new fsfw

This reverts commit 2800484f6b.

.gitignore

@@ -12,17 +12,8 @@
 #vscode
 /.vscode
 
-# IntelliJ
-/.idea/*
-
 # Python
 __pycache__
-
+.idea
-# CLion
-!/.idea/cmake.xml
 
 generators/*.db
-
-# Clangd LSP
-/compile_commands.json
-/.cache

.gitmodules

@@ -10,15 +10,15 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
+[submodule "generators/fsfwgen"]
+	path = generators/deps/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
-[submodule "thirdparty/sagittactl"]
-	path = thirdparty/sagittactl
-	url = https://egit.irs.uni-stuttgart.de/eive/sagittactl.git

.idea/cmake.xml

@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeSharedSettings">
-    <configurations>
-      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Default" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
-        <ADDITIONAL_GENERATION_ENVIRONMENT>
-          <envs>
-            <env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
-            <env name="CROSS_COMPILE" value="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf" />
-          </envs>
-        </ADDITIONAL_GENERATION_ENVIRONMENT>
-      </configuration>
-      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
-    </configurations>
-  </component>
-</project>

.run/Q7S FM.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Q7S FM" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eive-obsw" TARGET_NAME="eive-obsw" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="eive-obsw" RUN_TARGET_NAME="eive-obsw">
-    <custom-gdb-server version="1" gdb-connect="localhost:1234" executable="" warmup-ms="0" download-type="NONE" sshConfigName="Q7S FM" uploadFile="/tmp/eive-obsw" defaultGdbServerArgs=":1234 /tmp/eive-obsw">
-      <debugger kind="GDB" isBundled="true" />
-    </custom-gdb-server>
-    <method v="2">
-      <option name="CLION.COMPOUND.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

CMakeLists.txt

@@ -9,12 +9,13 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 8)
+set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
-set(OBSW_VERSION_MINOR 2)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
+
 option(
   EIVE_HARDCODED_TOOLCHAIN_FILE
   "\
@@ -64,36 +65,27 @@ include(EiveHelpers)
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 
-set(OBSW_MAX_SCHEDULED_TCS 4000)
+set(OBSW_MAX_SCHEDULED_TCS 500)
 
 if(EIVE_Q7S_EM)
   set(OBSW_Q7S_EM
       1
       CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 0)
-  set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
 else()
   set(OBSW_Q7S_EM
       0
       CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 1)
-  set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()
-
-set(OBSW_ADD_TMTC_TCP_SERVER
-    ${OBSW_Q7S_EM}
-    CACHE STRING "Add TCP TMTC Server")
-set(OBSW_ADD_TMTC_UDP_SERVER
-    0
-    CACHE STRING "Add UDP TMTC Server")
 set(OBSW_ADD_MGT
     ${INIT_VAL}
     CACHE STRING "Add MGT module")
 set(OBSW_ADD_BPX_BATTERY_HANDLER
-    1
+    ${INIT_VAL}
-    CACHE STRING "Add BPX battery module")
+    CACHE STRING "Add MGT module")
 set(OBSW_ADD_STAR_TRACKER
-    1
+    ${INIT_VAL}
     CACHE STRING "Add Startracker module")
 set(OBSW_ADD_SUN_SENSORS
     ${INIT_VAL}
@@ -101,42 +93,12 @@ set(OBSW_ADD_SUN_SENSORS
 set(OBSW_ADD_SUS_BOARD_ASS
     ${INIT_VAL}
     CACHE STRING "Add sun sensor board assembly")
-set(OBSW_ADD_THERMAL_TEMP_INSERTER
-    ${OBSW_Q7S_EM}
-    CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
-    1
+    ${INIT_VAL}
     CACHE STRING "Add ACS board module")
-set(OBSW_ADD_GPS_CTRL
+set(OBSW_ADD_ACS_HANDLERS
     ${INIT_VAL}
-    CACHE STRING "Add GPS controllers")
+    CACHE STRING "Add ACS handlers")
-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
-    1
-    CACHE STRING "Add TCS controllers")
-set(OBSW_ADD_HEATERS
-    1
-    CACHE STRING "Add TCS heaters")
-set(OBSW_ADD_PLOC_SUPERVISOR
-    1
-    CACHE STRING "Add PLOC supervisor handler")
-set(OBSW_ADD_SA_DEPL
-    ${INIT_VAL}
-    CACHE STRING "Add SA deployment handler")
-set(OBSW_ADD_PLOC_MPSOC
-    1
-    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")
@@ -144,29 +106,20 @@ set(OBSW_ADD_RAD_SENSORS
     ${INIT_VAL}
     CACHE STRING "Add Rad Sensor module")
 set(OBSW_ADD_PL_PCDU
-    1
+    ${INIT_VAL}
     CACHE STRING "Add Payload PCDU modukle")
 set(OBSW_ADD_SYRLINKS
-    1
+    ${INIT_VAL}
     CACHE STRING "Add Syrlinks module")
 set(OBSW_ADD_TMP_DEVICES
-    1
+    ${INIT_VAL}
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
-    1
-    CACHE STRING "Add GomSpace PCDU modules")
-set(OBSW_ADD_GOMSPACE_ACU
     ${INIT_VAL}
-    CACHE STRING "Add GomSpace ACU submodule")
+    CACHE STRING "Add GomSpace PCDU modules")
 set(OBSW_ADD_RW
     ${INIT_VAL}
     CACHE STRING "Add RW modules")
-set(OBSW_ADD_SCEX_DEVICE
-    1
-    CACHE STRING "Add Solar Cell Experiment module")
-set(OBSW_SYRLINKS_SIMULATED
-    0
-    CACHE STRING "Syrlinks is simulated")
 
 # ##############################################################################
 # Pre-Sources preparation
@@ -183,21 +136,32 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
     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
+    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
-    # OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
+    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
-    # GIT_INFO 3 OBSW_VERSION_REVISION)
+    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)
+    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})
+endif()
 
 # Set names and variables
-set(OBSW_NAME ${CMAKE_PROJECT_NAME})
+set(OBSW_NAME ${PROJECT_NAME})
 set(WATCHDOG_NAME eive-watchdog)
 set(SIMPLE_OBSW_NAME eive-simple)
 set(UNITTEST_NAME eive-unittest)
@@ -207,9 +171,6 @@ 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)
@@ -222,26 +183,22 @@ 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 ${CMAKE_CURRENT_SOURCE_DIR}/common)
-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)
-set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/sagittactl)
+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 OFF)
+set(EIVE_ADD_LINUX_FILES False)
-set(FSFW_ADD_TMSTORAGE ON)
-
-set(FSFW_ADD_COORDINATES ON)
-set(FSFW_ADD_SGP4_PROPAGATOR ON)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@@ -249,6 +206,7 @@ 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)
@@ -258,18 +216,15 @@ if(TGT_BSP)
      OR TGT_BSP MATCHES "arm/egse"
      OR TGT_BSP MATCHES "arm/te0720-1cfa")
     find_library(${LIB_GPS} gps)
-    set(FSFW_CONFIG_PATH "linux/fsfwconfig")
+    set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR}/linux/fsfwconfig)
+
     if(NOT BUILD_Q7S_SIMPLE_MODE)
       set(EIVE_ADD_LINUX_FILES TRUE)
-      set(EIVE_ADD_LINUX_FSFWCONFIG TRUE)
+      set(ADD_CSP_LIB 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/raspberrypi")
@@ -304,21 +259,6 @@ if(TGT_BSP)
 else()
   # 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()
-
-set(FSFW_DEBUG_INFO 0)
-set(OBSW_ENABLE_PERIODIC_HK 1)
-set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
-if(RELEASE_BUILD MATCHES 0)
-  set(FSFW_DEBUG_INFO 1)
-  set(OBSW_ENABLE_PERIODIC_HK 0)
-  set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
 endif()
 
 # Configuration files
@@ -334,7 +274,8 @@ endif()
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
+set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}"
+  ${COMMON_CONFIG_PATH}
   ${CMAKE_CURRENT_BINARY_DIR})
 
 # ##############################################################################
@@ -343,31 +284,12 @@ set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
 
 # global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  # Remove unused sections.
+  add_compile_options(
-  add_compile_options("-ffunction-sections" "-fdata-sections")
-
-  # Removed unused sections.
-  add_link_options("-Wl,--gc-sections")
-
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  set(COMPILER_FLAGS "/permissive-")
-endif()
-
-add_library(${LIB_EIVE_MISSION})
-add_library(${LIB_DUMMIES})
-
-# Add main executable
-add_executable(${OBSW_NAME})
-set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  set(WARNING_FLAGS
     "-Wall"
     "-Wextra"
     "-Wimplicit-fallthrough=1"
     "-Wno-unused-parameter"
     "-Wno-psabi"
-      "-Wshadow=local"
     "-Wduplicated-cond" # check for duplicate conditions
     "-Wduplicated-branches" # check for duplicate branches
     "-Wlogical-op" # Search for bitwise operations instead of logical
@@ -383,15 +305,27 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     "-Wcast-qual" # Warn if the constness is cast away
     "-Wstringop-overflow=4"
     # -Wstack-protector # Emits a few false positives for low level access
-      # -Wconversion # Creates many false positives -Warith-conversion # Use
+    # -Wconversion # Creates many false positives -Warith-conversion # Use with
-      # with Wconversion to find more implicit conversions -fanalyzer # Should
+    # Wconversion to find more implicit conversions -fanalyzer # Should be used
-      # be used to look through problems
+    # to look through problems
   )
-  target_compile_options(${OBSW_NAME} PRIVATE ${WARNING_FLAGS})
+  # Remove unused sections.
-  target_compile_options(${LIB_EIVE_MISSION} PRIVATE ${WARNING_FLAGS})
+  add_compile_options("-ffunction-sections" "-fdata-sections")
-  target_compile_options(${LIB_DUMMIES} PRIVATE ${WARNING_FLAGS})
+
+  # Removed unused sections.
+  add_link_options("-Wl,--gc-sections")
+
+elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+  set(COMPILER_FLAGS "/permissive-")
 endif()
 
+add_library(${LIB_EIVE_MISSION})
+add_library(${LIB_DUMMIES})
+
+# Add main executable
+add_executable(${OBSW_NAME})
+set(OBSW_BIN_NAME ${PROJECT_NAME})
+
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
 
 # Watchdog
@@ -420,19 +354,24 @@ if(EIVE_ADD_JSON_LIB)
   add_subdirectory(${LIB_JSON_PATH})
 endif()
 
-add_subdirectory(thirdparty)
+add_subdirectory(thirdparty/rapidcsv)
 
 if(EIVE_ADD_LINUX_FILES)
-  if(TGT_BSP MATCHES "arm/q7s")
+  add_subdirectory(${LIB_ARCSEC_PATH})
-    add_subdirectory(${LIB_GOMSPACE_PATH})
-  endif()
   add_subdirectory(${LINUX_PATH})
 endif()
+
 add_subdirectory(${BSP_PATH})
 
+
+if(ADD_CSP_LIB)
+  add_subdirectory(${LIB_CSP_PATH})
+endif()
+
 add_subdirectory(${COMMON_PATH})
 add_subdirectory(${DUMMY_PATH})
 
+add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
@@ -440,8 +379,10 @@ 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
+# safe
-# installed, so use FetchContent to download and provide etl if(NOT etl_FOUND)
+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 "
@@ -452,7 +393,7 @@ FetchContent_Declare(
     GIT_REPOSITORY https://github.com/ETLCPP/etl
     GIT_TAG ${FSFW_ETL_LIB_VERSION})
   list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
-# endif()
+endif()
 
 # Use same Catch2 version as framework
 if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
@@ -499,17 +440,15 @@ endif()
 # ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
+target_link_libraries(${LIB_EIVE_MISSION}
-                                                 ${LIB_OS_NAME})
+                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
 
-target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_EIVE_MISSION}
+target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
-                                            ${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 ${LIB_EIVE_MISSION}
@@ -519,6 +458,10 @@ if(TGT_BSP MATCHES "arm/egse")
   target_link_libraries(${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})
 endif()
@@ -579,3 +522,6 @@ add_custom_command(
   POST_BUILD
   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
   COMMENT ${POST_BUILD_COMMENT})
+
+include(BuildType)
+set_build_type()

README.md

@@ -18,7 +18,6 @@
 11. [Q7S OBC](#q7s)
 12. [Static Code Analysis](#static-code-analysis)
 13. [Eclipse](#eclipse)
-14. [CLion](#clion)
 14. [Running the OBSW on a Raspberry Pi](#rpi)
 15. [Running OBSW on EGSE](#egse)
 16. [Manually preparing sysroots to compile gpsd](#gpsd)
@@ -96,24 +95,16 @@ When using Windows, run theses steps in MSYS2.
 2. Update all the submodules
 
    ```sh
-   git submodule update --init
+   git submodule init
+   git submodule sync
+   git submodule update
    ```
 
-3. Create two system variables to pass the system root path and the cross-compiler path to the
+3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
-   build system. You only need to do this once when setting up the build system.
-   Example for Unix:
-
-   ```sh
-   export CROSS_COMPILE_BIN_PATH=<absolutePathToCrossCompilerBinPath>
-   export ZYNQ_7020_SYSROOT=<absolutePathToSysroot>
-   ```
-
-4. Ensure that the cross-compiler is working with
-   `${CROSS_COMPILE_BIN_PATH}/arm-linux-gnueabihf-gcc --version` and that
    the sysroot environmental variables have been set like specified in the
    [root filesystem chapter](#sysroot).
 
-5. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
+4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
    Add `-G "MinGW Makefiles` in MinGW64 on Windows.
 
    ```sh
@@ -122,7 +113,7 @@ When using Windows, run theses steps in MSYS2.
    cmake --build . -j
    ```
 
-   Please note that you can also use provided shell scripts to perform these commands.
+   You can also use provided shell scripts to perform these commands.
    ```sh
    cp scripts/q7s-env.sh ..
    cp scripts/q7s-env-em.sh ..
@@ -154,85 +145,13 @@ 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`.
 
-6. Build the software with
+5. Build the software with
 
    ```sh
    cd cmake-build-debug-q7s
    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.
@@ -299,7 +218,7 @@ helper scripts as well.
 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
+# <a id="host-commands"></a> Useful and Common Commands (Host)
 
 ## Build generation
 
@@ -328,11 +247,14 @@ cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
 cmake --build . -j
 ```
 
-### Hosted OBSW
+### Q7S Watchdog
+
+The watchdog will be built along side the primary OBSW binary.
+
+### Hosted
 
 You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
-You can use the `clone-submodules-no-privlibs.sh` script to only clone the required (non-private)
+Note: Currently this is not supported.
-submodules required to build the hosted OBSW.
 
 ```sh
 mkdir cmake-build-debug && cd cmake-build-debug
@@ -340,21 +262,6 @@ 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.
@@ -964,12 +871,6 @@ used by other software components to read the current chip and copy.
 This is a configuration scripts which runs after the Network Time Protocol has run. This script
 currently sets the static IP address `192.168.133.10` and starts the `can` interface.
 
-## Initial boot delay
-
-You can create a file named `boot_delays_secs.txt` inside the home folder to delay the OBSW boot
-for 6 seconds if the file is empty of for the number of seconds specified inside the file. This
-can be helpful if something inside the OBSW leads to an immediate crash of the OBC.
-
 ## PCDU
 
 Connect to serial console of P60 Dock
@@ -1082,29 +983,6 @@ 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
 
@@ -1158,19 +1036,11 @@ cat /proc/tty/driver
 
 ## I2C
 
-Getting information about some I2C device
+Getting information about 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
 
