Merge pull request 'Update from upstream' (#85) from mueller/update-from-upstream into develop

Reviewed-on: #85
2022-05-16 22:08:28 +02:00 · 2022-05-16 22:08:28 +02:00 · 0ea044c203
commit 0ea044c203
parent 4841d5d92d 4b323053ec
29 changed files with 1954 additions and 919 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -27,7 +27,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `oneShotAction` flag in the `TestTask` class is not static anymore
 - Major update for version handling, using `git describe` to fetch version information with git.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
  - Place `Version` class outside of `fsfw` namespace. It is generic
  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
    manually now. Those should not change too often and only a small subset is needed
  - Separate folder for easier update and for distinction
@ -102,6 +101,9 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
  inside `fsfw/version.h`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 - Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
  (ETL) dependency.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
 - Added ETL dependency and improved library dependency management
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
 - Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,42 +1,94 @@
 cmake_minimum_required(VERSION 3.13)
 set(LIB_FSFW_NAME fsfw)
 project(${LIB_FSFW_NAME})
-if(NOT CMAKE_CXX_STANDARD)
+set(MSG_PREFIX "fsfw |")
-    set(CMAKE_CXX_STANDARD 17)
+
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
+# Add the cmake folder so the FindSphinx module is found
-elseif(${CMAKE_CXX_STANDARD} LESS 17)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
+list(APPEND CMAKE_MODULE_PATH
-endif()
+     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
 list(APPEND CMAKE_MODULE_PATH
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
 # ##############################################################################
 # Version file handling  #
 # ##############################################################################
 set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
-# Add the cmake folder so the FindSphinx module is found
+set(FSFW_GIT_VER_HANDLING_OK FALSE)
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
+# Version handling
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-set(MSG_PREFIX "fsfw |")
+  message(STATUS "${MSG_PREFIX} Determining version information with git")
  include(FsfwHelpers)
  determine_version_with_git("--exclude" "docker_*")
  if(GIT_INFO)
    set(FSFW_GIT_INFO
        ${GIT_INFO}
        CACHE STRING "Version information retrieved with git describe")
    list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
    list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
    list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
    if(NOT FSFW_VERSION)
      set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
    endif()
    if(NOT FSFW_SUBVERSION)
      set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
    endif()
    if(NOT FSFW_REVISION)
      set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
    endif()
    set(FSFW_GIT_VER_HANDLING_OK TRUE)
  else()
    set(FSFW_GIT_VER_HANDLING_OK FALSE)
  endif()
 endif()
 if(NOT FSFW_GIT_VER_HANDLING_OK)
  set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
  set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
  set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
 endif()
 set(LIB_FSFW_NAME fsfw)
 project(${LIB_FSFW_NAME}
        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
 if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED True)
 elseif(${CMAKE_CXX_STANDARD} LESS 17)
  message(
    FATAL_ERROR
      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
 endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 set(FSFW_ETL_LIB_NAME etl)
-set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
+set(FSFW_ETL_LIB_MAJOR_VERSION
-  "ETL library major version requirement"
+    20
-)
+    CACHE STRING "ETL library major version requirement")
-set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
+set(FSFW_ETL_LIB_VERSION
-  "ETL library exact version requirement"
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
-)
+    CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
-set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
+set(FSFW_CATCH2_LIB_MAJOR_VERSION
-    "Catch2 library major version requirement"
+    3
-)
+    CACHE STRING "Catch2 library major version requirement")
-set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
+set(FSFW_CATCH2_LIB_VERSION
-    "Catch2 library exact version requirement"
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
-)
+    CACHE STRING "Catch2 library exact version requirement")
-# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+# Keep this off by default for now. See PR:
-# for information which keeping this on by default is problematic
+# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
-option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
+# keeping this on by default is problematic
 option(
  FSFW_ENABLE_IPO
  "Enable interprocedural optimization or link-time optimization if available"
  OFF)
 if(FSFW_ENABLE_IPO)
  include(CheckIPOSupported)
  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
@ -46,13 +98,13 @@ if(FSFW_ENABLE_IPO)
 endif()
 option(FSFW_GENERATE_SECTIONS
-  "Generate function and data sections. Required to remove unused code" ON
+       "Generate function and data sections. Required to remove unused code" ON)
 )
 if(FSFW_GENERATE_SECTIONS)
  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_UNITTESTS
       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@ -76,102 +128,77 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 add_library(${LIB_FSFW_NAME})
 if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-endif()
+                                                TRUE)
 set(FSFW_GIT_VER_HANDLING_OK FALSE)
 # Version handling
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
    message(STATUS "${MSG_PREFIX} Determining version information with git")
    include(FsfwHelpers)
    determine_version_with_git("--exclude" "docker_*")
    if(GIT_INFO)
        set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
        list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
        list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
        list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
        list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
        if(NOT FSFW_VERSION)
            set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
        endif()
        if(NOT FSFW_SUBVERSION)
            set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
        endif()
        if(NOT FSFW_REVISION)
            set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
        endif()
        set(FSFW_GIT_VER_HANDLING_OK TRUE)
   else()
        set(FSFW_GIT_VER_HANDLING_OK FALSE)
   endif()
 endif()
 if(NOT FSFW_GIT_VER_HANDLING_OK)
    set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
    set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
    set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
 endif()
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
+  message(
    STATUS
      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
  )
  # Check whether the user has already installed Catch2 first
-    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+    message(
      STATUS
        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
    )
    include(FetchContent)
    FetchContent_Declare(
      Catch2
      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
        )
    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
  endif()
  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
                 tests/TestsConfig.h)
  project(${FSFW_TEST_TGT} CXX C)
  add_executable(${FSFW_TEST_TGT})
  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-      set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
+    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                  TRUE)
  endif()
  if(FSFW_TESTS_GEN_COV)
    message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
    message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
+                   "will be compiled with coverage data as well")
        )
    set(CMAKE_BUILD_TYPE "Debug")
    include(CodeCoverage)
  endif()
 endif()
-message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
+message(STATUS "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
-    message(STATUS
+  message(
-        "No ETL installation was found with find_package. Installing and providing "
+    STATUS
-        "etl with FindPackage"
+      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-    )
+      "etl with FindPackage")
  include(FetchContent)
  FetchContent_Declare(
    ${FSFW_ETL_LIB_NAME}
    GIT_REPOSITORY https://github.com/ETLCPP/etl
-        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
-    )
+
  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
@ -184,8 +211,8 @@ if(FSFW_FETCH_CONTENT_TARGETS)
    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
  endif()
  if(TARGET Catch2)
-        # Fixes regression -preview4, to be confirmed in later releases
+    # Fixes regression -preview4, to be confirmed in later releases Related
-        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
  endif()
 endif()
@ -195,33 +222,30 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-    ${CMAKE_CURRENT_BINARY_DIR}
+target_include_directories(${LIB_FSFW_NAME}
-)
+                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
 target_include_directories(${LIB_FSFW_NAME} INTERFACE
    ${CMAKE_CURRENT_BINARY_DIR}
 )
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+  message(
    WARNING
      "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
  set(FSFW_OSAL OS_FSFW)
 endif()
 if(NOT FSFW_OSAL)
-	message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
  # Assume host OS and autodetermine from OS_FSFW
  if(UNIX)
-		set(FSFW_OSAL  "linux" 
+    set(FSFW_OSAL
-			CACHE STRING 
+        "linux"
-			"OS abstraction layer used in the FSFW"
+        CACHE STRING "OS abstraction layer used in the FSFW")
 		)
  elseif(WIN32)
-		set(FSFW_OSAL  "host" 
+    set(FSFW_OSAL
-			CACHE STRING "OS abstraction layer used in the FSFW"
+        "host"
-		)
+        CACHE STRING "OS abstraction layer used in the FSFW")
  endif()
 endif()
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
@ -235,14 +259,13 @@ elseif(FSFW_OSAL MATCHES linux)
 elseif(FSFW_OSAL MATCHES freertos)
  set(FSFW_OS_NAME "FreeRTOS")
  set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
        ${LIB_OS_NAME}
    )
 elseif(FSFW_OSAL STREQUAL rtems)
  set(FSFW_OS_NAME "RTEMS")
  set(FSFW_OSAL_RTEMS ON)
 else()
-    message(WARNING
+  message(
    WARNING
      "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
  )
  set(FSFW_OS_NAME "Host")
@ -252,7 +275,9 @@ endif()
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
-message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
+message(
  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
 )
 add_subdirectory(src)
 add_subdirectory(tests)
@ -270,95 +295,86 @@ if(FSFW_BUILD_UNITTESTS)
      include(CodeCoverage)
      # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
+      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+                         "${COVERAGE_COMPILER_FLAGS}")
            )
      # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+      target_compile_options(${FSFW_TEST_TGT}
-                "${COVERAGE_COMPILER_FLAGS}"
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-            )
+      target_compile_options(${LIB_FSFW_NAME}
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
                "${COVERAGE_COMPILER_FLAGS}"
            )
      # Exclude directories here
      if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
+        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
-                    "--exclude-throw-branches"
+                                  "--exclude-unreachable-branches")
-                    "--exclude-unreachable-branches"
+        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
                )
                set(COVERAGE_EXCLUDES
                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
                )
      elseif(UNIX)
        set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+            "/usr/include/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
+            "/usr/bin/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
+            "Catch2/*"
-                )
+            "/usr/local/include/*"
            "*/fsfw_tests/*"
            "*/catch2-src/*"
            "*/fsfw_hal/*")
      endif()
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
+      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-                -fprofile-arcs
+                          -ftest-coverage)
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-            )
+                          -ftest-coverage)
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
+      # Need to specify this as an interface, otherwise there will the compile
-                -fprofile-arcs
+      # issues
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-            )
+                          -ftest-coverage)
            # Need to specify this as an interface, otherwise there will the compile issues
            target_link_options(${LIB_FSFW_NAME} INTERFACE
                -fprofile-arcs
                -ftest-coverage
            )
      if(WIN32)
        setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
                    DEPENDENCIES ${FSFW_TEST_TGT}
                )
      else()
        setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
                    DEPENDENCIES ${FSFW_TEST_TGT}
                )
      endif()
    endif()
  endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                 ${LIB_FSFW_NAME})
 endif()
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
-# If this is not given, we include the default configuration and emit a warning.
