Merge branch 'master' into mueller/feature/windowsUdpBridge

events/fwSubsystemIdRanges.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
-#define FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 
 namespace SUBSYSTEM_ID {
 enum {
@@ -19,10 +19,11 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
+	PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };
 }
 
 
 
-#endif /* FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ */
+#endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */

objectmanager/ObjectManager.h

@@ -1,12 +1,5 @@
-/**
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
- * @file	ObjectManager.h
+#define FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
- * @brief	This file contains the implementation of the ObjectManager class
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef OBJECTMANAGER_H_
-#define OBJECTMANAGER_H_
 
 #include "ObjectManagerIF.h"
 #include "SystemObjectIF.h"
@@ -22,14 +15,15 @@
  * 			most of the system initialization.
  * 			As the system is static after initialization, no new objects are
  * 			created or inserted into the list after startup.
- * \ingroup system_objects
+ * @ingroup system_objects
+ * @author	Bastian Baetz
  */
 class ObjectManager : public ObjectManagerIF {
 private:
 	//comparison?
 	/**
-	 * \brief	This is the map of all initialized objects in the manager.
+	 * @brief	This is the map of all initialized objects in the manager.
-	 * \details	Objects in the List must inherit the SystemObjectIF.
+	 * @details	Objects in the List must inherit the SystemObjectIF.
 	 */
 	std::map<object_id_t, SystemObjectIF*> objectList;
 protected:
@@ -54,7 +48,8 @@ public:
 	/**
 	 *	@brief	In the class's destructor, all objects in the list are deleted.
 	 */
-	//SHOULDDO: If, for some reason, deleting an ObjectManager instance is required, check if this works.
+	// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
+	// required, check if this works.
 	virtual ~ObjectManager( void );
 	ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
 	ReturnValue_t remove( object_id_t id );
@@ -64,4 +59,4 @@ public:
 
 
 
-#endif /* OBJECTMANAGER_H_ */
+#endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */

objectmanager/ObjectManagerIF.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
-#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include "frameworkObjects.h"
 #include "SystemObjectIF.h"
@@ -21,7 +21,6 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-
 	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
@@ -80,6 +79,7 @@ public:
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
+// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
 extern ObjectManagerIF *objectManager;
 
 /*Documentation can be found in the class method declaration above.*/

objectmanager/SystemObject.cpp

@@ -1,6 +1,6 @@
-#include "../events/EventManagerIF.h"
 #include "ObjectManager.h"
 #include "SystemObject.h"
+#include "../events/EventManagerIF.h"
 
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {

objectmanager/SystemObject.h

@@ -1,16 +1,9 @@
-/**
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
- * @file	SystemObject.h
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
- * @brief	This file contains the definition of the SystemObject class.
- * @date	07.11.2012
- * @author	Ulrich Mohr
- */
-
-#ifndef SYSTEMOBJECT_H_
-#define SYSTEMOBJECT_H_
 
+#include "SystemObjectIF.h"
 #include "../events/Event.h"
 #include "../events/EventReportingProxyIF.h"
-#include "SystemObjectIF.h"
 #include "../timemanager/Clock.h"
 
 /**
@@ -20,7 +13,8 @@
  * 			class that is announced to ObjectManager. It automatically includes
  * 			itself (and therefore the inheriting class) in the object manager's
  * 			list.
- * \ingroup system_objects
+ * @author	Ulrich Mohr
+ * @ingroup system_objects
  */
 class SystemObject: public SystemObjectIF {
 private:
@@ -37,25 +31,28 @@ public:
 	 * @param parameter1
 	 * @param parameter2
 	 */
-	virtual void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+	virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0);
 
 	/**
 	 * @brief	The class's constructor.
 	 * @details	In the constructor, the object id is set and the class is
 	 * 			inserted in the object manager.
 	 * @param setObjectId	The id the object shall have.
-	 * @param doRegister	Determines if the object is registered in the global object manager.
+	 * @param doRegister	Determines if the object is registered in
+	 * 						the global object manager.
 	 */
 	SystemObject(object_id_t setObjectId, bool doRegister = true);
 	/**
 	 * @brief	On destruction, the object removes itself from the list.
 	 */
 	virtual ~SystemObject();
-	object_id_t getObjectId() const;
+	object_id_t getObjectId() const override;
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 	virtual ReturnValue_t checkObjectConnections();
 