@@ -1246,22 +1116,6 @@ Finally, you can convert the generated `.xml` file to HTML with the following co
 cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
 ```
 
-# <a id="CLion"></a> CLion
-
-CLion is the recommended IDE for the development of the hosted version of EIVE.
-You can also set up CLion for cross-compilation of the primary OBSW.
-
-There is a shared `.idea/cmake.xml` file to get started with this.
-To make cross-compilation work, two special environment variables
-need to be set:
-
-- `ZYNQ_7020_ROOTFS` pointing to the root filesystem
-- `CROSS_COMPILE` pointing to the the full path of the cross-compiler
-  without the specific tool suffix. For example, if the the cross-compiler
-  tools are located at `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin`,
-  this variable would be set
-  to `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf`
-
 # <a id="eclipse"></a> Eclipse
 
 When using Eclipse, there are two special build variables in the project properties

archive/PlocMpsocSpecialComHelperLegacy.cpp

@@ -1,545 +0,0 @@
-#include <fsfw/globalfunctions/arrayprinter.h>
-#include <fsfw/tasks/TaskFactory.h>
-#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
-#include <unistd.h>
-
-#include <filesystem>
-#include <fstream>
-
-#ifdef XIPHOS_Q7S
-#include "bsp_q7s/fs/FilesystemHelper.h"
-#endif
-
-#include "mission/utility/Timestamp.h"
-
-using namespace ploc;
-
-PlocMpsocSpecialComHelperLegacy::PlocMpsocSpecialComHelperLegacy(object_id_t objectId)
-    : SystemObject(objectId) {
-  spParams.buf = commandBuffer;
-  spParams.maxSize = sizeof(commandBuffer);
-}
-
-PlocMpsocSpecialComHelperLegacy::~PlocMpsocSpecialComHelperLegacy() {}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::initialize() {
-#ifdef XIPHOS_Q7S
-  sdcMan = SdCardManager::instance();
-  if (sdcMan == nullptr) {
-    sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::performOperation(uint8_t operationCode) {
-  ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
-  while (true) {
-#if OBSW_THREAD_TRACING == 1
-    trace::threadTrace(opCounter, "PLOC MPSOC Helper");
-#endif
-    switch (internalState) {
-      case InternalState::IDLE: {
-        semaphore.acquire();
-        break;
-      }
-      case InternalState::FLASH_WRITE: {
-        result = performFlashWrite();
-        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
-        } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::FLASH_READ: {
-        result = performFlashRead();
-        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
-        } else {
-          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      default:
-        sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
-        break;
-    }
-  }
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::setComIF(
-    DeviceCommunicationIF* communicationInterface_) {
-  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
-  if (uartComIF == nullptr) {
-    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMpsocSpecialComHelperLegacy::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-void PlocMpsocSpecialComHelperLegacy::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
-  sequenceCount = sequenceCount_;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashWrite(std::string obcFile,
-                                                               std::string mpsocFile) {
-  if (internalState != InternalState::IDLE) {
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  internalState = InternalState::FLASH_WRITE;
-  return semaphore.release();
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashRead(std::string obcFile,
-                                                              std::string mpsocFile,
-                                                              size_t readFileSize) {
-  if (internalState != InternalState::IDLE) {
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  flashReadAndWrite.totalReadSize = readFileSize;
-  internalState = InternalState::FLASH_READ;
-  return semaphore.release();
-}
-
-void PlocMpsocSpecialComHelperLegacy::resetHelper() {
-  spParams.buf = commandBuffer;
-  terminate = false;
-  uartComIF->flushUartRxBuffer(comCookie);
-}
-
-void PlocMpsocSpecialComHelperLegacy::stopProcess() { terminate = true; }
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashWrite() {
-  ReturnValue_t result = returnvalue::OK;
-  std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
-  if (file.bad()) {
-    return returnvalue::FAILED;
-  }
-  result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  // Set position of next character to end of file input stream
-  file.seekg(0, file.end);
-  // tellg returns position of character in input stream
-  size_t remainingSize = file.tellg();
-  size_t dataLength = 0;
-  size_t bytesRead = 0;
-  while (remainingSize > 0) {
-    if (terminate) {
-      return returnvalue::OK;
-    }
-    // The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
-    if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
-      dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
-    } else {
-      dataLength = remainingSize;
-    }
-    if (file.bad() or not file.is_open()) {
-      return FILE_WRITE_ERROR;
-    }
-    file.seekg(bytesRead, file.beg);
-    file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
-    bytesRead += dataLength;
-    remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
-    result = tc.setPayload(fileBuf.data(), dataLength);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = tc.finishPacket();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    (*sequenceCount)++;
-    result = handlePacketTransmissionNoReply(tc);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  result = flashfclose();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashRead() {
-  std::error_code e;
-  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
-  if (ofile.bad()) {
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
-  if (result != returnvalue::OK) {
-    std::filesystem::remove(flashReadAndWrite.obcFile, e);
-    return result;
-  }
-  size_t readSoFar = 0;
-  size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
-  while (readSoFar < flashReadAndWrite.totalReadSize) {
-    if (terminate) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return returnvalue::OK;
-    }
-    nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
-    if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
-      nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
-    }
-    if (ofile.bad() or not ofile.is_open()) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return FILE_READ_ERROR;
-    }
-    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
-    result = flashReadRequest.setPayload(nextReadSize);
-    if (result != returnvalue::OK) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return result;
-    }
-    result = flashReadRequest.finishPacket();
-    if (result != returnvalue::OK) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return result;
-    }
-    (*sequenceCount)++;
-    result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
-    if (result != returnvalue::OK) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return result;
-    }
-    readSoFar += nextReadSize;
-  }
-  result = flashfclose();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfopen(uint8_t mode) {
-  spParams.buf = commandBuffer;
-  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
-  ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = flashFopen.finishPacket();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  (*sequenceCount)++;
-  result = handlePacketTransmissionNoReply(flashFopen);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfclose() {
-  spParams.buf = commandBuffer;
-  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
-  ReturnValue_t result = flashFclose.finishPacket();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  (*sequenceCount)++;
-  result = handlePacketTransmissionNoReply(flashFclose);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionFlashRead(
-    mpsoc::TcFlashRead& tc, std::ofstream& ofile, size_t expectedReadLen) {
-  ReturnValue_t result = sendCommand(tc);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleTmReception();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  // We have the nominal case where the flash read report appears first, or the case where we
-  // get an EXE failure immediately.
-  if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
-    result = handleFlashReadReply(ofile, expectedReadLen);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    return handleExe();
-  } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
-  } else {
-    triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
-    sif::warning << "PLOC MPSoC: Expected execution report "
-                 << "but received space packet with apid " << std::hex << spReader.getApid()
-                 << std::endl;
-  }
-  return returnvalue::FAILED;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
-  ReturnValue_t result = sendCommand(tc);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return handleExe();
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::sendCommand(ploc::SpTcBase& tc) {
-  ReturnValue_t result = returnvalue::OK;
-  result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
-    triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleAck() {
-  ReturnValue_t result = returnvalue::OK;
-  result = handleTmReception();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = checkReceivedTm();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = spReader.getApid();
-  if (apid != mpsoc::apid::ACK_SUCCESS) {
-    handleAckApidFailure(spReader);
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMpsocSpecialComHelperLegacy::handleAckApidFailure(const ploc::SpTmReader& reader) {
-  uint16_t apid = reader.getApid();
-  if (apid == mpsoc::apid::ACK_FAILURE) {
-    uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
-    sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
-    triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
-  } else {
-    triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
-    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
-                 << "but received space packet with apid " << std::hex << apid << std::endl;
-  }
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleExe() {
-  ReturnValue_t result = returnvalue::OK;
-
-  result = handleTmReception();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = checkReceivedTm();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = spReader.getApid();
-  if (apid == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
-    return returnvalue::FAILED;
-  } else if (apid != mpsoc::apid::EXE_SUCCESS) {
-    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
-    sif::warning << "PLOC MPSoC: Expected execution report "
-                 << "but received space packet with apid " << std::hex << apid << std::endl;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMpsocSpecialComHelperLegacy::handleExeFailure() {
-  uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
-  sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
-  triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleTmReception() {
-  ReturnValue_t result = returnvalue::OK;
-  tmCountdown.resetTimer();
-  size_t readBytes = 0;
-  size_t currentBytes = 0;
-  uint32_t usleepDelay = 5;
-  size_t fullPacketLen = 0;
-  while (true) {
-    if (tmCountdown.hasTimedOut()) {
-      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
-      return returnvalue::FAILED;
-    }
-    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
-    fullPacketLen = spReader.getFullPacketLen();
-    readBytes += currentBytes;
-    if (readBytes == 6) {
-      break;
-    }
-    usleep(usleepDelay);
-    if (usleepDelay < 200000) {
-      usleepDelay *= 4;
-    }
-  }
-  while (true) {
-    if (tmCountdown.hasTimedOut()) {
-      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
-      return returnvalue::FAILED;
-    }
-    result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
-    readBytes += currentBytes;
-    if (fullPacketLen == readBytes) {
-      break;
-    }
-    usleep(usleepDelay);
-    if (usleepDelay < 200000) {
-      usleepDelay *= 4;
-    }
-  }
-  // arrayprinter::print(tmBuf.data(), readBytes);
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleFlashReadReply(std::ofstream& ofile,
-                                                                    size_t expectedReadLen) {
-  ReturnValue_t result = checkReceivedTm();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = spReader.getApid();
-  if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
-    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
-    sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
-    return result;
-  }
-  const uint8_t* packetData = spReader.getPacketData();
-  size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
-  uint32_t receivedReadLen = 0;
-  // I think this is buggy, weird stuff in the short name field.
-  //  std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
-  //  if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
-  //    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
-  //                    "received file name"
-  //                 << std::endl;
-  //    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
-  //    return returnvalue::FAILED;
-  //  }
-  packetData += 12;
-  result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
-                                         SerializeIF::Endianness::NETWORK);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  if (receivedReadLen != expectedReadLen) {
-    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
-                    "received read length"
-                 << std::endl;
-    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
-    return returnvalue::FAILED;
-  }
-  ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::fileCheck(std::string obcFile) {
-#ifdef XIPHOS_Q7S
-  ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-#elif defined(TE0720_1CFA)
-  if (not std::filesystem::exists(obcFile)) {
-    sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashReadOrWriteBase(std::string obcFile,
-                                                                         std::string mpsocFile) {
-  ReturnValue_t result = fileCheck(obcFile);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  flashReadAndWrite.obcFile = std::move(obcFile);
-  flashReadAndWrite.mpsocFile = std::move(mpsocFile);
-  resetHelper();
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::checkReceivedTm() {
-  ReturnValue_t result = spReader.checkSize();
-  if (result != returnvalue::OK) {
-    sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
-    triggerEvent(MPSOC_TM_SIZE_ERROR);
-    return result;
-  }
-  result = spReader.checkCrc();
-  if (result != returnvalue::OK) {
-    sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
-    triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
-    return result;
-  }
-  uint16_t recvSeqCnt = spReader.getSequenceCount();
-  if (recvSeqCnt != *sequenceCount) {
-    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
-    *sequenceCount = recvSeqCnt;
-  }
-  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
-  (*sequenceCount)++;
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::receive(uint8_t* data, size_t requestBytes,
-                                                       size_t* readBytes) {
-  ReturnValue_t result = returnvalue::OK;
-  uint8_t* buffer = nullptr;
-  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
-    triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
-                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
-    return returnvalue::FAILED;
-  }
-  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
-    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
-    return returnvalue::FAILED;
-  }
-  if (*readBytes > 0) {
-    std::memcpy(data, buffer, *readBytes);
-  }
-  return result;
-}

automation/Jenkinsfile

@@ -1,7 +1,6 @@
 pipeline {
     environment {
-        BUILDDIR_Q7S = 'build_q7s_fm'
+        BUILDDIR_Q7 = 'build_q7'
-        BUILDDIR_Q7S_EM = 'build_q7s_em'
         BUILDDIR_LINUX = 'build_linux'
     }
     agent {
@@ -13,24 +12,15 @@ pipeline {
     stages {
         stage('Clean') {
             steps {
-                sh 'rm -rf $BUILDDIR_Q7S'
+                sh 'rm -rf $BUILDDIR_Q7'
-                sh 'rm -rf $BUILDDIR_Q7S_EM'
                 sh 'rm -rf $BUILDDIR_LINUX'
             }
         }
         stage('Build Q7S') {
             steps {
-                dir(BUILDDIR_Q7S) {
+                dir(BUILDDIR_Q7) {
                     sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
-                    sh 'cmake --build . -j8'
+                    sh 'cmake --build . -j4'
-                }
-            }
-        }
-        stage('Build Q7S EM') {
-            steps {
-                dir(BUILDDIR_Q7S_EM) {
-                    sh 'cmake -DTGT_BSP="arm/q7s" -DEIVE_Q7S_EM=ON -DCMAKE_BUILD_TYPE=Debug ..'
-                    sh 'cmake --build . -j8'
                 }
             }
         }
@@ -38,7 +28,7 @@ pipeline {
             steps {
                 dir(BUILDDIR_LINUX) {
                     sh 'cmake ..'
-                    sh 'cmake --build . -j8'
+                    sh 'cmake --build . -j4'
                     sh './eive-unittest'
                 }
             }

bsp_egse/InitMission.cpp

@@ -2,7 +2,7 @@
 
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.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 = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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/serial/SerialComIF.h>
+#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/serial/SerialCookie.h>
+#include <fsfw_hal/linux/uart/UartCookie.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);
-  newSerialComIF(objects::UART_COM_IF);
+  new UartComIF(objects::UART_COM_IF);
   starTrackerCookie->setNoFixedSizeReply();
   StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
   StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(

bsp_hosted/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC scheduling.cpp main.cpp objectFactory.cpp)
+target_sources(${OBSW_NAME} PUBLIC InitMission.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 -DOSAL_FSFW=host ..;
+    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux ..;
 
 ENTRYPOINT ["cmake", "--build", "build-hosted"]
 CMD ["-j"]

bsp_hosted/InitMission.cpp

@@ -0,0 +1,195 @@
+#include "InitMission.h"
+
+#include <OBSWConfig.h>
+#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.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* eventHandling = factory->createPeriodicTask(
+      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = eventHandling->addComponent(objects::EVENT_MANAGER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+  }
+  result = eventHandling->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);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::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 != 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* thermalTask = factory->createPeriodicTask(
+      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = thermalTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
+  }
+  result = thermalTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  }
+
+  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+  }
+
+  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::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 != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
+  }
+
+#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();
+  eventHandling->startTask();
+  pusHighPrio->startTask();
+  pusMedPrio->startTask();
+  pusLowPrio->startTask();
+
+  pstTask->startTask();
+  thermalTask->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

@@ -0,0 +1,9 @@
+#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

@@ -7,6 +7,7 @@
 #define FSFWCONFIG_OBSWCONFIG_H_
 
 #include "commonConfig.h"
+#include "OBSWVersion.h"
     
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
@@ -23,7 +24,6 @@
 #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
@@ -48,7 +48,6 @@
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 
-#define OBSW_MPSOC_JTAG_BOOT                        0
 #define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0
@@ -101,10 +100,6 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
-
-#define OBSW_ADD_TMTC_UDP_SERVER            0
-#define OBSW_ADD_TMTC_TCP_SERVER            1
-
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@

bsp_hosted/ObjectFactory.cpp

@@ -0,0 +1,93 @@
+#include "ObjectFactory.h"
+
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <mission/controller/ThermalController.h>
+#include <mission/core/GenericFactory.h>
+#include <mission/tmtc/TmFunnel.h>
+#include <objects/systemObjectList.h>
+#include <tmtc/apid.h>
+#include <tmtc/pusIds.h>
+
+#include "OBSWConfig.h"
+#include "fsfw_tests/integration/task/TestTask.h"
+
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#include "fsfw/osal/common/UdpTcPollingTask.h"
+#include "fsfw/osal/common/UdpTmTcBridge.h"
+#else
+#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/BpxDummy.h>
+#include <dummies/ComCookieDummy.h>
+#include <dummies/ComIFDummy.h>
+#include <dummies/CoreControllerDummy.h>
+#include <dummies/GyroAdisDummy.h>
+#include <dummies/GyroL3GD20Dummy.h>
+#include <dummies/ImtqDummy.h>
+#include <dummies/MgmLIS3MDLDummy.h>
+#include <dummies/P60DockDummy.h>
+#include <dummies/PduDummy.h>
+#include <dummies/PlPcduDummy.h>
+#include <dummies/RwDummy.h>
+#include <dummies/StarTrackerDummy.h>
+#include <dummies/SusDummy.h>
+#include <dummies/SyrlinksDummy.h>
+#include <dummies/TemperatureSensorsDummy.h>
+
+void Factory::setStaticFrameworkObjectIds() {
+  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+
+  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+  CommandingServiceBase::defaultPacketDestination = objects::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;
+}
+
+void ObjectFactory::produce(void* args) {
+  Factory::setStaticFrameworkObjectIds();
+  ObjectFactory::produceGenericObjects();
+
+  new ComIFDummy(objects::DUMMY_COM_IF);
+  ComCookieDummy* comCookieDummy = new ComCookieDummy();
+  new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new CoreControllerDummy(objects::CORE_CONTROLLER);
+  new RwDummy(objects::RW1, objects::DUMMY_COM_IF, comCookieDummy);
+  new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
+  new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
+  new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
+  new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
+  new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new TemperatureSensorsDummy();
+  new SusDummy();
+  new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT);
+
+  // new TestTask(objects::TEST_TASK);
+}

bsp_hosted/comIF/ArduinoComIF.cpp

@@ -129,7 +129,9 @@ ArduinoComIF::~ArduinoComIF() {
   CloseHandle(hCom);
 #endif
 }
-ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) { return returnvalue::OK; }
+ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
 
 ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
   ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
@@ -140,10 +142,10 @@ 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 returnvalue::OK; }
+ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
 
 ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@@ -156,7 +158,7 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buff
 
   *buffer = arduinoCookie->replyBuffer.data();
   *size = arduinoCookie->receivedDataLen;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
@@ -176,14 +178,14 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 
   ReturnValue_t result =
       DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
   currentPosition += encodedLen;
   remainingLen -= encodedLen;  // DleEncoder will never return encodedLen > remainingLen
 
   result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -197,7 +199,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 
   result =
       DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -205,7 +207,7 @@ 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 != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -222,7 +224,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 
   result =
       DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
   currentPosition += encodedLen;
@@ -239,16 +241,16 @@ 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 returnvalue::FAILED;
+    return RETURN_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 returnvalue::FAILED;
+    return RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return RETURN_OK;
 #elif WIN32
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 #endif
 }
 
@@ -295,7 +297,7 @@ void ArduinoComIF::handleSerialPortRx() {
                                             packet, sizeof(packet), &packetLen);
 
   size_t toDelete = firstSTXinRawData;
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_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/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 #include <cstdint>
 #include <map>

bsp_hosted/fsfwconfig/FSFWConfig.h.in

@@ -50,8 +50,6 @@
 //! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
 #define FSFW_USE_REALTIME_FOR_LINUX 0
 
-#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
-
 namespace fsfwconfig {
 
 //! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.

bsp_hosted/fsfwconfig/OBSWConfig.h.in

@@ -16,7 +16,7 @@
 debugging. */
 #define OBSW_VEBOSE_LEVEL                           1
 
-#define OBSW_ADD_CCSDS_IP_CORES                     0
+#define OBSW_USE_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

bsp_hosted/fsfwconfig/events/subsystemIdRanges.h

@@ -1,9 +1,9 @@
 #ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 #define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 
-#include <cstdint>
+#include <common/config/commonSubsystemIds.h>
 
-#include "eive/eventSubsystemIds.h"
+#include <cstdint>
 
 /**
  * These IDs are part of the ID for an event thrown by a subsystem.

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 83 translations.
  * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2021-05-17 19:49:55
  */
 #include "translateEvents.h"
 
@@ -34,12 +34,11 @@ 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 *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 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";
 const char *POWER_BELOW_LOW_LIMIT_STRING = "POWER_BELOW_LOW_LIMIT";
+const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 const char *HEATER_ON_STRING = "HEATER_ON";
 const char *HEATER_OFF_STRING = "HEATER_OFF";
 const char *HEATER_TIMEOUT_STRING = "HEATER_TIMEOUT";
@@ -60,6 +59,7 @@ 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";
@@ -75,264 +75,22 @@ 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_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
-const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
-const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
