From 738f5720432cefb5a40292491babb6cd5d829010 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Apr 2022 18:38:25 +0200
Subject: [PATCH 01/24] added unit tests, minor API change

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

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

From 2d0e4ba951da0cf245bfc8b78b5a27552b9dd0cc Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Apr 2022 18:38:54 +0200
Subject: [PATCH 02/24] applied afmt

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

diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index 52b6dc07..644b488d 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -1,9 +1,9 @@
 #include "MgmLIS3MDLHandler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
index aa2dd214..3fedc9d4 100644
--- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
@@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
 Parity UartCookie::getParity() const { return parity; }
 
-void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) {
-  bitsPerWord = bitsPerWord_;
-}
+void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
 
 BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
 
diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h
index 24ce4af1..9f47dfc6 100644
--- a/src/fsfw/osal/rtems/PeriodicTask.h
+++ b/src/fsfw/osal/rtems/PeriodicTask.h
@@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object) override;
 
-/**
+  /**
    * Adds an object to the list of objects to be executed.
    * The objects are executed in the order added.
    * @param object pointer to the object to add.
    * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
+  ReturnValue_t addComponent(ExecutableObjectIF *object) override;
 
   uint32_t getPeriodMs() const override;
 

From b764194ed07be714ae42d5bfe0d41dbe74727dc5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Apr 2022 18:43:46 +0200
Subject: [PATCH 03/24] added more unit tests

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

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

From 572d602b728e63507053014ca8184840761aecc1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 25 Apr 2022 15:42:44 +0200
Subject: [PATCH 04/24] improve changelog, add entry

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

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

From b94685e045f5fc6203f8f2a65cb03b757bf01c58 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 25 Apr 2022 15:44:46 +0200
Subject: [PATCH 05/24] added missing PR cross-ref

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

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

From 29b0a352fcc6ddde8c19fca695d5c067ef2d4e30 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 28 Apr 2022 14:26:00 +0200
Subject: [PATCH 06/24] added new functions to add sequences and tables

---
 src/fsfw/subsystem/Subsystem.cpp |  9 +++++++++
 src/fsfw/subsystem/Subsystem.h   | 24 ++++++++++++++++++++++++
 2 files changed, 33 insertions(+)

diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp
index a837bf83..8930d0a1 100644
--- a/src/fsfw/subsystem/Subsystem.cpp
+++ b/src/fsfw/subsystem/Subsystem.cpp
@@ -299,6 +299,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
   }
 }
 
+ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) {
+  return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore,
+                     sequence.preInit);
+}
+
 ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id,
                                      Mode_t fallbackSequence, bool inStore, bool preInit) {
   ReturnValue_t result;
@@ -342,6 +347,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t
   return result;
 }
 
+ReturnValue_t Subsystem::addTable(TableEntry table) {
+  return addTable(table.table, table.mode, table.inStore, table.preInit);
+}
+
 ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore,
                                   bool preInit) {
   ReturnValue_t result;
diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h
index 2c78c8cd..5b2777e8 100644
--- a/src/fsfw/subsystem/Subsystem.h
+++ b/src/fsfw/subsystem/Subsystem.h
@@ -11,6 +11,28 @@
 #include "SubsystemBase.h"
 #include "modes/ModeDefinitions.h"
 
+struct TableSequenceBase {
+ public:
+  TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
+  Mode_t mode;
+  ArrayList<ModeListEntry> *table;
+  bool inStore = false;
+  bool preInit = true;
+};
+
+struct TableEntry : public TableSequenceBase {
+ public:
+  TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
+};
+
+struct SequenceEntry : public TableSequenceBase {
+ public:
+  SequenceEntry(Mode_t mode, ArrayList<ModeListEntry> *table, Mode_t fallbackMode)
+      : TableSequenceBase(mode, table), fallbackMode(fallbackMode) {}
+
+  Mode_t fallbackMode;
+};
+
 /**
  * @brief   TODO: documentation missing
  * @details
@@ -45,9 +67,11 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
             uint32_t maxNumberOfTables);
   virtual ~Subsystem();
 
+  ReturnValue_t addSequence(SequenceEntry sequence);
   ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
                             bool inStore = true, bool preInit = true);
 
+  ReturnValue_t addTable(TableEntry table);
   ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
                          bool preInit = true);
 

From e98857fab4eb8b91c7b1862e35cada5d540f4976 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 28 Apr 2022 14:37:21 +0200
Subject: [PATCH 07/24] update changelog

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

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3d28c5c6..a45ebab2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -49,6 +49,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 - Added ETL dependency and improved library dependency management
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
+- `Subsystem`: New API to add table and sequence entries
 
