Merge remote-tracking branch 'upstream/development' into mueller/update-cmd-reply-maps-refactoring

.gitignore

@@ -1,6 +1,14 @@
+# PyCharm and CLion
+/.idea/*
+!/.idea/runConfigurations
+!/.idea/cmake.xml
+!/.idea/codeStyles
+
+# Eclipse
 .cproject
 .project
 .settings
 .metadata
 
 /build*
+/cmake-build*

.idea/codeStyles/Project.xml

@@ -0,0 +1,14 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <clangFormatSettings>
+      <option name="ENABLED" value="true" />
+    </clangFormatSettings>
+    <codeStyleSettings language="CMake">
+      <indentOptions>
+        <option name="INDENT_SIZE" value="2" />
+        <option name="CONTINUATION_INDENT_SIZE" value="0" />
+        <option name="TAB_SIZE" value="2" />
+      </indentOptions>
+    </codeStyleSettings>
+  </code_scheme>
+</component>

.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

.run/fsfw-tests_coverage.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

.run/fsfw.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

CHANGELOG.md

@@ -12,6 +12,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
+  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
   compiler supports it
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
@@ -27,7 +31,6 @@ 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
@@ -44,6 +47,38 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
 
+### Task Module Refactoring
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
+
+**Refactoring general task code**
+
+- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
+  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
+
+**Refactor PeriodicTaskIF**
+
+- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
+  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
+  the operation code passed to `performOperation`. Updated API taking
+  an `ExecutableObjectIF` accordingly
+
+**Refactor FixedTimeslotTaskIF**
+
+- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
+
+**Refactor FixedSequenceSlot**
+
+- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
+- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
+  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
+  for the custom checker
+
+**Linux Task Module**
+
+- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
+  member of the class
+
 ### HAL
 
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
@@ -85,6 +120,11 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
+- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
+  whether it is running in CI/CD
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
+- Basic `clion` support: Update `.gitignore` and add some basic run configurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
 - 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.
@@ -99,9 +139,13 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
     - 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
   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
@@ -110,17 +154,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - `Subsystem`: New API to add table and sequence entries
 
-## HAL
-
-- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
-- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
-- SPI: Getter functions for SPI speed and mode.
-- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
-
 ## Fixed
 
 - TCP TMTC Server: `MutexGuard` was not created properly in

CMakeLists.txt

@@ -1,29 +1,77 @@
 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 "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -57,6 +105,7 @@ endif()
 
 option(FSFW_BUILD_UNITTESTS
        "Build unittest binary in addition to static library" OFF)
+option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" 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)
@@ -90,47 +139,13 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                 TRUE)
 endif()
 
-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"
   )
   # 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(
@@ -168,13 +183,10 @@ if(FSFW_BUILD_UNITTESTS)
   endif()
 endif()
 
-message(
+message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
-  STATUS
-    "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} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
@@ -217,7 +229,9 @@ target_include_directories(${LIB_FSFW_NAME}
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-  message(WARNING "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()
 
@@ -233,7 +247,6 @@ if(NOT FSFW_OSAL)
         "host"
         CACHE STRING "OS abstraction layer used in the FSFW")
   endif()
-
 endif()
 
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)

README.md

@@ -99,7 +99,7 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-   ```cmake
+   ```sh
    target_link_libraries(${YourProjectName} PRIVATE fsfw)
    ```
 
@@ -131,7 +131,7 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system
 
 ```sh
-mkdir build-Unittest && cd build-Unittest
+mkdir build-tests && cd build-tests
 cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 

automation/Jenkinsfile

@@ -14,7 +14,7 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
                 }
             }
         }

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()

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.

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()

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in

@@ -1,4 +1,4 @@
-# 
+#
 # Internal file for GetGitRevisionDescription.cmake
 #
 # Requires CMake 2.6 or newer (uses the 'function' command)
@@ -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)
 
@@ -22,10 +24,13 @@ if(HEAD_CONTENTS MATCHES "ref")
     # named branch
     string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
     if(EXISTS "@GIT_DIR@/${HEAD_REF}")
-    configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+        configure_file("@GIT_DIR@/${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
@@ -33,6 +38,6 @@ else()
 endif()
 
 if(NOT HEAD_HASH)
-file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
+    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
-string(STRIP "${HEAD_HASH}" HEAD_HASH)
+    string(STRIP "${HEAD_HASH}" HEAD_HASH)
 endif()

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.

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.

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.

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -209,7 +209,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
       return result;
     }
     updateLinePolarity(fileDescriptor);
-    ReturnValue_t result = gpioComIF->pullLow(gpioId);
+    result = gpioComIF->pullLow(gpioId);
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h

@@ -10,6 +10,10 @@
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
 
+#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
+#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
+#endif
+
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
 
 class GyroL3GD20H {

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_ */

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -696,9 +696,9 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
 #else
-    sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
+    sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif
   }
 }

src/fsfw/events/fwSubsystemIdRanges.h

@@ -27,6 +27,7 @@ enum : uint8_t {
   PUS_SERVICE_6 = 86,
   PUS_SERVICE_8 = 88,
   PUS_SERVICE_9 = 89,
+  PUS_SERVICE_11 = 91,
   PUS_SERVICE_17 = 97,
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,

src/fsfw/objectmanager/frameworkObjects.h

@@ -14,6 +14,7 @@ enum framework_objects : object_id_t {
   PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
   PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
   PUS_SERVICE_9_TIME_MGMT = 0x53000009,
+  PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
   PUS_SERVICE_17_TEST = 0x53000017,
   PUS_SERVICE_20_PARAMETERS = 0x53000020,
   PUS_SERVICE_200_MODE_MGMT = 0x53000200,

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -109,8 +109,8 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
   using namespace tcpip;
   // If a connection is accepted, the corresponding socket will be assigned to the new socket
   socket_t connSocket = 0;
-  // sockaddr clientSockAddr = {};
+  sockaddr clientSockAddr = {};
-  // socklen_t connectorSockAddrLen = 0;
+  socklen_t connectorSockAddrLen = 0;
   int retval = 0;
 
   // Listen for connection requests permanently for lifetime of program
@@ -121,8 +121,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
       continue;
     }
 
-    // connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
+    connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
-    connSocket = accept(listenerTcpSocket, nullptr, nullptr);
 
     if (connSocket == INVALID_SOCKET) {
       handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@@ -137,6 +136,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
     if (retval != 0) {
       handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
     }
+
     closeSocket(connSocket);
     connSocket = 0;
   }

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -1,27 +1,23 @@
 #include "fsfw/osal/freertos/FixedTimeslotTask.h"
 
-#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
 FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-                                     TaskStackSize setStack, TaskPeriod overallPeriod,
+                                     TaskStackSize setStack, TaskPeriod period,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(nullptr), pst(overallPeriod * 1000) {
+    : FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
-  // All additional attributes are applied to the object.
-  this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
 
-FixedTimeslotTask::~FixedTimeslotTask() {}
+FixedTimeslotTask::~FixedTimeslotTask() = default;
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as FixedTimeslotTask. The Task object is
   // global, so it is found from any place.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -32,26 +28,18 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
              << std::endl;
+#else
+  sif::printDebug("Polling task returned from taskFunctionality\n");
 #endif
 }
 
-void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
-#endif
-  }
-}
-
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
 
@@ -63,31 +51,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-                                         int8_t executionStep) {
-  ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (handler != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   // A local iterator for the Polling Sequence Table is created to find the
   // start time for the first entry.
-  auto slotListIter = pst.current;
+  auto slotListIter = pollingSeqTable.current;
 
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -108,10 +77,10 @@ void FixedTimeslotTask::taskFunctionality() {
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     // The component for this slot is executed and the next one is chosen.
-    this->pst.executeAndAdvance();
+    this->pollingSeqTable.executeAndAdvance();
-    if (not pst.slotFollowsImmediately()) {
+    if (not pollingSeqTable.slotFollowsImmediately()) {
       // Get the interval till execution of the next slot.
-      intervalMs = this->pst.getIntervalToPreviousSlotMs();
+      intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
       interval = pdMS_TO_TICKS(intervalMs);
 
 #if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@@ -132,8 +101,8 @@ void FixedTimeslotTask::taskFunctionality() {
 }
 
 void FixedTimeslotTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }
 

src/fsfw/osal/freertos/FixedTimeslotTask.h

@@ -4,11 +4,11 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/tasks/FixedSlotSequence.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in mind that you need to call before vTaskStartScheduler()!
@@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * @return Pointer to the newly created task.
    */
   FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
-                    TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
+                    TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
 
   /**
    * @brief	The destructor of the class.
@@ -32,26 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * initialization for the PST and the device handlers. This is done by
    * calling the PST's destructor.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
-  /**
-   * This static function can be used as #deadlineMissedFunc.
-   * It counts missedDeadlines and prints the number of missed deadlines
-   * every 10th time.
-   */
-  static void missedDeadlineCounter();
-  /**
-   * A helper variable to count missed deadlines.
-   */
-  static uint32_t deadlineMissedCount;
-
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                        int8_t executionStep) override;
-
-  uint32_t getPeriodMs() const override;
-
-  ReturnValue_t checkSequence() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -61,17 +44,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
   bool started;
   TaskHandle_t handle;
 