-const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
-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 *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
-const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
-const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
-const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
-const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
-const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
-const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
-const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
-const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
-const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
-const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
-const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
-const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
-const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
-const char *DETUMBLE_TRANSITION_FAILED_STRING = "DETUMBLE_TRANSITION_FAILED";
-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 *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
-const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
-const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
-const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
-const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
-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 *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
+const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
-const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
-const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
-const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
-const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
-const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
-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_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
-const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
-const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
-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 *SUPV_ACK_UNKNOWN_COMMAND_STRING = "SUPV_ACK_UNKNOWN_COMMAND";
-const char *SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING = "SUPV_EXE_ACK_UNKNOWN_COMMAND";
-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 *TOO_MANY_IRQS_STRING = "TOO_MANY_IRQS";
-const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
-const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
-const char *PDEC_TRYING_RESET_WITH_INIT_STRING = "PDEC_TRYING_RESET_WITH_INIT";
-const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
-const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
-const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
-const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
-const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
-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_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
-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 *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
-const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
-const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
-const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
-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 *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
-const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
-const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
-const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
-const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
-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 *RESET_FAIL_STRING = "RESET_FAIL";
-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 *FS_UNUSABLE_STRING = "FS_UNUSABLE";
-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 *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
-const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
-const char *I2C_REBOOT_STRING = "I2C_REBOOT";
-const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
-const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
-const char *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_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 *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
-const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
-const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
-const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
-const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
-const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
-const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
-const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
-const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
-const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
-const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
-const char *FILE_TOO_LARGE_STRING = "FILE_TOO_LARGE";
-const char *BUSY_DUMPING_EVENT_STRING = "BUSY_DUMPING_EVENT";
-const char *DUMP_OK_STORE_DONE_STRING = "DUMP_OK_STORE_DONE";
-const char *DUMP_NOK_STORE_DONE_STRING = "DUMP_NOK_STORE_DONE";
-const char *DUMP_MISC_STORE_DONE_STRING = "DUMP_MISC_STORE_DONE";
-const char *DUMP_HK_STORE_DONE_STRING = "DUMP_HK_STORE_DONE";
-const char *DUMP_CFDP_STORE_DONE_STRING = "DUMP_CFDP_STORE_DONE";
-const char *DUMP_OK_CANCELLED_STRING = "DUMP_OK_CANCELLED";
-const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
-const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
-const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
-const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
-const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
-const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
-const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
 
 const char *translateEvents(Event event) {
-  switch ((event & 0xFFFF)) {
+  switch ((event & 0xffff)) {
     case (2200):
       return STORE_SEND_WRITE_FAILED_STRING;
     case (2201):
@@ -391,18 +149,16 @@ const char *translateEvents(Event event) {
       return MONITORING_LIMIT_EXCEEDED_STRING;
     case (2810):
       return MONITORING_AMBIGUOUS_STRING;
-    case (2811):
+    case (4201):
-      return DEVICE_WANTS_HARD_REBOOT_STRING;
+      return FUSE_CURRENT_HIGH_STRING;
+    case (4202):
+      return FUSE_WENT_OFF_STRING;
+    case (4204):
+      return POWER_ABOVE_HIGH_LIMIT_STRING;
+    case (4205):
+      return POWER_BELOW_LOW_LIMIT_STRING;
     case (4300):
       return SWITCH_WENT_OFF_STRING;
-    case (4301):
-      return FUSE_CURRENT_HIGH_STRING;
-    case (4302):
-      return FUSE_WENT_OFF_STRING;
-    case (4304):
-      return POWER_ABOVE_HIGH_LIMIT_STRING;
-    case (4305):
-      return POWER_BELOW_LOW_LIMIT_STRING;
     case (5000):
       return HEATER_ON_STRING;
     case (5001):
@@ -443,6 +199,8 @@ 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):
@@ -473,8 +231,6 @@ 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):
@@ -488,501 +244,19 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
-      return CLOCK_DUMP_LEGACY_STRING;
-    case (8902):
       return CLOCK_SET_FAILURE_STRING;
-    case (8903):
-      return CLOCK_DUMP_STRING;
-    case (8904):
-      return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
-    case (8905):
-      return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
-    case (9100):
-      return TC_DELETION_FAILED_STRING;
     case (9700):
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
-    case (10800):
+    case (11101):
-      return STORE_ERROR_STRING;
-    case (10801):
-      return MSG_QUEUE_ERROR_STRING;
-    case (10802):
-      return SERIALIZATION_ERROR_STRING;
-    case (10803):
-      return FILESTORE_ERROR_STRING;
-    case (10804):
-      return FILENAME_TOO_LARGE_ERROR_STRING;
-    case (10805):
-      return HANDLING_CFDP_REQUEST_FAILED_STRING;
-    case (11200):
-      return SAFE_RATE_VIOLATION_STRING;
-    case (11201):
-      return RATE_RECOVERY_STRING;
-    case (11202):
-      return MULTIPLE_RW_INVALID_STRING;
-    case (11203):
-      return MEKF_INVALID_INFO_STRING;
-    case (11204):
-      return MEKF_RECOVERY_STRING;
-    case (11205):
-      return MEKF_AUTOMATIC_RESET_STRING;
-    case (11206):
-      return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
-    case (11207):
-      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
-    case (11208):
-      return TLE_TOO_OLD_STRING;
-    case (11209):
-      return TLE_FILE_READ_FAILED_STRING;
-    case (11210):
-      return PTG_RATE_VIOLATION_STRING;
-    case (11211):
-      return DETUMBLE_TRANSITION_FAILED_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 (11304):
-      return DATASET_READ_FAILED_STRING;
-    case (11305):
-      return VOLTAGE_OUT_OF_BOUNDS_STRING;
-    case (11306):
-      return TIMEDELTA_OUT_OF_BOUNDS_STRING;
-    case (11307):
-      return POWER_LEVEL_LOW_STRING;
-    case (11308):
-      return POWER_LEVEL_CRITICAL_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 (11602):
+    case (11102):
       return ACK_FAILURE_STRING;
-    case (11603):
+    case (11103):
       return EXE_FAILURE_STRING;
-    case (11604):
+    case (11104):
-      return MPSOC_HANDLER_CRC_FAILURE_STRING;
+      return CRC_FAILURE_EVENT_STRING;
-    case (11605):
-      return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
-    case (11606):
-      return MPSOC_SHUTDOWN_FAILED_STRING;
-    case (11607):
-      return SUPV_NOT_ON_STRING;
-    case (11608):
-      return SUPV_REPLY_TIMEOUT_STRING;
-    case (11609):
-      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_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_EVENT_STRING;
-    case (11902):
-      return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
-    case (11903):
-      return COM_ERROR_REPLY_RECEIVED_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 (12009):
-      return SUPV_ACK_UNKNOWN_COMMAND_STRING;
-    case (12010):
-      return SUPV_EXE_ACK_UNKNOWN_COMMAND_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 TOO_MANY_IRQS_STRING;
-    case (12408):
-      return POLL_SYSCALL_ERROR_PDEC_STRING;
-    case (12409):
-      return WRITE_SYSCALL_ERROR_PDEC_STRING;
-    case (12410):
-      return PDEC_TRYING_RESET_WITH_INIT_STRING;
-    case (12411):
-      return PDEC_TRYING_RESET_NO_INIT_STRING;
-    case (12412):
-      return PDEC_RESET_FAILED_STRING;
-    case (12413):
-      return OPEN_IRQ_FILE_FAILED_STRING;
-    case (12414):
-      return PDEC_INIT_FAILED_STRING;
-    case (12415):
-      return PDEC_CONFIG_CORRUPTED_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_COM_REPLY_TIMEOUT_STRING;
-    case (12513):
-      return STR_HELPER_DEC_ERROR_STRING;
-    case (12514):
-      return POSITION_MISMATCH_STRING;
-    case (12515):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
-    case (12516):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
-    case (12517):
-      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 (12614):
-      return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
-    case (12615):
-      return MPSOC_FLASH_READ_FAILED_STRING;
-    case (12616):
-      return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
-    case (12617):
-      return MPSOC_READ_TIMEOUT_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 (12804):
-      return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
-    case (12900):
-      return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
-    case (12901):
-      return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
-    case (12902):
-      return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
-    case (12903):
-      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
-    case (13000):
-      return CHILDREN_LOST_MODE_STRING;
-    case (13100):
-      return GPS_FIX_CHANGE_STRING;
-    case (13101):
-      return CANT_GET_FIX_STRING;
-    case (13102):
-      return RESET_FAIL_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 (13803):
-      return FS_UNUSABLE_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 (14007):
-      return REBOOT_COUNTER_STRING;
-    case (14008):
-      return INDIVIDUAL_BOOT_COUNTS_STRING;
-    case (14010):
-      return TRYING_I2C_RECOVERY_STRING;
-    case (14011):
-      return I2C_REBOOT_STRING;
-    case (14012):
-      return PDEC_REBOOT_STRING;
-    case (14013):
-      return FIRMWARE_INFO_STRING;
-    case (14014):
-      return ACTIVE_SD_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 (14104):
-      return OBC_OVERHEATING_STRING;
-    case (14105):
-      return CAMERA_OVERHEATING_STRING;
-    case (14106):
-      return PCDU_SYSTEM_OVERHEATING_STRING;
-    case (14107):
-      return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
-    case (14108):
-      return MGT_OVERHEATING_STRING;
-    case (14109):
-      return TCS_SWITCHING_HEATER_ON_STRING;
-    case (14110):
-      return TCS_SWITCHING_HEATER_OFF_STRING;
-    case (14111):
-      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
-    case (14201):
-      return TX_TIMER_EXPIRED_STRING;
-    case (14202):
-      return BIT_LOCK_TX_ON_STRING;
-    case (14300):
-      return POSSIBLE_FILE_CORRUPTION_STRING;
-    case (14301):
-      return FILE_TOO_LARGE_STRING;
-    case (14302):
-      return BUSY_DUMPING_EVENT_STRING;
-    case (14305):
-      return DUMP_OK_STORE_DONE_STRING;
-    case (14306):
-      return DUMP_NOK_STORE_DONE_STRING;
-    case (14307):
-      return DUMP_MISC_STORE_DONE_STRING;
-    case (14308):
-      return DUMP_HK_STORE_DONE_STRING;
-    case (14309):
-      return DUMP_CFDP_STORE_DONE_STRING;
-    case (14310):
-      return DUMP_OK_CANCELLED_STRING;
-    case (14311):
-      return DUMP_NOK_CANCELLED_STRING;
-    case (14312):
-      return DUMP_MISC_CANCELLED_STRING;
-    case (14313):
-      return DUMP_HK_CANCELLED_STRING;
-    case (14314):
-      return DUMP_CFDP_CANCELLED_STRING;
-    case (14500):
-      return TEMPERATURE_ALL_ONES_START_STRING;
-    case (14501):
-      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
-    case (14600):
-      return FAULT_HANDLER_TRIGGERED_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/events/translateEvents.h

@@ -1,7 +1,7 @@
 #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);
 

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -1,9 +1,9 @@
 #ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
-#include <cstdint>
+#include <commonObjects.h>
 
-#include "eive/objects.h"
+#include <cstdint>
 
 // The objects will be instantiated in the ID order
 namespace objects {
@@ -16,6 +16,8 @@ enum sourceObjects : uint32_t {
   PUS_SERVICE_23 = 0x51002300,
   PUS_SERVICE_201 = 0x51020100,
 
+  TM_FUNNEL = 0x52000002,
+
   /* Test Task */
 
   TEST_TASK = 0x42694269,
@@ -24,7 +26,7 @@ enum sourceObjects : uint32_t {
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000001,
 
-  DUMMY_COM_IF = 0x49000002,
+  DUMMY_COM_IF = 0x49000002
 };
 }
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,122 +1,23 @@
 /**
  * @brief	Auto-generated object translation file.
  * @details
- * Contains 176 translations.
+ * Contains 31 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2021-05-17 19:12:49
  */
 #include "translateObjects.h"
 
+#include "systemObjectList.h"
+
 const char *TEST_TASK_STRING = "TEST_TASK";
-const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
-const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
-const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
-const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
-const char *XIPHOS_WDT_STRING = "XIPHOS_WDT";
-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 *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
-const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
-const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
-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_COM_IF_STRING = "STR_COM_IF";
-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 *PTME_VC0_LIVE_TM_STRING = "PTME_VC0_LIVE_TM";
-const char *PTME_VC1_LOG_TM_STRING = "PTME_VC1_LOG_TM";
-const char *PTME_VC2_HK_TM_STRING = "PTME_VC2_HK_TM";
-const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
-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 *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
-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 *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_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 *UART_COM_IF_STRING = "UART_COM_IF";
-const char *ACS_BOARD_POLLING_TASK_STRING = "ACS_BOARD_POLLING_TASK";
-const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
-const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
-const char *SUS_POLLING_TASK_STRING = "SUS_POLLING_TASK";
-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";
@@ -124,13 +25,9 @@ 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_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
 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";
@@ -139,262 +36,19 @@ 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_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
-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_ASSY_STRING = "RW_ASSY";
-const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
-const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
-const char *IMTQ_ASSY_STRING = "IMTQ_ASSY";
-const char *STR_ASSY_STRING = "STR_ASSY";
-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 *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
-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 *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
-const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
-const char *OK_TM_STORE_STRING = "OK_TM_STORE";
-const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
-const char *HK_TM_STORE_STRING = "HK_TM_STORE";
-const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
-const char *LIVE_TM_TASK_STRING = "LIVE_TM_TASK";
-const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
-const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
-const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
-const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
-const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
+const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char *translateObject(object_id_t object) {
   switch ((object & 0xFFFFFFFF)) {
     case 0x42694269:
       return TEST_TASK_STRING;
-    case 0x43000002:
+    case 0x4400AFFE:
-      return ACS_CONTROLLER_STRING;
-    case 0x43000003:
-      return CORE_CONTROLLER_STRING;
-    case 0x43000004:
-      return POWER_CONTROLLER_STRING;
-    case 0x43000006:
-      return GLOBAL_JSON_CFG_STRING;
-    case 0x43000007:
-      return XIPHOS_WDT_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 0x44130046:
-      return GPS_0_HEALTH_DEV_STRING;
-    case 0x44130047:
-      return GPS_1_HEALTH_DEV_STRING;
-    case 0x44140013:
-      return IMTQ_POLLING_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_COM_IF_STRING;
-    case 0x44330003:
-      return PLOC_MPSOC_HELPER_STRING;
-    case 0x44330004:
-      return AXI_PTME_CONFIG_STRING;
-    case 0x44330005:
-      return PTME_CONFIG_STRING;
-    case 0x44330006:
-      return PTME_VC0_LIVE_TM_STRING;
-    case 0x44330007:
-      return PTME_VC1_LOG_TM_STRING;
-    case 0x44330008:
-      return PTME_VC2_HK_TM_STRING;
-    case 0x44330009:
-      return PTME_VC3_CFDP_TM_STRING;
-    case 0x44330015:
-      return PLOC_MPSOC_HANDLER_STRING;
-    case 0x44330016:
-      return PLOC_SUPERVISOR_HANDLER_STRING;
-    case 0x44330017:
-      return PLOC_SUPERVISOR_HELPER_STRING;
-    case 0x44330018:
-      return PLOC_MPSOC_COMMUNICATION_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 0x445300A4:
-      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000001:
       return ARDUINO_COM_IF_STRING;
-    case 0x49000002:
-      return DUMMY_COM_IF_STRING;
-    case 0x49010006:
-      return SCEX_UART_READER_STRING;
-    case 0x49030003:
-      return UART_COM_IF_STRING;
-    case 0x49060004:
-      return ACS_BOARD_POLLING_TASK_STRING;
-    case 0x49060005:
-      return RW_POLLING_TASK_STRING;
-    case 0x49060006:
-      return SPI_RTD_COM_IF_STRING;
-    case 0x49060007:
-      return SUS_POLLING_TASK_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:
@@ -407,6 +61,8 @@ 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:
@@ -421,20 +77,12 @@ 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 0x53000015:
-      return PUS_SERVICE_15_TM_STORAGE_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:
@@ -451,90 +99,12 @@ 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_SYRLINKS_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_ASSY_STRING;
-    case 0x73000006:
-      return CAM_SWITCHER_STRING;
-    case 0x73000007:
-      return SYRLINKS_ASSY_STRING;
-    case 0x73000008:
-      return IMTQ_ASSY_STRING;
-    case 0x73000009:
-      return STR_ASSY_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 0x73000207:
-      return CFDP_FAULT_HANDLER_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 0x73010005:
-      return EPS_SUBSYSTEM_STRING;
-    case 0x73020001:
-      return MISC_TM_STORE_STRING;
-    case 0x73020002:
-      return OK_TM_STORE_STRING;
-    case 0x73020003:
-      return NOT_OK_TM_STORE_STRING;
-    case 0x73020004:
-      return HK_TM_STORE_STRING;
-    case 0x73030000:
-      return CFDP_TM_STORE_STRING;
-    case 0x73040000:
-      return LIVE_TM_TASK_STRING;
-    case 0x73040001:
-      return LOG_STORE_AND_TM_TASK_STRING;
-    case 0x73040002:
-      return HK_STORE_AND_TM_TASK_STRING;
-    case 0x73040003:
-      return CFDP_STORE_AND_TM_TASK_STRING;
-    case 0x73040004:
-      return DOWNLINK_RAM_STORE_STRING;
-    case 0x90000003:
-      return THERMAL_TEMP_INSERTER_STRING;
     case 0xCAFECAFE:
       return DUMMY_INTERFACE_STRING;
+    case objects::THERMAL_CONTROLLER:
+      return THERMAL_CONTROLLER_STRING;
     case 0xFFFFFFFF:
       return NO_OBJECT_STRING;
     default:

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp

@@ -44,11 +44,12 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
   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_HK_HANDLER, length * 0,
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HK_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);
@@ -128,12 +129,12 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
   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) {
+  if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 }

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h

@@ -1,7 +1,7 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_
 
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 class FixedTimeslotTaskIF;
 

bsp_hosted/fsfwconfig/returnvalues/classIds.h

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

bsp_hosted/main.cpp

@@ -2,6 +2,7 @@
 
 #include <iostream>
 
+#include "InitMission.h"
 #include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/controller/ControllerBase.h"
@@ -10,7 +11,6 @@
 #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";
@@ -31,11 +31,8 @@ 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;
 
-  scheduling::initMission();
+  initmission::initMission();
 
   for (;;) {
     // suspend main thread by sleeping it.

bsp_hosted/objectFactory.cpp

@@ -1,124 +0,0 @@
-#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/genericFactory.h>
-#include <mission/tmtc/TmFunnelHandler.h>
-#include <objects/systemObjectList.h>
-
-#include "../mission/utility/DummySdCardManager.h"
-#include "OBSWConfig.h"
-#include "fsfw/platform.h"
-#include "fsfw/power/PowerSwitchIF.h"
-#include "fsfw_tests/integration/task/TestTask.h"
-
-#if OBSW_ADD_TMTC_UDP_SERVER == 1
-#include "fsfw/osal/common/UdpTcPollingTask.h"
-#include "fsfw/osal/common/UdpTmTcBridge.h"
-#endif
-#if OBSW_ADD_TMTC_TCP_SERVER == 1
-#include "fsfw/osal/common/TcpTmTcBridge.h"
-#include "fsfw/osal/common/TcpTmTcServer.h"
-#endif
-
-#if OBSW_ADD_TEST_CODE == 1
-#include <test/testtasks/TestTask.h>
-#endif
-
-#include <dummies/AcuDummy.h>
-#include <dummies/CoreControllerDummy.h>
-
-#include "dummies/helperFactory.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/payload/FreshSupvHandler.h"
-#include "linux/payload/PlocSupvUartMan.h"
-#include "test/gpio/DummyGpioIF.h"
-#endif
-
-void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
-
-  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
-
-  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
-}
-
-void ObjectFactory::produce(void* args) {
-  Factory::setStaticFrameworkObjectIds();
-  PusTmFunnel* pusFunnel;
-  CfdpTmFunnel* cfdpFunnel;
-  StorageManagerIF* tmStore;
-  StorageManagerIF* ipcStore;
-  PersistentTmStores persistentStores{};
-  bool enableHkSets = false;
-#if OBSW_ENABLE_PERIODIC_HK == 1
-  enableHkSets = true;
-#endif
-  auto sdcMan = new DummySdCardManager("/tmp");
-  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
-                                       &tmStore, persistentStores, 120, enableHkSets, false);
-
-  new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel);
-  auto* dummyGpioIF = new DummyGpioIF();
-  auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
-  std::vector<ReturnValue_t> switcherList;
-  auto initVal = PowerSwitchIF::SWITCH_OFF;
-  for (unsigned i = 0; i < 18; i++) {
-    switcherList.emplace_back(initVal);
-  }
-  dummySwitcher->setInitialSwitcherList(switcherList);
-
-#ifdef PLATFORM_UNIX
-  // Obsolete dev handler..
-  /*
-  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 PlocMpsocSpecialComHelper(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();
-  new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
-  DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
-  auto* supvHandler =
-      new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF),
-                           dummySwitcher, power::PDU1_CH6_PLOC_12V);
-#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
-#endif
-
-  dummy::DummyCfg cfg;
-  cfg.addPlPcduDummy = true;
-  cfg.addCamSwitcherDummy = true;
-  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);
-
-  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, true);
-  }
-  new TestTask(objects::TEST_TASK);
-}

bsp_hosted/scheduling.cpp

@@ -1,280 +0,0 @@
-#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 "mission/scheduling.h"
-#include "objectFactory.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", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != returnvalue::OK) {
-    sif::error << "Adding CCSDS distributor failed" << std::endl;
-  }
-  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != returnvalue::OK) {
-    sif::error << "Adding PUS distributor failed" << std::endl;
-  }
-  result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
-  if (result != returnvalue::OK) {
-    sif::error << "Adding CFDP distributor failed" << std::endl;
-  }
-#if OBSW_ADD_TMTC_UDP_SERVER == 1
-  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
-  if (result != returnvalue::OK) {
-    sif::error << "adding UDP server failed" << std::endl;
-  }
-#endif
-  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
-  if (result != returnvalue::OK) {
-    sif::error << "adding TCP server failed" << std::endl;
