adapted object factory to fsfw changes

CMakeLists.txt

@@ -184,6 +184,7 @@ endif()
 target_include_directories(${LIB_FSFW_NAME} INTERFACE 
 	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_ADD_INC_PATHS_ABS}
 )
 
 # Includes path required to compile FSFW itself as well

FSFWVersion.h

@@ -3,9 +3,9 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION 		0
+#define FSFW_VERSION        1
 #define	FSFW_SUBVERSION     0
-#define	FSFW_REVISION 	1
+#define	FSFW_REVISION       0
 
 
 

action/ActionHelper.cpp

@@ -147,11 +147,6 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
         return result;
     }
 
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        ipcStore->deleteData(storeAddress);
-        return result;
-    }
-
     /* We don't need to report the objectId, as we receive REQUESTED data before the completion
     success message. True aperiodic replies need to be reported with another dedicated message. */
     ActionMessage::setDataReply(&reply, replyId, storeAddress);

container/SharedRingBuffer.cpp

@@ -17,6 +17,9 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
     mutex = MutexFactory::instance()->createMutex();
 }
 
+SharedRingBuffer::~SharedRingBuffer() {
+    MutexFactory::instance()->deleteMutex(mutex);
+}
 
 void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
     this->fifoDepth = fifoDepth;

container/SharedRingBuffer.h

@@ -26,6 +26,18 @@ public:
      */
     SharedRingBuffer(object_id_t objectId, const size_t size,
             bool overwriteOld, size_t maxExcessBytes);
+    /**
+     * This constructor takes an external buffer with the specified size.
+     * @param buffer
+     * @param size
+     * @param overwriteOld
+     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+     */
+    SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+            bool overwriteOld, size_t maxExcessBytes);
+
+    virtual~ SharedRingBuffer();
 
     /**
      * @brief    This function can be used to add an optional FIFO to the class
@@ -37,16 +49,7 @@ public:
      */
     void setToUseReceiveSizeFIFO(size_t fifoDepth);
 
-    /**
+
-     * This constructor takes an external buffer with the specified size.
-     * @param buffer
-     * @param size
-     * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
-     * will be overwritten.
-     */
-    SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
-            bool overwriteOld, size_t maxExcessBytes);
 
     /**
      * Unless a read-only constant value is read, all operations on the

datapool/HkSwitchHelper.cpp

@@ -7,7 +7,7 @@ HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 }
 
 HkSwitchHelper::~HkSwitchHelper() {
-	// TODO Auto-generated destructor stub
+    QueueFactory::instance()->deleteMessageQueue(actionQueue);
 }
 
 ReturnValue_t HkSwitchHelper::initialize() {

datapoollocal/LocalDataPoolManager.cpp

@@ -909,27 +909,29 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 			errorPrint = "Unknown error";
 		}
 	}
+	object_id_t objectId = 0xffffffff;
+	if(owner != nullptr) {
+	    objectId = owner->getObjectId();
+	}
 
 	if(outputType == sif::OutputTypes::OUT_WARNING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "LocalDataPoolManager::" << functionName
+		sif::warning << "LocalDataPoolManager::" << functionName << ": Object ID 0x" <<
-				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
+		        std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint <<
-				<< std::hex << owner->getObjectId() << " | " << errorPrint
+		        std::dec << std::setfill(' ') << std::endl;
-				<< std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				functionName, owner->getObjectId(), errorPrint);
+				functionName, objectId, errorPrint);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 	}
 	else if(outputType == sif::OutputTypes::OUT_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "LocalDataPoolManager::" << functionName
+		sif::error << "LocalDataPoolManager::" << functionName << ": Object ID 0x" <<
-				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
+		        std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint <<
-				<< std::hex << owner->getObjectId() << " | " << errorPrint
+		        std::dec << std::setfill(' ') << std::endl;
-				<< std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				functionName, owner->getObjectId(), errorPrint);
+				functionName, objectId, errorPrint);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 	}
 #endif /* #if FSFW_VERBOSE_LEVEL >= 1 */

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -40,6 +40,13 @@
 //! Specify whether a special mode store is used for Subsystem components.
 #define FSFW_USE_MODESTORE          0
 
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 1
+
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
 //! short timestamp.
@@ -52,11 +59,12 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
+//! simultaneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

devicehandlers/AssemblyBase.h

@@ -24,6 +24,13 @@
  * 1. check logic when active-> checkChildrenStateOn
  * 2. transition logic to change the mode -> commandChildren
  *
+ * Important:
+ *
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
+ * The implementation must call the initialization function of the base class.
+ * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase: public SubsystemBase {
 public:
@@ -41,9 +48,6 @@ public:
 	virtual ~AssemblyBase();
 
 protected:
-
-    // SHOULDDO: Change that OVERWRITE_HEALTH may be returned
-    // (or return internalState directly?)
     /**
      * Command children to reach [mode,submode] combination
      * Can be done by setting #commandsOutstanding correctly,
@@ -68,6 +72,18 @@ protected:
     virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
             Submode_t wantedSubmode) = 0;
 
+    /**
+     * Check whether a combination of mode and submode is valid.
+     *
+     * Ground Controller like precise return values from HasModesIF.
+     * So, please return any of them.
+     *
+     * @param mode The targeted mode
+     * @param submode The targeted submmode
+     * @return Any information why this combination is invalid from HasModesIF
+     * 			like HasModesIF::INVALID_SUBMODE.
+     * 			On success return HasReturnvaluesIF::RETURN_OK
+     */
     virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
             Submode_t submode) = 0;
 

devicehandlers/DeviceHandlerBase.cpp

@@ -1496,7 +1496,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
         if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
             errorPrint = "Initialization error";
         }
-        if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
+        else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
             if(errorType == sif::OutputTypes::OUT_WARNING) {
                 errorPrint = "Generic Warning";
             }
@@ -1508,6 +1508,9 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
             errorPrint = "Unknown error";
         }
     }
+    if(functionName == nullptr) {
+        functionName = "unknown function";
+    }
 
     if(errorType == sif::OutputTypes::OUT_WARNING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -1516,7 +1519,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
                 std::dec << std::setfill(' ') << std::endl;
 #else
         sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
     else if(errorType == sif::OutputTypes::OUT_ERROR) {
@@ -1527,7 +1530,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
                 << std::setfill(' ') << std::endl;
 #else
         sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
 

devicehandlers/HealthDevice.cpp

@@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
 	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&command);
+		result = healthHelper.handleHealthCommand(&command);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	return result;
 }
 