+# this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
  set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
  if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
+    message(
-        message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
+      WARNING
        "${MSG_PREFIX} Flight Software Framework configuration path not set")
    message(
      WARNING
        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
  endif()
  add_subdirectory(${DEF_CONF_PATH})
  set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
-# FSFW might be part of a possibly complicated folder structure, so we 
+# FSFW might be part of a possibly complicated folder structure, so we extract
-# extract the absolute path of the fsfwconfig folder.
+# the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
  set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+                         BASE_DIR ${CMAKE_SOURCE_DIR})
 	)
 endif()
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
  if(IS_ABSOLUTE ${INCLUDE_PATH})
    set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
  else()
-        get_filename_component(CURR_ABS_INC_PATH
+    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+                           ${CMAKE_SOURCE_DIR})
  endif()
  if(CMAKE_VERBOSE)
@ -391,23 +407,19 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
        -Wcast-qual # Warn if the constness is cast away
        -Wstringop-overflow=4
        # -Wstack-protector # Emits a few false positives for low level access
-          # -Wconversion # Creates many false positives
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
-          # -Warith-conversion # Use with Wconversion to find more implicit conversions
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
-          # -fanalyzer # Should be used to look through problems
+        # be used to look through problems
    )
  endif()
  if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
-            "-ffunction-sections"
+                                                    "-fdata-sections")
            "-fdata-sections"
        )
  endif()
  if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
+    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
            "Wl,--gc-sections"
        )
  endif()
  if(FSFW_WARNING_SHADOW_LOCAL_GCC)
@ -421,42 +433,31 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 endif()
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+target_include_directories(
-	${CMAKE_SOURCE_DIR}
+  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
+                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 	${FSFW_CORE_INC_PATH}
 	${FSFW_ADD_INC_PATHS_ABS}
 )
-# Includes path required to compile FSFW itself as well
+# Includes path required to compile FSFW itself as well We assume that the
-# We assume that the fsfwconfig folder uses include relative to the project
+# fsfwconfig folder uses include relative to the project root here!
-# root here!
+target_include_directories(
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${CMAKE_SOURCE_DIR}
+                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 	${FSFW_CONFIG_PATH_ABSOLUTE}
 	${FSFW_CORE_INC_PATH}
 	${FSFW_ADD_INC_PATHS_ABS}
 )
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
-	${FSFW_WARNING_FLAGS}
+                                                ${COMPILER_FLAGS})
 	${COMPILER_FLAGS}
 )
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-    ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
    ${FSFW_ADDITIONAL_LINK_LIBS}
 )
-string(CONCAT POST_BUILD_COMMENT
+string(
  CONCAT
    POST_BUILD_COMMENT
    "######################################################################\n"
    "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
    "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
+    "######################################################################\n")
 )
 add_custom_command(
  TARGET ${LIB_FSFW_NAME}
  POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
+  COMMENT ${POST_BUILD_COMMENT})
 )
--- a/FSFWVersion.h.in
+++ b/FSFWVersion.h.in
--- a/cmake/cmake-modules/GetGitRevisionDescription.cmake
+++ b/cmake/cmake-modules/GetGitRevisionDescription.cmake
@ -1,141 +0,0 @@
 # - Returns a version string from Git
 #
 # These functions force a re-configure on each git commit so that you can
 # trust the values of the variables in your build system.
 #
 #  get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
 #
 # Returns the refspec and sha hash of the current head revision
 #
 #  git_describe(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe on the source tree, and adjusting
 # the output so that it tests false if an error occurs.
 #
 #  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe --exact-match on the source tree,
 # and adjusting the output so that it tests false if there was no exact
 # matching tag.
 #
 # Requires CMake 2.6 or newer (uses the 'function' command)
 #
 # Original Author:
 # 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
 # http://academic.cleardefinition.com
 # Iowa State University HCI Graduate Program/VRAC
 #
 # Copyright Iowa State University 2009-2010.
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
 if(__get_git_revision_description)
    return()
 endif()
 set(__get_git_revision_description YES)
 # We must run the following at "include" time, not at function call time,
 # to find the path to this module rather than the path to a calling list file
 get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
 function(get_git_head_revision _refspecvar _hashvar)
    set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
    set(GIT_DIR "${GIT_PARENT_DIR}/.git")
    while(NOT EXISTS "${GIT_DIR}")    # .git dir not found, search parent directories
        set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
        get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
        if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
            # We have reached the root directory, we are not in git
            set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
            set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
            return()
        endif()
        set(GIT_DIR "${GIT_PARENT_DIR}/.git")
    endwhile()
    # check if this is a submodule
    if(NOT IS_DIRECTORY ${GIT_DIR})
        file(READ ${GIT_DIR} submodule)
        string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
        get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
        if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
            set(GIT_DIR ${GIT_DIR_RELATIVE})
        else()
            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
        endif()
    endif()
    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
    if(NOT EXISTS "${GIT_DATA}")
        file(MAKE_DIRECTORY "${GIT_DATA}")
    endif()
    if(NOT EXISTS "${GIT_DIR}/HEAD")
        return()
    endif()
    set(HEAD_FILE "${GIT_DATA}/HEAD")
    configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
        "${GIT_DATA}/grabRef.cmake"
        @ONLY)
    include("${GIT_DATA}/grabRef.cmake")
    set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
    set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
 endfunction()
 function(git_describe _var)
    if(NOT GIT_FOUND)
        find_package(Git QUIET)
    endif()
    get_git_head_revision(refspec hash)
    if(NOT GIT_FOUND)
        set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
        return()
    endif()
    if(NOT hash)
        set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
        return()
    endif()
    # TODO sanitize
    #if((${ARGN}" MATCHES "&&") OR
    #    (ARGN MATCHES "||") OR
    #    (ARGN MATCHES "\\;"))
    #    message("Please report the following error to the project!")
    #    message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
    #endif()
    #message(STATUS "Arguments to execute_process: ${ARGN}")
    execute_process(COMMAND
        ${GIT_EXECUTABLE}
        describe
        ${hash}
        ${ARGN}
        WORKING_DIRECTORY
        "${CMAKE_SOURCE_DIR}"
        RESULT_VARIABLE
        res
        OUTPUT_VARIABLE
        out
        ERROR_QUIET
        OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(NOT res EQUAL 0)
        set(out "${out}-${res}-NOTFOUND")
    endif()
    set(${_var} "${out}" PARENT_SCOPE)
 endfunction()
 function(git_get_exact_tag _var)
    git_describe(out --exact-match ${ARGN})
    set(${_var} "${out}" PARENT_SCOPE)
 endfunction()
 function(git_get_tag _var)
    git_describe(out --tags ${ARGN})
    set(${_var} "${out}" PARENT_SCOPE)
 endfunction()
--- a/cmake/cmake-modules/README.md
+++ b/cmake/cmake-modules/README.md
@ -1,5 +1,7 @@
-The files in these folder were manually copy and pasted from the
+The files in the `bilke` folder were manually copy and pasted from the
 [cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
 this because only a small subset of its provided functions are needed.