-  }
-
-#if OBSW_ADD_TMTC_UDP_SERVER == 1
-  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;
-  }
-#endif
-  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;
-  }
-
-  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
-      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr, &RR_SCHEDULING);
-  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
-  }
-
-  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
-  }
-
-  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, 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_3_HOUSEKEEPING);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
-  }
-  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_15_TM_STORAGE);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
-  }
-  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);
-  }
-  result = pusMedPrio->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_CTRL", objects::CORE_CONTROLLER);
-  }
-  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
-  }
-  result = thermalTask->addComponent(objects::HEATER_HANDLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
-  }
-
-  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_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 those are added at a later stage..
-  /*
-  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
-      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-  result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
-  }
-  PeriodicTaskIF* hkTmTask =
-      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-  result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
-  }
-  PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
-      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-  result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
-  }
-   */
-
-#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", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
-  scheduling::scheduleTmpTempSensors(dummyTask, true);
-  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();
-#if OBSW_ADD_TMTC_UDP_SERVER == 1
-  udpPollingTask->startTask();
-#endif
-  tcpPollingTask->startTask();
-  liveTmTask->startTask();
-
-  pusHighPrio->startTask();
-  pusMedPrio->startTask();
-
-  pstTask->startTask();
-  thermalTask->startTask();
-  dummyTask->startTask();
-
-  // If those are added at a later stage..
-  // logTmTask->startTask();
-  // cfdpTmTask->startTask();
-  // hkTmTask->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_CFDP_COMPONENTS == 1
-  cfdpTask->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

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

bsp_linux_board/CMakeLists.txt

@@ -3,4 +3,3 @@ target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
-add_subdirectory(fsfwconfig)

bsp_linux_board/InitMission.cpp

@@ -1,14 +1,12 @@
 #include "InitMission.h"
 
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.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>
@@ -38,7 +36,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   if (factory == nullptr) {
     /* Should never happen ! */
     return;
@@ -53,15 +51,15 @@ 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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
 
@@ -69,22 +67,16 @@ 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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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);
@@ -117,10 +109,6 @@ 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();
@@ -132,11 +120,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   taskVec.push_back(pusVerification);
@@ -144,11 +132,11 @@ 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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
   taskVec.push_back(pusEvents);
@@ -156,11 +144,11 @@ 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 != returnvalue::OK) {
+  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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   taskVec.push_back(pusHighPrio);
@@ -168,19 +156,19 @@ 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 != returnvalue::OK) {
+  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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
   taskVec.push_back(pusMedPrio);
@@ -188,11 +176,11 @@ 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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
   }
   taskVec.push_back(pusLowPrio);
@@ -201,55 +189,45 @@ void initmission::createPusTasks(TaskFactory& factory,
 void initmission::createPstTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
-      sif::error << "InitMission::createPstTasks: Creating PST failed!" << std::endl;
   }
-  } else {
   taskVec.push_back(spiPst);
-  }
 #endif
 }
 
 void initmission::createTestTasks(TaskFactory& factory,
                                   TaskDeadlineMissedFunction missedDeadlineFunc,
                                   std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   PeriodicTaskIF* testTask = factory.createPeriodicTask(
       "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = testTask->addComponent(objects::TEST_TASK);
-  if (result != returnvalue::OK) {
+  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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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);
 
@@ -259,7 +237,7 @@ 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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
     startTestPst = false;
   }

bsp_linux_board/OBSWConfig.h.in

@@ -28,7 +28,6 @@
 #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
@@ -103,12 +102,6 @@
 /*******************************************************************/
 #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

@@ -1,8 +1,5 @@
 #include "ObjectFactory.h"
 
-#include <bsp_linux_board/RPiSdCardManager.h>
-#include <linux/devices/ScexUartReader.h>
-
 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
@@ -21,8 +18,9 @@
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/GPSHyperionHandler.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
-#include "mission/tmtc/TmFunnel.h"
+#include "mission/utility/TmFunnel.h"
 #include "objects/systemObjectList.h"
+#include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
 /* UDP server includes */
@@ -34,8 +32,8 @@
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #endif
 
-#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/serial/SerialCookie.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
 
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
@@ -47,8 +45,8 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 
 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
+  PusServiceBase::packetDestination = objects::TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
@@ -56,6 +54,9 @@ 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) {
@@ -75,17 +76,12 @@ void ObjectFactory::produce(void* args) {
   createRpiAcsBoard(gpioIF, spiDev);
 #endif
 
-#if OBSW_ADD_SUN_SENSORS == 1 || OBSW_ADD_RTD_DEVICES == 1
+#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
 #ifdef RASPBERRY_PI
   rpi::gpio::initSpiCsDecoder(gpioIF);
 #endif
 #endif
 
-#if OBSW_ADD_SCEX_DEVICE == 1
-  auto* sdcMan = new DummySdCardManager("/tmp");
-  createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
-#endif
-
 #if OBSW_ADD_SUN_SENSORS == 1
   createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
 #endif
@@ -202,7 +198,7 @@ void ObjectFactory::createTestTasks() {
 #if OBSW_ADD_UART_TEST_CODE == 1
   new UartTestClass(objects::UART_TEST);
 #else
-  newSerialComIF(objects::UART_COM_IF);
+  new UartComIF(objects::UART_COM_IF);
 #endif
 
 #if RPI_LOOPBACK_TEST_GPIO == 1

bsp_linux_board/definitions.h

@@ -13,12 +13,6 @@ 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 != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
       return;
     }
   }
 
   result = gpioComIF->addGpios(spiMuxGpios);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
     return;
   }

bsp_q7s/CMakeLists.txt

@@ -7,12 +7,12 @@ 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(${OBSW_NAME} PUBLIC main.cpp obsw.cpp scheduling.cpp
+target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
-                                   objectFactory.cpp)
 
-add_subdirectory(boardtest)
+#add_subdirectory(boardtest)
 
 add_subdirectory(boardconfig)
+add_subdirectory(comIF)
 add_subdirectory(core)
 
 if(EIVE_Q7S_EM)
@@ -24,5 +24,3 @@ endif()
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)
-add_subdirectory(fs)
-add_subdirectory(acs)

bsp_q7s/OBSWConfig.h.in

@@ -8,75 +8,56 @@
 
 #include "commonConfig.h"
 #include "q7sConfig.h"
+#include "OBSWVersion.h"
 
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-// This enables a lot of periodically generated telemetry, so it can make sense to
+#define OBSW_USE_CCSDS_IP_CORE                      1
-// disable this for debugging purposes.
+// Set to 1 if all telemetry should be sent to the PTME IP Core
-#define OBSW_ENABLE_PERIODIC_HK                     @OBSW_ENABLE_PERIODIC_HK@
+#define OBSW_TM_TO_PTME                             0
-
+// Set to 1 if telecommands are received via the PDEC IP Core
-// This switch will cause the SW to command the EIVE system object to safe mode. This will
+#define OBSW_TC_FROM_PDEC                           0
-// trigger a lot of events, so it can make sense to disable this for debugging purposes.
-#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
 
+#define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
-// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60
-// module because it broke.
-#define OBSW_ADD_GOMSPACE_ACU                       @OBSW_ADD_GOMSPACE_ACU@
 #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                    @OBSW_ADD_PLOC_SUPERVISOR@
+#define OBSW_ADD_PLOC_SUPERVISOR                    1
-#define OBSW_ADD_PLOC_MPSOC                         @OBSW_ADD_PLOC_MPSOC@
+#define OBSW_ADD_PLOC_MPSOC                         1
 #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_CTRL                           1
+#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
-#define OBSW_ADD_TCS_CTRL                           1
-#define OBSW_ADD_GPS_CTRL                           @OBSW_ADD_GPS_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@
+#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-// Only relevant for EM for TCS tests.
+#define OBSW_MPSOC_JTAG_BOOT                        0
-#define OBSW_ADD_THERMAL_TEMP_INSERTER              @OBSW_ADD_THERMAL_TEMP_INSERTER@
 
-// Set to 1 if all telemetry should be sent to the PTME IP Core
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
-#define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
+// at powerup. I think it would be better
-// Set to 1 if telecommands are received via the PDEC IP Core
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
-#define OBSW_TC_FROM_PDEC                           @OBSW_TC_FROM_PDEC@
+// something the operators might want to do by giving the software too much intelligence
-
+// at the wrong place. The system component might command all the Switches accordingly anyway
-// Configuration parameter which causes the core controller to try to keep at least one SD card
+#define OBSW_INITIALIZE_SWITCHES                    0
-// working
+#define OBSW_ENABLE_PERIODIC_HK                     0
-#define OBSW_SD_CARD_MUST_BE_ON                     1
-#define OBSW_ENABLE_TIMERS                          1
 
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
 /*******************************************************************/
 
-// 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                    @OBSW_ADD_TMTC_TCP_SERVER@
-#define OBSW_ADD_TMTC_UDP_SERVER                    @OBSW_ADD_TMTC_UDP_SERVER@
-
 // Can be used to switch device to NORMAL mode immediately
-#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
-#define OBSW_PRINT_MISSED_DEADLINES                 0
+#define OBSW_PRINT_MISSED_DEADLINES                 1
 
-#define OBSW_MPSOC_JTAG_BOOT                        0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             @OBSW_STAR_TRACKER_GROUND_CONFIG@
+#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
@@ -115,7 +96,6 @@
 #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
@@ -130,12 +110,12 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
-
 #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/acs/CMakeLists.txt

@@ -1 +0,0 @@
-# target_sources(${OBSW_NAME} PUBLIC <Source File List>)

bsp_q7s/acs/StrConfigPathGetter.h

@@ -1,23 +0,0 @@
-#include <optional>
-
-#include "bsp_q7s/fs/SdCardManager.h"
-#include "mission/acs/str/strHelpers.h"
-
-class StrConfigPathGetter : public startracker::SdCardConfigPathGetter {
- public:
-  StrConfigPathGetter(SdCardManager& sdcMan) : sdcMan(sdcMan) {}
-
-  std::optional<std::string> getCfgPath() override {
-    if (!sdcMan.isSdCardUsable(std::nullopt)) {
-      return std::nullopt;
-    }
-    if (sdcMan.getActiveSdCard() == sd::SdCard::SLOT_1) {
-      return std::string("/mnt/sd1/startracker/flight-config.json");
-    } else {
-      return std::string("/mnt/sd0/startracker/flight-config.json");
-    }
-  }
-
- private:
-  SdCardManager& sdcMan;
-};

bsp_q7s/boardconfig/busConf.h

@@ -3,43 +3,29 @@
 
 namespace q7s {
 
-static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi_main";
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
 static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
 
-static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
+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_DEFAULT_DEV[] = "/dev/i2c-eive";
-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";
-//! I2C bus using the first I2C peripheral of the ARM processing system (PS).
-//! Named like this because it is used by default for the Q7 devices.
-static constexpr char I2C_Q7_EIVE[] = "/dev/i2c_q7";
 
 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
-static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
-static constexpr char UART_PLOC_SUPERVISOR_DEV_FALLBACK[] = "/dev/ttyUL4";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
-static constexpr char UART_PLOC_SUPERVISOR_DEV[] = "/dev/ploc_supv";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
-static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul_syrlinks";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
-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/uio_pdec_regs";
+static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
-static constexpr char UIO_PTME[] = "/dev/uio_ptme";
+static constexpr char UIO_PTME[] = "/dev/uio1";
-static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
+static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
-static constexpr char UIO_SYS_ROM[] = "/dev/uio_sys_rom";
+static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
-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 {
-// Live TM
 static const int PTME_VC0 = 0;
-// OK/NOK/MISC Store
 static const int PTME_VC1 = 1;
-// HK store
 static const int PTME_VC2 = 2;
-// CFDP
 static const int PTME_VC3 = 3;
 static const int PTME_CONFIG = 4;
 }  // namespace uiomapids
@@ -62,7 +48,6 @@ static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
 static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
 static constexpr char GNSS_SELECT[] = "gnss_mux_select";
 static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
-static constexpr char PL_I2C_ARESETN[] = "pl_i2c_aresetn";
 
 static constexpr char HEATER_0[] = "heater0";
 static constexpr char HEATER_1[] = "heater1";
@@ -88,14 +73,14 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
 
 static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
 static constexpr char ENABLE_RADFET[] = "enable_radfet";
-
+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 PTME_RESETN[] = "ptme_resetn";
-
 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";

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -16,8 +16,18 @@
 /** 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           @Q7S_CHECK_FOR_ALREADY_RUNNING_IMG@
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 

bsp_q7s/boardtest/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
+target_sources(${OBSW_NAME} PUBLIC FileSystemTest.cpp Q7STestTask.cpp)
 
 if(EIVE_BUILD_Q7S_SIMPLE_MODE)
   target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -1,14 +1,11 @@
 #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>
@@ -17,17 +14,12 @@
 #include <iostream>
 #include <nlohmann/json.hpp>
 
-#include "OBSWConfig.h"
+#include "bsp_q7s/memory/SdCardManager.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;
@@ -43,42 +35,13 @@ 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();
   }
-  if (DO_TEST_FS_HANDLER) {
+  FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
-    FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
   testFileSystemHandlerDirect(opCode);
-  }
   return TestTask::performOneShotAction();
 }
 
@@ -132,23 +95,23 @@ void Q7STestTask::fileTests() {
 
 void Q7STestTask::testScratchApi() {
   ReturnValue_t result = scratch::writeNumber("TEST", 1);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
   }
 
   result = scratch::writeString("TEST2", "halloWelt");
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
   }
   std::string string;
   result = scratch::readString("TEST2", string);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
   }
   sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
@@ -180,7 +143,7 @@ void Q7STestTask::testDummyParams() {
   }
 
   ReturnValue_t result = param.readJsonFile();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
   }
 
   param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@@ -191,13 +154,13 @@ void Q7STestTask::testDummyParams() {
 
   int test = 0;
   result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
                  << " does not exist" << std::endl;
   }
@@ -216,33 +179,18 @@ ReturnValue_t Q7STestTask::initialize() {
 
 void Q7STestTask::testProtHandler() {
   bool opPerformed = false;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   // If any chips are unlocked, lock them here
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_0, xsc::Copy::COPY_0,
+  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
-                                                              true);
+                                                 opPerformed, true);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
-  }
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_0, xsc::Copy::COPY_1,
-                                                              true);
-  if (result != returnvalue::OK) {
-    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
-  }
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_0,
-                                                              true);
-  if (result != returnvalue::OK) {
-    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
-  }
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
-                                                              true);
-  if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
 
   // unlock own copy
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::SELF_CHIP,
+  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
-                                                              xsc::Copy::SELF_COPY, false);
+                                                 opPerformed, true);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -254,9 +202,9 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock own copy
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::SELF_CHIP,
+  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                              xsc::Copy::SELF_COPY, true);
+                                                 opPerformed, true);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -268,9 +216,9 @@ void Q7STestTask::testProtHandler() {
   }
 
   // unlock specific copy
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
+  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
-                                                              false);
+                                                 opPerformed, true);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -282,9 +230,9 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock specific copy
-  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
+  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
-                                                              true);
+                                                 opPerformed, true);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
   if (not opPerformed) {
@@ -387,28 +335,150 @@ void Q7STestTask::testGpsDaemonSocket() {
 }
 
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
-  HostFilesystem hostFs;
+  auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
-  auto* sdcMan = SdCardManager::instance();
+  if (fsHandler == nullptr) {
-  std::string mountPrefix = sdcMan->getCurrentMountPrefix();
+    sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
-  sif::info << "Current mount prefix: " << mountPrefix << std::endl;
+                 << 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;
   }
-    bool fileExists = std::filesystem::exists("/tmp/hello.txt");
+  FileSystemHandler::FsCommandCfg cfg = {};
-    if (not fileExists) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-      sif::warning << "File was not created!" << std::endl;
+
+  // 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;
+      }
+    }
+    // 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);
     }
-    hostFs.removeFile("/tmp/hello.txt");
   }
 }
 
 void Q7STestTask::xadcTest() {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = RETURN_OK;
   float temperature = 0;
   float vccPint = 0;
   float vccPaux = 0;
@@ -420,39 +490,39 @@ void Q7STestTask::xadcTest() {
   float vrefn = 0;
   Xadc xadc;
   result = xadc.getTemperature(temperature);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: Chip Temperature: " << temperature << " °C" << std::endl;
   }
   result = xadc.getVccPint(vccPint);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PS internal: " << vccPint << " mV" << std::endl;
   }
   result = xadc.getVccPaux(vccPaux);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PS auxilliary: " << vccPaux << " mV" << std::endl;
   }
   result = xadc.getVccInt(vccInt);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PL internal: " << vccInt << " mV" << std::endl;
   }
   result = xadc.getVccAux(vccAux);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PL auxilliary: " << vccAux << " mV" << std::endl;
   }
   result = xadc.getVccBram(vccBram);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: VCC BRAM: " << vccBram << " mV" << std::endl;
   }
   result = xadc.getVccOddr(vccOddr);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: VCC PS I/O DDR : " << vccOddr << " mV" << std::endl;
   }
   result = xadc.getVrefp(vrefp);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: Vrefp : " << vrefp << " mV" << std::endl;
   }
   result = xadc.getVrefn(vrefn);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     sif::info << "Q7STestTask::xadcTest: Vrefn : " << vrefn << " mV" << std::endl;
   }
 }

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,7 +3,7 @@
 
 #include <libgpsmm.h>
 
-#include "test/TestTask.h"
+#include "test/testtasks/TestTask.h"
 
 class CoreController;
 
@@ -16,9 +16,6 @@ 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/gnssCallback.cpp

@@ -4,26 +4,20 @@
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
+ReturnValue_t gps::triggerGpioResetPin(uint8_t gpsId, 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 returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (resetArgs->gpioComIF == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  gpioId_t gpioId;
+  gpioId_t gpioId = gpioIds::GNSS_0_NRESET;
-  if (actionData[0] == 0) {
+  if (gpsId == 1) {
-    gpioId = gpioIds::GNSS_0_NRESET;
-  } else {
     gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);
   TaskFactory::delayTask(resetArgs->waitPeriodMs);
   resetArgs->gpioComIF->pullHigh(gpioId);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

bsp_q7s/callbacks/gnssCallback.h

@@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
 #define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
 
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 
 struct ResetArgs {
@@ -11,7 +11,7 @@ struct ResetArgs {
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
+ReturnValue_t triggerGpioResetPin(uint8_t gpsId, void* args);
 
 }
 

bsp_q7s/callbacks/pcduSwitchCb.h

@@ -1,10 +1,10 @@
 #ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
 #define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
 
-#include <mission/power/gsDefs.h>
-
 #include <cstdint>
 
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+
 namespace pcdu {
 
 void switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args);

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

@@ -47,7 +47,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
   spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
   result = gpioComIF->addGpios(spiMuxGpios);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
     return;
   }

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "mission/acs/RwHandler.h"
+#include "mission/devices/RwHandler.h"
 
 namespace rwSpiCallback {
 
@@ -29,32 +29,32 @@ void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args) {
   // Stopwatch watch;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
   RwHandler* handler = reinterpret_cast<RwHandler*>(args);
   if (handler == nullptr) {
     sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   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->getCsMutex();
   cookie->getMutexParams(timeoutType, timeoutMs);
-  if (mutex == nullptr) {
+  if (mutex == nullptr or gpioIF == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   int fileDescriptor = 0;
   const std::string& dev = comIf->getSpiDev();
-  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -75,8 +75,8 @@ 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(fileDescriptor, gpioId, &gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-    return rws::SPI_WRITE_FAILURE;
+    return RwHandler::SPI_WRITE_FAILURE;
   }
 
   /** Encoding and sending command */
@@ -100,8 +100,8 @@ 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(fileDescriptor, gpioId, &gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-      return rws::SPI_WRITE_FAILURE;
+      return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
   }
@@ -112,14 +112,14 @@ 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(fileDescriptor, gpioId, &gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-    return rws::SPI_WRITE_FAILURE;
+    return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return result;
   }
 
@@ -127,10 +127,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   // 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);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-  usleep(rws::SPI_REPLY_DELAY);
+  usleep(RwDefinitions::SPI_REPLY_DELAY);
-  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -139,17 +139,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    * However, receiving more than 5 empty frames will be interpreted as an error.