-	virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
+	virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0) const;
 };
 
-#endif /* SYSTEMOBJECT_H_ */
+#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

objectmanager/SystemObjectIF.h

@@ -1,26 +1,19 @@
-/**
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
- * @file	SystemObjectIF.h
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
- * @brief	This file contains the definition of the SystemObjectIF interface.
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef SYSTEMOBJECTIF_H_
-#define SYSTEMOBJECTIF_H_
 
 #include "../events/EventReportingProxyIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 /**
- * \defgroup system_objects Software System Object Management
+ * @defgroup system_objects Software System Object Management
- * The classes to create System Objects and classes to manage these are contained in this group.
+ * The classes to create System Objects and classes to manage these are
- * System Objects are software elements that can be controlled externally. They all have a unique
+ * contained in this group. System Objects are software elements that can be
- * object identifier.
+ * controlled externally. They all have a unique object identifier.
  */
 
 /**
  * This is the typedef for object identifiers.
- * \ingroup system_objects
+ * @ingroup system_objects
  */
 typedef uint32_t object_id_t;
 
@@ -29,7 +22,8 @@ typedef uint32_t object_id_t;
  * list.
  * It does not provide any method definitions, still it is required to
  * perform a type check with dynamic_cast.
- * \ingroup system_objects
+ * @author  Bastian Baetz
+ * @ingroup system_objects
  */
 class SystemObjectIF : public EventReportingProxyIF {
 public:
@@ -41,24 +35,28 @@ public:
 	/**
 	 * The empty virtual destructor as required for C++ interfaces.
 	 */
-	virtual ~SystemObjectIF() {
+	virtual ~SystemObjectIF() {}
-	}
 	/**
-	 * Initializes all inter-object dependencies.
+	 * @brief   Initializes the object.
-	 * This is necessary to avoid circular dependencies of not-fully
+	 * There are initialization steps which can also be done in the constructor.
-	 * initialized objects on start up.
+	 * However, there is no clean way to get a returnvalue from a constructor.
-	 * @return	- \c RETURN_OK in case the initialization was successful
+	 * Furthermore some components require other system object to be created
-	 * 			- \c RETURN_FAILED otherwise
+	 * which might not have been built yet.
+	 * Therefore, a two-step initialization resolves this problem and prevents
+	 * circular dependencies of not-fully initialized objects on start up.
+	 * @return	- @c RETURN_OK in case the initialization was successful
+	 * 			- @c RETURN_FAILED otherwise
 	 */
 	virtual ReturnValue_t initialize() = 0;
 	/**
-	 * Checks, if all object-object interconnections are satisfying for operation.
+	 * @brief   Checks if all object-object interconnections are satisfying
-	 * Some objects need certain other objects (or a certain number), to be registered as children.
+	 *          for operation.
-	 * These checks can be done in this method.
+	 * Some objects need certain other objects (or a certain number), to be
-	 * @return	- \c RETURN_OK in case the check was successful
+	 * registered as children. These checks can be done in this method.
-	 * 			- \c any other code otherwise
+	 * @return	- @c RETURN_OK in case the check was successful
+	 * 			- @c any other code otherwise
 	 */
 	virtual ReturnValue_t checkObjectConnections() = 0;
 };
 
-#endif /* SYSTEMOBJECTIF_H_ */
+#endif /* #ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_ */

objectmanager/frameworkObjects.h

@@ -1,8 +1,15 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
-#define FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 
 namespace objects {
 enum framework_objects {
+	// Default verification reporter.
+	PUS_SERVICE_1 = 0x53000001,
+	PUS_SERVICE_2 = 0x53000002,
+	PUS_SERVICE_5 = 0x53000005,
+	PUS_SERVICE_8 = 0x53000008,
+	PUS_SERVICE_200 = 0x53000200,
+
 	//Generic IDs for IPC, modes, health, events
 	HEALTH_TABLE = 0x53010000,
 //	MODE_STORE = 0x53010100,
@@ -12,10 +19,11 @@ enum framework_objects {
 	//IDs for PUS Packet Communication
 	TC_STORE = 0x534f0100,
 	TM_STORE = 0x534f0200,
+
 	NO_OBJECT = 0xFFFFFFFF
 };
 }
 
 
 