 ## Fixed
 

From bf2e0f2d73149a16bf3e6e60dc6912698f3995b5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 28 Apr 2022 16:48:14 +0200
Subject: [PATCH 08/24] added option to change initial submode

---
 src/fsfw/subsystem/Subsystem.cpp | 6 +++++-
 src/fsfw/subsystem/Subsystem.h   | 3 ++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp
index 8930d0a1..4e9d52f3 100644
--- a/src/fsfw/subsystem/Subsystem.cpp
+++ b/src/fsfw/subsystem/Subsystem.cpp
@@ -459,6 +459,7 @@ ReturnValue_t Subsystem::initialize() {
   }
 
   mode = initialMode;
+  submode = initSubmode;
 
   return RETURN_OK;
 }
@@ -596,7 +597,10 @@ ReturnValue_t Subsystem::checkObjectConnections() {
   return RETURN_OK;
 }
 
-void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; }
+void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) {
+  this->initialMode = mode;
+  this->initSubmode = submode;
+}
 
 void Subsystem::cantKeepMode() {
   ReturnValue_t result;
diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h
index 5b2777e8..84d5f6a7 100644
--- a/src/fsfw/subsystem/Subsystem.h
+++ b/src/fsfw/subsystem/Subsystem.h
@@ -75,7 +75,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
   ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
                          bool preInit = true);
 
-  void setInitialMode(Mode_t mode);
+  void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
 
   virtual ReturnValue_t initialize() override;
 
@@ -114,6 +114,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
   Submode_t targetSubmode;
 
   Mode_t initialMode = 0;
+  Submode_t initSubmode = SUBMODE_NONE;
 
   HybridIterator<ModeListEntry> currentSequenceIterator;
 

From 54feb7777023a34b42ee30acfc27314f47616e64 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 2 May 2022 16:14:23 +0200
Subject: [PATCH 09/24] Proposed fix for gcc and clang

---
 src/fsfw/container/FixedArrayList.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/fsfw/container/FixedArrayList.h b/src/fsfw/container/FixedArrayList.h
index 26a73921..1981abe1 100644
--- a/src/fsfw/container/FixedArrayList.h
+++ b/src/fsfw/container/FixedArrayList.h
@@ -2,6 +2,7 @@
 #define FIXEDARRAYLIST_H_
 
 #include <cmath>
+#include <limits>
 
 #include "ArrayList.h"
 /**
@@ -9,8 +10,8 @@
  */
 template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
-#if !defined(_MSC_VER) && !defined(__clang__)
-  static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
+#if !defined(_MSC_VER)
+  static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
 #endif
  private:

From 3332f68ce79adc42c2ba6d72a84e18b982eb1d3c Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 2 May 2022 17:22:13 +0200
Subject: [PATCH 10/24] Tested only std::numeric_limits in MSVC

---
 src/fsfw/container/FixedArrayList.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/fsfw/container/FixedArrayList.h b/src/fsfw/container/FixedArrayList.h
index 1981abe1..11882537 100644
--- a/src/fsfw/container/FixedArrayList.h
+++ b/src/fsfw/container/FixedArrayList.h
@@ -10,10 +10,8 @@
  */
 template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
-#if !defined(_MSC_VER)
   static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
-#endif
  private:
   T data[MAX_SIZE];
 

From cb0c80d8dc7510435c15431d5e39c9a9e484948d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 02:22:16 +0200
Subject: [PATCH 11/24] add option and cmake module for lto support

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

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

From a943e4eebb1aeb3cc2a01e8df7e1069341ac085b Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 02:23:20 +0200
Subject: [PATCH 12/24] enable LTO where applicable

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

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

From a4bd5a2aaaff36e7ad1d207a48533eb42e51439d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:31:03 +0200
Subject: [PATCH 13/24] update changelog

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

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3d28c5c6..4d713f26 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -43,6 +43,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it
+  and can make good use of it and is usually makes the code faster and/or larger.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`

From 637512ad77023a13c15214b5b513535eee4f7f40 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:34:14 +0200
Subject: [PATCH 14/24] changelog update

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

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4d713f26..dc9577f5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -44,8 +44,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ## Additions
 
 - LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
-  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it
-  and can make good use of it and is usually makes the code faster and/or larger.
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
+  can make good use of it and it usually makes the code faster and/or smaller.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information

From 4e4820af05d989aa89b1b153cded1267ca56d5ca Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:47:23 +0200
Subject: [PATCH 15/24] bugfix for prepareHealthSetReply function