    */
   uint8_t byteRead = 0;
-  for (idx = 0; idx < 10; idx++) {
+  for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-      return rws::SPI_READ_FAILURE;
+      return RwHandler::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-        return rws::NO_START_MARKER;
+        return RwHandler::NO_START_MARKER;
       }
     }
 
@@ -159,8 +159,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-      return rws::NO_REPLY;
+      return RwHandler::NO_REPLY;
     }
   }
 
@@ -175,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
       byteRead = 0;
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = rws::SPI_READ_FAILURE;
+        result = RwHandler::SPI_READ_FAILURE;
         break;
       }
     }
@@ -186,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     } else if (byteRead == 0x7D) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = rws::SPI_READ_FAILURE;
+        result = RwHandler::SPI_READ_FAILURE;
         break;
       }
       if (byteRead == 0x5E) {
@@ -199,8 +199,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
-        result = rws::INVALID_SUBSTITUTE;
+        result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
     } else {
@@ -217,23 +217,23 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (decodedFrameLen == replyBufferSize) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
-        result = rws::SPI_READ_FAILURE;
+        result = RwHandler::SPI_READ_FAILURE;
         break;
       }
       if (byteRead != FLAG_BYTE) {
         sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
                    << std::endl;
         decodedFrameLen--;
-        result = rws::MISSING_END_SIGN;
+        result = RwHandler::MISSING_END_SIGN;
         break;
       }
     }
-    result = returnvalue::OK;
+    result = HasReturnvaluesIF::RETURN_OK;
   }
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
 
   return result;
 }
@@ -244,7 +244,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
                       MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
                       int& fd) {
   ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
     return result;
   }
@@ -252,27 +252,27 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
   fd = open(devname.c_str(), flags);
   if (fd < 0) {
     sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return spi::OPENING_FILE_FAILED;
+    return SpiComIF::OPENING_FILE_FAILED;
   }
 
   // Pull SPI CS low. For now, no support for active high given
   if (gpioId != gpio::NO_GPIO) {
     result = gpioIF->pullLow(gpioId);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
       return result;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_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) {
+    if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
     }
   }
-  if (mutex->unlockMutex() != returnvalue::OK) {
+  if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
     ;
   }

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/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 

bsp_q7s/comIF/CMakeLists.txt

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

bsp_q7s/core/CMakeLists.txt

@@ -1,2 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
-                                    XiphosWdtHandler.cpp)
+                                    ObjectFactory.cpp)
+
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)

bsp_q7s/core/CoreActions.h

@@ -0,0 +1,87 @@
+#pragma once
+
+#include <fsfw/action/MinMaxParameter.h>
+#include <fsfw/action/TemplateAction.h>
+#include <fsfw/introspection/Enum.h>
+
+class CoreController;
+
+namespace core {
+
+FSFW_ENUM(ActionId, ActionId_t,
+          ((LIST_DIRECTORY_INTO_FILE, 0, "List Directory into file"))(
+              (SWITCH_REBOOT_FILE_HANDLING, 5,
+               "Switch Reboot File Handling"))((RESET_REBOOT_COUNTERS, 6, "Reset Boot Counters"))(
+              (SWITCH_IMG_LOCK, 7, "Switch Image Lock"))((SET_MAX_REBOOT_CNT, 8,
+                                                          "Set maximum reboot Count"))(
+              (XSC_REBOOT_OBC, 32, "Reboot using the xsc_boot_copy command"))(
+              (MOUNT_OTHER_COPY, 33, "Mount Other Copy"))((REBOOT_OBC, 34,
+                                                           "Reboot using the reboot command")))
+
+FSFW_ENUM(Boolenum, uint8_t, ((NO, 0, "NO"))((YES, 1, "Yes")))
+
+class ListDirectoryIntoFileAction
+    : public TemplateAction<CoreController, ListDirectoryIntoFileAction, ActionId> {
+ public:
+  ListDirectoryIntoFileAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::LIST_DIRECTORY_INTO_FILE){};
+};
+
+class SwitchRebootFileHandlingAction
+    : public TemplateAction<CoreController, SwitchRebootFileHandlingAction, ActionId> {
+ public:
+  SwitchRebootFileHandlingAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::SWITCH_REBOOT_FILE_HANDLING){};
+
+  Parameter<Boolenum> enableRebootFile =
+      Parameter<Boolenum>::createParameter(this, "Enable Reboot File");
+};
+
+class ResetRebootCountersAction
+    : public TemplateAction<CoreController, ResetRebootCountersAction, ActionId> {
+ public:
+  FSFW_ENUM(Selection, uint8_t, ((ZERO, "0"))((ONE, "1"))((ALL, "All")))
+
+  ResetRebootCountersAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::RESET_REBOOT_COUNTERS){};
+
+  Parameter<Selection> chip = Parameter<Selection>::createParameter(this, "Chip");
+  Parameter<Selection> copy = Parameter<Selection>::createParameter(this, "Copy");
+};
+
+class SwitchImageLockAction
+    : public TemplateAction<CoreController, SwitchImageLockAction, ActionId> {
+ public:
+  FSFW_ENUM(Selection, uint8_t, ((ZERO, "0"))((ONE, "1")))
+
+  SwitchImageLockAction(CoreController *owner) : TemplateAction(owner, ActionId::SWITCH_IMG_LOCK){};
+
+  Parameter<Boolenum> lock = Parameter<Boolenum>::createParameter(this, "Lock Image");
+  Parameter<Selection> chip = Parameter<Selection>::createParameter(this, "Chip");
+  Parameter<Selection> copy = Parameter<Selection>::createParameter(this, "Copy");
+};
+
+class SetMaxRebootCntAction
+    : public TemplateAction<CoreController, SetMaxRebootCntAction, ActionId> {
+ public:
+  SetMaxRebootCntAction(CoreController *owner)
+      : TemplateAction(owner, ActionId::SET_MAX_REBOOT_CNT){};
+
+    Parameter<uint8_t> maxCount = Parameter<uint8_t>::createParameter(this, "Count");
+};
+
+class XscRebootObcAction : public TemplateAction<CoreController, XscRebootObcAction, ActionId> {
+ public:
+  FSFW_ENUM(Selection, uint8_t, ((ZERO, "0"))((ONE, "1"))((SAME, "Same")))
+  XscRebootObcAction(CoreController *owner) : TemplateAction(owner, ActionId::XSC_REBOOT_OBC){};
+
+  Parameter<Selection> chip = Parameter<Selection>::createParameter(this, "Chip");
+  Parameter<Selection> copy = Parameter<Selection>::createParameter(this, "Copy");
+};
+
+class RebootObcAction : public TemplateAction<CoreController, RebootObcAction, ActionId> {
+ public:
+  RebootObcAction(CoreController *owner) : TemplateAction(owner, ActionId::REBOOT_OBC){};
+};
+
+}  // namespace core

bsp_q7s/core/CoreController.h

@@ -1,30 +1,29 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
-#include <bsp_q7s/core/defs.h>
-#include <fsfw/container/DynamicFIFO.h>
-#include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include <fsfw/parameters/ParameterHelper.h>
-#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
-#include <fsfw_hal/linux/uio/UioMapper.h>
 #include <libxiphos.h>
-#include <linux/acs/GPSDefinitions.h>
-#include <mission/utility/trace.h>
 
-#include <atomic>
 #include <cstddef>
 
-#include "OBSWConfig.h"
+#include "CoreActions.h"
-#include "bsp_q7s/fs/SdCardManager.h"
+#include "CoreDefinitions.h"
+#include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
-#include "mission/sysDefs.h"
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
 
 class Timer;
 class SdCardManager;
 
-struct RebootWatchdogFile {
+namespace xsc {
+
+enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
+enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
+
+}  // namespace xsc
+
+struct RebootFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
   bool enabled = true;
@@ -45,136 +44,56 @@ struct RebootWatchdogFile {
   xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };
 
-class RebootWatchdogPacket : public SerialLinkedListAdapter<SerializeIF> {
+class CoreController : public ExtendedControllerBase {
  public:
-  RebootWatchdogPacket(RebootWatchdogFile& rf) {
-    enabled = rf.enabled;
-    maxCount = rf.maxCount;
-    img00Count = rf.img00Cnt;
-    img01Count = rf.img01Cnt;
-    img10Count = rf.img10Cnt;
-    img11Count = rf.img11Cnt;
-    img00Lock = rf.img00Lock;
-    img01Lock = rf.img01Lock;
-    img10Lock = rf.img10Lock;
-    img11Lock = rf.img11Lock;
-    lastChip = static_cast<uint8_t>(rf.lastChip);
-    lastCopy = static_cast<uint8_t>(rf.lastCopy);
-    nextChip = static_cast<uint8_t>(rf.mechanismNextChip);
-    nextCopy = static_cast<uint8_t>(rf.mechanismNextCopy);
-    setLinks();
-  }
-
- private:
-  void setLinks() {
-    setStart(&enabled);
-    enabled.setNext(&maxCount);
-    maxCount.setNext(&img00Count);
-    img00Count.setNext(&img01Count);
-    img01Count.setNext(&img10Count);
-    img10Count.setNext(&img11Count);
-    img11Count.setNext(&img00Lock);
-    img00Lock.setNext(&img01Lock);
-    img01Lock.setNext(&img10Lock);
-    img10Lock.setNext(&img11Lock);
-    img11Lock.setNext(&lastChip);
-    lastChip.setNext(&lastCopy);
-    lastCopy.setNext(&nextChip);
-    nextChip.setNext(&nextCopy);
-    setLast(&nextCopy);
-  }
-
-  SerializeElement<uint8_t> enabled = false;
-  SerializeElement<uint32_t> maxCount = 0;
-  SerializeElement<uint32_t> img00Count = 0;
-  SerializeElement<uint32_t> img01Count = 0;
-  SerializeElement<uint32_t> img10Count = 0;
-  SerializeElement<uint32_t> img11Count = 0;
-  SerializeElement<uint8_t> img00Lock = false;
-  SerializeElement<uint8_t> img01Lock = false;
-  SerializeElement<uint8_t> img10Lock = false;
-  SerializeElement<uint8_t> img11Lock = false;
-  SerializeElement<uint8_t> lastChip = 0;
-  SerializeElement<uint8_t> lastCopy = 0;
-  SerializeElement<uint8_t> nextChip = 0;
-  SerializeElement<uint8_t> nextCopy = 0;
-};
-
-struct RebootCountersFile {
-  // 16 bit values so all boot counters fit into one event.
-  uint16_t img00Cnt = 0;
-  uint16_t img01Cnt = 0;
-  uint16_t img10Cnt = 0;
-  uint16_t img11Cnt = 0;
-};
-
-class RebootCountersPacket : public SerialLinkedListAdapter<SerializeIF> {
-  RebootCountersPacket(RebootCountersFile& rf) {
-    img00Count = rf.img00Cnt;
-    img01Count = rf.img01Cnt;
-    img10Count = rf.img10Cnt;
-    img11Count = rf.img11Cnt;
-    setLinks();
-  }
-
- private:
-  void setLinks() {
-    setStart(&img00Count);
-    img00Count.setNext(&img01Count);
-    img01Count.setNext(&img10Count);
-    img10Count.setNext(&img11Count);
-    setLast(&img11Count);
-  }
-
-  SerializeElement<uint16_t> img00Count = 0;
-  SerializeElement<uint16_t> img01Count = 0;
-  SerializeElement<uint16_t> img10Count = 0;
-  SerializeElement<uint16_t> img11Count = 0;
-};
-
-class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
- public:
-  enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
-
   static xsc::Chip CURRENT_CHIP;
   static xsc::Copy CURRENT_COPY;
 
   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(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
-  const std::string LEGACY_REBOOT_WATCHDOG_FILE =
+  const std::string REBOOT_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" +
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
-      std::string(core::LEGACY_REBOOT_WATCHDOG_FILE_NAME);
+  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
-  const std::string REBOOT_WATCHDOG_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_WATCHDOG_FILE_NAME);
-  const std::string LEAP_SECONDS_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::LEAP_SECONDS_FILE_NAME);
-  const std::string BACKUP_TIME_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
-  const std::string REBOOT_COUNTERS_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_COUNTER_FILE_NAME);
 
-  static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
-  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 char LIST_DIR_DUMP_WORK_FILE[] = "/tmp/dir_listing.tmp";
 
-  static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
+  static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
+  //! [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.
+  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
+  //! P2: Each byte is the respective reboot count for the slots
+  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
+      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);
 
-  CoreController(object_id_t objectId, bool enableHkSet);
+  CoreController(object_id_t objectId);
   virtual ~CoreController();
 
   ReturnValue_t initialize() override;
 
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+  ReturnValue_t executeAction(Action* action) override;
-                              const uint8_t* data, size_t size) override;
+
+  ReturnValue_t handleAction(core::ListDirectoryIntoFileAction* action);
+  ReturnValue_t handleAction(core::SwitchRebootFileHandlingAction* action);
+  ReturnValue_t handleAction(core::ResetRebootCountersAction* action);
+  ReturnValue_t handleAction(core::SwitchImageLockAction* action);
+  ReturnValue_t handleAction(core::SetMaxRebootCntAction* action);
+  ReturnValue_t handleAction(core::XscRebootObcAction* action);
+  ReturnValue_t handleAction(core::RebootObcAction* action);
+
+  ModeDefinitionHelper getModeDefinitionHelper() override;
 
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
@@ -186,7 +105,6 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   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);
 
@@ -201,24 +119,25 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
    * @param updateProtFile Specify whether the protection info file is updated
    * @return
    */
-  ReturnValue_t setBootCopyProtectionAndUpdateFile(xsc::Chip targetChip, xsc::Copy targetCopy,
+  ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
-                                                   bool protect);
+                                      bool& protOperationPerformed, bool updateProtFile = true);
 
   bool sdInitFinished() const;
 
  private:
-  static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
   static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t MUTEX_TIMEOUT = 20;
-  bool enableHkSet = false;
+  // Designated value for rechecking FIFO open
-  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::NOT_SEEN;
+  static constexpr int RETRY_FIFO_OPEN = -2;
+  int watchdogFifoFd = 0;
+  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
   // States for SD state machine, which is used in non-blocking mode
   enum class SdStates {
     NONE,
     START,
-    UPDATE_SD_INFO_START,
+    GET_INFO,
-    SKIP_TWO_CYCLES_IF_SD_LOCKED,
+    SET_STATE_SELF,
     MOUNT_SELF,
     // Determine operations for other SD card, depending on redundancy configuration
     DETERMINE_OTHER,
@@ -228,173 +147,109 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
     // Skip period because the shell command used to generate the info file sometimes is
     // missing the last performed operation if executed too early
     SKIP_CYCLE_BEFORE_INFO_UPDATE,
-    UPDATE_SD_INFO_END,
+    UPDATE_INFO,
     // SD initialization done
-    IDLE
+    IDLE,
+    // Used if SD switches or mount commands are issued via telecommand
+    SET_STATE_FROM_COMMAND,
   };
-
-  enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
-
   static constexpr bool BLOCKING_SD_INIT = false;
 
-  uint32_t* mappedSysRomAddr = nullptr;
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
-  uint8_t prefSdRaw = sd::SdCard::SLOT_0;
+  struct SdInfo {
-  SdStates sdFsmState = SdStates::START;
+    sd::SdCard pref = sd::SdCard::NONE;
-  SdStates fsmStateAfterDelay = SdStates::IDLE;
-  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;
-    std::string activeChar = "0";
+    sd::SdState prefState = sd::SdState::OFF;
-    std::string otherChar = "1";
-    sd::SdState activeState = sd::SdState::OFF;
     sd::SdState otherState = sd::SdState::OFF;
+    std::string prefChar = "0";
+    std::string otherChar = "1";
     std::pair<bool, bool> mountSwitch = {true, true};
-    // This flag denotes that the SD card usage is locked. This is relevant if SD cards go off
+    SdStates state = SdStates::START;
-    // to leave appliation using the SD cards some time to detect the SD card is not usable anymore.
+    // Used to track whether a command was executed
-    // This is relevant if the active SD card is being switched. The SD card will also be locked
+    bool commandExecuted = true;
-    // when going from hot-redundant mode to cold-redundant mode.
-    bool lockSdCardUsage = false;
-    bool commandPending = true;
     bool initFinished = false;
     SdCardManager::SdStatePair currentState;
     uint16_t cycleCount = 0;
-    uint16_t skippedCyclesCount = 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;
-
+  RebootFile rebootFile = {};
-  struct SdCommanding {
-    bool cmdPending = false;
-    MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
-    DeviceCommandId_t actionId;
-  } sdCommandingInfo;
-
-  struct DirListingDumpContext {
-    bool active;
-    bool firstDump;
-    size_t dumpedBytes;
-    size_t totalFileSize;
-    size_t listingDataOffset;
-    size_t maxDumpLen;
-    uint32_t segmentIdx;
-    MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
-    DeviceCommandId_t actionId;
-  };
-  std::array<uint8_t, 1024> dirListingBuf{};
-  DirListingDumpContext dumpContext{};
-
-  RebootWatchdogFile rebootWatchdogFile = {};
-  RebootCountersFile rebootCountersFile = {};
-
-  CommandExecutor cmdExecutor;
-  SimpleRingBuffer cmdReplyBuf;
-  DynamicFIFO<uint16_t> cmdRepliesSizes;
-  bool shellCmdIsExecuting = false;
-  MessageQueueId_t successRecipient = MessageQueueIF::NO_QUEUE;
-
   std::string currMntPrefix;
-  bool timeFileInitDone = false;
+  bool performOneShotSdCardOpsSwitch = true;
-  bool leapSecondsInitDone = false;
-  bool performOneShotSdCardOpsSwitch = false;
-  uint8_t shortSdCardCdCounter = 0;
-#if OBSW_THREAD_TRACING == 1
-  uint32_t opCounter;
-#endif
-  Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
-   * First index: Chip.
+   * Index 0: Chip 0 Copy 0
-   * Second index: Copy.
+   * Index 1: Chip 0 Copy 1
+   * Index 2: Chip 1 Copy 0
+   * Index 3: Chip 1 Copy 1
    */
-  bool protArray[2][2]{};
+  std::array<bool, 4> protArray;
   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;
 
-  ParameterHelper paramHelper;
+  core::ListDirectoryIntoFileAction listDirectoryIntoFileAction =
+      core::ListDirectoryIntoFileAction(this);
+  core::SwitchRebootFileHandlingAction switchRebootFileHandlingAction =
+      core::SwitchRebootFileHandlingAction(this);
+  core::ResetRebootCountersAction resetRebootCountersAction = core::ResetRebootCountersAction(this);
+  core::SwitchImageLockAction switchImageLockAction = core::SwitchImageLockAction(this);
+  core::SetMaxRebootCntAction setMaxRebootCntAction = core::SetMaxRebootCntAction(this);
+  core::XscRebootObcAction xscRebootObcAction = core::XscRebootObcAction(this);
+  core::RebootObcAction rebootObcAction = core::RebootObcAction(this);
 
-#if OBSW_SD_CARD_MUST_BE_ON == 1
-  bool remountAttemptFlag = true;
-#endif
-
-  MessageQueueId_t getCommandQueue() const override;
-  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
-                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
-                             uint16_t startAtIndex) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
-
+  Countdown sdCardCheckCd = Countdown(120000);
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
 
-  void initLeapSeconds();
-  ReturnValue_t initLeapSecondsFromFile();
   ReturnValue_t initClockFromTimeFile();
-  ReturnValue_t actionUpdateLeapSeconds(const uint8_t* data);
-  ReturnValue_t writeLeapSecondsToFile(const uint16_t leapSeconds);
   ReturnValue_t performSdCardCheck();
-  ReturnValue_t backupTimeFileHandler();
+  ReturnValue_t timeFileHandler();
-  ReturnValue_t initBootCopyFile();
+  ReturnValue_t initBootCopy();
+  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 updateInternalSdInfo();
+  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 executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
-  void performRebootWatchdogHandling(bool recreateFile);
+  void performRebootFileHandling(bool recreateFile);
-  void performRebootCountersHandling(bool recreateFile);
-
-  ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                            const uint8_t* data, size_t size);
-  ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                                const uint8_t* data, size_t size);
-  ReturnValue_t performGracefulShutdown(xsc::Chip targetChip, xsc::Copy targetCopy);
-
-  ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
-                                                        std::ostringstream& oss);
 
   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();
+
   ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
-  ReturnValue_t handleSwitchingSdCardsOffNonBlocking();
+  int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
-  bool handleBootCopyProt(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect);
+                                bool& protOperationPerformed, bool selfChip, bool selfCopy,
-  void rebootWatchdogAlgorithm(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
+                                bool allChips, bool allCopies, uint8_t arrIdx);
+  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
                                  xsc::Copy& tgtCopy);
-  void resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy);
+  void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
+  bool parseRebootFile(std::string path, RebootFile& file);
-  bool parseRebootCountersFile(std::string path, RebootCountersFile& file);
+  void rewriteRebootFile(RebootFile file);
-  void rewriteRebootWatchdogFile(RebootWatchdogFile file);
-  void rewriteRebootCountersFile(RebootCountersFile file);
-  void announceBootCounts();
-  void announceVersionInfo();
-  void announceCurrentImageInfo();
-  void announceSdInfo(SdCardManager::SdStatePair sdStates);
   void readHkData();
-  void dirListingDumpHandler();
   bool isNumber(const std::string& s);
 };
 

bsp_q7s/core/CoreDefinitions.h

@@ -1,16 +1,10 @@
-#ifndef BSP_Q7S_CORE_DEFS_H_
+#ifndef BSP_Q7S_CORE_COREDEFINITIONS_H_
-#define BSP_Q7S_CORE_DEFS_H_
+#define BSP_Q7S_CORE_COREDEFINITIONS_H_
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
 namespace core {
 
-extern uint8_t FW_VERSION_MAJOR;
-extern uint8_t FW_VERSION_MINOR;
-extern uint8_t FW_VERSION_REVISION;
-extern bool FW_VERSION_HAS_SHA;
-extern char FW_VERSION_GIT_SHA[4];
-
 static const uint8_t HK_SET_ENTRIES = 3;
 static const uint32_t HK_SET_ID = 5;
 
@@ -42,4 +36,4 @@ class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
 
 }  // namespace core
 
-#endif /* BSP_Q7S_CORE_DEFS_H_ */
+#endif /* BSP_Q7S_CORE_COREDEFINITIONS_H_ */

bsp_q7s/core/InitMission.cpp

@@ -0,0 +1,536 @@
+#include "bsp_q7s/core/InitMission.h"
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.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/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 initmission::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 << "initmission::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 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_TASK", 50, 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 */
+
+  acsTask->addComponent(objects::ACS_CONTROLLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
+  }
+
+  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(sysTask);
+#if OBSW_ADD_ACS_HANDLERS == 1
+  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+  }
+#endif /* OBSW_ADD_ACS_HANDLERS */
+#if OBSW_ADD_RW == 1
+  result = sysTask->addComponent(objects::RW_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
+  }
+#endif
+#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
+
+#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 != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+  }
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+      objects::RTD_0_IC3_PLOC_HEATSPREADER,
+      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+      objects::RTD_2_IC5_4K_CAMERA,
+      objects::RTD_3_IC6_DAC_HEATSPREADER,
+      objects::RTD_4_IC7_STARTRACKER,
+      objects::RTD_5_IC8_RW1_MX_MY,
+      objects::RTD_6_IC9_DRO,
+      objects::RTD_7_IC10_SCEX,
+      objects::RTD_8_IC11_X8,
+      objects::RTD_9_IC12_HPA,
+      objects::RTD_10_IC13_PL_TX,
+      objects::RTD_11_IC14_MPA,
+      objects::RTD_12_IC15_ACU,
+      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      objects::RTD_14_IC17_TCS_BOARD,
+      objects::RTD_15_IC18_IMTQ,
+  };
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
+  tcsTask->addComponent(objects::THERMAL_CONTROLLER);
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
+
+  // 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_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 != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
+#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 /* OBSW_ADD_ACS_HANDLERS == 1 */
+  sysTask->startTask();
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+  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(
+      "MAIN_SPI", 75, 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
+
+#if OBSW_ADD_RW == 1
+  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
+      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
+  result = pst::pstSpiRw(rwPstTask);
+  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(rwPstTask);
+  }
+#endif
+
+  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
+      "UART_PST", 65, 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 * 2, 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", 65, 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_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+  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_11_TC_SCHEDULER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+  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_201_HEALTH);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+  }
+  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/InitMission.h

@@ -4,23 +4,20 @@
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
-#include "mission/pollingSeqTables.h"
-
-using pst::AcsPstCfg;
 
 class PeriodicTaskIF;
 class TaskFactory;
 
-namespace scheduling {
+namespace initmission {
 void initMission();
 void initTasks();
 
 void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
+                    std::vector<PeriodicTaskIF*>& taskVec);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                     std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                      std::vector<PeriodicTaskIF*>& taskVec);
-};  // namespace scheduling
+};  // namespace initmission
 
 #endif /* BSP_Q7S_INITMISSION_H_ */

bsp_q7s/core/ObjectFactory.h

@@ -0,0 +1,49 @@
+#ifndef BSP_Q7S_OBJECTFACTORY_H_