-#endif /* FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */
+#endif /* FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */

osal/linux/Clock.cpp

@@ -75,24 +75,25 @@ timeval Clock::getUptime() {
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
+    //TODO This is not posix compatible and delivers only seconds precision
+    // is the OS not called Linux?
+    //Linux specific file read but more precise
+    double uptimeSeconds;
+    if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
+        uptime->tv_sec = uptimeSeconds;
+        uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
+    }
+
 	//TODO This is not posix compatible and delivers only seconds precision
-	struct sysinfo sysInfo;
+    // I suggest this is moved into another clock function which will
-	int result = sysinfo(&sysInfo);
+    // deliver second precision later.
-	if(result != 0){
+//	struct sysinfo sysInfo;
-		return HasReturnvaluesIF::RETURN_FAILED;
+//	int result = sysinfo(&sysInfo);
-	}
+//	if(result != 0){
-	uptime->tv_sec = sysInfo.uptime;
+//		return HasReturnvaluesIF::RETURN_FAILED;
-	uptime->tv_usec = 0;
-
-
-	//Linux specific file read but more precise
-//	double uptimeSeconds;
-//	if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
-//		uptime->tv_sec = uptimeSeconds;
-//		uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
 //	}
-
+//	return sysInfo.uptime;
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {

pus/Service17Test.cpp

@@ -0,0 +1,41 @@
+#include "Service17Test.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
+
+
+Service17Test::Service17Test(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+    PusServiceBase(objectId, apid, serviceId),
+    packetSubCounter(0) {
+}
+
+Service17Test::~Service17Test() {
+}
+
+ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
+	switch(subservice){
+	case Subservice::CONNECTION_TEST: {
+		TmPacketStored connectionPacket(apid, serviceId,
+		        Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+		connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+				requestQueue->getId());
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+    case Subservice::EVENT_TRIGGER_TEST: {
+        TmPacketStored connectionPacket(apid, serviceId,
+                Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+        connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+                requestQueue->getId());
+        triggerEvent(TEST, 1234, 5678);
+        return RETURN_OK;
+    }
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service17Test::performService() {
+	return HasReturnvaluesIF::RETURN_OK;
+}

pus/Service17Test.h

@@ -0,0 +1,44 @@
+#ifndef FSFW_PUS_SERVICE17TEST_H_
+#define FSFW_PUS_SERVICE17TEST_H_
+
+#include "../tmtcservices/PusServiceBase.h"
+#include "../objectmanager/SystemObject.h"
+
+/**
+ * @brief Test Service
+ * Full Documentation: ECSS-E70-41A p.167
+ *
+ * The test service provides the capability to activate test functions
+ * implemented on-board and to report the results of such tests.
+ * Service capability:
+ *   - TC[17,1]: Perform connection test
+ *   - TM[17,2]: Send Connection Test Report
+ *   - TC[17,128]: Perform connection test and trigger event
+ *
+ * @ingroup pus_services
+ */
+class Service17Test: public PusServiceBase {
+public:
+	// Custom events which can be triggered
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17;
+	static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO);
+
+	enum Subservice: uint8_t {
+		//! [EXPORT] : [COMMAND] Perform connection test
+	    CONNECTION_TEST = 1,
+	    //! [EXPORT] : [REPLY] Connection test reply
+	    CONNECTION_TEST_REPORT = 2,
+		//!  [EXPORT] : [COMMAND] Trigger test reply and test event
+	    EVENT_TRIGGER_TEST = 128,
+	};
+
+	Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId);
+	virtual ~Service17Test();
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+	virtual ReturnValue_t performService() override;
+
+protected:
+	uint16_t packetSubCounter = 0;
+};
+
+#endif /* FSFW_PUS_SERVICE17TEST_H_ */