-  FixedSlotSequence pst;
-
-  /**
-   * @brief	This attribute holds a function pointer that is executed when
-   *          a deadline was missed.
-   * @details
-   * Another function may be announced to determine the actions to perform
-   * when a deadline was missed. Currently, only one function for missing
-   * any deadline is allowed. If not used, it shall be declared NULL.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the entry point for a new task.
    * @details
@@ -88,7 +60,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };

src/fsfw/osal/freertos/FreeRTOSTaskIF.h

@@ -6,11 +6,11 @@
 
 class FreeRTOSTaskIF {
  public:
-  virtual ~FreeRTOSTaskIF() {}
+  virtual ~FreeRTOSTaskIF() = default;
   virtual TaskHandle_t getTaskHandle() = 0;
 
  protected:
-  bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
+  static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
     /* Check whether deadline was missed while also taking overflows
      * into account. Drawing this on paper with a timeline helps to understand
      * it. */

src/fsfw/osal/freertos/PeriodicTask.cpp

@@ -5,27 +5,28 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), handle(nullptr) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
   if (status != pdPASS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+    sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: "
-                  "Status: "
                << status << std::endl;
+#else
+    sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n",
+                    status);
 #endif
   }
 }
 
-PeriodicTask::~PeriodicTask(void) {
+// Do not delete objects, we were responsible for ptrs only.
-  // Do not delete objects, we were responsible for ptrs only.
+PeriodicTask::~PeriodicTask() = default;
-}
 
 void PeriodicTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as PeriodicTask. The Task object is
   // global, so it is found from any place.
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -36,7 +37,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
@@ -62,13 +63,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicTask::taskFunctionality() {
+[[noreturn]] void PeriodicTask::taskFunctionality() {
   TickType_t xLastWakeTime;
   const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 
-  for (auto const& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
   /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to
@@ -77,8 +76,8 @@ void PeriodicTask::taskFunctionality() {
   xLastWakeTime = xTaskGetTickCount();
   /* Enter the loop that defines the task behavior. */
   for (;;) {
-    for (auto const& object : objectList) {
+    for (auto const& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
 
 #if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
   }
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-                  "it implement ExecutableObjectIF"
-               << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
 
 void PeriodicTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }

src/fsfw/osal/freertos/PeriodicTask.h

@@ -6,8 +6,8 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
 class ExecutableObjectIF;
@@ -17,7 +17,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
+class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  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 Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -83,28 +62,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
   bool started;
   TaskHandle_t handle;
 
-  //! Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-  /**
-   * @brief	The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed so each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details
@@ -125,7 +82,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * the next period.
    * On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };

src/fsfw/osal/host/FixedTimeslotTask.cpp

@@ -3,9 +3,7 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/osal/host/FixedTimeslotTask.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
@@ -22,12 +20,8 @@
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
                                      TaskStackSize setStack, TaskPeriod setPeriod,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false),
+    : FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
-      pollingSeqTable(setPeriod * 1000),
-      taskName(name),
-      period(setPeriod),
-      deadlineMissedFunc(setDeadlineMissedFunc) {
   // It is propably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
@@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-FixedTimeslotTask::~FixedTimeslotTask(void) {
+FixedTimeslotTask::~FixedTimeslotTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -81,7 +75,9 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // A local iterator for the Polling Sequence Table is created to
   // find the start time for the first entry.
@@ -106,37 +102,15 @@ void FixedTimeslotTask::taskFunctionality() {
       // we need to wait before executing the current slot
       // this gives us the time to wait:
       interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
-      delayForInterval(&currentStartTime, interval);
+      if (not delayForInterval(&currentStartTime, interval)) {
-      // TODO deadline missed check
+        if (dlmFunc != nullptr) {
+          dlmFunc();
+        }
+      }
     }
   }
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << "0x" << componentId
-             << "not found, "
-                "not adding it to PST.."
-             << std::dec << std::endl;
-#else
-  sif::printError("Component 0x%08x not found, not adding it to PST..\n",
-                  static_cast<unsigned int>(componentId));
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
-
 bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -6,10 +6,10 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "../../tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  * @details
  * @ingroup task_handling
  */
-class FixedTimeslotTask : public FixedTimeslotTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * @brief   Standard constructor of the class.
@@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * @brief   Currently, the executed object's lifetime is not coupled with
    *          the task object's lifetime, so the destructor is empty.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
   /**
    * @brief   The method to start the task.
@@ -48,56 +48,22 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    *          The address of the task object is passed as an argument
    *          to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
 
-  /**
+  ReturnValue_t sleepFor(uint32_t ms) override;
-   * Add timeslot to the polling sequence table.
-   * @param componentId
-   * @param slotTimeMs
-   * @param executionStep
-   * @return
-   */
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
-
-  ReturnValue_t checkSequence() const override;
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   using chron_ms = std::chrono::milliseconds;
 
   bool started;
-  //!< Typedef for the List of objects.
+
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  //! Polling sequence table which contains the object to execute
-  //! and information like the timeslots and the passed execution step.
-  FixedSlotSequence pollingSeqTable;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
-   * @brief   The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
 
-  /**
-   * @brief   The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief   This is the function executed in the new task's context.
    * @details
@@ -117,9 +83,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/host/PeriodicTask.cpp

@@ -3,13 +3,10 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
 
 #if defined(PLATFORM_WIN)
 #include <processthreadsapi.h>
@@ -20,8 +17,8 @@
 #endif
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
   // It is probably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
@@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-PeriodicTask::~PeriodicTask(void) {
+PeriodicTask::~PeriodicTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -75,47 +72,27 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 }
 
 void PeriodicTask::taskFunctionality() {
-  for (const auto& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
   std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
   auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
       std::chrono::system_clock::now().time_since_epoch())};
-  auto nextStartTime{currentStartTime};
-
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     if (terminateThread.load()) {
       break;
     }
-    for (const auto& object : objectList) {
+    for (const auto& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
     if (not delayForInterval(&currentStartTime, periodChrono)) {
-      if (deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        this->dlmFunc();
       }
     }
   }
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  object->setTaskIF(this);
-  objectList.push_back(object);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/PeriodicTask.h

@@ -6,9 +6,9 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  *
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF {
+class PeriodicTask : public PeriodicTaskBase {
  public:
   /**
    * @brief	Standard constructor of the class.
@@ -34,12 +34,12 @@ class PeriodicTask : public PeriodicTaskIF {
    * assigned.
    */
   PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-               TaskPeriod setPeriod, void (*setDeadlineMissedFunc)());
+               TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
   /**
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -48,63 +48,20 @@ class PeriodicTask : public PeriodicTaskIF {
    * 			The address of the task object is passed as an argument
    * 			to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   *  -@c RETURN_OK on success
-   *  -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object);
 
-  /**
+  ReturnValue_t sleepFor(uint32_t ms) 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
-   *  -@c RETURN_OK on success
-   *  -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object);
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   using chron_ms = std::chrono::milliseconds;
   bool started;
-  //!< Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
+
-   * @brief	The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details
@@ -124,9 +81,9 @@ class PeriodicTask : public PeriodicTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
-#endif /* PERIODICTASK_H_ */
+#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */

src/fsfw/osal/host/TaskFactory.cpp

@@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 // Not used for the host implementation for now because C++ thread abstraction is used
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
 
-TaskFactory::TaskFactory() {}
+TaskFactory::TaskFactory() = default;
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 

src/fsfw/osal/host/taskHelpers.cpp

@@ -6,7 +6,7 @@
 std::mutex nameMapLock;
 std::map<std::thread::id, std::string> taskNameMap;
 
-ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
+ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) {
   std::lock_guard<std::mutex> lg(nameMapLock);
   auto returnPair = taskNameMap.emplace(threadId, taskName);
   if (not returnPair.second) {

src/fsfw/osal/host/taskHelpers.h

@@ -7,7 +7,7 @@
 
 namespace tasks {
 
-ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
+ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName);
 std::string getTaskName(std::thread::id threadId);
 
 }  // namespace tasks

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -1,22 +1,20 @@
 #include "fsfw/osal/linux/FixedTimeslotTask.h"
 
-#include <limits.h>
+#include <climits>
 
-#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
-FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                                     uint32_t periodMs_)
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
-    : PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
+    : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
-
+      posixThread(name_, priority_, stackSize_),
-FixedTimeslotTask::~FixedTimeslotTask() {}
+      started(false) {}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
   return nullptr;
@@ -24,7 +22,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
-  createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -32,63 +30,36 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   return PosixThread::sleep((uint64_t)ms * 1000000);
 }
 