+#define BSP_Q7S_OBJECTFACTORY_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <string>
+
+class LinuxLibgpioIF;
+class UartComIF;
+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** spiMainComIF, I2cComIF** i2cComIF,
+                                   SpiComIF** spiRwComIF);
+void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
+void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                            PowerSwitchIF* pwrSwitcher);
+void createTmpComponents();
+void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
+void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+                              PowerSwitchIF* pwrSwitcher);
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createBpxBatteryComponent();
+void createStrComponents(PowerSwitchIF* pwrSwitcher);
+void createSolarArrayDeploymentComponents();
+void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
+void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+void createMiscComponents();
+
+void createTestComponents(LinuxLibgpioIF* gpioComIF);
+
+void testAcsBrdAss(AcsBoardAssembly* assAss);
+
+};  // namespace ObjectFactory
+
+#endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/core/WatchdogHandler.cpp

@@ -1,87 +0,0 @@
-#include "WatchdogHandler.h"
-
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <cerrno>
-#include <cstring>
-#include <filesystem>
-
-#include "fsfw/serviceinterface.h"
-#include "watchdog/definitions.h"
-
-WatchdogHandler::WatchdogHandler() {}
-
-void WatchdogHandler::periodicOperation() {
-  if (watchdogFifoFd != 0) {
-    if (watchdogFifoFd == RETRY_FIFO_OPEN) {
-      // Open FIFO write only and non-blocking
-      watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
-      if (watchdogFifoFd < 0) {
-        if (errno == ENXIO) {
-          watchdogFifoFd = RETRY_FIFO_OPEN;
-          // No printout for now, would be spam
-          return;
-        } else {
-          sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
-                     << errno << ": " << strerror(errno) << std::endl;
-          return;
-        }
-      }
-      sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
-      performStartHandling();
-    } else if (watchdogFifoFd > 0) {
-      // Write to OBSW watchdog FIFO here
-      const char writeChar = watchdog::first::IDLE_CHAR;
-      ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
-      if (writtenBytes < 0) {
-        sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
-                   << std::endl;
-      }
-    }
-  }
-}
-
-ReturnValue_t WatchdogHandler::initialize(bool enableWatchdogFunction) {
-  using namespace std::filesystem;
-  this->enableWatchFunction = enableWatchdogFunction;
-  std::error_code e;
-  if (not std::filesystem::exists(watchdog::FIFO_NAME, e)) {
-    // Still return returnvalue::OK for now
-    sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
-              << " watchdog" << std::endl;
-    return returnvalue::OK;
-  }
-  // Open FIFO write only and non-blocking to prevent SW from killing itself.
-  watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
-  if (watchdogFifoFd < 0) {
-    if (errno == ENXIO) {
-      watchdogFifoFd = RETRY_FIFO_OPEN;
-      sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
-    } else {
-      sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
-                 << ": " << strerror(errno) << std::endl;
-      return returnvalue::FAILED;
-    }
-  }
-  return performStartHandling();
-}
-
-ReturnValue_t WatchdogHandler::performStartHandling() {
-  char startBuf[2];
-  ssize_t writeLen = 1;
-  startBuf[0] = watchdog::first::START_CHAR;
-  if (enableWatchFunction) {
-    writeLen += 1;
-    startBuf[1] = watchdog::second::WATCH_FLAG;
-  }
-  ssize_t writtenBytes = write(watchdogFifoFd, &startBuf, writeLen);
-  if (writtenBytes < 0) {
-    sif::error << "WatchdogHandler: Errors writing to watchdog FIFO, code " << errno << ": "
-               << strerror(errno) << std::endl;
-    return returnvalue::FAILED;
-  } else if (writtenBytes != writeLen) {
-    sif::warning << "WatchdogHandler: Not all bytes were written, possible error" << std::endl;
-  }
-  return returnvalue::OK;
-}

bsp_q7s/core/WatchdogHandler.h

@@ -1,23 +0,0 @@
-#ifndef BSP_Q7S_CORE_WATCHDOGHANDLER_H_
-#define BSP_Q7S_CORE_WATCHDOGHANDLER_H_
-
-#include "fsfw/returnvalues/returnvalue.h"
-
-class WatchdogHandler {
- public:
-  WatchdogHandler();
-
-  ReturnValue_t initialize(bool enableWatchFunction);
-  void periodicOperation();
-
- private:
-  // Designated value for rechecking FIFO open
-  static constexpr int RETRY_FIFO_OPEN = -2;
-
-  int watchdogFifoFd = 0;
-  bool enableWatchFunction = false;
-
-  ReturnValue_t performStartHandling();
-};
-
-#endif /* BSP_Q7S_CORE_WATCHDOGHANDLER_H_ */

bsp_q7s/core/XiphosWdtHandler.cpp

@@ -1,122 +0,0 @@
-#include "XiphosWdtHandler.h"
-
-#include "fsfw/ipc/QueueFactory.h"
-
-XiphosWdtHandler::XiphosWdtHandler(object_id_t objectId)
-    : SystemObject(objectId),
-      requestQueue(QueueFactory::instance()->createMessageQueue()),
-      actionHelper(this, requestQueue) {}
-
-ReturnValue_t XiphosWdtHandler::initialize() {
-  ReturnValue_t result = actionHelper.initialize();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  int retval = xsc_watchdog_init(&wdtHandle);
-  if (retval != 0) {
-    sif::error << "XiphosWdtHandler: Initiating watchdog failed with code " << retval << ": "
-               << strerror(retval) << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  if (wdtHandle == nullptr) {
-    sif::error << "XiphosWdtHandler: WDT handle is nullptr!" << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  retval = xsc_watchdog_set_timeout(wdtHandle, timeoutSeconds);
-  if (retval != 0) {
-    // This propably means that the default timeout is used. Still continue with task init.
-    sif::warning << "XiphosWdtHandler: Setting WDT timeout of " << timeoutSeconds
-                 << " seconds failed with code " << result << ": " << strerror(retval) << std::endl;
-  }
-  return enableWdt();
-}
-
-ReturnValue_t XiphosWdtHandler::performOperation(uint8_t opCode) {
-  CommandMessage command;
-  ReturnValue_t result;
-  for (result = requestQueue->receiveMessage(&command); result == returnvalue::OK;
-       result = requestQueue->receiveMessage(&command)) {
-    result = actionHelper.handleActionMessage(&command);
-    if (result == returnvalue::OK) {
-      continue;
-    }
-    sif::warning << "Can not handle message with message type " << command.getMessageType()
-                 << std::endl;
-  }
-  if (enabled) {
-    int retval = xsc_watchdog_keepalive(wdtHandle);
-    if (retval != 0) {
-      sif::warning << "XiphosWdtHandler: Feeding WDT failed with code " << retval << ": "
-                   << strerror(retval) << std::endl;
-      return returnvalue::FAILED;
-    }
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t XiphosWdtHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                              const uint8_t *data, size_t size) {
-  switch (actionId) {
-    case (ActionId::ENABLE): {
-      ReturnValue_t result = enableWdt();
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      return EXECUTION_FINISHED;
-    }
-    case (ActionId::DISABLE): {
-      ReturnValue_t result = disableWdt();
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      return EXECUTION_FINISHED;
-    }
-  }
-  return HasActionsIF::INVALID_ACTION_ID;
-}
-
-ReturnValue_t XiphosWdtHandler::enableWdt() {
-  int nowayout = 0;
-  int status = 0;
-  int retval = xsc_watchdog_get_status(&nowayout, &status);
-  // If this fails for whatever reason, just try enabling in any case.
-  if (retval != 0) {
-    sif::warning << "XiphosWdtHandler: Getting WDT status failed" << std::endl;
-  }
-  // Of course the enable API will fail if the device is already on, just perfect, love me some
-  // good C API... :)))
-  if (retval != 0 or status == 0) {
-    retval = xsc_watchdog_enable(wdtHandle);
-    if (retval != 0) {
-      sif::error << "XiphosWdtHandler: Enabling WDT failed with code " << retval << ": "
-                 << strerror(retval) << std::endl;
-      return returnvalue::FAILED;
-    }
-  }
-  enabled = true;
-  return returnvalue::OK;
-}
-
-ReturnValue_t XiphosWdtHandler::disableWdt() {
-  int nowayout = 0;
-  int status = 0;
-  int retval = xsc_watchdog_get_status(&nowayout, &status);
-  // If this fails for whatever reason, just try disabling in any case.
-  if (retval != 0) {
-    sif::warning << "XiphosWdtHandler: Getting WDT status failed" << std::endl;
-  }
-  // Of course the disable API will fail if the device is already off, just perfect, love me some
-  // good C API... :)))
-  if (retval != 0 or status == 1) {
-    retval = xsc_watchdog_disable(wdtHandle);
-    if (retval != 0) {
-      sif::error << "XiphosWdtHandler: Disabling WDT failed with code " << retval << ": "
-                 << strerror(retval) << std::endl;
-      return returnvalue::FAILED;
-    }
-  }
-  enabled = false;
-  return returnvalue::OK;
-}
-
-MessageQueueId_t XiphosWdtHandler::getCommandQueue() const { return requestQueue->getId(); }

bsp_q7s/core/XiphosWdtHandler.h

@@ -1,36 +0,0 @@
-#ifndef BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_
-#define BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_
-
-#include <fsfw/action/HasActionsIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <libxiphos.h>
-
-class XiphosWdtHandler : public SystemObject, public ExecutableObjectIF, public HasActionsIF {
- public:
-  enum ActionId { ENABLE = 0, DISABLE = 1 };
-
-  XiphosWdtHandler(object_id_t objectId);
-  ReturnValue_t performOperation(uint8_t opCode) override;
-  ReturnValue_t initialize() override;
-
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
-  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const override;
-
- private:
-  // Wrappers to ensure idempotency of trash C API.
-  ReturnValue_t enableWdt();
-  ReturnValue_t disableWdt();
-  // Timeout duration range specified by Xiphos: 0.001 seconds to 171 seconds. The libxiphos API
-  // expects an int, so I guess this translates to 1 to 171 seconds.
-  // WARNING: DO NOT SET THIS HIGHER THAN 80 SECONDS!
-  // Possible bug in Xiphos/Xilinx kernel driver for watchdog, related to overflow.
-  int timeoutSeconds = 80;
-  bool enabled = false;
-  struct watchdog_s* wdtHandle = nullptr;
-  MessageQueueIF* requestQueue = nullptr;
-  ActionHelper actionHelper;
-};
-
-#endif /* BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_ */

bsp_q7s/em/emObjectFactory.cpp

@@ -1,183 +1,71 @@
-#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
-#include <bsp_q7s/core/XiphosWdtHandler.h>
-#include <bsp_q7s/objectFactory.h>
-#include <dummies/ComCookieDummy.h>
-#include <dummies/PcduHandlerDummy.h>
 #include <fsfw/health/HealthTableIF.h>
-#include <fsfw/power/DummyPowerSwitcher.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
-#include <mission/power/gsDefs.h>
-#include <mission/system/systemTree.h>
-#include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
-#include "common/config/devices/addresses.h"
+#include "commonObjects.h"
 #include "devConf.h"
-#include "dummies/helperFactory.h"
-#include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
-#include "mission/genericFactory.h"
+#include "mission/core/GenericFactory.h"
-#include "mission/system/com/comModeTree.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
   HealthTableIF* healthTable = nullptr;
-  PusTmFunnel* pusFunnel = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
-  CfdpTmFunnel* cfdpFunnel = nullptr;
-  StorageManagerIF* ipcStore = nullptr;
-  StorageManagerIF* tmStore = nullptr;
-
-  bool enableHkSets = false;
-#if OBSW_ENABLE_PERIODIC_HK == 1
-  enableHkSets = true;
-#endif
-
-  PersistentTmStores stores;
-  readFirmwareVersion();
-  new XiphosWdtHandler(objects::XIPHOS_WDT);
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
-                                       enableHkSets, true);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
-  SerialComIF* uartComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
-  // Adding GPIOs for chip select decoding and initializing them.
-  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
-  gpioCallbacks::disableAllDecoder(gpioComIF);
-  createPlI2cResetGpio(gpioComIF);
-
-  // Hardware is usually not connected to EM, so we need to create dummies which replace lower
-  // level components.
-  dummy::DummyCfg dummyCfg;
-  dummyCfg.addCoreCtrlCfg = false;
-  dummyCfg.addCamSwitcherDummy = false;
-#if OBSW_ADD_SYRLINKS == 1
-  dummyCfg.addSyrlinksDummies = false;
-#endif
-#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
-  dummyCfg.addPlocDummies = false;
-#endif
-#if OBSW_ADD_TMP_DEVICES == 1
-  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
-      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
-      {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
-      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
-  }};
-  createTmpComponents(tmpDevsToAdd);
-  dummy::Tmp1075Cfg tmpCfg{};
-  tmpCfg.addTcsBrd0 = true;
-  tmpCfg.addTcsBrd1 = true;
-  tmpCfg.addPlPcdu0 = false;
-  tmpCfg.addPlPcdu1 = false;
-  tmpCfg.addIfBrd = false;
-  dummyCfg.tmp1075Cfg = tmpCfg;
-#endif
-#if OBSW_ADD_GOMSPACE_PCDU == 1
-  dummyCfg.addPowerDummies = false;
-  // The ACU broke.
-  dummyCfg.addOnlyAcuDummy = true;
-#endif
-#if OBSW_ADD_STAR_TRACKER == 1
-  dummyCfg.addStrDummy = false;
-#endif
-#if OBSW_ADD_SCEX_DEVICE == 0
-  dummyCfg.addScexDummy = true;
-#endif
-#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  dummyCfg.addBpxBattDummy = false;
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-  dummyCfg.addAcsBoardDummies = false;
-#endif
-#if OBSW_ADD_PL_PCDU == 0
-  dummyCfg.addPlPcduDummy = true;
-#endif
-
   PowerSwitchIF* pwrSwitcher = nullptr;
-#if OBSW_ADD_GOMSPACE_PCDU == 0
+  SpiComIF* spiRwComIF = nullptr;
-  pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER);
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
-#else
+  createTmpComponents();
-  createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
+  new CoreController(objects::CORE_CONTROLLER);
-#endif
-  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
 
-  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  gpioCallbacks::disableAllDecoder(gpioComIF);
-  if (core::FW_VERSION_MAJOR >= 4) {
+  createPcduComponents(gpioComIF, &pwrSwitcher);
-    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  createRadSensorComponent(gpioComIF);
-  }
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-  static_cast<void>(battAndImtqI2cDev);
-
-#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
-#endif
-  createPowerController(true, enableHkSets);
-
-  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
-
-  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
-
-  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
-  static_cast<void>(stackHandler);
-
-  // Initialize chip select to avoid SPI bus issues.
-  createRadSensorChipSelect(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
-                           adis1650x::Type::ADIS16507);
-#else
-  // Still add all GPIOs for EM.
-  GpioCookie* acsBoardGpios = new GpioCookie();
-  createAcsBoardGpios(*acsBoardGpios);
-  gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+#if OBSW_Q7S_EM == 1
+  createSyrlinksComponents(nullptr);
+#else
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_Q7S_EM == 1 */
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
+  createImtqComponents(pwrSwitcher);
 #endif
-
-#if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents(pwrSwitcher);
-#endif /* OBSW_ADD_SYRLINKS == 1 */
-
-#if OBSW_ADD_RW == 1
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
-  createStrComponents(pwrSwitcher, *SdCardManager::instance());
+  createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
+#if OBSW_USE_CCSDS_IP_CORE == 1
-#if OBSW_ADD_PL_PCDU == 1
+  createCcsdsComponents(gpioComIF);
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-#endif
-  createPayloadComponents(gpioComIF, *pwrSwitcher);
-
-#if OBSW_ADD_CCSDS_IP_CORES == 1
-  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
-                               &ipCoreHandler, 0, 0);
-  createCcsdsIpComponentsWrapper(ccsdsArgs);
-#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
-
   /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
-#if OBSW_ADD_SCEX_DEVICE == 1
+
-  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
+  createMiscComponents();
-                       power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
-#endif
-  createAcsController(true, enableHkSets, *SdCardManager::instance());
-  HeaterHandler* heaterHandler;
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
-  createThermalController(*heaterHandler, true);
-  satsystem::init(true);
 }

bsp_q7s/fmObjectFactory.cpp

@@ -1,135 +1,67 @@
-#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
-#include <bsp_q7s/core/XiphosWdtHandler.h>
-#include <bsp_q7s/objectFactory.h>
-#include <devices/gpioIds.h>
-#include <fsfw/storagemanager/LocalPool.h>
-#include <fsfw/storagemanager/PoolManager.h>
-#include <mission/power/gsDefs.h>
-#include <mission/system/EiveSystem.h>
-
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
+#include "commonObjects.h"
 #include "devConf.h"
-#include "devices/addresses.h"
-#include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
-#include "mission/genericFactory.h"
+#include "mission/core/GenericFactory.h"
-#include "mission/system/systemTree.h"
-#include "mission/tmtc/tmFilters.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
   HealthTableIF* healthTable = nullptr;
-  PusTmFunnel* pusFunnel = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
-  CfdpTmFunnel* cfdpFunnel = nullptr;
-  StorageManagerIF* ipcStore = nullptr;
-  StorageManagerIF* tmStore = nullptr;
-
-  bool enableHkSets = false;
-#if OBSW_ENABLE_PERIODIC_HK == 1
-  enableHkSets = true;
-#endif
-
-  PersistentTmStores stores;
-  readFirmwareVersion();
-  new XiphosWdtHandler(objects::XIPHOS_WDT);
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
-                                       true, true);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
-  SerialComIF* uartComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   PowerSwitchIF* pwrSwitcher = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
+  SpiComIF* spiRwComIF = nullptr;
-  /* Adding gpios for chip select decoding to the gpioComIf */
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
-  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
   gpioCallbacks::disableAllDecoder(gpioComIF);
-  createPlI2cResetGpio(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
-
+  createRadSensorComponent(gpioComIF);
-  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-  createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
-  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(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(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
-                           adis1650x::Type::ADIS16505);
 #endif
-  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
+  createSolarArrayDeploymentComponents();
-#if OBSW_ADD_TMP_DEVICES == 1
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
-  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
+#if OBSW_ADD_SYRLINKS == 1
-      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+  createSyrlinksComponents(pwrSwitcher);
-      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+#endif /* OBSW_ADD_SYRLINKS == 1 */
-      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-      // damaged
+  createPayloadComponents(gpioComIF);
-      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
-      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
-  }};
 
-  createTmpComponents(tmpDevsToAdd);
-#endif
-  createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
-
-  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
-  if (core::FW_VERSION_MAJOR >= 4) {
-    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
-  }
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
+  createImtqComponents(pwrSwitcher);
 #endif
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
+  createBpxBatteryComponent();
 #endif
-  createPowerController(true, enableHkSets);
-
-#if OBSW_ADD_PL_PCDU == 1
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
-#endif
-#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_STAR_TRACKER == 1
-  createStrComponents(pwrSwitcher, *SdCardManager::instance());
+  createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
+#if OBSW_USE_CCSDS_IP_CORE == 1
-#if OBSW_ADD_CCSDS_IP_CORES == 1
+  createCcsdsComponents(gpioComIF);
-  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
-                               &ipCoreHandler, 0, 0);
-  createCcsdsIpComponentsWrapper(ccsdsArgs);
-#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
-
-#if OBSW_ADD_SCEX_DEVICE == 1
-  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
-                       power::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, false);
+  createThermalController();
-  createAcsController(true, enableHkSets, *SdCardManager::instance());
+  createAcsController();
-  satsystem::init(false);
 }

bsp_q7s/fs/CMakeLists.txt

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

bsp_q7s/fs/helpers.cpp

@@ -1,11 +0,0 @@
-#include "helpers.h"
-
-std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
-                                                 std::filesystem::path pathWihtoutPrefix) {
-  auto prefix = man.getCurrentMountPrefix();
-  if (prefix == nullptr) {
-    return pathWihtoutPrefix;
-  }
-  auto resPath = prefix / pathWihtoutPrefix;
-  return resPath;
-}

bsp_q7s/fs/helpers.h

@@ -1,14 +0,0 @@
-#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/main.cpp

@@ -12,10 +12,10 @@
  * @brief 	This is the main program for the target hardware.
  * @return
  */
-int main(int argc, char* argv[]) {
+int main(void) {
   using namespace std;
 #if Q7S_SIMPLE_MODE == 0
-  return obsw::obsw(argc, argv);
+  return obsw::obsw();
 #else
   return simple::simple();
 #endif

bsp_q7s/memory/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp LocalParameterHandler.cpp)
+target_sources(${OBSW_NAME} PRIVATE FileSystemHandler.cpp SdCardManager.cpp
+                                    scratchApi.cpp FilesystemHelper.cpp)

bsp_q7s/memory/FileSystemHandler.cpp

@@ -0,0 +1,238 @@
+#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->getSdCardsStatus(statusPair);
+  sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
+  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 = sdcMan->getPreferredSdCard();
+  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

@@ -0,0 +1,68 @@
+#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/FilesystemHelper.cpp

@@ -3,9 +3,8 @@
 #include <filesystem>
 #include <fstream>
 
-#include "SdCardManager.h"
+#include "bsp_q7s/memory/SdCardManager.h"
-#include "eive/definitions.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include "fsfw/serviceinterface.h"
 
 FilesystemHelper::FilesystemHelper() {}
 
@@ -13,26 +12,27 @@ 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 returnvalue::FAILED;
+    return RETURN_FAILED;
   }
-  if (path.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
+  if (path.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
-    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
+      std::string(SdCardManager::SD_0_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }
-  } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
+  } else if (path.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
-             std::string(config::SD_1_MOUNT_POINT)) {
+             std::string(SdCardManager::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardUsable(sd::SLOT_1)) {
+    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }
   }
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t FilesystemHelper::fileExists(std::string file) {
   if (not std::filesystem::exists(file)) {
     return FILE_NOT_EXISTS;
   }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

bsp_q7s/memory/FilesystemHelper.h

@@ -3,15 +3,15 @@
 
 #include <string>
 
-#include "eive/resultClassIds.h"
+#include "commonClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief   This class implements often used functions related to the file system management.
  *
  * @author  J. Meier
  */
-class FilesystemHelper {
+class FilesystemHelper : public HasReturnvaluesIF {
  public:
   static const uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM_HELPER;
 
@@ -26,7 +26,7 @@ class FilesystemHelper {
    *
    * @param path  Path to check
    *
-   * @return  returnvalue::OK if path points to SD card and the appropriate SD card is mounted or if
+   * @return  RETURN_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.
@@ -38,7 +38,7 @@ class FilesystemHelper {
    *
    * @param file   File to check
    *
-   * @return  returnvalue::OK if file exists, otherwise return error code.
+   * @return  RETURN_OK if file exists, otherwise return error code.
    */
   static ReturnValue_t fileExists(std::string file);
 

bsp_q7s/memory/LocalParameterHandler.cpp

@@ -1,41 +0,0 @@
-#include "LocalParameterHandler.h"
-
-#include <fsfw/serviceinterface/ServiceInterface.h>
-
-LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
-    : NVMParameterBase(), sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
-
-LocalParameterHandler::~LocalParameterHandler() {}
-
-ReturnValue_t LocalParameterHandler::initialize() {
-  ReturnValue_t result = updateFullName();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = readJsonFile();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t LocalParameterHandler::writeJsonFile() {
-  ReturnValue_t result = updateFullName();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return NVMParameterBase::writeJsonFile();
-}
-
-ReturnValue_t LocalParameterHandler::updateFullName() {
-  std::string mountPrefix;
-  auto activeSd = sdcMan->getActiveSdCard();
-  if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
-    mountPrefix = sdcMan->getCurrentMountPrefix();
-  } else {
-    return SD_NOT_READY;
-  }
-  std::string fullname = mountPrefix + "/" + sdRelativeName;
-  NVMParameterBase::setFullName(fullname);
-  return returnvalue::OK;
-}

bsp_q7s/memory/LocalParameterHandler.h

@@ -1,106 +0,0 @@
-#ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
-#define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
-
-#include <mission/memory/NvmParameterBase.h>
-#include <mission/memory/SdCardMountedIF.h>
-
-#include <string>
-
-/**
- * @brief	Class to handle persistent parameters
- *
- */
-class LocalParameterHandler : public NVMParameterBase {
- public:
-  static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
-
-  static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
-  /**
-   * @brief	Constructor
-   *
-   * @param sdRelativeName	Absolute name of json file relative to mount
-   * 												directory
-   * of SD card. E.g. conf/example.json
-   * @param sdcMan	Pointer to SD card manager
-   */
-  LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
-  virtual ~LocalParameterHandler();
-
-  /**
-   * @brief Will initialize the local parameter handler
-   *
-   * @return OK if successful, otherwise error return value
-   */