pus/Service9TimeManagement.cpp

@@ -0,0 +1,58 @@
+#include "Service9TimeManagement.h"
+#include "servicepackets/Service9Packets.h"
+
+#include "../timemanager/CCSDSTime.h"
+#include "../events/EventManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+
+Service9TimeManagement::Service9TimeManagement(object_id_t objectId,
+		uint16_t apid, uint8_t serviceId) :
+	PusServiceBase(objectId, apid , serviceId) {
+}
+
+Service9TimeManagement::~Service9TimeManagement() {}
+
+ReturnValue_t Service9TimeManagement::performService() {
+	return RETURN_OK;
+}
+
+ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
+	switch(subservice){
+		case SUBSERVICE::SET_TIME:{
+			return setTime();
+		}
+		default:
+			return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+		}
+}
+
+ReturnValue_t Service9TimeManagement::setTime() {
+	Clock::TimeOfDay_t timeToSet;
+	TimePacket timePacket(currentPacket.getApplicationData(),
+			currentPacket.getApplicationDataSize());
+	ReturnValue_t result = CCSDSTime::convertFromCcsds(&timeToSet,
+			timePacket.getTime(), timePacket.getTimeSize());
+	if(result != RETURN_OK) {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return result;
+	}
+
+	uint32_t formerUptime;
+	Clock::getUptime(&formerUptime);
+	result = Clock::setClock(&timeToSet);
+
+	if(result == RETURN_OK) {
+		uint32_t newUptime;
+		Clock::getUptime(&newUptime);
+		triggerEvent(CLOCK_SET,newUptime,formerUptime);
+		return RETURN_OK;
+	}
+	else {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return RETURN_FAILED;
+	}
+}
+
+
+

pus/Service9TimeManagement.h

@@ -0,0 +1,41 @@
+#ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+#define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+
+#include "../tmtcservices/PusServiceBase.h"
+
+class Service9TimeManagement: public PusServiceBase {
+public:
+
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
+	static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode.
+
+	static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
+
+	/**
+	 * 	@brief This service provides the capability to set the on-board time.
+	 */
+	Service9TimeManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId);
+
+	virtual ~Service9TimeManagement();
+
+	virtual ReturnValue_t performService() override;
+
+	/**
+	 * 	@brief Sets the onboard-time by retrieving the time to set from TC[9,128].
+	 */
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+
+	virtual ReturnValue_t setTime();
+private:
+
+	enum SUBSERVICE {
+		SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+	};
+
+};
+
+
+
+#endif /* FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ */

pus/servicepackets/Service9Packets.h

@@ -0,0 +1,32 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+
+#include "../../serialize/SerialLinkedListAdapter.h"
+
+/**
+ * @brief Subservice 128
+ * @details
+ * It only contains the time encoded as ASCII, CRC, CUC or CDS
+ * @ingroup spacepackets
+ */
+class TimePacket : SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	TimePacket(const uint8_t * timeBuffer_, uint32_t timeSize_) {
+		timeBuffer = timeBuffer_;
+		timeSize = timeSize_;
+	}
+	const uint8_t*  getTime() {
+		return timeBuffer;
+	}
+
+	uint32_t getTimeSize() const {
+		return timeSize;
+	}
+
+private:
+	TimePacket(const TimePacket &command);
+	const uint8_t * timeBuffer;
+	uint32_t timeSize; //!< [EXPORT] : [IGNORE]
+};
+
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ */

returnvalues/FwClassIds.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
+#ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_
-#define FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
+#define FSFW_RETURNVALUES_FWCLASSIDS_H_
 
 namespace CLASS_ID {
 enum {
@@ -65,9 +65,10 @@ enum {
 	POOL_VARIABLE_IF, //PVA 59
 	HOUSEKEEPING_MANAGER, //HKM 60
 	DLE_ENCODER, //DLEE 61
+	PUS_SERVICE_9, //PUS9 62
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };
 }
 
-#endif /* FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ */
+#endif /* FSFW_RETURNVALUES_FWCLASSIDS_H_ */

timemanager/Clock.h

@@ -9,8 +9,7 @@
 #include <sys/time.h>
 
 //! Don't use these for time points, type is not large enough for UNIX epoch.
-typedef uint32_t dur_millis_t;
+using dur_millis_t = uint32_t;
-typedef double dur_seconds_t;
 
 class Clock {
 public:

timemanager/Stopwatch.cpp

@@ -6,19 +6,22 @@ Stopwatch::Stopwatch(bool displayOnDestruction,
         StopwatchDisplayMode displayMode): displayOnDestruction(
         displayOnDestruction), displayMode(displayMode) {
     // Measures start time on initialization.
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
 void Stopwatch::start() {
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
-dur_millis_t Stopwatch::stop() {
+dur_millis_t Stopwatch::stop(bool display) {
     stopInternal();
+    if(display) {
+        this->display();
+    }
     return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
 }
 