-The license file in included here as well.
+The files in the `rpavlik` folder were manually copy and pasted from the
 [cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
 this because only a small subset of its provided functions are needed.
--- a/cmake/cmake-modules/bilke/CodeCoverage.cmake
+++ b/cmake/cmake-modules/bilke/CodeCoverage.cmake
--- a/cmake/cmake-modules/bilke/LICENSE_1_0.txt
+++ b/cmake/cmake-modules/bilke/LICENSE_1_0.txt
--- a/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake
+++ b/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake
@ -0,0 +1,284 @@
 # - Returns a version string from Git
 #
 # These functions force a re-configure on each git commit so that you can
 # trust the values of the variables in your build system.
 #
 #  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
 #
 # Returns the refspec and sha hash of the current head revision
 #
 #  git_describe(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe on the source tree, and adjusting
 # the output so that it tests false if an error occurs.
 #
 #  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe on the working tree (--dirty option),
 # and adjusting the output so that it tests false if an error occurs.
 #
 #  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe --exact-match on the source tree,
 # and adjusting the output so that it tests false if there was no exact
 # matching tag.
 #
 #  git_local_changes(<var>)
 #
 # Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
 # Uses the return code of "git diff-index --quiet HEAD --".
 # Does not regard untracked files.
 #
 # Requires CMake 2.6 or newer (uses the 'function' command)
 #
 # Original Author:
 # 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
 # http://academic.cleardefinition.com
 #
 # Copyright 2009-2013, Iowa State University.
 # Copyright 2013-2020, Ryan Pavlik
 # Copyright 2013-2020, Contributors
 # SPDX-License-Identifier: BSL-1.0
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
 if(__get_git_revision_description)
    return()
 endif()
 set(__get_git_revision_description YES)
 # We must run the following at "include" time, not at function call time,
 # to find the path to this module rather than the path to a calling list file
 get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
 # Function _git_find_closest_git_dir finds the next closest .git directory
 # that is part of any directory in the path defined by _start_dir.
 # The result is returned in the parent scope variable whose name is passed
 # as variable _git_dir_var. If no .git directory can be found, the
 # function returns an empty string via _git_dir_var.
 #
 # Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
 # neither foo nor bar contain a file/directory .git. This wil return
 # C:/bla/.git
 #
 function(_git_find_closest_git_dir _start_dir _git_dir_var)
    set(cur_dir "${_start_dir}")
    set(git_dir "${_start_dir}/.git")
    while(NOT EXISTS "${git_dir}")
        # .git dir not found, search parent directories
        set(git_previous_parent "${cur_dir}")
        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
        if(cur_dir STREQUAL git_previous_parent)
            # We have reached the root directory, we are not in git
            set(${_git_dir_var}
                ""
                PARENT_SCOPE)
            return()
        endif()
        set(git_dir "${cur_dir}/.git")
    endwhile()
    set(${_git_dir_var}
        "${git_dir}"
        PARENT_SCOPE)
 endfunction()
 function(get_git_head_revision _refspecvar _hashvar)
    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
    else()
        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
    endif()
    if(NOT "${GIT_DIR}" STREQUAL "")
        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
             "${GIT_DIR}")
        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
            # We've gone above the CMake root dir.
            set(GIT_DIR "")
        endif()
    endif()
    if("${GIT_DIR}" STREQUAL "")
        set(${_refspecvar}
            "GITDIR-NOTFOUND"
            PARENT_SCOPE)
        set(${_hashvar}
            "GITDIR-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    # Check if the current source dir is a git submodule or a worktree.
    # In both cases .git is a file instead of a directory.
    #
    if(NOT IS_DIRECTORY ${GIT_DIR})
        # The following git command will return a non empty string that
        # points to the super project working tree if the current
        # source dir is inside a git submodule.
        # Otherwise the command will return an empty string.
        #
        execute_process(
            COMMAND "${GIT_EXECUTABLE}" rev-parse
                    --show-superproject-working-tree
            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
            OUTPUT_VARIABLE out
            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
        if(NOT "${out}" STREQUAL "")
            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
            file(READ ${GIT_DIR} submodule)
            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
                                 ${submodule})
            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
                                   ABSOLUTE)
            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
        else()
            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
            file(READ ${GIT_DIR} worktree_ref)
            # The .git directory contains a path to the worktree information directory
            # inside the parent git repo of the worktree.
            #
            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
                                 ${worktree_ref})
            string(STRIP ${git_worktree_dir} git_worktree_dir)
            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
        endif()
    else()
        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
    endif()
    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
    if(NOT EXISTS "${GIT_DATA}")
        file(MAKE_DIRECTORY "${GIT_DATA}")
    endif()
    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
        return()
    endif()
    set(HEAD_FILE "${GIT_DATA}/HEAD")
    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
                   "${GIT_DATA}/grabRef.cmake" @ONLY)
    include("${GIT_DATA}/grabRef.cmake")
    set(${_refspecvar}
        "${HEAD_REF}"
        PARENT_SCOPE)
    set(${_hashvar}
        "${HEAD_HASH}"
        PARENT_SCOPE)
 endfunction()
 function(git_describe _var)
    if(NOT GIT_FOUND)
        find_package(Git QUIET)
    endif()
    get_git_head_revision(refspec hash)
    if(NOT GIT_FOUND)
        set(${_var}
            "GIT-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    if(NOT hash)
        set(${_var}
            "HEAD-HASH-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    # TODO sanitize
    #if((${ARGN}" MATCHES "&&") OR
    #   (ARGN MATCHES "||") OR
    #   (ARGN MATCHES "\\;"))
    #   message("Please report the following error to the project!")
    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
    #endif()
    #message(STATUS "Arguments to execute_process: ${ARGN}")
    execute_process(
        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
        RESULT_VARIABLE res
        OUTPUT_VARIABLE out
        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(NOT res EQUAL 0)
        set(out "${out}-${res}-NOTFOUND")
    endif()
    set(${_var}
        "${out}"
        PARENT_SCOPE)
 endfunction()
 function(git_describe_working_tree _var)
    if(NOT GIT_FOUND)
        find_package(Git QUIET)
    endif()
    if(NOT GIT_FOUND)
        set(${_var}
            "GIT-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    execute_process(
        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
        RESULT_VARIABLE res
        OUTPUT_VARIABLE out
        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(NOT res EQUAL 0)
        set(out "${out}-${res}-NOTFOUND")
    endif()
    set(${_var}
        "${out}"
        PARENT_SCOPE)
 endfunction()
 function(git_get_exact_tag _var)
    git_describe(out --exact-match ${ARGN})
    set(${_var}
        "${out}"
        PARENT_SCOPE)
 endfunction()
 function(git_local_changes _var)
    if(NOT GIT_FOUND)
        find_package(Git QUIET)
    endif()
    get_git_head_revision(refspec hash)
    if(NOT GIT_FOUND)
        set(${_var}
            "GIT-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    if(NOT hash)
        set(${_var}
            "HEAD-HASH-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    execute_process(
        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
        RESULT_VARIABLE res
        OUTPUT_VARIABLE out
        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(res EQUAL 0)
        set(${_var}
            "CLEAN"
            PARENT_SCOPE)
    else()
        set(${_var}
            "DIRTY"
            PARENT_SCOPE)
    endif()
 endfunction()
--- a/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
+++ b/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
@ -8,10 +8,12 @@
 # http://academic.cleardefinition.com
 # Iowa State University HCI Graduate Program/VRAC
 #
-# Copyright Iowa State University 2009-2010.