-  ReturnValue_t initialize();
-
-  /**
-   * @brief Function to add parameter to json file. If the json file does
-   * 				not yet exist it will be created here.
-   *
-   * @param key	The string to identify the parameter
-   * @param value	The value to set for this parameter
-   *
-   * @return OK if successful, otherwise error return value
-   *
-   * @details The function will add the parameter only if it is not already
-   * 					present in the json file
-   */
-  template <typename T>
-  ReturnValue_t addParameter(std::string key, T value);
-
-  /**
-   * @brief	Function will update a parameter which already exists in the json
-   * 				file
-   *
-   * @param key 	The unique string to identify the parameter to update
-   * @param value The new new value to set
-   *
-   * @return OK if successful, otherwise error return value
-   */
-  template <typename T>
-  ReturnValue_t updateParameter(std::string key, T value);
-
- private:
-  // Name relative to mount point of SD card where parameters will be stored
-  std::string sdRelativeName;
-
-  SdCardMountedIF* sdcMan;
-
-  virtual ReturnValue_t writeJsonFile();
-
-  /**
-   * @brief This function sets the name of the json file dependent on the
-   * 				currently active SD card
-   *
-   * @return OK if successful, otherwise error return value
-   */
-  ReturnValue_t updateFullName();
-};
-
-template <typename T>
-inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
-  ReturnValue_t result = insertValue(key, value);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = writeJsonFile();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-template <typename T>
-inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
-  ReturnValue_t result = setValue(key, value);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = writeJsonFile();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-#endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */

bsp_q7s/memory/SdCardManager.cpp

@@ -2,7 +2,6 @@
 
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <fsfw/timemanager/Stopwatch.h>
 #include <unistd.h>
 
 #include <cstring>
@@ -11,42 +10,41 @@
 #include <memory>
 
 #include "OBSWConfig.h"
-#include "bsp_q7s/memory/scratchApi.h"
+#include "common/config/commonObjects.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::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
-  sdLock = MutexFactory::instance()->createMutex();
+  mutex = MutexFactory::instance()->createMutex();
-  prefLock = MutexFactory::instance()->createMutex();
+  ReturnValue_t result = mutex->lockMutex();
-  defaultLock = MutexFactory::instance()->createMutex();
+  if (result != RETURN_OK) {
-
-  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
-  if (mg.getLockResult() != returnvalue::OK) {
     sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
   }
   uint8_t prefSdRaw = 0;
-  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
+  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
+  result = mutex->unlockMutex();
+  if (result != RETURN_OK) {
+    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
+  }
 
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == scratch::KEY_NOT_FOUND) {
       sif::warning << "CoreController::sdCardInit: "
                       "Preferred SD card not set. Setting to 0"
                    << std::endl;
-      scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
+      setPreferredSdCard(sd::SdCard::SLOT_0);
-      prefSdRaw = 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;
-      prefSdRaw = sd::SdCard::SLOT_0;
+      sdInfo.pref = sd::SdCard::SLOT_0;
     }
   }
   sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
@@ -67,7 +65,7 @@ SdCardManager* SdCardManager::instance() {
 
 ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
                                             SdStatePair* statusPair) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   if (doMountSdCard) {
     if (not blocking) {
       sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
@@ -82,7 +80,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
     sdStatusPtr = std::make_unique<SdStatePair>();
     statusPair = sdStatusPtr.get();
     result = getSdCardsStatus(*statusPair);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
   }
@@ -91,7 +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 returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   sd::SdState currentState;
@@ -115,18 +113,23 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   } else if (currentState == sd::SdState::OFF) {
     result = setSdCardState(sdCard, true);
   } else {
-    result = returnvalue::FAILED;
+    result = HasReturnvaluesIF::RETURN_FAILED;
   }
 
-  if (result != returnvalue::OK or not doMountSdCard) {
+  if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
     return result;
   }
 
   return mountSdCard(sdCard);
 }
 
-ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, SdStatePair& sdStates,
+ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
-                                             bool doUnmountSdCard) {
+                                             SdStatePair* statusPair) {
+  std::pair<sd::SdState, sd::SdState> active;
+  ReturnValue_t result = getSdCardsStatus(active);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
   if (doUnmountSdCard) {
     if (not blocking) {
       sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
@@ -139,21 +142,21 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, SdStatePair& sdS
   if (sdCard == sd::SdCard::BOTH) {
     sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
                  << std::endl;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (sdCard == sd::SdCard::SLOT_0) {
-    if (sdStates.first == sd::SdState::OFF) {
+    if (active.first == sd::SdState::OFF) {
       return ALREADY_OFF;
     }
   } else if (sdCard == sd::SdCard::SLOT_1) {
-    if (sdStates.second == sd::SdState::OFF) {
+    if (active.second == sd::SdState::OFF) {
       return ALREADY_OFF;
     }
   }
 
   if (doUnmountSdCard) {
-    ReturnValue_t result = unmountSdCard(sdCard);
+    result = unmountSdCard(sdCard);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
   }
@@ -184,40 +187,54 @@ 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 (result != returnvalue::OK) {
+  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
   }
   return result;
 }
 
-ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& sdStates) {
+ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
-  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
+  using namespace std;
-  sdStates = this->sdStates;
+  MutexGuard mg(mutex);
-  return returnvalue::OK;
+  if (not filesystem::exists(SD_STATE_FILE)) {
+    return STATUS_FILE_NEXISTS;
+  }
+
+  // Now the file should exist in any case. Still check whether it exists.
+  fstream sdStatus(SD_STATE_FILE);
+  if (not sdStatus.good()) {
+    return STATUS_FILE_NEXISTS;
+  }
+  string line;
+  uint8_t idx = 0;
+  sd::SdCard currentSd = sd::SdCard::SLOT_0;
+  // Process status file line by line
+  while (std::getline(sdStatus, line)) {
+    processSdStatusLine(active, line, idx, currentSd);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
   using namespace std;
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
-    sif::warning << "SdCardManager::mountSdCard: Command still pending" << std::endl;
     return CommandExecutor::COMMAND_PENDING;
   }
   if (sdCard == sd::SdCard::BOTH) {
     sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
                  << std::endl;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   string mountDev;
   string mountPoint;
   if (sdCard == sd::SdCard::SLOT_0) {
     mountDev = SD_0_DEV_NAME;
-    mountPoint = config::SD_0_MOUNT_POINT;
+    mountPoint = SD_0_MOUNT_POINT;
   } else if (sdCard == sd::SdCard::SLOT_1) {
     mountDev = SD_1_DEV_NAME;
-    mountPoint = config::SD_1_MOUNT_POINT;
+    mountPoint = SD_1_MOUNT_POINT;
   }
-  std::error_code e;
+  if (not filesystem::exists(mountDev)) {
-  if (not filesystem::exists(mountDev, e)) {
     sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
                     " turn on the SD card"
                  << std::endl;
@@ -230,7 +247,7 @@ 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 != returnvalue::OK) {
+  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
   }
   return result;
@@ -244,16 +261,15 @@ 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 returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   string mountPoint;
   if (sdCard == sd::SdCard::SLOT_0) {
-    mountPoint = config::SD_0_MOUNT_POINT;
+    mountPoint = SD_0_MOUNT_POINT;
   } else if (sdCard == sd::SdCard::SLOT_1) {
-    mountPoint = config::SD_1_MOUNT_POINT;
+    mountPoint = SD_1_MOUNT_POINT;
   }
-  std::error_code e;
+  if (not filesystem::exists(mountPoint)) {
-  if (not filesystem::exists(mountPoint, e)) {
     sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
                << "does not exist" << std::endl;
     return UNMOUNT_ERROR;
@@ -269,7 +285,7 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
   }
   cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != returnvalue::OK) {
+  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
   }
   return result;
@@ -277,17 +293,23 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
 
 ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
   std::unique_ptr<SdStatePair> sdStatusPtr;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_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 (statusPair == nullptr) {
+  if (prefSdCard == sd::SdCard::NONE) {
-    return returnvalue::FAILED;
+    result = getPreferredSdCard();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
     }
+  }
+  if (statusPair == nullptr) {
+    sdStatusPtr = std::make_unique<SdStatePair>();
+    statusPair = sdStatusPtr.get();
     getSdCardsStatus(*statusPair);
+  }
 
   if (statusPair->first == sd::SdState::ON) {
     result = mountSdCard(prefSdCard);
@@ -305,7 +327,8 @@ void SdCardManager::resetState() {
   currentOp = Operations::IDLE;
 }
 
-void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
+void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
+                                        std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
   using namespace std;
   istringstream iss(line);
   string word;
@@ -326,26 +349,24 @@ void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdC
 
       if (word == "on") {
         if (currentSd == sd::SdCard::SLOT_0) {
-          sdStates.first = sd::SdState::ON;
+          active.first = sd::SdState::ON;
         } else {
-          sdStates.second = sd::SdState::ON;
+          active.second = sd::SdState::ON;
         }
       } else if (word == "off") {
-        MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
         if (currentSd == sd::SdCard::SLOT_0) {
-          sdStates.first = sd::SdState::OFF;
+          active.first = sd::SdState::OFF;
         } else {
-          sdStates.second = sd::SdState::OFF;
+          active.second = sd::SdState::OFF;
         }
       }
     }
 
     if (mountLine) {
-      MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
       if (currentSd == sd::SdCard::SLOT_0) {
-        sdStates.first = sd::SdState::MOUNTED;
+        active.first = sd::SdState::MOUNTED;
       } else {
-        sdStates.second = sd::SdState::MOUNTED;
+        active.second = sd::SdState::MOUNTED;
       }
     }
 
@@ -358,66 +379,46 @@ void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdC
   idx++;
 }
 
-std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
+sd::SdCard SdCardManager::getPreferredSdCard() const {
-  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  MutexGuard mg(mutex);
   auto res = mg.getLockResult();
-  if (res != returnvalue::OK) {
+  if (res != RETURN_OK) {
     sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
   }
   return sdInfo.pref;
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  MutexGuard mg(mutex);
   if (sdCard == sd::SdCard::BOTH) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   sdInfo.pref = sdCard;
   return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
 }
 
 ReturnValue_t SdCardManager::updateSdCardStateFile() {
-  using namespace std;
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
+  MutexGuard mg(mutex);
   // Use q7hw utility and pipe the command output into the state file
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
-  cmdExecutor.load(updateCmd, true, printCmdOutput);
+  cmdExecutor.load(updateCmd, blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (result != returnvalue::OK) {
+  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
   }
-
+  return result;
-  std::error_code e;
-  if (not filesystem::exists(SD_STATE_FILE, e)) {
-    return STATUS_FILE_NEXISTS;
 }
 
-  // Now the file should exist in any case. Still check whether it exists.
+std::string SdCardManager::getCurrentMountPrefix() const {
-  fstream sdStatus(SD_STATE_FILE);
+  MutexGuard mg(mutex);
-  if (not sdStatus.good()) {
+  if (sdInfo.active == sd::SdCard::SLOT_0) {
-    return STATUS_FILE_NEXISTS;
+    return SD_0_MOUNT_POINT;
+  } else {
+    return SD_1_MOUNT_POINT;
   }
-  string line;
-  uint8_t idx = 0;
-  sd::SdCard currentSd = sd::SdCard::SLOT_0;
-  // Process status file line by line
-  while (std::getline(sdStatus, line)) {
-    processSdStatusLine(line, idx, currentSd);
-  }
-  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
-    sdCardActive = false;
-  }
-  return returnvalue::OK;
-}
-
-const char* SdCardManager::getCurrentMountPrefix() const {
-  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
-  if (currentPrefix.has_value()) {
-    return currentPrefix.value().c_str();
-  }
-  return nullptr;
 }
 
 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
@@ -447,10 +448,10 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
       case (CommandExecutor::EXECUTION_FINISHED): {
         return OpStatus::SUCCESS;
       }
-      case (returnvalue::OK): {
+      case (HasReturnvaluesIF::RETURN_OK): {
         return OpStatus::ONGOING;
       }
-      case (returnvalue::FAILED): {
+      case (HasReturnvaluesIF::RETURN_FAILED): {
         return OpStatus::FAIL;
       }
       default: {
@@ -464,39 +465,28 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
 
 void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
 
-bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
+bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
-  {
+  SdCardManager::SdStatePair active;
-    MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  ReturnValue_t result = this->getSdCardsStatus(active);
-    if (markedUnusable) {
-      return false;
-    }
-  }
 
-  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-  if (not sdCard) {
+    sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
-    if (sdStates.first == sd::MOUNTED or sdStates.second == sd::MOUNTED) {
-      return true;
-    }
     return false;
   }
   if (sdCard == sd::SLOT_0) {
-    if (sdStates.first == sd::MOUNTED) {
+    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) {
-    if (sdStates.second == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
-  }
+  } else {
-  if (sdCard == sd::BOTH) {
+    sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
-    if (sdStates.first == sd::MOUNTED && sdStates.second == sd::MOUNTED) {
-      return true;
-    }
   }
   return false;
 }
@@ -504,34 +494,41 @@ bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
 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 << " ext4 rw,' /proc/mounts";
+    command << "grep -q '" << SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
-  } else if (sdcard == sd::SdCard::SLOT_1) {
-    command << "grep -q '" << config::SD_1_MOUNT_POINT << " ext4 rw,' /proc/mounts";
   } else {
-    return returnvalue::FAILED;
+    command << "grep -q '" << SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
   }
   ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = cmdExecutor.execute();
-  if (result == returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    int exitStatus = cmdExecutor.getLastError();
+    if (exitStatus == 1) {
       readOnly = false;
+      return RETURN_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;
+  return HasReturnvaluesIF::RETURN_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;
+    command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << SD_0_MOUNT_POINT;
   } else {
-    command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << config::SD_1_MOUNT_POINT;
+    command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << SD_1_MOUNT_POINT;
   }
   ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return cmdExecutor.execute();
@@ -545,40 +542,16 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
     command << "fsck -y " << SD_1_DEV_NAME;
   }
   ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = cmdExecutor.execute();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     linuxError = cmdExecutor.getLastError();
   }
   return result;
 }
 
-void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
+void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { sdInfo.active = sdCard; }
-  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
-  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 {
+sd::SdCard SdCardManager::getActiveSdCard() const { return sdInfo.active; }
-  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
-  if (markedUnusable) {
-    return std::nullopt;
-  }
-  return sdInfo.active;
-}
-
-void SdCardManager::markUnusable() {
-  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
-  markedUnusable = true;
-}
-
-void SdCardManager::markUsable() {
-  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
-  markedUnusable = false;
-}

bsp_q7s/memory/SdCardManager.h

@@ -12,7 +12,7 @@
 
 #include "events/subsystemIdRanges.h"
 #include "fsfw/events/Event.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw_hal/linux/CommandExecutor.h"
 #include "mission/memory/SdCardMountedIF.h"
 #include "mission/memory/definitions.h"
@@ -24,8 +24,8 @@ class MutexIF;
  * @brief   Manages handling of SD cards like switching them on or off or getting the current
  *          state
  */
-class SdCardManager : public SystemObject, public SdCardMountedIF {
+class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCardMountedIF {
-  friend class CoreController;
+  friend class SdCardAccess;
 
  public:
   using mountInitCb = ReturnValue_t (*)(void* args);
@@ -44,17 +44,22 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
 
-  static constexpr ReturnValue_t OP_ONGOING = returnvalue::makeCode(INTERFACE_ID, 0);
+  static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
-  static constexpr ReturnValue_t ALREADY_ON = returnvalue::makeCode(INTERFACE_ID, 1);
+  static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
-  static constexpr ReturnValue_t ALREADY_MOUNTED = returnvalue::makeCode(INTERFACE_ID, 2);
+  static constexpr ReturnValue_t ALREADY_MOUNTED =
-  static constexpr ReturnValue_t ALREADY_OFF = returnvalue::makeCode(INTERFACE_ID, 3);
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
-  static constexpr ReturnValue_t STATUS_FILE_NEXISTS = returnvalue::makeCode(INTERFACE_ID, 10);
+  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 STATUS_FILE_FORMAT_INVALID =
-      returnvalue::makeCode(INTERFACE_ID, 11);
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
-  static constexpr ReturnValue_t MOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 12);
+  static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
-  static constexpr ReturnValue_t UNMOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 13);
+  static constexpr ReturnValue_t UNMOUNT_ERROR =
-  static constexpr ReturnValue_t SYSTEM_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 14);
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
-  static constexpr ReturnValue_t POPEN_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 15);
+  static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
+  static constexpr ReturnValue_t POPEN_CALL_ERROR =
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
 
@@ -64,7 +69,8 @@ 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 +97,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param sdCard
    * @return
    */
-  std::optional<sd::SdCard> getPreferredSdCard() const override;
+  sd::SdCard getPreferredSdCard() const override;
 
   /**
    * Switch on the specified SD card.
@@ -99,7 +105,7 @@ 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 - returnvalue::OK on success, ALREADY_ON if it is already on,
+   * @return - RETURN_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,
@@ -111,10 +117,21 @@ 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 - returnvalue::OK on success, ALREADY_ON if it is already on,
+   * @return - RETURN_OK on success, ALREADY_ON if it is already on,
    *           SYSTEM_CALL_ERROR on system error
    */
-  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, SdStatePair& sdStates, bool doUnmountSdCard);
+  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
+                                SdStatePair* statusPair = nullptr);
+
+  /**
+   * 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
+   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
+   *  - RETURN_FAILED: blocking command failed
+   */
+  ReturnValue_t updateSdCardStateFile();
 
   /**
    * Get the state of the SD cards. If the state file does not exist, this function will
@@ -122,7 +139,7 @@ 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 - returnvalue::OK if the state was read successfully
+   * @return - RETURN_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
@@ -147,7 +164,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * mounted
    * @return
    */
-  std::optional<sd::SdCard> getActiveSdCard() const override;
+  sd::SdCard getActiveSdCard() const override;
 
   /**
    * Unmount the specified SD card. This is recommended before switching it off. The SD card
@@ -176,7 +193,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  const char* getCurrentMountPrefix() const override;
+  std::string getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -195,7 +212,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    *
    * @return  true if mounted, otherwise false
    */
-  bool isSdCardUsable(std::optional<sd::SdCard> sdCard) override;
+  bool isSdCardMounted(sd::SdCard sdCard) override;
 
   ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
 
@@ -203,42 +220,21 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
 
-  void markUnusable();
-  void markUsable();
-
  private:
   CommandExecutor cmdExecutor;
-  SdStatePair sdStates;
   Operations currentOp = Operations::IDLE;
   bool blocking = false;
-  bool sdCardActive = true;
   bool printCmdOutput = true;
-  bool markedUnusable = false;
+  MutexIF* mutex = nullptr;
-  MutexIF* sdLock = nullptr;
-  MutexIF* prefLock = nullptr;
-  MutexIF* defaultLock = nullptr;
-  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
-  static constexpr uint32_t SD_LOCK_TIMEOUT = 100;
-  static constexpr uint32_t OTHER_TIMEOUT = 20;
-  static constexpr char LOCK_CTX[] = "SdCardManager";
 
   SdCardManager();
 
-  /**
-   * Update the state file or creates one if it does not exist. You need to call this
-   * function before calling #sdCardActive
-   * @return
-   *  - returnvalue::OK if the state file was updated successfully
-   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
-   *  - returnvalue::FAILED: blocking command failed
-   */
-  ReturnValue_t updateSdCardStateFile();
-
   ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
 
-  void processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd);
+  void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
+                           sd::SdCard& currentSd);
 
-  std::optional<std::string> currentPrefix;
+  std::string currentPrefix;
 
   static SdCardManager* INSTANCE;
 };

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("xsc_scratch write ", std::ostringstream::ate);
+  std::ostringstream oss;
-  oss << name << " \"" << string << "\"";
+  oss << "xsc_scratch write " << name << " \"" << string << "\"";
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     utility::handleSystemError(result, "scratch::writeString");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
   std::string line;
   if (not std::getline(file, line)) {
     std::remove(filename.c_str());
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_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 returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t scratch::clearValue(std::string key) {
-  std::ostringstream oss("xsc_scratch clear ", std::ostringstream::ate);
+  std::ostringstream oss;
-  oss << key;
+  oss << "xsc_scratch clear " << key;
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     utility::handleSystemError(result, "scratch::clearValue");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

bsp_q7s/memory/scratchApi.h

@@ -7,7 +7,7 @@
 #include <sstream>
 #include <type_traits>
 
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.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 = returnvalue::makeCode(INTERFACE_ID, 0);
+static constexpr ReturnValue_t KEY_NOT_FOUND = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
 
 ReturnValue_t clearValue(std::string key);
 
@@ -83,34 +83,34 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
     } else {
       utility::handleSystemError(result, "scratch::readToFile");
       std::remove(filename.c_str());
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
   file.open(filename);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 }  // End of anonymous namespace
 
-template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
+template <typename T, class>
 inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
-  std::ostringstream oss("xsc_scratch write ", std::ostringstream::ate);
+  std::ostringstream oss;
-  oss << key << " " << std::to_string(num);
+  oss << "xsc_scratch write " << key << " " << std::to_string(num);
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     utility::handleSystemError(result, "scratch::writeNumber");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
+template <typename T, class>
 inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
   using namespace std;
   ifstream file;
   std::string filename;
   ReturnValue_t result = readToFile(key, file, filename);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_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 returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 }  // namespace scratch

bsp_q7s/objectFactory.h

@@ -1,97 +0,0 @@
-#ifndef BSP_Q7S_OBJECTFACTORY_H_
-#define BSP_Q7S_OBJECTFACTORY_H_
-
-#include <fsfw/returnvalues/returnvalue.h>
-#include <fsfw_hal/linux/spi/SpiComIF.h>
-#include <mission/acs/gyroAdisHelpers.h>
-#include <mission/com/CcsdsIpCoreHandler.h>
-#include <mission/com/PersistentLogTmStoreTask.h>
-#include <mission/genericFactory.h>
-#include <mission/system/objects/Stack5VHandler.h>
-#include <mission/tcs/HeaterHandler.h>
-#include <mission/tmtc/CfdpTmFunnel.h>
-#include <mission/tmtc/PusTmFunnel.h>
-
-#include <atomic>
-#include <string>
-
-#include "bsp_q7s/fs/SdCardManager.h"