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::dec << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   // Like FreeRTOS pthreads are running as soon as they are created
   if (!started) {
-    suspend();
+    posixThread.suspend();
   }
 
-  pst.intializeSequenceAfterTaskCreation();
+  // Returnvalue ignored for now
+  static_cast<void>(pollingSeqTable.intializeSequenceAfterTaskCreation());
 
   // The start time for the first entry is read.
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
-  uint64_t interval = pst.getIntervalToNextSlotMs();
+  uint32_t interval = 0;
 
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
-    if (pst.slotFollowsImmediately()) {
+    if (pollingSeqTable.slotFollowsImmediately()) {
       // Do nothing
     } else {
       // The interval for the next polling slot is selected.
-      interval = this->pst.getIntervalToPreviousSlotMs();
+      interval = pollingSeqTable.getIntervalToPreviousSlotMs();
       // The period is checked and restarted with the new interval.
       // If the deadline was missed, the deadlineMissedFunc is called.
       if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
         // No time left on timer -> we missed the deadline
-        missedDeadlineCounter();
+        if(dlmFunc != nullptr){
+          dlmFunc();
+        }
       }
     }
     // The device handler for this slot is executed and the next one is chosen.
-    this->pst.executeAndAdvance();
+    pollingSeqTable.executeAndAdvance();
-  }
-}
-
-void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
-#endif
   }
 }

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -3,11 +3,12 @@
 
 #include <pthread.h>
 
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
+#include "fsfw/tasks/definitions.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -21,29 +22,13 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+  FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-  virtual ~FixedTimeslotTask();
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
+  ~FixedTimeslotTask() override = default;
 
-  virtual ReturnValue_t startTask();
+  ReturnValue_t startTask() override;
 
-  virtual ReturnValue_t sleepFor(uint32_t ms);
+  ReturnValue_t sleepFor(uint32_t ms) override;
-
-  virtual uint32_t getPeriodMs() const;
-
-  virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
-
-  virtual ReturnValue_t checkSequence() const;
-
-  /**
-   * This static function can be used as #deadlineMissedFunc.
-   * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
-   */
-  static void missedDeadlineCounter();
-
-  /**
-   * A helper variable to count missed deadlines.
-   */
-  static uint32_t deadlineMissedCount;
 
  protected:
   /**
@@ -53,9 +38,12 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  virtual void taskFunctionality();
+  [[noreturn]] virtual void taskFunctionality();
 
  private:
+  PosixThread posixThread;
+  bool started;
+
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -68,9 +56,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * arbitrary data.
    */
   static void* taskEntryPoint(void* arg);
-  FixedSlotSequence pst;
-
-  bool started;
 };
 
 #endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -1,86 +1,54 @@
-#include "fsfw/osal/linux/PeriodicPosixTask.h"
+#include "PeriodicPosixTask.h"
 
-#include <errno.h>
+#include "fsfw/serviceinterface.h"
-
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     uint32_t period_, void(deadlineMissedFunc_)())
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
-    : PosixThread(name_, priority_, stackSize_),
+    : PeriodicTaskBase(period_, dlmFunc_),
-      objectList(),
+      posixThread(name_, priority_, stackSize_),
-      started(false),
+      started(false) {}
-      periodMs(period_),
-      deadlineMissedFunc(deadlineMissedFunc_) {}
-
-PeriodicPosixTask::~PeriodicPosixTask() {
-  // Not Implemented
-}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
+  auto* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
-  return NULL;
+  return nullptr;
-}
-
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-               << " it implements ExecutableObjectIF!" << std::endl;
-#else
-    sif::printError(
-        "PeriodicTask::addComponent: Invalid object. Make sure it "
-        "implements ExecutableObjectIF!\n");
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
-  return PosixThread::sleep((uint64_t)ms * 1000000);
+  return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
 }
 
-ReturnValue_t PeriodicPosixTask::startTask(void) {
+ReturnValue_t PeriodicPosixTask::startTask() {
+  if (isEmpty()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
   started = true;
-  PosixThread::createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void) {
+[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
   if (not started) {
-    suspend();
+    posixThread.suspend();
   }
 
-  for (auto const& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
+  uint64_t periodMs = getPeriodMs();
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
-    for (auto const& object : objectList) {
+    for (auto const& objOpCodePair : objectList) {
-      object->performOperation();
+      objOpCodePair.first->performOperation(objOpCodePair.second);
     }
 
     if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
-      if (this->deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        dlmFunc();
       }
     }
   }
 }
-
-uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -3,12 +3,13 @@
 
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/ExecutableObjectIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
 
-class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
+class PeriodicPosixTask : public PeriodicTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -22,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
+  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
-                    void (*deadlineMissedFunc_)());
+                    TaskDeadlineMissedFunction dlmFunc_);
-  virtual ~PeriodicPosixTask();
+  ~PeriodicPosixTask() override = default;
 
   /**
    * @brief	The method to start the task.
@@ -34,42 +35,17 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  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;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
  private:
-  typedef std::vector<ExecutableObjectIF*> ObjectList;  //!< Typedef for the List of objects.
+  PosixThread posixThread;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
 
   /**
    * @brief Flag to indicate that the task was started and is allowed to run
    */
   bool started;
 
-  /**
-   * @brief Period of the task in milliseconds
-   */
-  uint32_t periodMs;
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
@@ -78,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
    * executed.
    */
-  virtual void taskFunctionality(void);
+  [[noreturn]] virtual void taskFunctionality();
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -86,14 +62,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * of the child class. Needs a valid pointer to the derived class.
    */
   static void* taskEntryPoint(void* arg);
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details	This pointer stores the function that is executed if the task's deadline is missed.
-   * 			So, each may react individually on a timing failure. The pointer may be
-   * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
-   * 			of the periodic task.
-   */
-  void (*deadlineMissedFunc)();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

src/fsfw/osal/linux/PosixThread.h

@@ -35,6 +35,21 @@ class PosixThread {
    */
   void resume();
 
+  /**
+   * @brief     Function that has to be called by derived class because the
+   *        derived class pointer has to be valid as argument.
+   * @details
+   * This function creates a pthread with the given parameters. As the
+   * function requires a pointer to the derived object it has to be called
+   * after the this pointer of the derived object is valid.
+   * Sets the taskEntryPoint as function to be called by new a thread.
+   * @param fnc_ Function which will be executed by the thread.
+   * @param arg_
+   * argument of the taskEntryPoint function, needs to be this pointer
+   * of derived class
+   */
+  void createTask(void* (*fnc_)(void*), void* arg_);
+
   /**
    * Delay function similar to FreeRtos delayUntil function
    *
@@ -55,21 +70,6 @@ class PosixThread {
  protected:
   pthread_t thread;
 
-  /**
-   * @brief 	Function that has to be called by derived class because the
-   *  		derived class pointer has to be valid as argument.
-   * @details
-   * This function creates a pthread with the given parameters. As the
-   * function requires a pointer to the derived object it has to be called
-   * after the this pointer of the derived object is valid.
-   * Sets the taskEntryPoint as function to be called by new a thread.
-   * @param fnc_ Function which will be executed by the thread.
-   * @param arg_
-   * argument of the taskEntryPoint function, needs to be this pointer
-   * of derived class
-   */
-  void createTask(void* (*fnc_)(void*), void* arg_);
-
  private:
   char name[PTHREAD_MAX_NAMELEN];
   int priority;

src/fsfw/osal/linux/TaskFactory.cpp

@@ -8,21 +8,22 @@
 // TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
 PeriodicTaskIF* TaskFactory::createPeriodicTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
+  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
+  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+                               deadLineMissedFunction_);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/osal/rtems/FixedTimeslotTask.cpp

@@ -1,42 +1,32 @@
 #include "fsfw/osal/rtems/FixedTimeslotTask.h"
 
-#include <rtems/bspIo.h>
 #include <rtems/io.h>
-#include <rtems/rtems/ratemon.h>
 #include <rtems/rtems/status.h>
 #include <rtems/rtems/tasks.h>
 #include <rtems/rtems/types.h>
-#include <sys/_stdint.h>
 
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tasks/FixedSequenceSlot.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 #include <iostream>
 #endif
 
 #include <cstddef>
-#include <list>
-
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 
 FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
-                                     size_t setStack, uint32_t setOverallPeriod,
+                                     size_t setStack, TaskPeriod setOverallPeriod,
-                                     void (*setDeadlineMissedFunc)(void))
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
+    : FixedTimeslotTaskBase(setOverallPeriod, dlmFunc_),
-  // All additional attributes are applied to the object.
+      RTEMSTaskBase(setPriority, setStack, name),
-  this->deadlineMissedFunc = setDeadlineMissedFunc;
+      periodId(0) {}
-}
 
-FixedTimeslotTask::~FixedTimeslotTask() {}
+FixedTimeslotTask::~FixedTimeslotTask() = default;
 
 rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
   /* The argument is re-interpreted as a FixedTimeslotTask */
-  FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
+  auto *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
   /* The task's functionality is called. */
   return originalTask->taskFunctionality();
   /* Should never be reached */
@@ -46,16 +36,6 @@ rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
 #endif
 }
 