+# Copyright 2009-2012, Iowa State University
 # Copyright 2011-2015, Contributors
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
 # SPDX-License-Identifier: BSL-1.0
 set(HEAD_HASH)
@ -23,9 +25,12 @@ if(HEAD_CONTENTS MATCHES "ref")
    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
+    else()
-        configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
-        set(HEAD_HASH "${HEAD_REF}")
+        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
            set(HEAD_HASH "${CMAKE_MATCH_1}")
        endif()
    endif()
 else()
    # detached HEAD
--- a/cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt
@ -0,0 +1,26 @@
 Copyright (c) <year> <owner>. All rights reserved.
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 1. Redistributions of source code must retain the above copyright notice,
 this list of conditions and the following disclaimer.
 2. Redistributions in binary form must reproduce the above copyright notice,
 this list of conditions and the following disclaimer in the documentation
 and/or other materials provided with the distribution.
 3. Neither the name of the copyright holder nor the names of its contributors
 may be used to endorse or promote products derived from this software without
 specific prior written permission.
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
 USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- a/cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt
@ -0,0 +1,23 @@
 Boost Software License - Version 1.0 - August 17th, 2003
 Permission is hereby granted, free of charge, to any person or organization
 obtaining a copy of the software and accompanying documentation covered by
 this license (the "Software") to use, reproduce, display, distribute, execute,
 and transmit the Software, and to prepare derivative works of the Software,
 and to permit third-parties to whom the Software is furnished to do so, all
 subject to the following:
 The copyright notices in the Software and this entire statement, including
 the above license grant, this restriction and the following disclaimer, must
 be included in all copies of the Software, in whole or in part, and all derivative
 works of the Software, unless such copies or derivative works are solely in
 the form of machine-executable object code generated by a source language
 processor.
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
 COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
 OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
--- a/cmake/cmake-modules/rpavlik/LICENSE_1_0.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSE_1_0.txt
@ -0,0 +1,23 @@
 Boost Software License - Version 1.0 - August 17th, 2003
 Permission is hereby granted, free of charge, to any person or organization
 obtaining a copy of the software and accompanying documentation covered by
 this license (the "Software") to use, reproduce, display, distribute,
 execute, and transmit the Software, and to prepare derivative works of the
 Software, and to permit third-parties to whom the Software is furnished to
 do so, all subject to the following:
 The copyright notices in the Software and this entire statement, including
 the above license grant, this restriction and the following disclaimer,
 must be included in all copies of the Software, in whole or in part, and
 all derivative works of the Software, unless such copies or derivative
 works are solely in the form of machine-executable object code generated by
 a source language processor.
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
 SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
 FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 DEALINGS IN THE SOFTWARE.
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
  ReturnValue_t result;
  if (gpioCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
 #endif
    return RETURN_FAILED;
  }
@ -96,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
  std::string& label = gpioByLabel.label;
  struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
  if (chip == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
 #endif
    return RETURN_FAILED;
  }
  std::string failOutput = "label: " + label;
@ -108,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
  std::string& chipname = gpioByChip.chipname;
  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
  if (chip == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                 << ". Gpio ID: " << gpioId << std::endl;
 #endif
    return RETURN_FAILED;
  }
  std::string failOutput = "chipname: " + chipname;
@ -133,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
  if (chip == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                 << ". <Gpio ID: " << gpioId << std::endl;
 #endif
    return RETURN_FAILED;
  }
  std::string failOutput = "line name: " + lineName;
@ -153,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
  lineNum = regularGpio.lineNum;
  lineHandle = gpiod_chip_get_line(chip, lineNum);
  if (!lineHandle) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
    sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                 << std::endl;
    sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
 #endif
    gpiod_chip_close(chip);
    return RETURN_FAILED;
  }
@ -175,7 +185,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
      break;
    }
    default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
 #endif
      return GPIO_INVALID_INSTANCE;
    }
@ -204,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
 #endif
    return UNKNOWN_GPIO_ID;
  }
--- a/scripts/apply-clang-format.sh
+++ b/scripts/apply-clang-format.sh
@ -1,8 +0,0 @@
 #!/bin/bash
 if [[ ! -f README.md ]]; then
 	cd ..
 fi
 find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
 find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
 find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
--- a/scripts/auto-formatter.sh
+++ b/scripts/auto-formatter.sh
@ -0,0 +1,22 @@
 #!/bin/bash
 if [[ ! -f README.md ]]; then
  cd ..
 fi
 cmake_fmt="cmake-format"
 if command -v ${cmake_fmt} &> /dev/null; then
  cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
  eval ${cmake_fmt_cmd}
 else
  echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
  find ./src ${file_selectors} | xargs clang-format --style=file -i
  find ./hal ${file_selectors} | xargs clang-format --style=file -i
  find ./tests ${file_selectors} | xargs clang-format --style=file -i
 else
  echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi
--- a/src/fsfw/FSFWVersion.h.in
+++ b/src/fsfw/FSFWVersion.h.in
@ -6,6 +6,6 @@ static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
 static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
 static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
 // Also contains CST (Commits since tag) information
-static const char FSFW_VERSION_CST_GIT_SHA1[] = "@FSFW_VERSION_CST_GIT_SHA1@";
+static const char FSFW_VCS_INFO[] = "@FSFW_VCS_INFO@";
 #endif /* FSFW_VERSION_H_ */
--- a/src/fsfw/container/FIFOBase.tpp
+++ b/src/fsfw/container/FIFOBase.tpp
@ -6,8 +6,8 @@
 #endif
 template <typename T>
-inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
-        maxCapacity(maxCapacity), values(values){};
+    : maxCapacity(maxCapacity), values(values){};
 template <typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
@ -84,7 +84,6 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
  return maxCapacity;
 }
 template <typename T>
 inline void FIFOBase<T>::setContainer(T* data) {
  this->values = data;
--- a/src/fsfw/container/FixedOrderedMultimap.tpp
+++ b/src/fsfw/container/FixedOrderedMultimap.tpp
@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
                                                                         Iterator *storedValue) {
  if (_size == theMap.maxSize()) {
    return MAP_FULL;
  }
@ -71,7 +71,8 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key
 }
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
                                                                          size_t startAt) const {
  if (startAt >= _size) {
    return startAt + 1;
  }
@ -105,5 +106,4 @@ inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size
  --_size;
 }
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */
--- a/src/fsfw/datapoollocal/LocalPoolVariable.tpp
+++ b/src/fsfw/datapoollocal/LocalPoolVariable.tpp
@ -6,26 +6,24 @@
 #endif
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                               pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
-                dataSet, setReadWriteMode){}
+                          setReadWriteMode) {}
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::read(
+inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                uint32_t timeoutMs) {
  if (hkManager == nullptr) {
    return readWithoutLock();
  }
@ -43,19 +41,17 @@ template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
+                          targetObjectId, localPoolId);
                localPoolId);
    return PoolVariableIF::INVALID_READ_WRITE_MODE;
  }
  PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
  if (result != RETURN_OK) {
    object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
                false, ownerObjectId, localPoolId);
    return result;
  }
@ -65,15 +61,15 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
 }
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
+inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                  uint32_t timeoutMs) {
  this->setValid(setValid);
  return commit(timeoutType, timeoutMs);
 }
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(
+inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                  uint32_t timeoutMs) {
  if (hkManager == nullptr) {
    return commitWithoutLock();
  }
@ -91,19 +87,17 @@ template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
  if (readWriteMode == pool_rwm_t::VAR_READ) {
    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
+                          targetObjectId, localPoolId);
                localPoolId);
    return PoolVariableIF::INVALID_READ_WRITE_MODE;
  }
  PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
  if (result != RETURN_OK) {