-
-class LinuxLibgpioIF;
-class SerialComIF;
-class SpiComIF;
-class I2cComIF;
-class PowerSwitchIF;
-class HealthTableIF;
-class AcsBoardAssembly;
-class GpioIF;
-
-extern std::atomic_bool PTME_LOCKED;
-
-namespace ObjectFactory {
-
-struct CcsdsComponentArgs {
-  CcsdsComponentArgs(LinuxLibgpioIF& gpioIF, StorageManagerIF& ipcStore, StorageManagerIF& tmStore,
-                     PersistentTmStores& stores, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
-                     CcsdsIpCoreHandler** ipCoreHandler, uint32_t pdecCfgMemBaseAddr,
-                     uint32_t pdecRamBaseAddr)
-      : gpioComIF(gpioIF),
-        ipcStore(ipcStore),
-        tmStore(tmStore),
-        stores(stores),
-        pusFunnel(pusFunnel),
-        cfdpFunnel(cfdpFunnel),
-        ipCoreHandler(ipCoreHandler),
-        pdecCfgMemBaseAddr(pdecCfgMemBaseAddr),
-        pdecRamBaseAddr(pdecRamBaseAddr) {}
-  LinuxLibgpioIF& gpioComIF;
-  StorageManagerIF& ipcStore;
-  StorageManagerIF& tmStore;
-  PersistentTmStores& stores;
-  PusTmFunnel& pusFunnel;
-  CfdpTmFunnel& cfdpFunnel;
-  CcsdsIpCoreHandler** ipCoreHandler;
-  uint32_t pdecCfgMemBaseAddr;
-  uint32_t pdecRamBaseAddr;
-  MessageQueueId_t normalLiveTmDest = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t cfdpLiveTmDest = MessageQueueIF::NO_QUEUE;
-};
-
-void setStatics();
-void produce(void* args);
-
-void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
-                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
-void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
-                          bool enableHkSets);
-void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
-void createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd);
-void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
-ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
-void createAcsBoardGpios(GpioCookie& cookie);
-void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                              PowerSwitchIF& pwrSwitcher, bool enableHkSets,
-                              adis1650x::Type adisType);
-void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
-                            HeaterHandler*& heaterHandler);
-void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
-void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
-void createStrComponents(PowerSwitchIF* pwrSwitcher, SdCardManager& sdcMan);
-void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
-void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
-void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
-void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
-ReturnValue_t createCcsdsIpComponentsWrapper(CcsdsComponentArgs& args);
-ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
-ReturnValue_t readFirmwareVersion();
-void createMiscComponents();
-
-void createTestComponents(LinuxLibgpioIF* gpioComIF);
-void createPlI2cResetGpio(LinuxLibgpioIF* gpioComIF);
-
-void testAcsBrdAss(AcsBoardAssembly* assAss);
-
-};  // namespace ObjectFactory
-
-#endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/obsw.cpp

@@ -1,35 +1,23 @@
 #include "obsw.h"
 
-#include <pwd.h>
-#include <sys/types.h>
-#include <unistd.h>
-
 #include <filesystem>
-#include <fstream>
 #include <iostream>
 
 #include "OBSWConfig.h"
-#include "bsp_q7s/core/WatchdogHandler.h"
 #include "commonConfig.h"
+#include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
-#include "mission/acs/defs.h"
-#include "mission/com/defs.h"
-#include "mission/system/systemTree.h"
 #include "q7sConfig.h"
-#include "scheduling.h"
 #include "watchdog/definitions.h"
 
-static constexpr int OBSW_ALREADY_RUNNING = -2;
+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() {
-WatchdogHandler WATCHDOG_HANDLER;
-
-int obsw::obsw(int argc, char* argv[]) {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
@@ -38,10 +26,9 @@ int obsw::obsw(int argc, char* argv[]) {
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
-  std::error_code e;
   // Check special file here. This file is created or deleted by the eive-watchdog application
   // or systemd service!
-  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
+  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
     sif::warning << "File " << watchdog::RUNNING_FILE_NAME
                  << " exists so the software might "
                     "already be running. Check if obsw systemd service has been stopped."
@@ -49,103 +36,11 @@ int obsw::obsw(int argc, char* argv[]) {
     return OBSW_ALREADY_RUNNING;
   }
 #endif
-
+  initmission::initMission();
-  // Delay the boot if applicable.
-  bootDelayHandling();
-
-  bool initWatchFunction = false;
-  std::string fullExecPath = argv[0];
-  if (fullExecPath.find("/usr/bin") != std::string::npos) {
-    initWatchFunction = true;
-  }
-  ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
-  if (result != returnvalue::OK) {
-    std::cerr << "Initiating EIVE watchdog handler failed" << std::endl;
-  }
-
-  scheduling::initMission();
-
-  // Command the EIVE system to safe mode
-#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
-  // This ensures that the PCDU switches were updated.
-  TaskFactory::delayTask(1000);
-  commandComSubsystemRxOnly();
-  commandEiveSystemToSafe();
-#else
-  announceAllModes();
-#endif
 
   for (;;) {
-    WATCHDOG_HANDLER.periodicOperation();
+    /* Suspend main thread by sleeping it. */
-    TaskFactory::delayTask(2000);
+    TaskFactory::delayTask(5000);
   }
   return 0;
 }
-
-void obsw::bootDelayHandling() {
-  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";
-  std::error_code e;
-  // Init delay handling.
-  if (std::filesystem::exists(bootDelayFile, e)) {
-    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);
-  }
-}
-
-void obsw::commandEiveSystemToSafe() {
-  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
-  CommandMessage msg;
-  ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
-  ReturnValue_t result =
-      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
-  if (result != returnvalue::OK) {
-    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
-  }
-}
-
-void obsw::commandComSubsystemRxOnly() {
-  auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
-  if (comSs == nullptr) {
-    sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
-    return;
-  }
-  CommandMessage msg;
-  ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
-  ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
-                                                           MessageQueueIF::NO_QUEUE, false);
-  if (result != returnvalue::OK) {
-    sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
-  }
-}
-
-void obsw::announceAllModes() {
-  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
-  CommandMessage msg;
-  ModeMessage::setModeAnnounceMessage(msg, true);
-  ReturnValue_t result =
-      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
-  if (result != returnvalue::OK) {
-    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
-  }
-}

bsp_q7s/obsw.h

@@ -3,13 +3,8 @@
 
 namespace obsw {
 
-int obsw(int argc, char* argv[]);
+int obsw();
 
-void bootDelayHandling();
+};
-void commandEiveSystemToSafe();
-void commandComSubsystemRxOnly();
-void announceAllModes();
-
-};  // namespace obsw
 
 #endif /* BSP_Q7S_CORE_OBSW_H_ */

bsp_q7s/scheduling.cpp

@@ -1,702 +0,0 @@
-#include "scheduling.h"
-
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <fsfw/subsystem/Subsystem.h>
-#include <linux/scheduling.h>
-#include <mission/tcs/Max31865Definitions.h>
-
-#include <iostream>
-#include <vector>
-
-#include "OBSWConfig.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/pollingSeqTables.h"
-#include "mission/scheduling.h"
-#include "mission/utility/InitMission.h"
-#include "objectFactory.h"
-#include "q7sConfig.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, &RR_SCHEDULING);
-  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
-  }
-#endif
-
-  // Medium priority, higher than something like payload, but not the highest priority to also
-  // detect tasks which choke other tasks.
-  PeriodicTaskIF* xiphosWdtTask =
-      factory->createPeriodicTask("XIPHOS_WDT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
-                                  missedDeadlineFunc, &RR_SCHEDULING);
-  result = xiphosWdtTask->addComponent(objects::XIPHOS_WDT);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("XIPHOS_WDT", objects::XIPHOS_WDT);
-  }
-
-  PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
-  result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
-  }
-
-  /* TMTC Distribution */
-  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
-#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);
-  }
-
-#if OBSW_ADD_TCPIP_SERVERS == 1
-#if OBSW_ADD_TMTC_UDP_SERVER == 1
-  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 0, 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", 0, 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* genericSysTask =
-      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
-                                  missedDeadlineFunc, &RR_SCHEDULING);
-  result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
-  }
-  result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
-  }
-  result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
-  }
-  result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
-  }
-  result = genericSysTask->addComponent(objects::EPS_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EPS_SUBSYSTEM", objects::EPS_SUBSYSTEM);
-  }
-  result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
-  }
-
-#if OBSW_ADD_CCSDS_IP_CORES == 1
-  result = genericSysTask->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, nullptr, &RR_SCHEDULING);
-  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
-  }
-
-#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
-  // All the TM store tasks run in permanent loops, frequency does not matter
-  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
-      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
-  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
-  }
-  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
-      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-  result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
-  }
-  PeriodicTaskIF* hkTmTask =
-      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-  result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
-  }
-  PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
-      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-  result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
-  }
-
-  // TODO: Use user priorities for this task.
-#if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask =
-      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
-                                  missedDeadlineFunc, &RR_SCHEDULING);
-  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
-  }
-#endif
-
-  PeriodicTaskIF* gpsTask =
-      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
-                                  missedDeadlineFunc, &RR_SCHEDULING);
-  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
-  }
-
-#if OBSW_ADD_ACS_BOARD == 1
-  PeriodicTaskIF* acsBrdPolling =
-      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
-                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
-  result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
-  }
-#endif
-
-#if OBSW_ADD_RW == 1
-  PeriodicTaskIF* rwPolling =
-      factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
-                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
-  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
-  }
-#endif
-#if OBSW_ADD_MGT == 1
-  PeriodicTaskIF* imtqPolling =
-      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
-                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
-  result = imtqPolling->addComponent(objects::IMTQ_POLLING);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
-  }
-#endif
-
-#if OBSW_ADD_SUN_SENSORS == 1
-  PeriodicTaskIF* susPolling =
-      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
-                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
-  result = susPolling->addComponent(objects::SUS_POLLING_TASK);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
-  }
-#endif
-
-  PeriodicTaskIF* acsSysTask =
-      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
-                                  missedDeadlineFunc, &RR_SCHEDULING);
-  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
-  }
-  result = acsSysTask->addComponent(objects::IMTQ_ASSY);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
-  }
-  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
-  }
-  result = acsSysTask->addComponent(objects::RW_ASSY);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
-  }
-  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
-  }
-  result = acsSysTask->addComponent(objects::STR_ASSY);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
-  }
-  result = acsSysTask->addComponent(objects::GPS_0_HEALTH_DEV);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("GPS_0_HEALTH_DEV", objects::GPS_0_HEALTH_DEV);
-  }
-  result = acsSysTask->addComponent(objects::GPS_1_HEALTH_DEV);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("GPS_1_HEALTH_DEV", objects::GPS_1_HEALTH_DEV);
-  }
-
-  PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
-#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
-  tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
-#endif
-  scheduling::scheduleRtdSensors(tcsSystemTask);
-  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
-  }
-  result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
-  }
-#if OBSW_ADD_TCS_CTRL == 1
-  result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
-  }
-#endif
-  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
-  }
-  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
-  }
-
-#if OBSW_ADD_SYRLINKS == 1
-  PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
-      "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
-  }
-#endif
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  // Relatively high priority to make sure STR COM works well.
-  PeriodicTaskIF* strHelperTask =
-      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
-                                  missedDeadlineFunc, &RR_SCHEDULING);
-  result = strHelperTask->addComponent(objects::STR_COM_IF);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
-  }
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
-#if OBSW_ADD_PLOC_MPSOC == 1
-  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 0, 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 */
-
-  // TODO: Use regular scheduler for this task
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 0, 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 */
-
-  FixedTimeslotTaskIF* plTask = factory->createFixedTimeslotTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
-  pst::pstPayload(plTask);
-
-#if OBSW_ADD_SCEX_DEVICE == 1
-  PeriodicTaskIF* scexReaderTask;
-  scheduling::scheduleScexReader(*factory, 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;
-  xiphosWdtTask->startTask();
-  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
-
-  genericSysTask->startTask();
-#if OBSW_ADD_CCSDS_IP_CORES == 1
-  pdecHandlerTask->startTask();
-#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
-  liveTmTask->startTask();
-  logTmTask->startTask();
-  hkTmTask->startTask();
-  cfdpTmTask->startTask();
-
-  coreCtrlTask->startTask();
-#if OBSW_ADD_SA_DEPL == 1
-  solarArrayDeplTask->startTask();
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-  acsBrdPolling->startTask();
-#endif
-#if OBSW_ADD_SYRLINKS == 1
-  syrlinksCom->startTask();
-#endif
-#if OBSW_ADD_MGT == 1
-  imtqPolling->startTask();
-#endif
-#if OBSW_ADD_SUN_SENSORS == 1
-  susPolling->startTask();
-#endif
-
-  taskStarter(pstTasks, "PST task vector");
-  taskStarter(pusTasks, "PUS task vector");
-#if OBSW_ADD_SCEX_DEVICE == 1
-  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_RW == 1
-  rwPolling->startTask();
-#endif
-  gpsTask->startTask();
-  acsSysTask->startTask();
-  if (not tcsSystemTask->isEmpty()) {
-    tcsSystemTask->startTask();
-  }
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  supvHelperTask->startTask();
-#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
-#if OBSW_ADD_PLOC_MPSOC == 1
-  mpsocHelperTask->startTask();
-#endif
-  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 = 0.4;
-#endif
-  FixedTimeslotTaskIF* acsTcsPst =
-      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
-                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
-  result = pst::pstTcsAndAcs(acsTcsPst, 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(acsTcsPst);
-  }
-
-  /* Polling Sequence Table Default */
-#if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* syrlinksPst =
-      factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
-                                      missedDeadlineFunc, &RR_SCHEDULING);
-  result = pst::pstSyrlinks(syrlinksPst);
-  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(syrlinksPst);
-  }
-#endif
-
-#if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst =
-      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
-                                      missedDeadlineFunc, &RR_SCHEDULING);
-  pst::TmpSchedConfig tmpSchedConf;
-#if OBSW_Q7S_EM == 1
-  tmpSchedConf.scheduleTmpDev0 = true;
-  tmpSchedConf.scheduleTmpDev1 = true;
-  tmpSchedConf.schedulePlPcduDev0 = true;
-  tmpSchedConf.schedulePlPcduDev1 = true;
-  tmpSchedConf.scheduleIfBoardDev = true;
-#endif
-  result = pst::pstI2c(tmpSchedConf, 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
-
-  FixedTimeslotTaskIF* gomSpacePstTask =
-      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
-                                      0.25, missedDeadlineFunc, &RR_SCHEDULING);
-  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);
-}
-
-void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                                std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = returnvalue::OK;
-  /* PUS Services */
-  PeriodicTaskIF* pusHighPrio =
-      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
-                                 missedDeadlineFunc, &RR_SCHEDULING);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
-  }
-  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
-  }
-  taskVec.push_back(pusHighPrio);
-
-  PeriodicTaskIF* pusMedPrio =
-      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
-                                 missedDeadlineFunc, &RR_SCHEDULING);
-  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_15_TM_STORAGE);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
-  }
-  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);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
-  taskVec.push_back(pusMedPrio);
-}
-
-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/xadc/Xadc.cpp

@@ -12,20 +12,20 @@ Xadc::Xadc() {}
 Xadc::~Xadc() {}
 
 ReturnValue_t Xadc::getTemperature(float& temperature) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   int raw = 0;
   int offset = 0;
   float scale = 0;
   result = readValFromFile<int>(xadc::file::tempRaw.c_str(), raw);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = readValFromFile<int>(xadc::file::tempOffset.c_str(), offset);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = readValFromFile<float>(xadc::file::tempScale.c_str(), scale);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::getVccPaux(float& vccPaux) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccpauxRaw, xadc::file::vccpauxScale, vccPaux);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::getVccInt(float& vccInt) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccintRaw, xadc::file::vccintScale, vccInt);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::getVccAux(float& vccAux) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccauxRaw, xadc::file::vccauxScale, vccAux);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::getVccBram(float& vccBram) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccbramRaw, xadc::file::vccbramScale, vccBram);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::getVccOddr(float& vccOddr) {
   ReturnValue_t result =
       readVoltageFromSysfs(xadc::file::vccoddrRaw, xadc::file::vccoddrScale, vccOddr);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::getVrefp(float& vrefp) {
   ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefpRaw, xadc::file::vrefpScale, vrefp);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::getVrefn(float& vrefn) {
   ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefnRaw, xadc::file::vrefnScale, vrefn);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Xadc::readVoltageFromSysfs(std::string rawFile, std::string scaleFile,
                                          float& voltage) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   float raw = 0;
   float scale = 0;
   result = readValFromFile(rawFile.c_str(), raw);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = readValFromFile(scaleFile.c_str(), scale);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   voltage = calculateVoltage(raw, scale);
@@ -127,23 +127,18 @@ 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 returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  char valstring[MAX_STR_LENGTH]{};
+  char valstring[MAX_STR_LENGTH] = "";
   char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
   if (returnVal == nullptr) {
     sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
                  << std::endl;
     fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   std::istringstream valSstream(valstring);
   valSstream >> val;
-  if (valSstream.bad()) {
-    sif::warning << "Xadc: Conversion of value to target type failed" << std::endl;
   fclose(fp);
-    return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_OK;
-  }
-  fclose(fp);
-  return returnvalue::OK;
 }

bsp_q7s/xadc/Xadc.h

@@ -3,7 +3,7 @@
 
 #include <string>
 
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.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/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.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 = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Add component TMTC Polling failed" << std::endl;
   }
 
@@ -84,7 +84,7 @@ void initmission::initTasks() {
   FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
       "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstUart(pst);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   pstTasks.push_back(pst);
@@ -93,7 +93,7 @@ void initmission::initTasks() {
   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) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_MPSOC == 1*/
@@ -102,16 +102,16 @@ void initmission::initTasks() {
   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) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
 
-#if OBSW_ADD_CCSDS_IP_CORES == 1
+#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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
 
@@ -121,10 +121,10 @@ void initmission::initTasks() {
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
       "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
-#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
@@ -140,10 +140,10 @@ void initmission::initTasks() {
   tmtcDistributor->startTask();
   tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
-#if OBSW_ADD_CCSDS_IP_CORE == 1
+#if OBSW_USE_CCSDS_IP_CORE == 1
   pdecHandlerTask->startTask();
   ccsdsHandlerTask->startTask();
-#endif /* #if OBSW_ADD_CCSDS_IP_CORE == 1 */
+#endif /* #if OBSW_USE_CCSDS_IP_CORE == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
@@ -160,11 +160,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
   taskVec.push_back(pusVerification);
@@ -172,11 +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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
   taskVec.push_back(pusEvents);
@@ -184,11 +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 != returnvalue::OK) {
+  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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   taskVec.push_back(pusHighPrio);
@@ -196,19 +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 != returnvalue::OK) {
+  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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
   taskVec.push_back(pusMedPrio);
@@ -216,11 +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 != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
   }
   taskVec.push_back(pusLowPrio);

bsp_te0720_1cfa/OBSWConfig.h.in

@@ -13,7 +13,7 @@
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-#define OBSW_ADD_CCSDS_IP_CORE                      0
+#define OBSW_USE_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

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -12,8 +12,8 @@
 #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/uart/UartComIF.h"
-#include "fsfw_hal/linux/serial/SerialCookie.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "linux/ObjectFactory.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
@@ -59,7 +59,7 @@ void ObjectFactory::produce(void* args) {
   ObjectFactory::produceGenericObjects();
 
   LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);;
-  newSerialComIF(objects::UART_COM_IF);
+  new UartComIF(objects::UART_COM_IF);
 
 #if OBSW_ADD_PLOC_MPSOC == 1
   UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,

clone-submodules-no-privlibs.sh

@@ -1,6 +0,0 @@
-#!/bin/bash
-
-root="$(pwd)"
-ln -s "$root/hooks" "$root/.git/hooks"
-
-git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json

cmake/BuildType.cmake

@@ -21,13 +21,10 @@ 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 "

cmake/EiveHelpers.cmake

@@ -4,7 +4,7 @@
 # 2. Major version
 # 3. Minor version
 # 4. Revision
-# 5. (Optional) git SHA hash and commits since tag when applicable
+# 5. git SHA hash and commits since tag
 function(determine_version_with_git)
     include(GetGitRevisionDescription)
     git_describe(VERSION ${ARGN})
@@ -22,9 +22,7 @@ function(determine_version_with_git)
     list(APPEND GIT_INFO ${_VERSION_MAJOR})
     list(APPEND GIT_INFO ${_VERSION_MINOR})
     list(APPEND GIT_INFO ${_VERSION_PATCH})
-    if(NOT VERSION_SHA1 STREQUAL VERSION)
     list(APPEND GIT_INFO ${VERSION_SHA1})
-    endif()
     set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
     message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
 endfunction()

cmake/Zynq7020CrossCompileConfig.cmake

@@ -40,8 +40,8 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
 set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
 
 # At the very least, cross compile gcc and g++ have to be set!
-find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
+find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
-find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
+find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
 # Useful utilities, not strictly necessary
 find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
 find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})