-void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
-#endif
-  }
-}
-
 ReturnValue_t FixedTimeslotTask::startTask() {
   rtems_status_code status =
       rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, rtems_task_argument((void *)this));
@@ -79,54 +59,35 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   }
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-                                         int8_t executionStep) {
-  ExecutableObjectIF *object = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (object != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   /* A local iterator for the Polling Sequence Table is created to find the start time for
       the first entry. */
-  FixedSlotSequence::SlotListIter it = pst.current;
+  auto it = pollingSeqTable.current;
 
   /* Initialize the PST with the correct calling task */
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   /* The start time for the first entry is read. */
   rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
   RTEMSTaskBase::setAndStartPeriod(interval, &periodId);
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
-    if (pst.slotFollowsImmediately()) {
+    if (pollingSeqTable.slotFollowsImmediately()) {
       /* Do nothing */
     } else {
       /* The interval for the next polling slot is selected. */
-      interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
+      interval = RtemsBasic::convertMsToTicks(pollingSeqTable.getIntervalToNextSlotMs());
       /* The period is checked and restarted with the new interval.
                   If the deadline was missed, the deadlineMissedFunc is called. */
       rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId);
       if (status == RTEMS_TIMEOUT) {
-        if (this->deadlineMissedFunc != nullptr) {
+        if (dlmFunc != nullptr) {
-          this->deadlineMissedFunc();
+          dlmFunc();
         }
       }
     }
     /* The device handler for this slot is executed and the next one is chosen. */
-    this->pst.executeAndAdvance();
+    this->pollingSeqTable.executeAndAdvance();
   }
 }
 

src/fsfw/osal/rtems/FixedTimeslotTask.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
 #define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
 
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "RTEMSTaskBase.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
 
-class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase, public RTEMSTaskBase {
  public:
   /**
    * @brief	The standard constructor of the class.
@@ -17,7 +17,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
    * @param	getPst The object id of the completely initialized polling sequence.
    */
   FixedTimeslotTask(const char *name, rtems_task_priority setPriority, size_t setStackSize,
-                    uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
+                    TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
 
   /**
    * @brief	The destructor of the class.
@@ -25,44 +25,17 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
    * The destructor frees all heap memory that was allocated on thread initialization
    * for the PST andthe device handlers. This is done by calling the PST's destructor.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
   ReturnValue_t startTask(void);
-  /**
-   * This static function can be used as #deadlineMissedFunc.
-   * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
-   */
-  static void missedDeadlineCounter();
-  /**
-   * A helper variable to count missed deadlines.
-   */
-  static uint32_t deadlineMissedCount;
 
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+  ReturnValue_t sleepFor(uint32_t ms) override;
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t checkSequence() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   /**
    * @brief id of the associated OS period
    */
   rtems_id periodId;
-
-  FixedSlotSequence pst;
-
-  /**
-   * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
-   *
-   * @details
-   * Another function may be announced to determine the actions to perform when a deadline
-   * was missed. Currently, only one function for missing any deadline is allowed.
-   * If not used, it shall be declared NULL.
-   */
-  void (*deadlineMissedFunc)(void) = nullptr;
   /**
    * @brief	This is the entry point in a new polling thread.
    * @details	This method is the entry point in the new thread
@@ -76,7 +49,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
    * It links the functionalities provided by FixedSlotSequence with the OS's system calls to
    * keep the timing of the periods.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 };
 
 #endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/rtems/MessageQueue.cpp

@@ -65,7 +65,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
   }
 
   ReturnValue_t returnCode = convertReturnCode(result);
-  if (result == MessageQueueIF::EMPTY) {
+  if (returnCode == MessageQueueIF::EMPTY) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 

src/fsfw/osal/rtems/MessageQueue.h

@@ -36,9 +36,9 @@ class MessageQueue : public MessageQueueBase {
    * @param max_message_size	With this parameter, the maximum message size can be adjusted.
    * 							This should be left default.
    */
-  MessageQueue(size_t message_depth = 3,
+  explicit MessageQueue(size_t message_depth = 3,
-               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
+                        size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
-               MqArgs* args = nullptr);
+                        MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
@@ -48,18 +48,19 @@ class MessageQueue : public MessageQueueBase {
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
-  virtual ~MessageQueue();
+  ~MessageQueue() override;
 
   // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   ReturnValue_t flush(uint32_t* count) override;
+
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
   ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                MessageQueueId_t sentFrom = NO_QUEUE,
+                                MessageQueueId_t sentFrom, bool ignoreFault) override;
-                                bool ignoreFault = false) override;
 
  private:
   /**
-   * \brief	This attribute stores a reference to the internal error reporter for reporting full
+   * @brief	This attribute stores a reference to the internal error reporter for reporting full
-   * queues. \details	In the event of a full destination queue, the reporter will be notified. The
+   * queues. @details	In the event of a full destination queue, the reporter will be notified. The
    * reference is set by lazy loading
    */
   InternalErrorReporterIF* internalErrorReporter;

src/fsfw/osal/rtems/PeriodicTask.cpp

@@ -5,12 +5,12 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack,
-                           rtems_interval setPeriod, void (*setDeadlineMissedFunc)())
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : RTEMSTaskBase(setPriority, setStack, name),
+    : PeriodicTaskBase(setPeriod, dlmFunc_),
-      periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
+      RTEMSTaskBase(setPriority, setStack, name),
-      deadlineMissedFunc(setDeadlineMissedFunc) {}
+      periodTicks(RtemsBasic::convertMsToTicks(static_cast<uint32_t>(setPeriod * 1000.0))) {}
 
-PeriodicTask::~PeriodicTask(void) {
+PeriodicTask::~PeriodicTask() {
   /* Do not delete objects, we were responsible for pointers only. */
   rtems_rate_monotonic_delete(periodId);
 }
@@ -18,7 +18,7 @@ PeriodicTask::~PeriodicTask(void) {
 rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
   /* The argument is re-interpreted as MultiObjectTask. The Task object is global,
   so it is found from any place. */
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
   return originalTask->taskFunctionality();
   ;
 }
@@ -28,8 +28,10 @@ ReturnValue_t PeriodicTask::startTask() {
       rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this));
   if (status != RTEMS_SUCCESSFUL) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec
+    sif::error << "PeriodicTask::startTask for " << std::hex << this->getId() << std::dec
-               << " failed." << std::endl;
+               << " failed" << std::endl;
+#else
+    sif::printError("PeriodicTask::startTask for 0x%08x failed\n", getId());
 #endif
   }
   switch (status) {
@@ -47,38 +49,20 @@ ReturnValue_t PeriodicTask::startTask() {
 
 ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); }
 
-void PeriodicTask::taskFunctionality() {
+[[noreturn]] void PeriodicTask::taskFunctionality() {
   RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId);
-  for (const auto& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
+
-  }
   /* The task's "infinite" inner loop is entered. */
-  while (1) {
+  while (true) {
-    for (const auto& object : objectList) {
+    for (const auto& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
     rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId);
     if (status == RTEMS_TIMEOUT) {
-      if (this->deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        dlmFunc();
       }
     }
   }
 }
-
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return RtemsBasic::convertTicksToMs(periodTicks); }

src/fsfw/osal/rtems/PeriodicTask.h

@@ -3,9 +3,10 @@
 
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
 #include "RTEMSTaskBase.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
 
 class ExecutableObjectIF;
 
@@ -18,7 +19,7 @@ class ExecutableObjectIF;
  * @author  baetz
  * @ingroup task_handling
  */
-class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
+class PeriodicTask : public PeriodicTaskBase, public RTEMSTaskBase {
  public:
   /**
    * @brief	Standard constructor of the class.
@@ -36,12 +37,12 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * 								that shall be assigned.
    */
   PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
-               rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
+               TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
   /**
    * @brief	Currently, the executed object's lifetime is not coupled with the task object's
    * 			lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -50,33 +51,11 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * 			The address of the task object is passed as an argument
    * 			to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  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;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
  protected:
-  typedef std::vector<ExecutableObjectIF *> ObjectList;  //!< Typedef for the List of objects.
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
   /**
    * @brief	The period of the task.
    * @details	The period determines the frequency of the task's execution. It is expressed in
@@ -87,14 +66,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * @brief id of the associated OS period
    */
   rtems_id periodId = 0;
-  /**
+
-   * @brief	The pointer to the deadline-missed function.
-   * @details	This pointer stores the function that is executed if the task's deadline is missed.
-   * 			So, each may react individually on a timing failure. The pointer may be
-   * nullptr, then nothing happens on missing the deadline. The deadline is equal to the next
-   * execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details	It converts the argument back to the thread object type and copies the class
@@ -110,7 +82,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    * are called. Afterwards the checkAndRestartPeriod system call blocks the task until the next
    * period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 };
 