 ReturnValue_t HealthDevice::initialize() {

events/EventMessage.cpp

@@ -109,6 +109,6 @@ bool EventMessage::isClearedEventMessage() {
 	return getEvent() == INVALID_EVENT;
 }
 
-size_t EventMessage::getMinimumMessageSize() {
+size_t EventMessage::getMinimumMessageSize() const {
 	return EVENT_MESSAGE_SIZE;
 }

events/EventMessage.h

@@ -45,7 +45,7 @@ public:
 
 protected:
 	static const Event INVALID_EVENT = 0;
-	virtual size_t getMinimumMessageSize();
+	virtual size_t getMinimumMessageSize() const override;
 
 };
 

globalfunctions/arrayprinter.cpp

@@ -60,7 +60,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
 #else
     // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 7 + 1];
+    char printBuffer[(size + 1) * 7 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.
@@ -103,7 +103,7 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
 #else
     // General format: 32, 243, -12 so it is number of chars times 5
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 5 + 1];
+    char printBuffer[(size + 1) * 5 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.

health/HealthTable.cpp

@@ -68,14 +68,30 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
     MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
-	SerializeAdapter::serialize(&count,
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl;
+#else
+	    sif::printWarning("HealthTable::printAll: Serialization of health table failed\n");
+#endif
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+	    return;
+	}
 	for (const auto& health: healthMap) {
-		SerializeAdapter::serialize(&health.first,
+		result = SerializeAdapter::serialize(&health.first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return;
+		}
 		uint8_t healthValue = health.second;
-		SerializeAdapter::serialize(&healthValue, &pointer, &size,
+		result = SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
 	}
 }
 
@@ -86,7 +102,7 @@ ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 		mapIterator = healthMap.begin();
 	}
 	if (mapIterator == healthMap.end()) {
-		result = HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	*value = *mapIterator;
 	mapIterator++;

ipc/MessageQueueIF.h

@@ -27,7 +27,7 @@ public:
 	//! Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
 	//! Returned if the target destination is invalid.
-	static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
+	static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}
 	/**

ipc/MessageQueueMessage.cpp

@@ -86,3 +86,7 @@ size_t MessageQueueMessage::getMaximumMessageSize() const {
     return this->MAX_MESSAGE_SIZE;
 }
 
+size_t MessageQueueMessage::getMaximumDataSize() const {
+    return this->MAX_DATA_SIZE;
+}
+

ipc/MessageQueueMessage.h

@@ -139,6 +139,7 @@ public:
 	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMinimumMessageSize() const override;
 	virtual size_t getMaximumMessageSize() const override;
+	virtual size_t getMaximumDataSize() const override;
 
 	/**
 	 * @brief	This is a debug method that prints the content.

ipc/MessageQueueMessageIF.h

@@ -72,6 +72,7 @@ public:
     virtual void setMessageSize(size_t messageSize) = 0;
     virtual size_t getMinimumMessageSize() const = 0;
     virtual size_t getMaximumMessageSize() const = 0;
+    virtual size_t getMaximumDataSize() const = 0;
 
 };
 

osal/CMakeLists.txt

@@ -10,10 +10,9 @@ elseif(${OS_FSFW} STREQUAL "host")
     if (WIN32)
         add_subdirectory(windows)
     elseif(UNIX)
-		target_sources(${LIB_FSFW_NAME}
+        # We still need to pull in some Linux specific sources
-			PUBLIC
+        target_sources(${LIB_FSFW_NAME} PUBLIC
-				linux/TcUnixUdpPollingTask.cpp
+            linux/tcpipHelpers.cpp
-				linux/TmTcUnixUdpBridge.cpp
         )
     endif ()
 

osal/FreeRTOS/Clock.cpp

@@ -111,7 +111,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
         timeval* to) {
-    struct tm time_tm;
+    struct tm time_tm = {};
 
     time_tm.tm_year = from->year - 1900;
     time_tm.tm_mon = from->month - 1;

osal/FreeRTOS/MessageQueue.cpp

@@ -135,7 +135,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	QueueHandle_t destination = nullptr;
 
 	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
-		return MessageQueueIF::DESTINVATION_INVALID;
+		return MessageQueueIF::DESTINATION_INVALID;
 	}
 	else  {
 		destination = reinterpret_cast<QueueHandle_t>(sendTo);

osal/common/TcpTmTcServer.cpp

@@ -70,6 +70,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
 #endif
         freeaddrinfo(addrResult);
         handleError(Protocol::TCP, ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     freeaddrinfo(addrResult);
@@ -84,8 +85,8 @@ TcpTmTcServer::~TcpTmTcServer() {
 ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
     using namespace tcpip;
     /* If a connection is accepted, the corresponding socket will be assigned to the new socket */
-    socket_t clientSocket;
+    socket_t clientSocket = 0;
-    sockaddr clientSockAddr;
+    sockaddr clientSockAddr = {};
     socklen_t connectorSockAddrLen = 0;
     int retval = 0;
 
@@ -101,6 +102,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
 
         if(clientSocket == INVALID_SOCKET) {
             handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
+            closeSocket(clientSocket);
             continue;
         };
 
@@ -122,6 +124,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
 
         /* Done, shut down connection */
         retval = shutdown(clientSocket, SHUT_SEND);
+        closeSocket(clientSocket);
     }
     return HasReturnvaluesIF::RETURN_OK;
 }

osal/common/UdpTcPollingTask.cpp

@@ -15,7 +15,7 @@
 #endif
 
 //! Debugging preprocessor define.
-#define FSFW_UDP_RCV_WIRETAPPING_ENABLED    0
+#define FSFW_UDP_RECV_WIRETAPPING_ENABLED    0
 
 UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId,
         object_id_t tmtcUnixUdpBridge, size_t maxRecvSize,
@@ -66,10 +66,13 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
             tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
             continue;
         }
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
+#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived <<
                 " bytes received" << std::endl;
+#else
 #endif
+#endif /* FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 */
 
         ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
         if(result != HasReturnvaluesIF::RETURN_FAILED) {
@@ -84,7 +87,7 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
 ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
     store_address_t storeId;
 
-#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
+#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1
     arrayprinter::print(receptionBuffer.data(), bytesRead);
 #endif
 

osal/common/UdpTmTcBridge.cpp

@@ -70,6 +70,7 @@ ReturnValue_t UdpTmTcBridge::initialize() {
     hints.ai_family = AF_INET;
     hints.ai_socktype = SOCK_DGRAM;
     hints.ai_protocol = IPPROTO_UDP;
+    hints.ai_flags = AI_PASSIVE;
 
     /* Set up UDP socket:
     https://en.wikipedia.org/wiki/Getaddrinfo
@@ -95,6 +96,10 @@ ReturnValue_t UdpTmTcBridge::initialize() {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    tcpip::printAddress(addrResult->ai_addr);
+#endif
+
     retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
     if(retval != 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -103,6 +108,7 @@ ReturnValue_t UdpTmTcBridge::initialize() {
 #endif
         freeaddrinfo(addrResult);
         tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
     freeaddrinfo(addrResult);
     return HasReturnvaluesIF::RETURN_OK;
@@ -120,10 +126,8 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
     /* The target address can be set by different threads so this lock ensures thread-safety */
     MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-    char ipAddress [15];
+    tcpip::printAddress(&clientAddress);
-    sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-            &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 #endif
 
     int bytesSent = sendto(
@@ -151,13 +155,11 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr& newAddress) {
     /* The target address can be set by different threads so this lock ensures thread-safety */
     MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-    char ipAddress [15];
+    tcpip::printAddress(&newAddress);
-    sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+    tcpip::printAddress(&clientAddress);
-            &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-    sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
-            &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 #endif
+
     registerCommConnect();
 
     /* Set new IP address to reply to */

osal/common/tcpipCommon.cpp

@@ -1,4 +1,9 @@
 #include "tcpipCommon.h"
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#ifdef _WIN32
+#include <ws2tcpip.h>
+#endif
 
 void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string &protStr,
         std::string &srcString) {
@@ -34,3 +39,37 @@ void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std:
         srcString = "unknown call";
     }
 }
+
+void tcpip::printAddress(struct sockaddr* addr) {
+    char ipAddress[INET6_ADDRSTRLEN] = {};
+    const char* stringPtr = NULL;
+    switch(addr->sa_family) {
+    case AF_INET: {
+        struct sockaddr_in *addrIn = reinterpret_cast<struct sockaddr_in*>(addr);
+        stringPtr = inet_ntop(AF_INET, &(addrIn->sin_addr), ipAddress, INET_ADDRSTRLEN);
+        break;
+    }
+    case AF_INET6: {
+        struct sockaddr_in6 *addrIn = reinterpret_cast<struct sockaddr_in6*>(addr);
+        stringPtr = inet_ntop(AF_INET6, &(addrIn->sin6_addr), ipAddress, INET6_ADDRSTRLEN);
+        break;
+    }
+    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(stringPtr == NULL) {
+        sif::debug << "Could not convert IP address to text representation, error code "
+                << errno << std::endl;
+    }
+    else {
+        sif::debug << "IP Address Sender: " <<  ipAddress << std::endl;
+    }
+#else
+    if(stringPtr == NULL) {
+        sif::printDebug("Could not convert IP address to text representation, error code %d\n",
+                errno);
+    }
+    else {
+        sif::printDebug("IP Address Sender: %s\n", ipAddress);
+    }
+#endif
+}

osal/common/tcpipCommon.h

@@ -4,6 +4,13 @@
 #include "../../timemanager/clockDefinitions.h"
 #include <string>
 
+#ifdef _WIN32
+#include <winsock2.h>
+#else
+#include <netdb.h>
+#include <arpa/inet.h>
+#endif
+
 namespace tcpip {
 
 const char* const DEFAULT_SERVER_PORT = "7301";
@@ -28,8 +35,8 @@ enum class ErrorSources {
 void determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string& protStr,
         std::string& srcString);
 
+void printAddress(struct sockaddr* addr);
+
 }
 
-
-
 #endif /* FSFW_OSAL_COMMON_TCPIPCOMMON_H_ */

osal/host/FixedTimeslotTask.cpp

@@ -3,7 +3,7 @@
 #include "../../ipc/MutexFactory.h"
 #include "../../osal/host/Mutex.h"
 #include "../../osal/host/FixedTimeslotTask.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
 #include <thread>
@@ -38,7 +38,6 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
     if(mainThread.joinable()) {
         mainThread.join();
     }
-    delete this;
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
@@ -119,8 +118,11 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
     }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "Component " << std::hex << componentId <<
+    sif::error << "Component " << std::hex << "0x" << componentId << "not found, "
-            " not found, not adding it to pst" << std::endl;
+            "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;
 }

