
-    return DIRECTORY_DOES_NOT_EXIST;
-  }
-  std::error_code err;
-  if (not deleteRecurively) {
-    if (std::filesystem::remove(path, err)) {
-      return HasReturnvaluesIF::RETURN_OK;
-    } else {
-      // Check error code. Most probably denied permissions because folder is not empty
-      sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                      "code "
-                   << err.value() << ": " << strerror(err.value()) << std::endl;
-      if (err.value() == ENOTEMPTY) {
-        return DIRECTORY_NOT_EMPTY;
-      } else {
-        return GENERIC_FILE_ERROR;
-      }
-    }
-  } else {
-    if (std::filesystem::remove_all(path, err)) {
-      return HasReturnvaluesIF::RETURN_OK;
-    } else {
-      sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                      "code "
-                   << err.value() << ": " << strerror(err.value()) << std::endl;
-      // Check error code
-      if (err.value() == ENOTEMPTY) {
-        return DIRECTORY_NOT_EMPTY;
-      } else {
-        return GENERIC_FILE_ERROR;
-      }
-    }
-  }
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::renameFile(const char* repositoryPath, const char* oldFilename,
-                                            const char* newFilename, FileSystemArgsIF* args) {
-  auto basepath = getInitPath(args) / repositoryPath;
-  std::filesystem::rename(basepath / oldFilename, basepath / newFilename);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-void FileSystemHandler::parseCfg(FsCommandCfg* cfg, bool& useMountPrefix) {
-  if (cfg != nullptr) {
-    useMountPrefix = cfg->useMountPrefix;
-  }
-}
-
-std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) {
-  bool useMountPrefix = true;
-  parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
-  std::string path;
-  if (useMountPrefix) {
-    path = currentMountPrefix;
-  }
-  return std::filesystem::path(path);
-}

bsp_q7s/memory/FileSystemHandler.h

@@ -1,68 +0,0 @@
-#ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
-#define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
-
-#include <filesystem>
-#include <string>
-
-#include "OBSWConfig.h"
-#include "SdCardManager.h"
-#include "eive/definitions.h"
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/memory/HasFileSystemIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-
-class CoreController;
-
-class FileSystemHandler : public SystemObject, public ExecutableObjectIF, public HasFileSystemIF {
- public:
-  struct FsCommandCfg : public FileSystemArgsIF {
-    // Can be used to automatically use mount prefix of active SD card.
-    // Otherwise, the operator has to specify the full path to the mounted SD card as well.
-    bool useMountPrefix = false;
-  };
-
-  FileSystemHandler(object_id_t fileSystemHandler);
-  virtual ~FileSystemHandler();
-
-  ReturnValue_t performOperation(uint8_t) override;
-
-  ReturnValue_t initialize() override;
-
-  /**
-   * Function to get the MessageQueueId_t of the implementing object
-   * @return MessageQueueId_t of the object
-   */
-  MessageQueueId_t getCommandQueue() const override;
-  ReturnValue_t appendToFile(const char* repositoryPath, const char* filename, const uint8_t* data,
-                             size_t size, uint16_t packetNumber,
-                             FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t createFile(const char* repositoryPath, const char* filename,
-                           const uint8_t* data = nullptr, size_t size = 0,
-                           FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t removeFile(const char* repositoryPath, const char* filename,
-                           FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname,
-                                bool createParentDirs, FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname,
-                                bool deleteRecurively = false,
-                                FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
-                           const char* newFilename, FileSystemArgsIF* args = nullptr) override;
-
- private:
-  CoreController* coreCtrl = nullptr;
-  MessageQueueIF* mq = nullptr;
-  std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
-
-  SdCardManager* sdcMan = nullptr;
-  uint8_t opCounter = 0;
-
-  void fileSystemHandlerLoop();
-  void fileSystemCheckup();
-  std::filesystem::path getInitPath(FileSystemArgsIF* args);
-  void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
-};
-
-#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

bsp_q7s/memory/scratchApi.cpp

@@ -1,28 +1,28 @@
 #include "scratchApi.h"
 