---
 src/fsfw/pus/CService201HealthCommanding.cpp  | 15 +++++++++------
 src/fsfw/pus/CService201HealthCommanding.h    | 10 ++++------
 src/fsfw/tmtcservices/CommandingServiceBase.h |  2 +-
 3 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CService201HealthCommanding.cpp
index 4d9806f9..c62791c6 100644
--- a/src/fsfw/pus/CService201HealthCommanding.cpp
+++ b/src/fsfw/pus/CService201HealthCommanding.cpp
@@ -13,7 +13,7 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
     : CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
 }
 
-CService201HealthCommanding::~CService201HealthCommanding() {}
+CService201HealthCommanding::~CService201HealthCommanding() = default;
 
 ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
@@ -43,8 +43,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
 }
 
 ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
-  HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
   if (destination == nullptr) {
     return CommandingServiceBase::INVALID_OBJECT;
   }
@@ -77,6 +77,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
       HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
       break;
     }
+    default: {
+      // Should never happen, subservice was already checked
+      result = RETURN_FAILED;
+    }
   }
   return result;
 }
@@ -96,9 +100,8 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 
 // Not used for now, health state already reported by event
 ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
-  prepareHealthSetReply(reply);
-  uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);
   return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
 }
diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CService201HealthCommanding.h
index 5e52ab39..e4ad749f 100644
--- a/src/fsfw/pus/CService201HealthCommanding.h
+++ b/src/fsfw/pus/CService201HealthCommanding.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
-#include "../tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
 
 /**
  * @brief   Custom PUS service to set health of all objects
@@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
  public:
   CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                               uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  virtual ~CService201HealthCommanding();
+  ~CService201HealthCommanding() override;
 
  protected:
   /* CSB abstract function implementations */
@@ -38,10 +38,8 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             bool *isStep) override;
 
  private:
-  ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
-                                        size_t tcDataLen);
-  ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
-                                                     object_id_t *objectId);
+  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
+                                                     const object_id_t *objectId);
 
   ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 
diff --git a/src/fsfw/tmtcservices/CommandingServiceBase.h b/src/fsfw/tmtcservices/CommandingServiceBase.h
index 867fc287..4dcad024 100644
--- a/src/fsfw/tmtcservices/CommandingServiceBase.h
+++ b/src/fsfw/tmtcservices/CommandingServiceBase.h
@@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
    * @param objectId Target object ID
    * @return
    * - @c RETURN_OK to generate a verification start message
-   * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
+   * - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
    *      verification message.
    * - @c Anything else rejects the packets and generates a start failure
    *      verification.

From e5e163bdbf720cf12d03314a9d11cb0ee010bbf3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:47:56 +0200
Subject: [PATCH 16/24] mark unused function

---
 src/fsfw/pus/CService201HealthCommanding.cpp | 2 +-
 src/fsfw/pus/CService201HealthCommanding.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CService201HealthCommanding.cpp
index c62791c6..91ea4e7a 100644
--- a/src/fsfw/pus/CService201HealthCommanding.cpp
+++ b/src/fsfw/pus/CService201HealthCommanding.cpp
@@ -99,7 +99,7 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 }
 
 // Not used for now, health state already reported by event
-ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
+[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
   auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
   auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);
diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CService201HealthCommanding.h
index e4ad749f..29f21695 100644
--- a/src/fsfw/pus/CService201HealthCommanding.h
+++ b/src/fsfw/pus/CService201HealthCommanding.h
@@ -41,7 +41,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
   static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
                                                      const object_id_t *objectId);
 
-  ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+  [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 
   enum Subservice {
     //! [EXPORT] : [TC] Set health of target object

From 79f17843d82e7b90c4be31c136635ee6eb917a24 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:50:29 +0200
Subject: [PATCH 17/24] update changelog

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

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3d28c5c6..4a7c6083 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -52,6 +52,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixed
 
+- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
+  Is not currently used right now but might be used in the future
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
 - Small bugfix in STM32 HAL for SPI
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
 - HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO

From 16e55a98cee33f205634b9feb1322558dfbb88db Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 10:57:23 +0200
Subject: [PATCH 18/24] important bugfix for TCP server

---
 src/fsfw/osal/common/TcpTmTcServer.cpp | 22 +++++++++++++---------
 src/fsfw/osal/common/TcpTmTcServer.h   | 11 ++++++-----
 2 files changed, 19 insertions(+), 14 deletions(-)

diff --git a/src/fsfw/osal/common/TcpTmTcServer.cpp b/src/fsfw/osal/common/TcpTmTcServer.cpp
index 2e6910c5..91cb9574 100644
--- a/src/fsfw/osal/common/TcpTmTcServer.cpp
+++ b/src/fsfw/osal/common/TcpTmTcServer.cpp
@@ -19,6 +19,8 @@
 #include <ws2tcpip.h>
 #elif defined(PLATFORM_UNIX)
 #include <netdb.h>
+
+#include <utility>
 #endif
 