osal/host/MessageQueue.cpp

@@ -64,9 +64,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 		return MessageQueueIF::EMPTY;
 	}
 	MutexGuard mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
-	MessageQueueMessage* currentMessage = &messageQueue.front();
+	std::copy(messageQueue.front().data(), messageQueue.front().data() + messageSize,
-	std::copy(currentMessage->getBuffer(),
+	        message->getBuffer());
-			currentMessage->getBuffer() + messageSize, message->getBuffer());
 	messageQueue.pop();
 	// The last partner is the first uint32_t field in the message
 	this->lastPartner = message->getSender();
@@ -80,7 +79,7 @@ MessageQueueId_t MessageQueue::getLastPartner() const {
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
 	*count = messageQueue.size();
 	// Clears the queue.
-	messageQueue = std::queue<MessageQueueMessage>();
+	messageQueue = std::queue<std::vector<uint8_t>>();
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -106,6 +105,9 @@ bool MessageQueue::isDefaultDestinationSet() const {
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
+    if(message == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 	message->setSender(sentFrom);
 	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
@@ -128,21 +130,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
-		MutexGuard mutexLock(targetQueue->queueLock,
+		MutexGuard mutexLock(targetQueue->queueLock, MutexIF::TimeoutType::WAITING, 20);
-		        MutexIF::TimeoutType::WAITING, 20);
+		targetQueue->messageQueue.push(std::vector<uint8_t>(message->getMaximumMessageSize()));
-		// not ideal, works for now though.
+		memcpy(targetQueue->messageQueue.back().data(), message->getBuffer(),
-		MessageQueueMessage* mqmMessage =
+		        message->getMaximumMessageSize());
-				dynamic_cast<MessageQueueMessage*>(message);
-		if(message != nullptr) {
-			targetQueue->messageQueue.push(*mqmMessage);
-		}
-		else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
-					"is not MessageQueueMessage!" << std::endl;
-#endif
-		}
-
 	}
 	else {
 		return MessageQueueIF::FULL;

osal/host/MessageQueue.h

@@ -212,7 +212,7 @@ protected:
 	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
 private:
-	std::queue<MessageQueueMessage> messageQueue;
+	std::queue<std::vector<uint8_t>> messageQueue;
 	/**
 	 * @brief	The class stores the queue id it got assigned.
 	 * 			If initialization fails, the queue id is set to zero.

osal/host/PeriodicTask.cpp

@@ -21,7 +21,7 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), taskName(name), period(setPeriod),
 		deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
+    // It is probably possible to set task priorities by using the native
     // task handles for Windows / Linux
 	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
 #if defined(_WIN32)
@@ -38,7 +38,6 @@ PeriodicTask::~PeriodicTask(void) {
 	if(mainThread.joinable()) {
 		mainThread.join();
 	}
-	delete this;
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {

osal/host/QueueMapManager.cpp

@@ -10,6 +10,10 @@ QueueMapManager::QueueMapManager() {
     mapLock = MutexFactory::instance()->createMutex();
 }
 
+QueueMapManager::~QueueMapManager() {
+    MutexFactory::instance()->deleteMutex(mapLock);
+}
+
 QueueMapManager* QueueMapManager::instance() {
 	if (mqManagerInstance == nullptr){
 		mqManagerInstance = new QueueMapManager();

osal/host/QueueMapManager.h

@@ -36,6 +36,8 @@ public:
 private:
 	//! External instantiation is forbidden.
 	QueueMapManager();
+	~QueueMapManager();
+
 	uint32_t queueCounter = 0;
 	MutexIF* mapLock;
 	QueueMap queueMap;

osal/linux/MessageQueue.cpp

@@ -190,13 +190,15 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
-	}else if(status==0){
+	}
+	else if (status==0) {
 		//Success but no message received
 		return MessageQueueIF::EMPTY;
-	} else {
+	}
+	else {
 		//No message was received. Keep lastPartner anyway, I might send
 		//something later. But still, delete packet content.
-		memset(message->getData(), 0, message->getMaximumMessageSize());
+		memset(message->getData(), 0, message->getMaximumDataSize());
 		switch(errno){
 		case EAGAIN:
 			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@@ -371,7 +373,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 					<<"mq_send to: " << sendTo << " sent from "
 					<< sentFrom << std::endl;
 #endif
-			return DESTINVATION_INVALID;
+			return DESTINATION_INVALID;
 		}
 		case EINTR:
 			//The call was interrupted by a signal.

osal/linux/PosixThread.cpp

@@ -57,8 +57,10 @@ void PosixThread::suspend() {
 
 void PosixThread::resume(){
 	/* Signal the thread to start. Makes sense to call kill to start or? ;)
-    According to POSIX raise(signal) will call pthread_kill(pthread_self(), sig),
+	 *
-    but as the call must be done from the thread itself this is not possible here */
+	*	According to Posix raise(signal) will call pthread_kill(pthread_self(), sig),
+	*	but as the call must be done from the thread itsself this is not possible here
+	*/
 	pthread_kill(thread,SIGUSR1);
 }
 
@@ -100,7 +102,7 @@ bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
 		PosixThread::sleep(sleepTime * 1000000ull);
 		return true;
 	}
-    /* We are shifting the time in case the deadline was missed like RTEMS */
+	//We are shifting the time in case the deadline was missed like rtems
 	(*prevoiusWakeTime_ms) = currentTime_ms;
 	return false;
 
@@ -123,10 +125,10 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 #endif
 	/*
 	 * The attr argument points to a pthread_attr_t structure whose contents
-     * are used at thread creation time to determine attributes for the new
+       are used at thread creation time to determine attributes for the new
-     * thread; this structure is initialized using pthread_attr_init(3) and
+       thread; this structure is initialized using pthread_attr_init(3) and
-     * related functions.  If attr is NULL, then the thread is created with
+       related functions.  If attr is NULL, then the thread is created with
-     * default attributes.
+       default attributes.
 	 */
 	pthread_attr_t attributes;
 	int status = pthread_attr_init(&attributes);
@@ -182,8 +184,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					strerror(status) << std::endl;
 #endif
 	}
-
+#ifndef FSFW_USE_REALTIME_FOR_LINUX
-    // TODO FIFO -> This needs root privileges for the process
+#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
+#endif
+#if FSFW_USE_REALTIME_FOR_LINUX == 1
+	// FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -201,7 +206,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 				strerror(status) << std::endl;
 #endif
 	}
-
+#endif
 	//Set Signal Mask for suspend until startTask is called
 	sigset_t waitSignal;
 	sigemptyset(&waitSignal);
@@ -218,8 +223,16 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	status = pthread_create(&thread,&attributes,fnc_,arg_);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "Posix Thread create failed with: " <<
+		sif::error << "PosixThread::createTask: Failed with: " <<
 				strerror(status) << std::endl;
+		sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
+		        "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
+		        "/etc/security/limit.conf" << std::endl;
+#else
+		sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status));
+		sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
+		        "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
+                "/etc/security/limit.conf\n");
 #endif
 	}
 

osal/linux/TmTcUnixUdpBridge.cpp

@@ -1,5 +1,5 @@
 #include "TmTcUnixUdpBridge.h"
-#include "tcpipHelpers.h"
+#include "../common/tcpipHelpers.h"
 #include "../../serviceinterface/ServiceInterface.h"
 #include "../../ipc/MutexGuard.h"
 