    object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
                false, ownerObjectId, localPoolId);
    return result;
  }
@ -113,11 +107,10 @@ inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
 }
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<T>::serialize(
-        size_t* size, const size_t max_size,
+    uint8_t** buffer, size_t* size, const size_t max_size,
    SerializeIF::Endianness streamEndianness) const {
-    return SerializeAdapter::serialize(&value,
+  return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
            buffer, size ,max_size, streamEndianness);
 }
 template <typename T>
@ -126,15 +119,14 @@ inline size_t LocalPoolVariable<T>::getSerializedSize() const {
 }
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
-        size_t* size, SerializeIF::Endianness streamEndianness) {
+                                                       SerializeIF::Endianness streamEndianness) {
  return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 template <typename T>
-inline std::ostream& operator<< (std::ostream &out,
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
        const LocalPoolVariable<T> &var) {
  out << var.value;
  return out;
 }
@ -146,8 +138,7 @@ inline LocalPoolVariable<T>::operator T() const {
 }
 template <typename T>
-inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
        const T& newValue) {
  value = newValue;
  return *this;
 }
@ -160,8 +151,7 @@ inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
 }
 template <typename T>
-inline bool LocalPoolVariable<T>::operator ==(
+inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
        const LocalPoolVariable<T> &other) const {
  return this->value == other.value;
 }
@ -170,10 +160,8 @@ inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
  return this->value == other;
 }
 template <typename T>
-inline bool LocalPoolVariable<T>::operator !=(
+inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
        const LocalPoolVariable<T> &other) const {
  return not(*this == other);
 }
@ -182,10 +170,8 @@ inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
  return not(*this == other);
 }
 template <typename T>
-inline bool LocalPoolVariable<T>::operator <(
+inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
        const LocalPoolVariable<T> &other) const {
  return this->value < other.value;
 }
@ -194,10 +180,8 @@ inline bool LocalPoolVariable<T>::operator <(const T &other) const {
  return this->value < other;
 }
 template <typename T>
-inline bool LocalPoolVariable<T>::operator >(
+inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
        const LocalPoolVariable<T> &other) const {
  return not(*this < other);
 }
--- a/src/fsfw/datapoollocal/LocalPoolVector.tpp
+++ b/src/fsfw/datapoollocal/LocalPoolVector.tpp
@ -6,25 +6,26 @@
 #endif
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
-        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
+                                                       DataSetIF* dataSet,
-        pool_rwm_t setReadWriteMode):
+                                                       pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                                       DataSetIF* dataSet,
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+                                                       pool_rwm_t setReadWriteMode)
    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                                       pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
-                dataSet, setReadWriteMode) {}
+                          setReadWriteMode) {}
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                          uint32_t timeoutMs) {
  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
  return readWithoutLock();
 }
@ -32,21 +33,19 @@ template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
+                          targetObjectId, localPoolId);
                localPoolId);
    return PoolVariableIF::INVALID_READ_WRITE_MODE;
  }
  PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
  memset(this->value, 0, vectorSize * sizeof(T));
  if (result != RETURN_OK) {
    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
+    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
                localPoolId);
    return result;
  }
  std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
@ -56,14 +55,15 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
 template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                            MutexIF::TimeoutType timeoutType,
                                                            uint32_t timeoutMs) {
  this->setValid(valid);
  return commit(timeoutType, timeoutMs);
 }
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                            uint32_t timeoutMs) {
  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
  return commitWithoutLock();
 }
@ -72,18 +72,16 @@ template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
  if (readWriteMode == pool_rwm_t::VAR_READ) {
    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
+                          targetObjectId, localPoolId);
                localPoolId);
    return PoolVariableIF::INVALID_READ_WRITE_MODE;
  }
  PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
  if (result != RETURN_OK) {
    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
+    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
                localPoolId);
    return result;
  }
  std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
@ -100,9 +98,11 @@ inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
  // a configuration error, but I wont exit here.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
      "LocalPoolVector: Invalid index. Setting or returning"
      " last value!\n");
 #endif
  return value[vectorSize - 1];
@ -117,22 +117,23 @@ inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
  // a configuration error, but I wont exit here.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
      "LocalPoolVector: Invalid index. Setting or returning"
      " last value!\n");
 #endif
  return value[vectorSize - 1];
 }
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
-        size_t* size, size_t maxSize,
+    uint8_t** buffer, size_t* size, size_t maxSize,
    SerializeIF::Endianness streamEndianness) const {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
  for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+    result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
                maxSize, streamEndianness);
    if (result != HasReturnvaluesIF::RETURN_OK) {
      break;
    }
@ -147,12 +148,10 @@ inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
 template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
-        const uint8_t** buffer, size_t* size,
+    const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
        SerializeIF::Endianness streamEndianness) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
  for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
                streamEndianness);
    if (result != HasReturnvaluesIF::RETURN_OK) {
      break;
    }
@ -162,8 +161,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 template <typename T, uint16_t vectorSize>
-inline std::ostream& operator<< (std::ostream &out,
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
        const LocalPoolVector<T, vectorSize> &var) {
  out << "Vector: [";
  for (int i = 0; i < vectorSize; i++) {
    out << var.value[i];
--- a/src/fsfw/power/DummyPowerSwitcher.cpp
+++ b/src/fsfw/power/DummyPowerSwitcher.cpp
@ -17,28 +17,28 @@ void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList
 }
 ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
-  if (switchNr < switcherList.capacity()) {
+  if (switchNr < switcherList.size()) {
    switcherList[switchNr] = onOff;
  }
  return RETURN_FAILED;
 }
 ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
-  if (fuseNr < fuseList.capacity()) {
+  if (fuseNr < fuseList.size()) {
    fuseList[fuseNr] = FUSE_ON;
  }
  return RETURN_FAILED;
 }
 ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
-  if (switchNr < switcherList.capacity()) {
+  if (switchNr < switcherList.size()) {
    return switcherList[switchNr];
  }
  return HasReturnvaluesIF::RETURN_FAILED;
 }
 ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
-  if (fuseNr < fuseList.capacity()) {
+  if (fuseNr < fuseList.size()) {
    return fuseList[fuseNr];
  }
  return HasReturnvaluesIF::RETURN_FAILED;
--- a/src/fsfw/power/PowerSensor.cpp
+++ b/src/fsfw/power/PowerSensor.cpp
@ -15,9 +15,7 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                   limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
      voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                   limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue();
  commandQueue = QueueFactory::instance()->createMessageQueue(
      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
--- a/src/fsfw/pus/Service11TelecommandScheduling.h
+++ b/src/fsfw/pus/Service11TelecommandScheduling.h
@ -0,0 +1,202 @@
 #ifndef MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
 #define MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
 #include <etl/multimap.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 #include "fsfw/FSFW.h"
 #include "fsfw/returnvalues/FwClassIds.h"
 /**
 * @brief: PUS-Service 11 - Telecommand scheduling.
 * @details:
 * PUS-Service 11 - Telecommand scheduling.
 * Full documentation: ECSS-E-ST-70-41C, p. 168:
 * ST[11] time-based scheduling
 *
 * This service provides the capability to command pre-loaded
 * application processes (telecommands) by releasing them at their
 * due-time.
 * References to telecommands are stored together with their due-timepoints
 * and are released at their corresponding due-time.
 *
 * Necessary subservice functionalities are implemented.
 * Those are:
 * TC[11,4] activity insertion
 * TC[11,5] activity deletion
 * TC[11,6] filter-based activity deletion
 * TC[11,7] activity time-shift
 * TC[11,8] filter-based activity time-shift
 *
 * Groups are not supported.
 * This service remains always enabled. Sending a disable-request has no effect.