 #endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

src/fsfw/osal/rtems/QueueFactory.cpp

@@ -45,9 +45,9 @@ QueueFactory* QueueFactory::instance() {
   return factoryInstance;
 }
 
-QueueFactory::QueueFactory() {}
+QueueFactory::QueueFactory() = default;
 
-QueueFactory::~QueueFactory() {}
+QueueFactory::~QueueFactory() = default;
 
 MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
                                                  MqArgs* args) {

src/fsfw/osal/rtems/RTEMSTaskBase.cpp

@@ -32,7 +32,7 @@ RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size
 
 RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); }
 
-rtems_id RTEMSTaskBase::getId() { return this->id; }
+rtems_id RTEMSTaskBase::getId() const { return this->id; }
 
 ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
   rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));

src/fsfw/osal/rtems/RTEMSTaskBase.h

@@ -36,9 +36,9 @@ class RTEMSTaskBase {
   /**
    * @brief	This method returns the task id of this class.
    */
-  rtems_id getId();
+  rtems_id getId() const;
 
-  ReturnValue_t sleepFor(uint32_t ms);
+  static ReturnValue_t sleepFor(uint32_t ms);
   static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
   static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
 

src/fsfw/osal/rtems/TaskFactory.cpp

@@ -1,7 +1,6 @@
 #include "fsfw/tasks/TaskFactory.h"
 
 #include "fsfw/osal/rtems/FixedTimeslotTask.h"
-#include "fsfw/osal/rtems/InitTask.h"
 #include "fsfw/osal/rtems/PeriodicTask.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
@@ -9,29 +8,29 @@
 // TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::TaskFactory() = default;
+
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
 PeriodicTaskIF* TaskFactory::createPeriodicTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
+  return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
-
+                                                       periodInSeconds_, deadLineMissedFunction_));
-  return static_cast<PeriodicTaskIF*>(
-      new PeriodicTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
+  return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(
-  return static_cast<FixedTimeslotTaskIF*>(
+      name_, taskPriority_, stackSize_, periodInSeconds_, deadLineMissedFunction_));
-      new FixedTimeslotTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
-  // TODO not implemented
+  // This should call the OS specific destructor
+  delete (dynamic_cast<PeriodicTask*>(task));
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -45,5 +44,3 @@ void TaskFactory::printMissedDeadline() {
   /* TODO: Implement */
   return;
 }
-
-TaskFactory::TaskFactory() {}

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;

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -0,0 +1,203 @@
+#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);
+
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
+
+  //! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
+  //! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
+  static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+
+  // 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() override;
+
+  void enableExpiredTcDeletion();
+  void disableExpiredTcDeletion();
+
+  /** 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;
+
+  /**
+   * By default, the scheduling will be disabled. This is a standard requirement
+   */
+  bool schedulingEnabled = false;
+  bool deleteExpiredTcWhenDisabled = true;
+  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;
+
+  ReturnValue_t handleResetCommand();
+  /**
+   * @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 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
+   */
+  [[nodiscard]] 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() const;
+};
+
+#include "Service11TelecommandScheduling.tpp"
+
+#endif /* MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ */

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -0,0 +1,645 @@
+#pragma once
+
+#include <cstddef>
+
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+
+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() = default;
+
+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::ENABLE_SCHEDULING: {
+      schedulingEnabled = true;
+      break;
+    }
+    case Subservice::DISABLE_SCHEDULING: {
+      schedulingEnabled = false;
+      break;
+    }
+    case Subservice::RESET_SCHEDULING: {
+      return handleResetCommand();
+    }
+    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:
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+  }
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
+  if (not schedulingEnabled) {
+    return RETURN_OK;
+  }
+  // get current time as UNIX timestamp
+  timeval tNow = {};
+  Clock::getClock_timeval(&tNow);
+
+  // TODO: Optionally limit the max number of released TCs per cycle?
+  // 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) {
+      if (schedulingEnabled) {
+        // release tc
+        TmTcMessage releaseMsg(it->second.storeAddr);
+        auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
+
+        if (sendRet != HasReturnvaluesIF::RETURN_OK) {
+          return sendRet;
+        }
+        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
+        }
+        telecommandMap.erase(it++);
+      } else if (deleteExpiredTcWhenDisabled) {
+        telecommandMap.erase(it++);
+      }
+      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>::handleResetCommand() {
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    ReturnValue_t result = tcStore->deleteData(it->second.storeAddr);
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      // This should not happen
+      sif::warning << "Service11TelecommandScheduling::handleRequestDeleting: Deletion failed"
+                   << std::endl;
+#else
+      sif::printWarning("Service11TelecommandScheduling::handleRequestDeleting: Deletion failed\n");
+#endif
+      triggerEvent(TC_DELETION_FAILED, (it->second.requestId >> 32) & 0xffffffff,
+                   it->second.requestId & 0xffffffff);
+    }
+  }
+  telecommandMap.clear();
+  return RETURN_OK;
+}
+
+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;
+  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, data, size) != 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++;
+  }
+
+  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 {
+  auto sourceId64 = static_cast<uint64_t>(sourceId);
+  auto apid64 = static_cast<uint64_t>(apid);
+  auto 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;
+  }
+  auto 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) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#else
+    sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
+#endif
+    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() const {
+#if FSFW_DISABLE_PRINTOUT == 0
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
+             << std::endl;
+#else
+  sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
+#endif
+  for (const auto &dit : telecommandMap) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "[" << dit.first << "]: Request ID: " << dit.second.requestId << " | "
+               << "Store Address: " << dit.second.storeAddr.raw << std::endl;
+#else
+    sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit.first, dit.second.requestId,
+                    dit.second.storeAddr);
+#endif
+  }
+#endif
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::enableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = true;
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::disableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = false;
+}

src/fsfw/pus/Service5EventReporting.cpp

@@ -85,7 +85,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // In addition to the default PUSServiceBase initialization, this service needs
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
     return RETURN_FAILED;
   }

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

src/fsfw/storagemanager/StorageAccessor.cpp

@@ -13,7 +13,7 @@ StorageAccessor::StorageAccessor(store_address_t storeId, StorageManagerIF* stor
 StorageAccessor& StorageAccessor::operator=(StorageAccessor&& other) {
   // Call the parent move assignment and also assign own member.
   dataPointer = other.dataPointer;
-  StorageAccessor::operator=(std::move(other));
+  ConstStorageAccessor::operator=(std::move(other));
   return *this;
 }
 

src/fsfw/tasks/CMakeLists.txt

@@ -1,2 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
+target_sources(
-                                        FixedSlotSequence.cpp)
+  ${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
+                           PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -29,7 +29,7 @@ void FixedSlotSequence::executeAndAdvance() {
 
 uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
   uint32_t oldTime;
-  SlotListIter slotListIter = current;
+  auto slotListIter = current;
   // Get the pollingTimeMs of the current slot object.
   oldTime = slotListIter->pollingTimeMs;
   // Advance to the next object.
@@ -51,7 +51,7 @@ uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
 
 uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
   uint32_t currentTime;
-  SlotListIter slotListIter = current;
+  auto slotListIter = current;
   // Get the pollingTimeMs of the current slot object.
   currentTime = slotListIter->pollingTimeMs;
 
@@ -67,7 +67,7 @@ uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
 
 bool FixedSlotSequence::slotFollowsImmediately() {
   uint32_t currentTime = current->pollingTimeMs;
-  SlotListIter fixedSequenceIter = this->current;
+  auto fixedSequenceIter = this->current;
   // Get the pollingTimeMs of the current slot object.
   if (fixedSequenceIter == slotList.begin()) return false;
   fixedSequenceIter--;
@@ -96,8 +96,8 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
     return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
   }
 
-  if (customCheckFunction != nullptr) {
+  if (customChecker != nullptr) {
-    ReturnValue_t result = customCheckFunction(slotList);
+    ReturnValue_t result = customChecker(slotList, customCheckArgs);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       // Continue for now but print error output.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -161,6 +161,9 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
+void FixedSlotSequence::addCustomCheck(CustomCheckFunc customChecker_, void* checkerArgs_) {
-  this->customCheckFunction = customCheckFunction;
+  customChecker = customChecker_;
+  customCheckArgs = checkerArgs_;
 }
+
+bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }

src/fsfw/tasks/FixedSlotSequence.h

@@ -30,12 +30,12 @@ class FixedSlotSequence {
  public:
   using SlotList = std::multiset<FixedSequenceSlot>;
   using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
-
+  using CustomCheckFunc = ReturnValue_t (*)(const SlotList&, void* args);
   /**
    * @brief	The constructor of the FixedSlotSequence object.
    * @param	setLength	The period length, expressed in ms.
    */
-  FixedSlotSequence(uint32_t setLengthMs);
+  explicit FixedSlotSequence(uint32_t setLengthMs);
 