@@ -12,7 +12,7 @@
 //! Debugging preprocessor define.
 #define FSFW_UDP_SEND_WIRETAPPING_ENABLED   0
 
-const std::string TmTcUnixUdpBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_UDP_SERVER_PORT;
+const std::string TmTcUnixUdpBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
 
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
         object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):

osal/linux/TmTcUnixUdpBridge.h

@@ -9,7 +9,7 @@
 
 class TmTcUnixUdpBridge:
         public TmTcBridge {
-    friend class TcUnixUdpPollingTask;
+    friend class UdpTcPollingTask;
 public:
 
     /* The ports chosen here should not be used by any other process.

osal/linux/tcpipHelpers.cpp

@@ -1,5 +1,6 @@
 #include "../common/tcpipHelpers.h"
 
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/TaskFactory.h"
 
 #include <errno.h>
@@ -98,8 +99,8 @@ void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t s
     sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString <<
             " | " << infoString << std::endl;
 #else
-    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString,
+    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(),
-            errorSrcString, infoString);
+            errorSrcString.c_str(), infoString.c_str());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
     if(sleepDuration > 0) {

osal/rtems/MessageQueue.cpp

@@ -61,7 +61,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send something later.
 		//But still, delete packet content.
-		memset(message->getData(), 0, message->getMaximumMessageSize());
+		memset(message->getData(), 0, message->getMaximumDataSize());
 	}
 	return convertReturnCode(status);
 }

pus/CService200ModeCommanding.cpp

@@ -61,8 +61,7 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(
 		return result;
 	}
 
-	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+	ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
 	        modeCommandPacket.getSubmode());
 	return result;
 }

pus/Service1TelecommandVerification.cpp

@@ -15,7 +15,9 @@ Service1TelecommandVerification::Service1TelecommandVerification(
 	tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
-Service1TelecommandVerification::~Service1TelecommandVerification() {}
+Service1TelecommandVerification::~Service1TelecommandVerification() {
+    QueueFactory::instance()->deleteMessageQueue(tmQueue);
+}
 
 MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){
 	return tmQueue->getId();

pus/Service20ParameterManagement.cpp

@@ -75,9 +75,8 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #else
         sif::printError("Service20ParameterManagement::checkInterfaceAndAcquire"
                 "MessageQueue: Can't access object\n");
-        sif::printError("Object ID: 0x%08x\n", objectId);
+        sif::printError("Object ID: 0x%08x\n", *objectId);
-        sif::printError("Make sure it implements "
+        sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
-                "ReceivesParameterMessagesIF!\n");
 #endif
 
         return CommandingServiceBase::INVALID_OBJECT;

pus/Service5EventReporting.cpp

@@ -15,7 +15,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId,
 	eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
-Service5EventReporting::~Service5EventReporting(){}
+Service5EventReporting::~Service5EventReporting() {
+    QueueFactory::instance()->deleteMessageQueue(eventQueue);
+}
 
 ReturnValue_t Service5EventReporting::performService() {
 	EventMessage message;

pus/Service8FunctionManagement.cpp

@@ -53,12 +53,14 @@ ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t Service8FunctionManagement::prepareCommand(
 		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
 		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
-	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+	return prepareDirectCommand(message, tcData, tcDataLen);
-				tcData, tcDataLen);
 }
 
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(message == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "Service8FunctionManagement::prepareDirectCommand:"

pus/servicepackets/Service8Packets.h

@@ -43,8 +43,8 @@ public:
 
 private:
 	DirectCommand(const DirectCommand &command);
-	object_id_t objectId;
+	object_id_t objectId = 0;
-	ActionId_t actionId;
+	ActionId_t actionId = 0;
 	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
 	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
 

serialize/SerializeElement.h

@@ -25,7 +25,7 @@ public:
 
 	}
 	SerializeElement() :
-			LinkedElement<SerializeIF>(this) {
+			LinkedElement<SerializeIF>(this), entry() {
 	}
 
 	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,

subsystem/SubsystemBase.cpp

@@ -5,8 +5,7 @@
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
-		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
+		SystemObject(setObjectId), mode(initialMode),
-		childrenChangedMode(false),
 		commandQueue(QueueFactory::instance()->createMessageQueue(
 		        commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
 		healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
@@ -167,16 +166,16 @@ MessageQueueId_t SubsystemBase::getCommandQueue() const {
 }
 
 ReturnValue_t SubsystemBase::initialize() {
-	MessageQueueId_t parentQueue = 0;
+	MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
 	ReturnValue_t result = SystemObject::initialize();
 
 	if (result != RETURN_OK) {
 		return result;
 	}
 
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();

subsystem/SubsystemBase.h

@@ -37,6 +37,17 @@ public:
 
 	virtual MessageQueueId_t getCommandQueue() const override;
 
+	/**
+	 * Function to register the child objects.
+	 * Performs a checks if the child does implement HasHealthIF and/or HasModesIF
+	 *
+	 * 	Also adds them to the internal childrenMap.
+	 *
+	 * @param objectId
+	 * @return RETURN_OK if successful
+	 * 		   CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
+	 * 		   COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
+	 */
 	ReturnValue_t registerChild(object_id_t objectId);
 
 	virtual ReturnValue_t initialize() override;
@@ -56,9 +67,9 @@ protected:
 