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
@@ -29,7 +31,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(customTcpServerPort),
+      tcpConfig(std::move(customTcpServerPort)),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -103,7 +105,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
 
 TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
 
-ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
+[[noreturn]] ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
   using namespace tcpip;
   // If a connection is accepted, the corresponding socket will be assigned to the new socket
   socket_t connSocket = 0;
@@ -138,7 +140,6 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
     closeSocket(connSocket);
     connSocket = 0;
   }
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
@@ -159,7 +160,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 #endif
 
   while (true) {
-    int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
+    ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
                       receptionBuffer.capacity(), tcpConfig.tcpFlags);
     if (retval == 0) {
       size_t availableReadData = ringBuffer.getAvailableReadData();
@@ -252,17 +253,17 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
   return result;
 }
 
-std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
+const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
 
-void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
-  this->validPacketIds = validPacketIds;
+void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
+  this->validPacketIds = std::move(validPacketIds_);
 }
 
 TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() { return tcpConfig; }
 
 ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
   // Access to the FIFO is mutex protected because it is filled by the bridge
-  MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
+  MutexGuard mg(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
   store_address_t storeId;
   while ((not tmtcBridge->tmFifo->empty()) and
          (tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
@@ -283,7 +284,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
 #endif
       arrayprinter::print(storeAccessor.data(), storeAccessor.size());
     }
-    int retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
+    ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
                       storeAccessor.size(), tcpConfig.tcpTmFlags);
     if (retval == static_cast<int>(storeAccessor.size())) {
       // Packet sent, clear FIFO entry
@@ -339,6 +340,9 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   size_t foundSize = 0;
   size_t readLen = 0;
   while (readLen < readAmount) {
+    if(spacePacketParser == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
     result =
         spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
     switch (result) {
diff --git a/src/fsfw/osal/common/TcpTmTcServer.h b/src/fsfw/osal/common/TcpTmTcServer.h
index d062a0ce..faf6e0a1 100644
--- a/src/fsfw/osal/common/TcpTmTcServer.h
+++ b/src/fsfw/osal/common/TcpTmTcServer.h
@@ -17,6 +17,7 @@
 #endif
 
 #include <string>
+#include <utility>
 #include <vector>
 
 class TcpTmTcBridge;
@@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   struct TcpConfig {
    public:
-    TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
 
     /**
      * Passed to the recv call
@@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
                 size_t ringBufferSize = RING_BUFFER_SIZE,
                 std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
-  virtual ~TcpTmTcServer();
+  ~TcpTmTcServer() override;
 
   void enableWiretapping(bool enable);
 
@@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
 
   ReturnValue_t initialize() override;
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  std::string getTcpPort() const;
+  [[nodiscard]] const std::string& getTcpPort() const;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   ReceptionModes receptionMode;
   TcpConfig tcpConfig;
-  struct sockaddr tcpAddress;
+  struct sockaddr tcpAddress = {};
   socket_t listenerTcpSocket = 0;
 
   MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

From 6bfdace5128a1b77119260d86e6278b7e57ea190 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 11:00:31 +0200
Subject: [PATCH 19/24] update changelog

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

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3d28c5c6..c03bf648 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -52,6 +52,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixed
 
+- TCP TMTC Server: `MutexGuard` was not created properly in
+  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
 - Small bugfix in STM32 HAL for SPI
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
 - HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO

From fd112ed5973bb522a351ed42e1e89995c484d3ad Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 9 May 2022 16:07:05 +0200
Subject: [PATCH 20/24] enable lto for test target

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

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

From 0fe1b70baedfe250d5d39be3e5545bab3806a9f0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 10 May 2022 11:19:29 +0200
Subject: [PATCH 21/24] keep LTO option off by default

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

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

From 25775614de4bf6e7d11e70f8b15965247b9a51ee Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 10 May 2022 11:56:51 +0200
Subject: [PATCH 22/24] only check IPO support if enabled

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

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

From e05c72b062836eb5f9cd4cdc1d35b0a2846653e0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 10 May 2022 13:08:14 +0200
Subject: [PATCH 23/24] minor formatting fix

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

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

From d11f898f70cb394c0be2450779dac4f5ad995e35 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 12 May 2022 15:02:06 +0200
Subject: [PATCH 24/24] update dummy power switcher docs

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

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