   /**
    * @brief	The destructor of the FixedSlotSequence object.
@@ -106,7 +106,7 @@ class FixedSlotSequence {
   /**
    * @brief	This method returns the length of this FixedSlotSequence instance.
    */
-  uint32_t getLengthMs() const;
+  [[nodiscard]] uint32_t getLengthMs() const;
 
   /**
    * @brief	The method to execute the device handler entered in the current
@@ -137,7 +137,7 @@ class FixedSlotSequence {
    * @return
    *  - SLOT_LIST_EMPTY if the slot list is empty
    */
-  ReturnValue_t checkSequence() const;
+  [[nodiscard]] ReturnValue_t checkSequence() const;
 
   /**
    * @brief   A custom check can be injected for the respective slot list.
@@ -149,7 +149,7 @@ class FixedSlotSequence {
    * @param customCheckFunction
    *
    */
-  void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&));
+  void addCustomCheck(CustomCheckFunc func, void* userArgs);
 
   /**
    * @brief 	Perform any initialization steps required after the executing
@@ -157,7 +157,9 @@ class FixedSlotSequence {
    * 			executing task!
    * @return
    */
-  ReturnValue_t intializeSequenceAfterTaskCreation() const;
+  [[nodiscard]] ReturnValue_t intializeSequenceAfterTaskCreation() const;
+
+  [[nodiscard]] bool isEmpty() const;
 
  protected:
   /**
@@ -173,7 +175,8 @@ class FixedSlotSequence {
    */
   SlotList slotList;
 
-  ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
+  CustomCheckFunc customChecker = nullptr;
+  void* customCheckArgs = nullptr;
 
   uint32_t lengthMs;
 };

src/fsfw/tasks/FixedTimeslotTaskBase.cpp

@@ -0,0 +1,27 @@
+#include "FixedTimeslotTaskBase.h"
+
+#include "fsfw/objectmanager/ObjectManager.h"
+
+FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
+                                             TaskDeadlineMissedFunction dlmFunc_)
+    : period(period_), pollingSeqTable(getPeriodMs()), dlmFunc(dlmFunc_) {}
+uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
+
+bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); }
+
+ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
+
+ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t execId, ExecutableObjectIF* execObj,
+                                             uint32_t slotTimeMs, int8_t executionStep) {
+  if (execObj == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execObj
+               << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
+#else
+    sif::printError("Component 0x%08x not found, not adding it to PST\n");
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  pollingSeqTable.addSlot(execId, slotTimeMs, executionStep, execObj, this);
+  return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw/tasks/FixedTimeslotTaskBase.h

@@ -0,0 +1,44 @@
+#ifndef FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
+#define FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
+
+#include "FixedSlotSequence.h"
+#include "FixedTimeslotTaskIF.h"
+#include "definitions.h"
+
+class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
+ public:
+  explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
+  ~FixedTimeslotTaskBase() override = default;
+  ;
+
+ protected:
+  /**
+   * @brief Period of task in floating point seconds
+   */
+  TaskPeriod period;
+
+  //! Polling sequence table which contains the object to execute
+  //! and information like the timeslots and the passed execution step.
+  FixedSlotSequence pollingSeqTable;
+
+  /**
+   * @brief The pointer to the deadline-missed function.
+   * @details
+   * This pointer stores the function that is executed if the task's deadline
+   * is missed. So, each may react individually on a timing failure.
+   * The pointer may be NULL, then nothing happens on missing the deadline.
+   * The deadline is equal to the next execution of the periodic task.
+   */
+  TaskDeadlineMissedFunction dlmFunc = nullptr;
+
+  ReturnValue_t checkSequence() override;
+
+  [[nodiscard]] uint32_t getPeriodMs() const override;
+
+  [[nodiscard]] bool isEmpty() const override;
+
+  ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* componentId, uint32_t slotTimeMs,
+                        int8_t executionStep) override;
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -2,6 +2,7 @@
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
 #include "PeriodicTaskIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/returnvalues/FwClassIds.h"
 
@@ -11,10 +12,23 @@
  */
 class FixedTimeslotTaskIF : public PeriodicTaskIF {
  public:
-  virtual ~FixedTimeslotTaskIF() {}
+  ~FixedTimeslotTaskIF() override = default;
 
   static constexpr ReturnValue_t SLOT_LIST_EMPTY =
       HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
+
+  /**
+   * Add an object with a slot time and the execution step to the task.
+   * The execution step will be passed to the object (e.g. as an operation
+   * code in #performOperation)
+   * @param componentId
+   * @param slotTimeMs
+   * @param executionStep
+   * @return
+   */
+  virtual ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* obj, uint32_t slotTimeMs,
+                                int8_t executionStep) = 0;
+
   /**
    * Add an object with a slot time and the execution step to the task.
    * The execution step will be passed to the object (e.g. as an operation
@@ -25,12 +39,24 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
    * @return
    */
   virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                int8_t executionStep) = 0;
+                                int8_t executionStep) {
+    auto* execObj = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
+    return addSlot(componentId, execObj, slotTimeMs, executionStep);
+  }
+
   /**
    * Check whether the sequence is valid and perform all other required
    * initialization steps which are needed after task creation
    */
-  virtual ReturnValue_t checkSequence() const = 0;
+  virtual ReturnValue_t checkSequence() = 0;
+
+  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
 };
 
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

src/fsfw/tasks/PeriodicTaskBase.cpp

@@ -0,0 +1,71 @@
+#include "PeriodicTaskBase.h"
+
+#include <set>
+
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
+
+PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
+    : period(period_), dlmFunc(dlmFunc_) {
+  // Hints at configuration error
+  if (PeriodicTaskBase::getPeriodMs() <= 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Passed task period 0 or smaller than 1 ms" << std::endl;
+#else
+    sif::printWarning("Passed task period 0 or smaller than 1ms\n");
+#endif
+  }
+}
+
+uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
+
+bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
+
+ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object) { return addComponent(object, 0); }
+
+ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object) {
+  return addComponent(object, 0);
+}
+
+ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
+  std::set<ExecutableObjectIF*> uniqueObjects;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  uint32_t count = 0;
+  for (const auto& obj : objectList) {
+    // Ensure that each unique object is initialized once.
+    if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
+      ReturnValue_t result = obj.first->initializeAfterTaskCreation();
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        count++;
+        status = result;
+      }
+      uniqueObjects.emplace(obj.first);
+    }
+  }
+  if (count > 0) {
+  }
+  return status;
+}
+
+ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
+  auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
+  return addComponent(newObject, opCode);
+}
+
+ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
+  if (object == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+               << " it implements ExecutableObjectIF!" << std::endl;
+#else
+    sif::printError(
+        "PeriodicTask::addComponent: Invalid object. Make sure it "
+        "implements ExecutableObjectIF!\n");
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  objectList.push_back({object, opCode});
+  object->setTaskIF(this);
+
+  return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw/tasks/PeriodicTaskBase.h

@@ -0,0 +1,54 @@
+#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
+#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
+
+#include <cstdint>
+#include <vector>
+
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/definitions.h"
+
+class ExecutableObjectIF;
+
+class PeriodicTaskBase : public PeriodicTaskIF {
+ public:
+  explicit PeriodicTaskBase(TaskPeriod period,
+                            TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
+
+  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
+  ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
+
+  ReturnValue_t addComponent(object_id_t object) override;
+  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
+
+  [[nodiscard]] uint32_t getPeriodMs() const override;
+
+  [[nodiscard]] bool isEmpty() const override;
+
+  ReturnValue_t initObjsAfterTaskCreation();
+
+ protected:
+  //! Typedef for the List of objects. Will contain the objects to execute and their respective
+  //! operation codes
+  using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
+  /**
+   * @brief This attribute holds a list of objects to be executed.
+   */
+  ObjectList objectList;
+
+  /**
+   * @brief Period of task in floating point seconds
+   */
+  TaskPeriod period;
+
+  /**
+   * @brief The pointer to the deadline-missed function.
+   * @details
+   * This pointer stores the function that is executed if the task's deadline
+   * is missed. So, each may react individually on a timing failure.
+   * The pointer may be NULL, then nothing happens on missing the deadline.
+   * The deadline is equal to the next execution of the periodic task.
+   */
+  TaskDeadlineMissedFunction dlmFunc = nullptr;
+};
+
+#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */

src/fsfw/tasks/PeriodicTaskIF.h

@@ -3,9 +3,8 @@
 
 #include <cstddef>
 
-#include "../objectmanager/SystemObjectIF.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "../timemanager/Clock.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
-class ExecutableObjectIF;
 
 /**
  * New version of TaskIF
@@ -18,7 +17,7 @@ class PeriodicTaskIF {
   /**
    * @brief	A virtual destructor as it is mandatory for interfaces.
    */
-  virtual ~PeriodicTaskIF() {}
+  virtual ~PeriodicTaskIF() = default;
   /**
    * @brief	With the startTask method, a created task can be started
    *          for the first time.
@@ -26,28 +25,29 @@ class PeriodicTaskIF {
   virtual ReturnValue_t startTask() = 0;
 