 	Mode_t mode;
 
-	Submode_t submode;
+	Submode_t submode = SUBMODE_NONE;
 
-	bool childrenChangedMode;
+	bool childrenChangedMode = false;
 
 	/**
 	 * Always check this against <=0, so you are robust against too many replies

tcdistribution/CCSDSDistributor.cpp

@@ -1,8 +1,10 @@
 #include "CCSDSDistributor.h"
 
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 #include "../tmtcpacket/SpacePacketBase.h"
 
+#define CCSDS_DISTRIBUTOR_DEBUGGING     0
+
 CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
 		object_id_t setObjectId):
 		TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
@@ -11,26 +13,36 @@ CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
 CCSDSDistributor::~CCSDSDistributor() {}
 
 TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
+#if CCSDS_DISTRIBUTOR_DEBUGGING == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-//	sif::debug << "CCSDSDistributor::selectDestination received: " <<
+	sif::debug << "CCSDSDistributor::selectDestination received: " <<
-//			this->currentMessage.getStorageId().pool_index << ", " <<
+			this->currentMessage.getStorageId().poolIndex << ", " <<
-//			this->currentMessage.getStorageId().packet_index << std::endl;
+			this->currentMessage.getStorageId().packetIndex << std::endl;
+#else
+	sif::printDebug("CCSDSDistributor::selectDestination received: %d, %d\n",
+	        currentMessage.getStorageId().poolIndex, currentMessage.getStorageId().packetIndex);
+#endif
 #endif
 	const uint8_t* packet = nullptr;
 	size_t size = 0;
 	ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
 			&packet, &size );
 	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CCSDSDistributor::selectDestination: Getting data from"
 				" store failed!" << std::endl;
+#else
+		sif::printError("CCSDSDistributor::selectDestination: Getting data from"
+                " store failed!\n");
+#endif
 #endif
 	}
 	SpacePacketBase currentPacket(packet);
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1
-//	sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
+	sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex <<
-//			<< std::hex << currentPacket.getAPID() << std::dec << std::endl;
+	        currentPacket.getAPID() << std::dec << std::endl;
 #endif
 	TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
 	if ( position != this->queueMap.end() ) {
@@ -76,9 +88,14 @@ ReturnValue_t CCSDSDistributor::initialize() {
 	ReturnValue_t status = this->TcDistributor::initialize();
 	this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
 	if (this->tcStore == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "CCSDSDistributor::initialize: Could not initialize"
 	            " TC store!" << std::endl;
+#else
+	    sif::printError("CCSDSDistributor::initialize: Could not initialize"
+                " TC store!\n");
+#endif
 #endif
 	    status = RETURN_FAILED;
 	}

tcdistribution/PUSDistributor.cpp

@@ -1,10 +1,12 @@
 #include "CCSDSDistributorIF.h"
 #include "PUSDistributor.h"
 
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcservices/PusVerificationReport.h"
 
+#define PUS_DISTRIBUTOR_DEBUGGING     0
+
 PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
         object_id_t setPacketSource) :
         TcDistributor(setObjectId), checker(setApid), verifyChannel(),
@@ -13,10 +15,10 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
 PUSDistributor::~PUSDistributor() {}
 
 PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
-    // sif:: debug << "PUSDistributor::handlePacket received: "
+    store_address_t storeId = this->currentMessage.getStorageId());
-    //          << this->current_packet_id.store_index << ", "
+    sif:: debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", " <<
-    //          << this->current_packet_id.packet_index << std::endl;
+            storeId.packetIndex << std::endl;
 #endif
     TcMqMapIter queueMapIt = this->queueMap.end();
     if(this->currentPacket == nullptr) {
@@ -25,15 +27,17 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
     this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
     if (currentPacket->getWholeData() != nullptr) {
         tcStatus = checker.checkPacket(currentPacket);
-#ifdef DEBUG
         if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::debug << "PUSDistributor::handlePacket: Packet format "
+            sif::debug << "PUSDistributor::handlePacket: Packet format invalid, code " <<
-                    << "invalid, code "<< static_cast<int>(tcStatus)
+                    static_cast<int>(tcStatus) << std::endl;
-                    << std::endl;
+#else
+            sif::printDebug("PUSDistributor::handlePacket: Packet format invalid, code %d\n",
+                    static_cast<int>(tcStatus));
+#endif
 #endif
         }
-#endif
         uint32_t queue_id = currentPacket->getService();
         queueMapIt = this->queueMap.find(queue_id);
     }
@@ -43,11 +47,12 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 
     if (queueMapIt == this->queueMap.end()) {
         tcStatus = DESTINATION_NOT_FOUND;
-#ifdef DEBUG
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "PUSDistributor::handlePacket: Destination not found, "
+        sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl;
-                << "code "<< static_cast<int>(tcStatus) << std::endl;
+#else
-#endif
+        sif::printDebug("PUSDistributor::handlePacket: Destination not found\n");
+#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif
     }
 
@@ -63,15 +68,23 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 
 ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
     uint16_t serviceId = service->getIdentifier();
+#if PUS_DISTRIBUTOR_DEBUGGING == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	// sif::info << "Service ID: " << (int)serviceId << std::endl;
+    sif::info << "Service ID: " << static_cast<int>(serviceId) << std::endl;
+#else
+    sif::printInfo("Service ID: %d\n", static_cast<int>(serviceId));
+#endif
 #endif
     MessageQueueId_t queue = service->getRequestQueue();
     auto returnPair = queueMap.emplace(serviceId, queue);
     if (not returnPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "PUSDistributor::registerService: Service ID already"
-				" exists in map." << std::endl;
+                " exists in map" << std::endl;
+#else
+        sif::printError("PUSDistributor::registerService: Service ID already exists in map\n");
+#endif
 #endif
         return SERVICE_ID_ALREADY_EXISTS;
     }
@@ -115,9 +128,11 @@ ReturnValue_t PUSDistributor::initialize() {
             objectManager->get<CCSDSDistributorIF>(packetSource);
     if (ccsdsDistributor == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PUSDistributor::initialize: Packet source invalid."
+        sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;
-		        << " Make sure it exists and implements CCSDSDistributorIF!"
+        sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
-		        << std::endl;
+#else
+        sif::printError("PUSDistributor::initialize: Packet source invalid\n");
+        sif::printError("Make sure it exists and implements CCSDSDistributorIF\n");
 #endif
         return RETURN_FAILED;
     }

thermal/Heater.cpp

@@ -1,15 +1,13 @@
-#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "Heater.h"
 