 */
 template <size_t MAX_NUM_TCS>
 class Service11TelecommandScheduling final : public PusServiceBase {
 public:
  static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11;
  static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW =
      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
  static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE =
      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
  static constexpr ReturnValue_t INVALID_RELATIVE_TIME =
      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
  // The types of PUS-11 subservices
  enum Subservice : uint8_t {
    ENABLE_SCHEDULING = 1,
    DISABLE_SCHEDULING = 2,
    RESET_SCHEDULING = 3,
    INSERT_ACTIVITY = 4,
    DELETE_ACTIVITY = 5,
    FILTER_DELETE_ACTIVITY = 6,
    TIMESHIFT_ACTIVITY = 7,
    FILTER_TIMESHIFT_ACTIVITY = 8,
    DETAIL_REPORT = 9,
    TIMEBASE_SCHEDULE_DETAIL_REPORT = 10,
    TIMESHIFT_ALL_SCHEDULE_ACTIVITIES = 15
  };
  // The types of time windows for TC[11,6] and TC[11,8], as defined in ECSS-E-ST-70-41C,
  // requirement 8.11.3c (p. 507)
  enum TypeOfTimeWindow : uint32_t {
    SELECT_ALL = 0,
    FROM_TIMETAG_TO_TIMETAG = 1,
    FROM_TIMETAG = 2,
    TO_TIMETAG = 3
  };
  Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                                 AcceptsTelecommandsIF* tcRecipient,
                                 uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
                                 bool debugMode = false);
  ~Service11TelecommandScheduling();
  /** PusServiceBase overrides */
  ReturnValue_t handleRequest(uint8_t subservice) override;
  ReturnValue_t performService() override;
  ReturnValue_t initialize() override;
 private:
  struct TelecommandStruct {
    uint64_t requestId;
    uint32_t seconds;
    store_address_t storeAddr;  // uint16
  };
  static constexpr uint16_t DEFAULT_RELEASE_TIME_MARGIN = 5;
  // minimum release time offset to insert into schedule
  const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5;
  // the maximum amount of stored TCs is defined here
  static constexpr uint16_t MAX_STORED_TELECOMMANDS = 500;
  bool debugMode = false;
  StorageManagerIF* tcStore = nullptr;
  AcceptsTelecommandsIF* tcRecipient = nullptr;
  MessageQueueId_t recipientMsgQueueId = 0;
  /**
   * The telecommand map uses the exectution time as a Unix time stamp as
   * the key. This is mapped to a generic telecommand struct.
   */
  using TelecommandMap = etl::multimap<uint32_t, TelecommandStruct, MAX_NUM_TCS>;
  using TcMapIter = typename TelecommandMap::iterator;
  TelecommandMap telecommandMap;
  /**
   * @brief Logic to be performed on an incoming TC[11,4].
   * @return RETURN_OK if successful
   */
  ReturnValue_t doInsertActivity(const uint8_t* data, size_t size);
  /**
   * @brief Logic to be performed on an incoming TC[11,5].
   * @return RETURN_OK if successful
   */
  ReturnValue_t doDeleteActivity(const uint8_t* data, size_t size);
  /**
   * @brief Logic to be performed on an incoming TC[11,6].
   * @return RETURN_OK if successful
   */
  ReturnValue_t doFilterDeleteActivity(const uint8_t* data, size_t size);
  /**
   * @brief Logic to be performed on an incoming TC[11,7].
   * @return RETURN_OK if successful
   */
  ReturnValue_t doTimeshiftActivity(const uint8_t* data, size_t size);
  /**
   * @brief Logic to be performed on an incoming TC[11,8].
   * @return RETURN_OK if successful
   */
  ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size);
  /**
   * @brief Deserializes a generic type from a payload buffer by using the FSFW
   * SerializeAdapter Interface.
   * @param output Output to be deserialized
   * @param buf Payload buffer (application data)
   * @param bufsize Remaining size of payload buffer (application data size)
   * @return RETURN_OK if successful
   */
  template <typename T>
  ReturnValue_t deserializeViaFsfwInterface(T& output, const uint8_t* buf, size_t bufsize);
  /**
   * @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the
   * class TcPacketPus.
   * NOTE: This only works if the payload data is a TC (e.g. not for TC[11,5] which does not
   * send a TC as payload)!
   * @param data The Application data of the TC (get via getApplicationData()).
   * @return requestId
   */
  uint64_t getRequestIdFromDataTC(const uint8_t* data) const;
  /**
   * @brief Extracts the Request ID from the Application Data directly, assuming it is packed
   * as follows (acc. to ECSS): | source ID (uint32) | apid (uint32) | ssc (uint32) |.
   * @param data Pointer to first byte described data
   * @param dataSize Remaining size of data NOTE: non-const, this is modified by the function
   * @param [out] requestId Request ID
   * @return RETURN_OK if successful
   */
  ReturnValue_t getRequestIdFromData(const uint8_t*& data, size_t& dataSize, uint64_t& requestId);
  /**
   * @brief Builds the Request ID from its three elements.
   * @param sourceId Source ID
   * @param apid Application Process ID (APID)
   * @param ssc Source Sequence Count
   * @return Request ID
   */
  uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
  /**
   * @brief Gets the filter range for filter TCs from a data packet
   * @param data TC data
   * @param dataSize TC data size
   * @param [out] itBegin Begin of filter range
   * @param [out] itEnd End of filter range
   * @return RETURN_OK if successful
   */
  ReturnValue_t getMapFilterFromData(const uint8_t*& data, size_t& size, TcMapIter& itBegin,
                                     TcMapIter& itEnd);
  ReturnValue_t handleInvalidData(const char* ctx);
  /**
   * @brief Prints content of multimap. Use for simple debugging only.
   */
  void debugPrintMultimapContent(void) const;
 };
 #include "Service11TelecommandScheduling.tpp"
 #endif /* MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ */
--- a/src/fsfw/pus/Service11TelecommandScheduling.tpp
+++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp
@ -0,0 +1,598 @@
 #pragma once
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serialize/SerializeAdapter.h>
 #include <fsfw/tmtcservices/AcceptsTelecommandsIF.h>
 #include <cstddef>
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 template <size_t MAX_NUM_TCS>
 inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduling(
    object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient,
    uint16_t releaseTimeMarginSeconds, bool debugMode)
    : PusServiceBase(objectId, apid, serviceId),
      RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
      debugMode(debugMode),
      tcRecipient(tcRecipient) {}
 template <size_t MAX_NUM_TCS>
 inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() {}
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
    uint8_t subservice) {
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::handleRequest: Handling request " << static_cast<int>(subservice);
 #else
    sif::printInfo("PUS11::handleRequest: Handling request %d\n", subservice);
 #endif
  }
  // Get de-serialized Timestamp
  const uint8_t *data = currentPacket.getApplicationData();
  size_t size = currentPacket.getApplicationDataSize();
  if (data == nullptr) {
    return handleInvalidData("handleRequest");
  }
  switch (subservice) {
    case Subservice::INSERT_ACTIVITY:
      return doInsertActivity(data, size);
    case Subservice::DELETE_ACTIVITY:
      return doDeleteActivity(data, size);
    case Subservice::FILTER_DELETE_ACTIVITY:
      return doFilterDeleteActivity(data, size);
    case Subservice::TIMESHIFT_ACTIVITY:
      return doTimeshiftActivity(data, size);
    case Subservice::FILTER_TIMESHIFT_ACTIVITY:
      return doFilterTimeshiftActivity(data, size);
    default:
      break;
  }
  return HasReturnvaluesIF::RETURN_FAILED;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
  // DEBUG
  // DebugPrintMultimapContent();
  // get current time as UNIX timestamp
  timeval tNow = {};
  Clock::getClock_timeval(&tNow);
  // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
  // does not work in this case as we are deleting the current element here.