-dur_seconds_t Stopwatch::stopSeconds() {
+double Stopwatch::stopSeconds() {
     stopInternal();
     return timevalOperations::toDouble(elapsedTime);
 }
@@ -52,6 +55,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const {
 
 void Stopwatch::stopInternal() {
 	timeval endTime;
-	Clock::getClock_timeval(&endTime);
+	Clock::getUptime(&endTime);
     elapsedTime = endTime - startTime;
 }

timemanager/Stopwatch.h

@@ -1,5 +1,6 @@
-#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#ifndef FSFW_TIMEMANAGER_STOPWATCH_H_
-#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#define FSFW_TIMEMANAGER_STOPWATCH_H_
+
 #include "Clock.h"
 
 enum class StopwatchDisplayMode {
@@ -40,12 +41,12 @@ public:
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in milliseconds (rounded)
      */
-    dur_millis_t stop();
+    dur_millis_t stop(bool display = false);
     /**
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in seconds (double precision)
      */
-    dur_seconds_t stopSeconds();
+    double stopSeconds();
 
     /**
      * Displays the elapsed times on the osstream, depending on internal display
@@ -66,6 +67,4 @@ private:
 };
 
 
-
+#endif /* FSFW_TIMEMANAGER_STOPWATCH_H_ */
-
-#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */

timemanager/TimeStamper.cpp

@@ -0,0 +1,23 @@
+#include "TimeStamper.h"
+#include "Clock.h"
+#include <cstring>
+
+TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
+
+
+ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
+		const uint8_t maxSize) {
+	if(maxSize < TimeStamperIF::MISSION_TIMESTAMP_SIZE){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	timeval now;
+	Clock::getClock_timeval(&now);
+	CCSDSTime::CDS_short cds;
+	ReturnValue_t result = CCSDSTime::convertToCcsds(&cds,&now);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+	std::memcpy(buffer,&cds,sizeof(cds));
+	return result;
+}

timemanager/TimeStamper.h

@@ -0,0 +1,36 @@
+#ifndef FSFW_TIMEMANAGER_TIMESTAMPER_H_
+#define FSFW_TIMEMANAGER_TIMESTAMPER_H_
+
+#include "TimeStamperIF.h"
+#include "CCSDSTime.h"
+#include "../objectmanager/SystemObject.h"
+
+/**
+ * @brief   Time stamper which can be used to add any timestamp to a
+ *          given buffer.
+ * @details
+ * This time stamper uses the CCSDS CDC short timestamp as a fault timestamp.
+ * This timestamp has a size of 8 bytes. A custom timestamp can be used by
+ * overriding the #addTimeStamp function.
+ * @ingroup utility
+ */
+class TimeStamper: public TimeStamperIF, public SystemObject {
+public:
+    /**
+     * @brief   Default constructor which also registers the time stamper as a
+     *          system object so it can be found with the #objectManager.
+     * @param objectId
+     */
+	TimeStamper(object_id_t objectId);
+
+	/**
+	 * Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
+	 * This function can be overriden to use a custom timestamp.
+	 * @param buffer
+	 * @param maxSize
+	 * @return
+	 */
+	virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize);
+};
+
+#endif /* FSFW_TIMEMANAGER_TIMESTAMPER_H_ */

tmtcservices/CommandingServiceBase.cpp

@@ -384,7 +384,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
 	store_address_t address;
 	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
 		commandMap.erase(&iter);

tmtcservices/CommandingServiceBase.h

@@ -39,7 +39,11 @@ class CommandingServiceBase: public SystemObject,
 		public HasReturnvaluesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
+	// We could make this configurable via preprocessor and the FSFWConfig file.
+	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = 3;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
+
 	static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
@@ -223,7 +227,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		FIFO<store_address_t, 3> fifo;
+		FIFO<store_address_t, COMMAND_INFO_FIFO_DEPTH> fifo;
 
 		virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
 					size_t maxSize, Endianness streamEndianness) const override{
@@ -235,7 +239,7 @@ protected:
 		};
 
 		virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-				Endianness streamEndianness) override{
+				Endianness streamEndianness) override {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		};
 	};
@@ -312,7 +316,7 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	void checkAndExecuteFifo(CommandMapIter iter);
+	void checkAndExecuteFifo(CommandMapIter& iter);
 
 private:
 	/**