+#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "../power/Fuse.h"
 #include "../ipc/QueueFactory.h"
 
 Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) :
-		HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
+HealthDevice(objectId, 0), internalState(STATE_OFF), switch0(switch0), switch1(switch1),
-				NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(
+        heaterOnCountdown(10800000)/*about two orbits*/,
-				false), timedOut(false), reactedToBeingFaulty(false), passive(
+		parameterHelper(this) {
-				false), eventQueue(NULL), heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(
-				this), lastAction(CLEAR) {
     eventQueue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -226,7 +224,6 @@ void Heater::setSwitch(uint8_t number, ReturnValue_t state,
                         triggerEvent(HEATER_STAYED_ON);
                     }
                 }
-				//SHOULDDO MiniOps during switch timeout leads to a faulty switch
             }
         }
     }
@@ -286,7 +283,10 @@ void Heater::handleQueue() {
         if (result == HasReturnvaluesIF::RETURN_OK) {
             return;
         }
-		parameterHelper.handleParameterMessage(&command);
+        result = parameterHelper.handleParameterMessage(&command);
+        if (result == HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
     }
 }
 
@@ -316,7 +316,9 @@ void Heater::handleEventQueue() {
             switch (event.getEvent()) {
             case Fuse::FUSE_WENT_OFF:
             case HEATER_STAYED_OFF:
-			case HEATER_STAYED_ON://Setting it faulty does not help, but we need to reach a stable state and can check for being faulty before throwing this event again.
+            // HEATER_STAYED_ON is a setting if faulty does not help, but we need to reach a stable state and can check
+            // for being faulty before throwing this event again.
+            case HEATER_STAYED_ON:
                 if (healthHelper.healthTable->isCommandable(getObjectId())) {
                     healthHelper.setHealth(HasHealthIF::FAULTY);
                     internalState = STATE_FAULTY;

thermal/Heater.h

@@ -1,13 +1,13 @@
-#ifndef FRAMEWORK_THERMAL_HEATER_H_
+#ifndef FSFW_THERMAL_HEATER_H_
-#define FRAMEWORK_THERMAL_HEATER_H_
+#define FSFW_THERMAL_HEATER_H_
 
 #include "../devicehandlers/HealthDevice.h"
 #include "../parameters/ParameterHelper.h"
 #include "../power/PowerSwitchIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
-#include <stdint.h>
+#include <cstdint>
-//class RedundantHeater;
+
 
 class Heater: public HealthDevice, public ReceivesParameterMessagesIF {
     friend class RedundantHeater;
@@ -47,35 +47,38 @@ protected:
         STATE_PASSIVE,
         STATE_WAIT_FOR_SWITCHES_ON,
         STATE_WAIT_FOR_SWITCHES_OFF,
-		STATE_WAIT_FOR_FDIR, //used to avoid doing anything until fdir decided what to do
+        STATE_WAIT_FOR_FDIR, // Used to avoid doing anything until fdir decided what to do
         STATE_FAULTY,
-		STATE_WAIT, //used when waiting for system to recover from miniops
+        STATE_WAIT, // Used when waiting for system to recover from miniops
-		STATE_EXTERNAL_CONTROL //entered when under external control and a fdir reaction would be triggered. This is useful when leaving external control into an unknown state
+        // Entered when under external control and a fdir reaction would be triggered.
-							   //if no fdir reaction is triggered under external control the state is still ok and no need for any special treatment is needed
+        // This is useful when leaving external control into an unknown state
+        STATE_EXTERNAL_CONTROL
+        // If no fdir reaction is triggered under external control the state is still ok and
+        // no need for any special treatment is needed
     } internalState;
 
-	PowerSwitchIF *powerSwitcher;
+    PowerSwitchIF *powerSwitcher = nullptr;
-	MessageQueueId_t pcduQueueId;
+    MessageQueueId_t pcduQueueId = MessageQueueIF::NO_QUEUE;
 
     uint8_t switch0;
     uint8_t switch1;
 
-	bool wasOn;
+    bool wasOn = false;
 
-	bool timedOut;
+    bool timedOut = false;
 
-	bool reactedToBeingFaulty;
+    bool reactedToBeingFaulty = false;
 
-	bool passive;
+    bool passive = false;
 
-	MessageQueueIF* eventQueue;
+    MessageQueueIF* eventQueue = nullptr;
     Countdown heaterOnCountdown;
     Countdown switchCountdown;
     ParameterHelper parameterHelper;
 
     enum Action {
         SET, CLEAR
-	} lastAction;
+    } lastAction = CLEAR;
 
     void doAction(Action action);
 
@@ -87,4 +90,4 @@ protected:
     void handleEventQueue();
 };
 
-#endif /* FRAMEWORK_THERMAL_HEATER_H_ */
+#endif /* FSFW_THERMAL_HEATER_H_ */

thermal/TemperatureSensor.h

@@ -1,11 +1,14 @@
-#ifndef TEMPERATURESENSOR_H_
+#ifndef FSFW_THERMAL_TEMPERATURESENSOR_H_
-#define TEMPERATURESENSOR_H_
+#define FSFW_THERMAL_TEMPERATURESENSOR_H_
 