  for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
    if (it->first <= tNow.tv_sec) {
      // release tc
      TmTcMessage releaseMsg(it->second.storeAddr);
      auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
      if (sendRet != HasReturnvaluesIF::RETURN_OK) {
        return sendRet;
      }
      telecommandMap.erase(it++);
      if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "Released TC & erased it from TC map" << std::endl;
 #else
        sif::printInfo("Released TC & erased it from TC map\n");
 #endif
      }
      continue;
    }
    it++;
  }
  return HasReturnvaluesIF::RETURN_OK;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::initialize() {
  ReturnValue_t res = PusServiceBase::initialize();
  if (res != HasReturnvaluesIF::RETURN_OK) {
    return res;
  }
  tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
  if (!tcStore) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  if (tcRecipient == nullptr) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  recipientMsgQueueId = tcRecipient->getRequestQueue();
  return res;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
    const uint8_t *data, size_t size) {
  uint32_t timestamp = 0;
  const uint8_t *initData = data;
  size_t initSz = size;
  ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
  if (result != RETURN_OK) {
    return result;
  }
  // Insert possible if sched. time is above margin
  // (See requirement for Time margin)
  timeval tNow = {};
  Clock::getClock_timeval(&tNow);
  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
                    "current time"
                 << std::endl;
 #else
    sif::printWarning(
        "Service11TelecommandScheduling::doInsertActivity: Release time too close to current "
        "time\n");
 #endif
    return RETURN_FAILED;
  }
  // store currentPacket and receive the store address
  store_address_t addr{};
  if (tcStore->addData(&addr, initData, initSz) != RETURN_OK ||
      addr.raw == storeId::INVALID_STORE_ADDRESS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
               << std::endl;
 #else
    sif::printError(
        "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed\n");
 #endif
    return RETURN_FAILED;
  }
  // insert into multimap with new store address
  TelecommandStruct tc;
  tc.seconds = timestamp;
  tc.storeAddr = addr;
  tc.requestId =
      getRequestIdFromDataTC(data);  // TODO: Missing sanity check of the returned request id
  auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
  if (it == telecommandMap.end()) {
    return RETURN_FAILED;
  }
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::doInsertActivity: Inserted into Multimap:" << std::endl;
 #else
    sif::printInfo("PUS11::doInsertActivity: Inserted into Multimap:\n");
 #endif
    debugPrintMultimapContent();
  }
  return HasReturnvaluesIF::RETURN_OK;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doDeleteActivity(
    const uint8_t *data, size_t size) {
  // Get request ID
  uint64_t requestId;
  ReturnValue_t result = getRequestIdFromData(data, size, requestId);
  if (result != RETURN_OK) {
    return result;
  }
  // DEBUG
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::doDeleteActivity: requestId: " << requestId << std::endl;
 #else
    sif::printInfo("PUS11::doDeleteActivity: requestId: %d\n", requestId);
 #endif
  }
  TcMapIter tcToDelete;     // handle to the TC to be deleted, can be used if counter is valid
  int tcToDeleteCount = 0;  // counter of all found TCs. Should be 1.
  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
    if (it->second.requestId == requestId) {
      tcToDelete = it;
      tcToDeleteCount++;
    }
  }
  // check if 1 explicit TC is found via request ID
  if (tcToDeleteCount == 0 || tcToDeleteCount > 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
                    "Cannot explicitly delete TC"
                 << std::endl;
 #else
    sif::printWarning(
        "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
        "Cannot explicitly delete TC");
 #endif
    return RETURN_FAILED;
  }
  // delete packet from store
  if (tcStore->deleteData(tcToDelete->second.storeAddr) != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store"
               << std::endl;
 #else
    sif::printError(
        "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store\n");
 #endif
    return RETURN_FAILED;
  }
  telecommandMap.erase(tcToDelete);
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::doDeleteActivity: Deleted TC from map" << std::endl;
 #else
    sif::printInfo("PUS11::doDeleteActivity: Deleted TC from map\n");
 #endif
  }
  return RETURN_OK;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterDeleteActivity(
    const uint8_t *data, size_t size) {
  TcMapIter itBegin;
  TcMapIter itEnd;
  ReturnValue_t result = getMapFilterFromData(data, size, itBegin, itEnd);
  // get the filter window as map range via dedicated method
  if (result != RETURN_OK) {
    return result;
  }
  int deletedTCs = 0;
  for (TcMapIter it = itBegin; it != itEnd; it++) {
    // delete packet from store
    if (tcStore->deleteData(it->second.storeAddr) != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC "
                    "from Store"
                 << std::endl;
 #else
      sif::printError(
          "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC from "
          "Store\n");
 #endif
      continue;
    }
    deletedTCs++;
  }
  // NOTE: Spec says this function erases all elements including itBegin but not itEnd,
  // see here: https://www.cplusplus.com/reference/map/multimap/erase/
  // Therefore we need to increase itEnd by 1. (Note that end() returns the "past-the-end" iterator)
  if (itEnd != telecommandMap.end()) {
    itEnd++;
  }
  telecommandMap.erase(itBegin, itEnd);
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::doFilterDeleteActivity: Deleted " << deletedTCs << " TCs" << std::endl;
 #else
    sif::printInfo("PUS11::doFilterDeleteActivity: Deleted %d TCs\n", deletedTCs);
 #endif
  }
  return RETURN_OK;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doTimeshiftActivity(
    const uint8_t *data, size_t size) {
  // Get relative time
  uint32_t relativeTime = 0;
  ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
  if (result != RETURN_OK) {
    return result;
  }
  if (relativeTime == 0) {
    return INVALID_RELATIVE_TIME;
  }
  // TODO further check sanity of the relative time?
  // Get request ID
  uint64_t requestId;
  result = getRequestIdFromData(data, size, requestId);
  if (result != RETURN_OK) {
    return result;
  }
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::doTimeshiftActivity: requestId: " << requestId << std::endl;
 #else
    sif::printInfo("PUS11::doTimeshiftActivity: requestId: %d\n", requestId);
 #endif
  }
  // NOTE: Despite having C++17 ETL multimap has no member function extract :(
  TcMapIter tcToTimeshiftIt;
  int tcToTimeshiftCount = 0;
  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
    if (it->second.requestId == requestId) {
      tcToTimeshiftIt = it;
      tcToTimeshiftCount++;
    }
  }
  if (tcToTimeshiftCount == 0 || tcToTimeshiftCount > 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 "
                    "TCs found. No explicit timeshifting "
                    "possible"
                 << std::endl;
 #else
    sif::printWarning(
        "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 TCs found. "
        "No explicit timeshifting possible\n");
 #endif
    return TIMESHIFTING_NOT_POSSIBLE;
  }
  // temporarily hold the item
  TelecommandStruct tempTc(tcToTimeshiftIt->second);
  uint32_t tempKey = tcToTimeshiftIt->first + relativeTime;
  // delete old entry from the mm
  telecommandMap.erase(tcToTimeshiftIt);
  // and then insert it again as new entry
  telecommandMap.insert(std::make_pair(tempKey, tempTc));
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::doTimeshiftActivity: Shifted TC" << std::endl;
 #else
    sif::printDebug("PUS11::doTimeshiftActivity: Shifted TC\n");
 #endif
    debugPrintMultimapContent();
  }
  return RETURN_OK;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimeshiftActivity(
    const uint8_t *data, size_t size) {
  // Get relative time
  uint32_t relativeTime = 0;
  ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
  if (result != RETURN_OK) {
    return result;
  }
  if (relativeTime == 0) {
    return INVALID_RELATIVE_TIME;
  }
  // Do time window
  TcMapIter itBegin;
  TcMapIter itEnd;
  result = getMapFilterFromData(data, size, itBegin, itEnd);
  if (result != RETURN_OK) {
    return result;
  }
  int shiftedItemsCount = 0;
  for (auto it = itBegin; it != itEnd;) {
    // temporarily hold the item
    TelecommandStruct tempTc(it->second);
    uint32_t tempKey = it->first + relativeTime;
    // delete the old entry from the mm
    telecommandMap.erase(it++);
    // and then insert it again as new entry
    telecommandMap.insert(std::make_pair(tempKey, tempTc));
    shiftedItemsCount++;
    continue;
  }
  if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "PUS11::doFilterTimeshiftActivity: shiftedItemsCount: " << shiftedItemsCount
              << std::endl;
 #else
    sif::printInfo("PUS11::doFilterTimeshiftActivity: shiftedItemsCount: %d\n", shiftedItemsCount);
 #endif
    debugPrintMultimapContent();
  }
  if (shiftedItemsCount > 0) {
    return RETURN_OK;
  }
  return RETURN_FAILED;
 }
 template <size_t MAX_NUM_TCS>
 inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromDataTC(
    const uint8_t *data) const {
  TcPacketPus mask(data);
  uint32_t sourceId = mask.getSourceId();
  uint16_t apid = mask.getAPID();
  uint16_t sequenceCount = mask.getPacketSequenceCount();
  return buildRequestId(sourceId, apid, sequenceCount);
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromData(
    const uint8_t *&data, size_t &dataSize, uint64_t &requestId) {
  uint32_t srcId = 0;
  uint16_t apid = 0;
  uint16_t ssc = 0;
  ReturnValue_t result = SerializeAdapter::deSerialize(&srcId, &data, &dataSize, DEF_END);
  if (result != RETURN_OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&apid, &data, &dataSize, DEF_END);
  if (result != RETURN_OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&ssc, &data, &dataSize, DEF_END);
  if (result != RETURN_OK) {
    return result;
  }
  requestId = buildRequestId(srcId, apid, ssc);
  return RETURN_OK;
 }
 template <size_t MAX_NUM_TCS>
 inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::buildRequestId(uint32_t sourceId,
                                                                            uint16_t apid,
                                                                            uint16_t ssc) const {
  uint64_t sourceId64 = static_cast<uint64_t>(sourceId);
  uint64_t apid64 = static_cast<uint64_t>(apid);
  uint64_t ssc64 = static_cast<uint64_t>(ssc);
  return (sourceId64 << 32) | (apid64 << 16) | ssc64;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFromData(
    const uint8_t *&data, size_t &dataSize, TcMapIter &itBegin, TcMapIter &itEnd) {
  // get filter type first
  uint32_t typeRaw = 0;
  ReturnValue_t result = SerializeAdapter::deSerialize(&typeRaw, &data, &dataSize, DEF_END);
  if (result != RETURN_OK) {
    return result;
  }
  if (typeRaw > 3) {
    return INVALID_TYPE_TIME_WINDOW;
  }
  TypeOfTimeWindow type = static_cast<TypeOfTimeWindow>(typeRaw);
  // we now have the type of delete activity - so now we set the range to delete,
  // according to the type of time window.