   /**
-   * Add a component (object) to a periodic task.
+   * Adds an object to the list of objects to be executed.
-   * @param object
+   * The objects are executed in the order added. The object needs to implement
-   * Add an object to the task. The object needs to implement ExecutableObjectIF
+   * ExecutableObjectIF
-   * @return
+   * @param object Id of the object to add.
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  virtual ReturnValue_t addComponent(object_id_t object) {
+  virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode) = 0;
-    return HasReturnvaluesIF::RETURN_FAILED;
+  virtual ReturnValue_t addComponent(object_id_t object) { return addComponent(object, 0); };
-  };
 
   /**
-   * Add an object to a periodic task.
+   * Adds an object to the list of objects to be executed.
-   * @param object
+   * The objects are executed in the order added.
-   * Add an object to the task.
+   * @param object pointer to the object to add.
-   * @return
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) = 0;
-    return HasReturnvaluesIF::RETURN_FAILED;
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { return addComponent(object, 0); }
-  };
 
   virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 
-  virtual uint32_t getPeriodMs() const = 0;
+  [[nodiscard]] virtual uint32_t getPeriodMs() const = 0;
+
+  [[nodiscard]] virtual bool isEmpty() const = 0;
 };
 
-#endif /* PERIODICTASKIF_H_ */
+#endif /* FRAMEWORK_TASK_PERIODICTASKIF_H_ */

src/fsfw/tasks/TaskFactory.h

@@ -4,7 +4,7 @@
 #include <cstdlib>
 
 #include "FixedTimeslotTaskIF.h"
-#include "Typedef.h"
+#include "definitions.h"
 
 /**
  * Singleton Class that produces Tasks.

src/fsfw/tasks/Typedef.h

@@ -1,13 +0,0 @@
-#ifndef FSFW_TASKS_TYPEDEF_H_
-#define FSFW_TASKS_TYPEDEF_H_
-
-#include <cstddef>
-#include <cstdint>
-
-typedef const char* TaskName;
-typedef uint32_t TaskPriority;
-typedef size_t TaskStackSize;
-typedef double TaskPeriod;
-typedef void (*TaskDeadlineMissedFunction)();
-
-#endif /* FSFW_TASKS_TYPEDEF_H_ */

src/fsfw/tasks/definitions.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_TASKS_TYPEDEF_H_
+#define FSFW_TASKS_TYPEDEF_H_
+
+#include <cstddef>
+#include <cstdint>
+
+using TaskName = const char*;
+using TaskPriority = int;
+using TaskStackSize = size_t;
+using TaskPeriod = double;
+using TaskDeadlineMissedFunction = void (*)();
+
+#endif /* FSFW_TASKS_TYPEDEF_H_ */

src/fsfw/tcdistribution/CCSDSDistributor.cpp

@@ -9,7 +9,7 @@
 CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId)
     : TcDistributor(setObjectId), defaultApid(setDefaultApid) {}
 
-CCSDSDistributor::~CCSDSDistributor() {}
+CCSDSDistributor::~CCSDSDistributor() = default;
 
 TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
 #if CCSDS_DISTRIBUTOR_DEBUGGING == 1
@@ -38,6 +38,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
         " store failed!\n");
 #endif
 #endif
+    return queueMap.end();
   }
   SpacePacketBase currentPacket(packet);
 
@@ -45,7 +46,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
   sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex
             << currentPacket.getAPID() << std::dec << std::endl;
 #endif
-  TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
+  auto position = this->queueMap.find(currentPacket.getAPID());
   if (position != this->queueMap.end()) {
     return position;
   } else {

src/fsfw/tcdistribution/PUSDistributor.cpp

@@ -15,7 +15,7 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
       tcStatus(RETURN_FAILED),
       packetSource(setPacketSource) {}
 
-PUSDistributor::~PUSDistributor() {}
+PUSDistributor::~PUSDistributor() = default;
 
 PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
@@ -23,7 +23,7 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
     sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
                << storeId.packetIndex << std::endl;
 #endif
-    TcMqMapIter queueMapIt = this->queueMap.end();
+    auto queueMapIt = this->queueMap.end();
     if (this->currentPacket == nullptr) {
       return queueMapIt;
     }
@@ -48,10 +48,8 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
         sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword
                      << " error" << std::endl;
 #else
-        sif::printWarning(
+        sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n",
-            "PUSDistributor::handlePacket: Packet format invalid, "
+                          keyword);
-            "%s error\n",
-            keyword);
 #endif
 #endif
       }
@@ -133,8 +131,7 @@ ReturnValue_t PUSDistributor::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  CCSDSDistributorIF* ccsdsDistributor =
+  auto* ccsdsDistributor = ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
-      ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
   if (ccsdsDistributor == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredBase.cpp

@@ -6,20 +6,20 @@
 #include "fsfw/objectmanager/frameworkObjects.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-StorageManagerIF* TcPacketStoredBase::store = nullptr;
+StorageManagerIF* TcPacketStoredBase::STORE = nullptr;
 
 TcPacketStoredBase::TcPacketStoredBase() {
   this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-  this->checkAndSetStore();
+  TcPacketStoredBase::checkAndSetStore();
 }
 
-TcPacketStoredBase::~TcPacketStoredBase() {}
+TcPacketStoredBase::~TcPacketStoredBase() = default;
 
 ReturnValue_t TcPacketStoredBase::getData(const uint8_t** dataPtr, size_t* dataSize) {
-  auto result = this->store->getData(storeAddress, dataPtr, dataSize);
+  auto result = TcPacketStoredBase::STORE->getData(storeAddress, dataPtr, dataSize);
   if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TcPacketStoredBase: Could not get data!" << std::endl;
+    sif::warning << "TcPacketStoredBase: Could not get data" << std::endl;
 #else
     sif::printWarning("TcPacketStoredBase: Could not get data!\n");
 #endif
@@ -28,11 +28,13 @@ ReturnValue_t TcPacketStoredBase::getData(const uint8_t** dataPtr, size_t* dataS
 }
 
 bool TcPacketStoredBase::checkAndSetStore() {
-  if (this->store == nullptr) {
+  if (TcPacketStoredBase::STORE == nullptr) {
-    this->store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+    TcPacketStoredBase::STORE = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-    if (this->store == nullptr) {
+    if (TcPacketStoredBase::STORE == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found!" << std::endl;
+      sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found" << std::endl;
+#else
+      sif::printError("TcPacketStoredBase::TcPacketStoredBase: TC Store not found\n");
 #endif
       return false;
     }
@@ -47,7 +49,7 @@ void TcPacketStoredBase::setStoreAddress(store_address_t setAddress,
   size_t tempSize;
   ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
   if (this->checkAndSetStore()) {
-    status = this->store->getData(this->storeAddress, &tempData, &tempSize);
+    status = TcPacketStoredBase::STORE->getData(this->storeAddress, &tempData, &tempSize);
   }
 
   if (status == StorageManagerIF::RETURN_OK) {

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredBase.h

@@ -65,7 +65,7 @@ class TcPacketStoredBase : public TcPacketStoredIF {
    * call tries to set it and throws an error message in case of failures.
    * The default store is objects::TC_STORE.
    */
-  static StorageManagerIF* store;
+  static StorageManagerIF* STORE;
   /**
    * The address where the packet data of the object instance is stored.
    */
@@ -77,7 +77,7 @@ class TcPacketStoredBase : public TcPacketStoredIF {
    * @return  @li @c true if the store is linked or could be created.
    *          @li @c false otherwise.
    */
-  bool checkAndSetStore();
+  static bool checkAndSetStore();
 };
 
-#endif /* TMTCPACKET_PUS_TcPacketStoredBase_H_ */
+#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredIF.h

@@ -9,7 +9,8 @@
 
 class TcPacketStoredIF {
  public:
-  virtual ~TcPacketStoredIF(){};
+  virtual ~TcPacketStoredIF() = default;
+  ;
 
   /**
    * With this call, the stored packet can be set to another packet in a store. This is useful

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredPus.cpp

@@ -14,8 +14,8 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid, uint8_t service, uint8_t sub
   }
   uint8_t* pData = nullptr;
   ReturnValue_t returnValue =
-      this->store->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &pData);
+      this->STORE->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &pData);
-  if (returnValue != this->store->RETURN_OK) {
+  if (returnValue != this->STORE->RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "TcPacketStoredBase: Could not get free element from store!" << std::endl;
 #endif
@@ -44,19 +44,19 @@ TcPacketStoredPus::TcPacketStoredPus(const uint8_t* data, size_t size) : TcPacke
     return;
   }
   if (this->checkAndSetStore()) {
-    ReturnValue_t status = store->addData(&storeAddress, data, size);
+    ReturnValue_t status = STORE->addData(&storeAddress, data, size);
     if (status != HasReturnvaluesIF::RETURN_OK) {
       this->setData(nullptr, size);
     }
     const uint8_t* storePtr = nullptr;
     // Repoint base data pointer to the data in the store.
-    store->getData(storeAddress, &storePtr, &size);
+    STORE->getData(storeAddress, &storePtr, &size);
     this->setData(const_cast<uint8_t*>(storePtr), size);
   }
 }
 