-#include "../thermal/AbstractTemperatureSensor.h"
+#include "tcsDefinitions.h"
-#include "../datapoolglob/GlobalDataSet.h"
+#include "AbstractTemperatureSensor.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
 #include "../monitoring/LimitMonitor.h"
 
+
 /**
  * @brief 	This building block handles non-linear value conversion and
  * 			range checks for analog temperature sensors.
@@ -58,26 +61,24 @@ public:
 	/**
 	 * Instantiate Temperature Sensor Object.
 	 * @param setObjectid       objectId of the sensor object
-	 * @param inputValue Input value which is converted to a temperature
+	 * @param inputTemperature  Pointer to a raw input value which is converted to an floating
-	 * @param poolVariable Pool Variable to store the temperature value
+	 *                          point C output temperature
+	 * @param outputGpid        Global Pool ID of the output value
 	 * @param vectorIndex       Vector Index for the sensor monitor
 	 * @param parameters        Calculation parameters, temperature limits, gradient limit
-	 * @param datapoolId Datapool ID of the output temperature
 	 * @param outputSet         Output dataset for the output temperature to fetch it with read()
-	 * @param thermalModule respective thermal module, if it has one
+	 * @param thermalModule     Respective thermal module, if it has one
 	 */
-	TemperatureSensor(object_id_t setObjectid,
+	TemperatureSensor(object_id_t setObjectid,lp_var_t<limitType>* inputTemperature,
-			inputType *inputValue, PoolVariableIF *poolVariable,
+			gp_id_t outputGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
-			uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) :
-			GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
 			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
-			inputValue(inputValue), poolVariable(poolVariable),
+			inputTemperature(inputTemperature),
-			outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
+			outputTemperature(outputGpid, outputSet, PoolVariableIF::VAR_WRITE),
-			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, outputGpid,
-				GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
 				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
 				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
-			oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
+			oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) {
 	}
 
 
@@ -98,7 +99,7 @@ protected:
 
 private:
 	void setInvalid() {
-		outputTemperature = INVALID_TEMPERATURE;
+		outputTemperature = thermal::INVALID_TEMPERATURE;
 		outputTemperature.setValid(false);
 		uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
 		sensorMonitor.setToInvalid();
@@ -108,11 +109,8 @@ protected:
 
 	UsedParameters parameters;
 
-	inputType * inputValue;
+	lp_var_t<limitType>* inputTemperature;
-
+	lp_var_t<float> outputTemperature;
-	PoolVariableIF *poolVariable;
-
-	gp_float_t outputTemperature;
 
 	LimitMonitor<limitType> sensorMonitor;
 
@@ -120,13 +118,18 @@ protected:
 	timeval uptimeOfOldTemperature;
 
 	void doChildOperation() {
-		if (!poolVariable->isValid()
+		ReturnValue_t result = inputTemperature->read(MutexIF::TimeoutType::WAITING, 20);
-				|| !healthHelper.healthTable->isHealthy(getObjectId())) {
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return;
+		}
+
+		if ((not inputTemperature->isValid()) or
+		        (not healthHelper.healthTable->isHealthy(getObjectId()))) {
 			setInvalid();
 			return;
 		}
 
-		outputTemperature = calculateOutputTemperature(*inputValue);
+		outputTemperature = calculateOutputTemperature(inputTemperature->value);
 		outputTemperature.setValid(PoolVariableIF::VALID);
 
 		timeval uptime;
@@ -148,17 +151,17 @@ protected:
 			}
 			if (parameters.gradient < deltaTemp / deltaTime) {
 				triggerEvent(TEMP_SENSOR_GRADIENT);
-				//Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it
+				// Don't set invalid, as we did not recognize it as invalid with full authority,
+				// let FDIR handle it
 			}
 		}
 
-		//Check is done against raw limits. SHOULDDO: Why? Using <20>C would be more easy to handle.
 		sensorMonitor.doCheck(outputTemperature.value);
 
 		if (sensorMonitor.isOutOfLimits()) {
 			uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
 			outputTemperature.setValid(PoolVariableIF::INVALID);
-			outputTemperature = INVALID_TEMPERATURE;
+			outputTemperature = thermal::INVALID_TEMPERATURE;
 		} else {
 			oldTemperature = outputTemperature;
 			uptimeOfOldTemperature = uptime;
@@ -179,7 +182,10 @@ public:
 	static const uint16_t ADDRESS_C = 2;
 	static const uint16_t ADDRESS_GRADIENT = 3;
 
-	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
+	//! Changed due to issue with later temperature checking even tough the sensor monitor was
+	//! confirming already (Was 10 before with comment = Correlates to a 10s confirmation time.
+	//! Chosen rather large, should not be so bad for components and helps survive glitches.)
+	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1;
 
 	static const uint8_t DOMAIN_ID_SENSOR = 1;
 
@@ -219,4 +225,4 @@ public:
 
 };
 
-#endif /* TEMPERATURESENSOR_H_ */
+#endif /* FSFW_THERMAL_TEMPERATURESENSOR_H_ */

timemanager/TimeMessage.cpp

@@ -25,6 +25,6 @@ uint32_t TimeMessage::getCounterValue() {
 	return temp;
 }
 
-size_t TimeMessage::getMinimumMessageSize() {
+size_t TimeMessage::getMinimumMessageSize() const {
 	return this->MAX_SIZE;
 }

timemanager/TimeMessage.h

@@ -11,7 +11,7 @@ protected:
 	 * @brief	This call always returns the same fixed size of the message.
 	 * @return	Returns HEADER_SIZE + \c sizeof(timeval) + sizeof(uint32_t).
 	 */
-	size_t getMinimumMessageSize();
+	size_t getMinimumMessageSize() const override;
 public:
 
 	/**

tmtcservices/TmTcBridge.cpp

@@ -16,7 +16,9 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
-TmTcBridge::~TmTcBridge() {}
+TmTcBridge::~TmTcBridge() {
+    QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue);
+}
 
 ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		uint8_t sentPacketsPerCycle) {