 ReturnValue_t scratch::writeString(std::string name, std::string string) {
-  std::ostringstream oss;
-  oss << "xsc_scratch write " << name << " \"" << string << "\"";
+  std::ostringstream oss("xsc_scratch write ", std::ostringstream::ate);
+  oss << name << " \"" << string << "\"";
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     utility::handleSystemError(result, "scratch::writeString");
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t scratch::readString(std::string key, std::string &string) {
   std::ifstream file;
   std::string filename;
   ReturnValue_t result = readToFile(key, file, filename);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
 
   std::string line;
   if (not std::getline(file, line)) {
     std::remove(filename.c_str());
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
 
   size_t pos = line.find("=");
@@ -35,16 +35,16 @@ ReturnValue_t scratch::readString(std::string key, std::string &string) {
     return KEY_NOT_FOUND;
   }
   string = line.substr(pos + 1);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t scratch::clearValue(std::string key) {
-  std::ostringstream oss;
-  oss << "xsc_scratch clear " << key;
+  std::ostringstream oss("xsc_scratch clear ", std::ostringstream::ate);
+  oss << key;
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     utility::handleSystemError(result, "scratch::clearValue");
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

bsp_q7s/memory/scratchApi.h

@@ -7,7 +7,7 @@
 #include <sstream>
 #include <type_traits>
 
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "linux/utility/utility.h"
 #include "returnvalues/classIds.h"
@@ -21,7 +21,7 @@ static constexpr char PREFERED_SDC_KEY[] = "PREFSD";
 static constexpr char ALLOC_FAILURE_COUNT[] = "ALLOCERR";
 
 static constexpr uint8_t INTERFACE_ID = CLASS_ID::SCRATCH_BUFFER;
-static constexpr ReturnValue_t KEY_NOT_FOUND = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
+static constexpr ReturnValue_t KEY_NOT_FOUND = returnvalue::makeCode(INTERFACE_ID, 0);
 
 ReturnValue_t clearValue(std::string key);
 
@@ -76,32 +76,32 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     if (WEXITSTATUS(result) == 1) {
-      sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
+      sif::warning << "scratch::readToFile: Key " << name << " does not exist" << std::endl;
       // Could not find value
       std::remove(filename.c_str());
       return KEY_NOT_FOUND;
     } else {
-      utility::handleSystemError(result, "scratch::readNumber");
+      utility::handleSystemError(result, "scratch::readToFile");
       std::remove(filename.c_str());
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
     }
   }
   file.open(filename);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 }  // End of anonymous namespace
 
 template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
 inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
-  std::ostringstream oss;
-  oss << "xsc_scratch write " << key << " " << std::to_string(num);
+  std::ostringstream oss("xsc_scratch write ", std::ostringstream::ate);
+  oss << key << " " << std::to_string(num);
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     utility::handleSystemError(result, "scratch::writeNumber");
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
@@ -110,7 +110,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
   ifstream file;
   std::string filename;
   ReturnValue_t result = readToFile(key, file, filename);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     std::remove(filename.c_str());
     return result;
   }
@@ -118,7 +118,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
   string line;
   if (not std::getline(file, line)) {
     std::remove(filename.c_str());
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
 
   size_t pos = line.find("=");
@@ -138,7 +138,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
   }
 
   std::remove(filename.c_str());
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 }  // namespace scratch

bsp_q7s/obsw.cpp

@@ -1,21 +1,31 @@
 #include "obsw.h"
 
+#include <pwd.h>
+#include <sys/types.h>
+#include <unistd.h>
+
 #include <filesystem>
+#include <fstream>
 #include <iostream>
 