 ReturnValue_t TcPacketStoredPus::deletePacket() {
-  ReturnValue_t result = this->store->deleteData(this->storeAddress);
+  ReturnValue_t result = this->STORE->deleteData(this->storeAddress);
   this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
   // To circumvent size checks
   this->setData(nullptr, -1);
@@ -68,7 +68,7 @@ TcPacketPusBase* TcPacketStoredPus::getPacketBase() { return this; }
 bool TcPacketStoredPus::isSizeCorrect() {
   const uint8_t* temp_data = nullptr;
   size_t temp_size;
-  ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data, &temp_size);
+  ReturnValue_t status = this->STORE->getData(this->storeAddress, &temp_data, &temp_size);
   if (status == StorageManagerIF::RETURN_OK) {
     if (this->getFullSize() == temp_size) {
       return true;

src/fsfw/tmtcservices/AcceptsTelecommandsIF.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
 #define FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
 
-#include "../ipc/MessageQueueSenderIF.h"
+#include "fsfw/ipc/MessageQueueSenderIF.h"
 
 /**
  * @brief 	This interface is implemented by classes that are sinks for
@@ -20,7 +20,7 @@ class AcceptsTelecommandsIF {
   /**
    * @brief The virtual destructor as it is mandatory for C++ interfaces.
    */
-  virtual ~AcceptsTelecommandsIF() {}
+  virtual ~AcceptsTelecommandsIF() = default;
   /**
    * @brief	Getter for the service id.
    * @details	Any receiving service (at least any PUS service) shall have a

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

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

tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp

@@ -13,14 +13,14 @@ TestDevice::TestDevice(object_id_t objectId, object_id_t comIF, CookieIF* cookie
       dataset(this),
       fullInfoPrintout(fullInfoPrintout) {}
 
-TestDevice::~TestDevice() {}
+TestDevice::~TestDevice() = default;
 
 void TestDevice::performOperationHook() {
   if (periodicPrintout) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
 #else
-    sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
+    sif::printInfo("TestDevice%d::performOperationHook: Alive!\n", deviceIdx);
 #endif
   }
 

tests/src/fsfw_tests/integration/task/TestTask.cpp

@@ -12,7 +12,7 @@ TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(test
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 }
 
-TestTask::~TestTask() {}
+TestTask::~TestTask() = default;
 
 ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
   ReturnValue_t result = RETURN_OK;

tests/src/fsfw_tests/integration/task/TestTask.h

@@ -13,9 +13,9 @@
  */
 class TestTask : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
  public:
-  TestTask(object_id_t objectId);
+  explicit TestTask(object_id_t objectId);
-  virtual ~TestTask();
+  ~TestTask() override;
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
 
  protected:
   virtual ReturnValue_t performOneShotAction();

tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp

@@ -2,7 +2,9 @@
 
 #include <catch2/catch_test_macros.hpp>
 #include <fstream>
+#include <iostream>
 
+#include "tests/TestsConfig.h"
 #include "fsfw/container/DynamicFIFO.h"
 #include "fsfw/container/SimpleRingBuffer.h"
 #include "fsfw/platform.h"
@@ -61,6 +63,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
   std::string cmpString = "Hello World\n";
   CHECK(readString == cmpString);
   outputBuffer.deleteData(12, true);
+
+  // Issues with CI/CD
+#if FSFW_CICD_BUILD == 0
   // Test more complex command
   result = cmdExecutor.load("ping -c 1 localhost", false, false);
   REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
@@ -81,16 +86,27 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
   REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
   readBytes = 0;
   sizesFifo.retrieve(&readBytes);
-  // That's about the size of the reply
-  bool beTrue = (readBytes > 200) and (readBytes < 300);
-  REQUIRE(beTrue);
   uint8_t largerReadBuffer[1024] = {};
+  // That's about the size of the reply
+  bool beTrue = (readBytes > 100) and (readBytes < 400);
+  if (not beTrue) {
+    size_t readLen = outputBuffer.getAvailableReadData();
+    if (readLen > sizeof(largerReadBuffer) - 1) {
+      readLen = sizeof(largerReadBuffer) - 1;
+    }
+    outputBuffer.readData(largerReadBuffer, readLen);
+    std::string readString(reinterpret_cast<char*>(largerReadBuffer));
+    std::cerr << "Catch2 tag cmd-exec: Read " << readBytes << ": " << std::endl;
+    std::cerr << readString << std::endl;
+  }
+  REQUIRE(beTrue);
   outputBuffer.readData(largerReadBuffer, readBytes);
   // You can also check this output in the debugger
   std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
   // I am just going to assume that this string is the same across ping implementations
   // of different Linux systems
   REQUIRE(allTheReply.find("PING localhost") != std::string::npos);
+#endif
 
   // Now check failing command
   result = cmdExecutor.load("false", false, false);

tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp

@@ -16,7 +16,7 @@
 #include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
 
 TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
-  PeriodicTaskMock task(10);
+  PeriodicTaskMock task(10, nullptr);
   ObjectManagerIF* manager = ObjectManager::instance();
   if (manager == nullptr) {
     FAIL();
@@ -27,6 +27,8 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
     FAIL();
   }
   task.addComponent(objects::INTERNAL_ERROR_REPORTER);
+  // This calls the initializeAfterTaskCreation function
+  task.startTask();
   MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
   MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
   internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(
@@ -115,4 +117,4 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
   }
   QueueFactory::instance()->deleteMessageQueue(testQueue);
   QueueFactory::instance()->deleteMessageQueue(hkQueue);
-}
+}

tests/src/fsfw_tests/unit/mocks/PeriodicTaskIFMock.h

@@ -2,36 +2,24 @@
 #define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
 
 #include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskBase.h>
 
-class PeriodicTaskMock : public PeriodicTaskIF {
+class PeriodicTaskMock : public PeriodicTaskBase {
  public:
-  PeriodicTaskMock(uint32_t period = 5) : period(period) {}
+  PeriodicTaskMock(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc)
-  /**
+      : PeriodicTaskBase(period, dlmFunc) {}
-   * @brief	A virtual destructor as it is mandatory for interfaces.
+
-   */
   virtual ~PeriodicTaskMock() {}
   /**
    * @brief	With the startTask method, a created task can be started
    *          for the first time.
    */
-  virtual ReturnValue_t startTask() override { return HasReturnvaluesIF::RETURN_OK; };
+  virtual ReturnValue_t startTask() override {
-
+    initObjsAfterTaskCreation();
-  virtual ReturnValue_t addComponent(object_id_t object) override {
-    ExecutableObjectIF* executableObject =
-        ObjectManager::instance()->get<ExecutableObjectIF>(objects::INTERNAL_ERROR_REPORTER);
-    if (executableObject == nullptr) {
-      return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    executableObject->setTaskIF(this);
-    executableObject->initializeAfterTaskCreation();
     return HasReturnvaluesIF::RETURN_OK;
   };
 
   virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
-
-  virtual uint32_t getPeriodMs() const override { return period; };
-  uint32_t period;
 };
 
-#endif  // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
+#endif  // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_

tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp

@@ -156,4 +156,31 @@ TEST_CASE("New Accessor", "[NewAccessor]") {
       CHECK(receptionArray[i] == 42);
     }
   }
+
+  SECTION("Operators"){
+    result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+    REQUIRE(result == retval::CATCH_OK);
+    {
+      StorageAccessor accessor(testStoreId);
+      StorageAccessor accessor2(0);
+      accessor2 = std::move(accessor);
+      REQUIRE(accessor.data() == nullptr);
+      std::array<uint8_t, 6> data;
+      size_t size = 6;
+      result = accessor.write(data.data(), data.size());
+      REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+      result = SimplePool.modifyData(testStoreId, accessor2);
+      REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+      CHECK(accessor2.getId() == testStoreId);
+      CHECK(accessor2.size() == 10);
+      
+      std::array<uint8_t, 10> newData;
+      // Expect data to be invalid so this must return RETURN_FAILED
+      result = accessor.getDataCopy(newData.data(),newData.size());
+      REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+      // Expect data to be too small 
+      result = accessor2.getDataCopy(data.data(),data.size());
+      REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+    }
+  }
 }

tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp

@@ -3,6 +3,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 #include <cstring>
+#include <array>
 
 #include "fsfw_tests/unit/CatchDefinitions.h"
 

tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in

@@ -1,6 +1,8 @@
 #ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
 #define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
 
+#cmakedefine01 FSFW_CICD_BUILD
+
 #define FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS 1
 
 #ifdef __cplusplus

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));