  // NOTE: Blocks are used in this switch-case statement so that timestamps can be
  // cleanly redefined for each case.
  switch (type) {
    case TypeOfTimeWindow::SELECT_ALL: {
      itBegin = telecommandMap.begin();
      itEnd = telecommandMap.end();
      break;
    }
    case TypeOfTimeWindow::FROM_TIMETAG: {
      uint32_t fromTimestamp = 0;
      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, DEF_END);
      if (result != RETURN_OK) {
        return result;
      }
      itBegin = telecommandMap.begin();
      while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
        itBegin++;
      }
      itEnd = telecommandMap.end();
      break;
    }
    case TypeOfTimeWindow::TO_TIMETAG: {
      uint32_t toTimestamp;
      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, DEF_END);
      if (result != RETURN_OK) {
        return result;
      }
      itBegin = telecommandMap.begin();
      itEnd = telecommandMap.begin();
      while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
        itEnd++;
      }
      break;
    }
    case TypeOfTimeWindow::FROM_TIMETAG_TO_TIMETAG: {
      uint32_t fromTimestamp;
      uint32_t toTimestamp;
      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize,
                                             SerializeIF::Endianness::BIG);
      if (result != RETURN_OK) {
        return result;
      }
      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize,
                                             SerializeIF::Endianness::BIG);
      if (result != RETURN_OK) {
        return result;
      }
      itBegin = telecommandMap.begin();
      itEnd = telecommandMap.begin();
      while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
        itBegin++;
      }
      while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
        itEnd++;
      }
      break;
    }
    default:
      return RETURN_FAILED;
  }
  // additional security check, this should never be true
  if (itBegin->first > itEnd->first) {
    sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
    return RETURN_FAILED;
  }
  // the map range should now be set according to the sent filter.
  return RETURN_OK;
 }
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidData(
    const char *ctx) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::warning << "Service11TelecommandScheduling:: " << ctx << ": Invalid buffer" << std::endl;
 #else
  sif::printWarning("Service11TelecommandScheduling::%s: Invalid buffer\n", ctx);
 #endif
 #endif
  return RETURN_FAILED;
 }
 template <size_t MAX_NUM_TCS>
 inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent(void) const {
 #if FSFW_DISABLE_PRINTOUT == 0
 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
             << std::endl;
  sif::debug << "[" << dit->first << "]: Request ID: " << dit->second.requestId << " | "
             << "Store Address: " << dit->second.storeAddr << std::endl;
 #else
  sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
  for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
    sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit->first,
                    dit->second.requestId, dit->second.storeAddr);
  }
 #endif
 #endif
 }
--- a/src/fsfw/returnvalues/FwClassIds.h
+++ b/src/fsfw/returnvalues/FwClassIds.h
@ -72,6 +72,7 @@ enum : uint8_t {
  DLE_ENCODER,                    // DLEE
  PUS_SERVICE_3,                  // PUS3
  PUS_SERVICE_9,                  // PUS9
  PUS_SERVICE_11,                 // PUS11
  FILE_SYSTEM,                    // FILS
  LINUX_OSAL,                     // UXOS
  HAL_SPI,                        // HSPI
--- a/src/fsfw/version.cpp
+++ b/src/fsfw/version.cpp
@ -12,19 +12,21 @@
 #undef minor
 #endif
-const Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION,
+const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
-                                    FSFW_VERSION_CST_GIT_SHA1};
+                                          FSFW_VERSION_REVISION, FSFW_VCS_INFO};
-Version::Version(int major, int minor, int revision, const char* addInfo)
+fsfw::Version::Version(int major, int minor, int revision, const char* addInfo)
    : major(major), minor(minor), revision(revision), addInfo(addInfo) {}
-void Version::getVersion(char* str, size_t maxLen) const {
+void fsfw::Version::getVersion(char* str, size_t maxLen) const {
  size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
  if (addInfo != nullptr) {
    snprintf(str + len, maxLen - len, "-%s", addInfo);
  }
 }
 namespace fsfw {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 std::ostream& operator<<(std::ostream& os, const Version& v) {
  os << v.major << "." << v.minor << "." << v.revision;
@ -34,3 +36,5 @@ std::ostream& operator<<(std::ostream& os, const Version& v) {
  return os;
 }
 #endif
 }  // namespace fsfw
--- a/src/fsfw/version.h
+++ b/src/fsfw/version.h
@ -8,6 +8,8 @@
 #endif
 #include <cstdint>
 namespace fsfw {
 class Version {
 public:
  Version(int major, int minor, int revision, const char* addInfo = nullptr);
@ -55,8 +57,6 @@ class Version {
  void getVersion(char* str, size_t maxLen) const;
 };
 namespace fsfw {
 extern const Version FSFW_VERSION;
 }  // namespace fsfw
--- a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
+++ b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
@ -67,7 +67,5 @@ TEST_CASE("Power Switcher", "[power-switcher]") {
    REQUIRE(not switcherUsingDummy.active());
  }
-  SECTION("More Dummy Tests") {
+  SECTION("More Dummy Tests") {}
  }
 }
--- a/tests/src/fsfw_tests/unit/version.cpp
+++ b/tests/src/fsfw_tests/unit/version.cpp
@ -10,12 +10,12 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
  // Check that major version is non-zero
  REQUIRE(fsfw::FSFW_VERSION.major > 0);
  uint32_t fsfwMajor = fsfw::FSFW_VERSION.major;
-  REQUIRE(Version(255, 0, 0) > fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION);
-  REQUIRE(Version(255, 0, 0) >= fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION);
-  REQUIRE(Version(0, 0, 0) < fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION);
-  REQUIRE(Version(0, 0, 0) <= fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION);
-  Version v1 = Version(1, 1, 1);
+  auto v1 = fsfw::Version(1, 1, 1);
-  Version v2 = Version(1, 1, 1);
+  auto v2 = fsfw::Version(1, 1, 1);
  REQUIRE(v1 == v2);
  REQUIRE(not(v1 < v2));
  REQUIRE(not(v1 > v2));