 #include "OBSWConfig.h"
 #include "commonConfig.h"
-#include "core/InitMission.h"
+#include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
+#include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
 static int OBSW_ALREADY_RUNNING = -2;
-
+#if OBSW_Q7S_EM == 0
+static const char* DEV_STRING = "Xiphos Q7S FM";
+#else
+static const char* DEV_STRING = "Xiphos Q7S EM";
+#endif
 int obsw::obsw() {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
-  std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
+  std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
   std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
             << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
@@ -31,7 +41,36 @@ int obsw::obsw() {
     return OBSW_ALREADY_RUNNING;
   }
 #endif
-  initmission::initMission();
+
+  const char* homedir = nullptr;
+  homedir = getenv("HOME");
+  if (homedir == nullptr) {
+    homedir = getpwuid(getuid())->pw_dir;
+  }
+  std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
+  // Init delay handling.
+  if (std::filesystem::exists(bootDelayFile)) {
+    std::ifstream ifile(bootDelayFile);
+    std::string lineStr;
+    unsigned int bootDelaySecs = 0;
+    unsigned int line = 0;
+    // Try to reas delay seconds from file.
+    while (std::getline(ifile, lineStr)) {
+      std::istringstream iss(lineStr);
+      if (!(iss >> bootDelaySecs)) {
+        break;
+      }
+      line++;
+    }
+    if (line == 0) {
+      // If the file is empty, assume default of 6 seconds
+      bootDelaySecs = 6;
+    }
+    std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
+    TaskFactory::delayTask(bootDelaySecs * 1000);
+  }
+
+  scheduling::initMission();
 
   for (;;) {
     /* Suspend main thread by sleeping it. */

bsp_q7s/simple/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    simple.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE simple.cpp)

bsp_q7s/xadc/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-    Xadc.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE Xadc.cpp)

bsp_q7s/xadc/Xadc.cpp

@@ -12,20 +12,20 @@ Xadc::Xadc() {}
 Xadc::~Xadc() {}
 
 ReturnValue_t Xadc::getTemperature(float& temperature) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   int raw = 0;
   int offset = 0;
   float scale = 0;
   result = readValFromFile<int>(xadc::file::tempRaw.c_str(), raw);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   result = readValFromFile<int>(xadc::file::tempOffset.c_str(), offset);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   result = readValFromFile<float>(xadc::file::tempScale.c_str(), scale);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   temperature = (raw + offset) * scale / 1000;
@@ -35,84 +35,84 @@ ReturnValue_t Xadc::getTemperature(float& temperature) {
 ReturnValue_t Xadc::getVccPint(float& vccPint) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccpintRaw, xadc::file::vccpintScale, vccPint);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::getVccPaux(float& vccPaux) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccpauxRaw, xadc::file::vccpauxScale, vccPaux);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::getVccInt(float& vccInt) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccintRaw, xadc::file::vccintScale, vccInt);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::getVccAux(float& vccAux) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccauxRaw, xadc::file::vccauxScale, vccAux);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::getVccBram(float& vccBram) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccbramRaw, xadc::file::vccbramScale, vccBram);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::getVccOddr(float& vccOddr) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccoddrRaw, xadc::file::vccoddrScale, vccOddr);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::getVrefp(float& vrefp) {
   ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefpRaw, xadc::file::vrefpScale, vrefp);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::getVrefn(float& vrefn) {
   ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefnRaw, xadc::file::vrefnScale, vrefn);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t Xadc::readVoltageFromSysfs(std::string rawFile, std::string scaleFile,
                                          float& voltage) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   float raw = 0;
   float scale = 0;
   result = readValFromFile(rawFile.c_str(), raw);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   result = readValFromFile(scaleFile.c_str(), scale);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   voltage = calculateVoltage(raw, scale);
@@ -127,7 +127,7 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
   fp = fopen(filename, "r");
   if (fp == nullptr) {
     sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   char valstring[MAX_STR_LENGTH] = "";
   char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
@@ -135,10 +135,10 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
     sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
                  << std::endl;
     fclose(fp);
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   std::istringstream valSstream(valstring);
   valSstream >> val;
   fclose(fp);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

bsp_q7s/xadc/Xadc.h

@@ -3,7 +3,7 @@
 
 #include <string>
 
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 
 namespace xadc {
 using namespace std;

bsp_te0720_1cfa/InitMission.cpp

@@ -2,7 +2,7 @@
 
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
@@ -36,7 +36,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   if (factory == nullptr) {
     /* Should never happen ! */
     return;
@@ -51,28 +51,28 @@ void initmission::initTasks() {
   PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
       "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
 
   PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
       "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Add component TMTC Bridge failed" << std::endl;
   }
   PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Add component TMTC Polling failed" << std::endl;
   }
 
@@ -84,18 +84,47 @@ void initmission::initTasks() {
   FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
       "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstUart(pst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   pstTasks.push_back(pst);
 
+#if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
       "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
-  pstTasks.push_back(mpsocHelperTask);
+#endif /* OBSW_ADD_PLOC_MPSOC == 1*/
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
+      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
+  }
+
+  // Minimal distance between two received TCs amounts to 0.6 seconds
+  // If a command has not been read before the next one arrives, the old command will be
+  // overwritten by the PDEC.
+  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
+      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
+  }
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
@@ -111,6 +140,16 @@ void initmission::initTasks() {
   tmtcDistributor->startTask();
   tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
+#if OBSW_ADD_CCSDS_IP_CORE == 1
+  pdecHandlerTask->startTask();
+  ccsdsHandlerTask->startTask();
+#endif /* #if OBSW_ADD_CCSDS_IP_CORE == 1 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  mpsocHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
   taskStarter(pstTasks, "PST Tasks");
   taskStarter(pusTasks, "PUS Tasks");
@@ -121,11 +160,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
   PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
       "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   taskVec.push_back(pusVerification);
@@ -133,11 +172,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
       "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
   taskVec.push_back(pusEvents);
@@ -145,11 +184,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
       "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   taskVec.push_back(pusHighPrio);
@@ -157,19 +196,19 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
   taskVec.push_back(pusMedPrio);
@@ -177,11 +216,11 @@ void initmission::createPusTasks(TaskFactory& factory,
   PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
       "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
   result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
   }
   taskVec.push_back(pusLowPrio);

bsp_te0720_1cfa/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_te0720_1cfa/OBSWConfig.h.in

@@ -13,7 +13,7 @@
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-#define OBSW_USE_CCSDS_IP_CORE                      0
+#define OBSW_ADD_CCSDS_IP_CORE                      0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
@@ -37,7 +37,6 @@
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 #define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-#define OBSW_ENABLE_PERIODIC_HK                     0
 #define OBSW_PRINT_CORE_HK                          0
 #define OBSW_INITIALIZE_SWITCHES                    0
 

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -1,27 +1,38 @@
 #include "ObjectFactory.h"
 
-#include <devConf.h>
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
-
 #include "OBSWConfig.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "ccsdsConfig.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/serial/SerialComIF.h"
+#include "fsfw_hal/linux/serial/SerialCookie.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "linux/ObjectFactory.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
-#include "mission/devices/Tmp1075Handler.h"
+#include "linux/devices/ploc/PlocMemoryDumper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocSupvHelper.h"
+#include "linux/obc/AxiPtmeConfig.h"
+#include "linux/obc/PapbVcInterface.h"
+#include "linux/obc/PdecHandler.h"
+#include "linux/obc/Ptme.h"
+#include "linux/obc/PtmeConfig.h"
 #include "mission/core/GenericFactory.h"
-#include "mission/utility/TmFunnel.h"
-#include "test/gpio/DummyGpioIF.h"
+#include "mission/devices/Tmp1075Handler.h"
+#include "mission/tmtc/TmFunnel.h"
+#include "mission/tmtc/CCSDSHandler.h"
+#include "mission/tmtc/VirtualChannel.h"
 #include "objects/systemObjectList.h"
-#include "devices/addresses.h"
-#include "devices/gpioIds.h"
+#include "test/gpio/DummyGpioIF.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -32,7 +43,11 @@ void Factory::setStaticFrameworkObjectIds() {
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
+#if OBSW_TM_TO_PTME == 1
+  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
+#else
   TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+#endif
   TmFunnel::storageDestination = objects::NO_OBJECT;
 
   VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
@@ -43,12 +58,14 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   ObjectFactory::produceGenericObjects();
 
+  LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);;
+  newSerialComIF(objects::UART_COM_IF);
+
 #if OBSW_ADD_PLOC_MPSOC == 1
   UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
                                                uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocUartCookie->setNoFixedSizeReply();
   PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new UartComIF(objects::UART_COM_IF);
   auto dummyGpioIF = new DummyGpioIF();
   PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
       objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
@@ -56,6 +73,21 @@ void ObjectFactory::produce(void* args) {
   plocMPSoCHandler->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  UartCookie* supervisorCookie =
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
+                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20);
+  supervisorCookie->setNoFixedSizeReply();
+  auto supvGpioIF = new DummyGpioIF();
+  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF),
+                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+
+#endif
+
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+
 #if OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
   /* Configure MIO0 as input */
@@ -86,21 +118,6 @@ void ObjectFactory::produce(void* args) {
   new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
 #endif
 
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
-  GpiodRegular* papbBusyN =
-      new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
-  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
-  GpiodRegular* papbEmpty =
-      new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
-  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
-  gpioComIF->addGpios(gpioCookieCcsdsIp);
-
-  new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR,
-                        objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"),
-                        gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
-#endif
-
 #if OBSW_TEST_RAD_SENSOR == 1
   GpioCookie* gpioCookieRadSensor = new GpioCookie;
   GpiodRegular* chipSelectRadSensor = new GpiodRegular(
@@ -124,28 +141,19 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = new GpioCookie;
   gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
-                    pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+                    pcdu::TCS_BOARD_8V_HEATER_IN);
 #endif
 
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  /* Configuration for MIO0 on TE0720-03-1CFA */
-  UartCookie* plocSupervisorCookie =
-      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
-                     UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
-  plocSupervisorCookie->setNoFixedSizeReply();
-  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
-      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
-  plocSupervisor->setStartUpImmediately();
-#endif
+  new I2cComIF(objects::I2C_COM_IF);
 
-new I2cComIF(objects::I2C_COM_IF);
+  I2cCookie* i2cCookieTmp1075tcs1 =
+      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+  I2cCookie* i2cCookieTmp1075tcs2 =
+      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 
-I2cCookie* i2cCookieTmp1075tcs1 =
-  new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
-I2cCookie* i2cCookieTmp1075tcs2 =
-  new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+  /* Temperature sensors */
+  new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
+  new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
 
-/* Temperature sensors */
-new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
-new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
+  static_cast<void>(gpioComIF);
 }

bsp_te0720_1cfa/ObjectFactory.h

@@ -1,7 +1,11 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+#include <stdint.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+
 namespace ObjectFactory {
+static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
 void produce(void* args);
 };  // namespace ObjectFactory
 

bsp_te0720_1cfa/boardconfig/busConf.h

@@ -3,9 +3,37 @@
 
 namespace te0720_1cfa {
 static constexpr char MPSOC_UART[] = "/dev/ttyPS1";
-namespace baudrate {
 
+static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
+static constexpr char UIO_PTME[] = "/dev/uio1";
+static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
+static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
+static constexpr int MAP_ID_PTME_CONFIG = 3;
+
+namespace uiomapids {
+static const int PTME_VC0 = 0;
+static const int PTME_VC1 = 1;
+static const int PTME_VC2 = 2;
+static const int PTME_VC3 = 3;
+static const int PTME_CONFIG = 4;
+}  // namespace uiomapids
+
+namespace gpioNames {
+  static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
+  static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
+  static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
+  static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
+  static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
+  static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
+  static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
+  static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+  static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
+  static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
+  static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
+  static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
+  static constexpr char PDEC_RESET[] = "pdec_reset";
 }
+
 }
 
 #endif /* BSP_EGSE_BOARDCONFIG_BUSCONF_H_ */

clone-submodules-no-privlibs.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json

cmake/BuildType.cmake

@@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 	)
 endif()
 
+set(RELEASE_BUILD 1 PARENT_SCOPE)
+
 if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
 	message(STATUS 
 		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
 	)
+	set(RELEASE_BUILD 0 PARENT_SCOPE)
 elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
 	message(STATUS 
 		"Building Release (Debug) application with "