Merge branch 'eive/develop' into meier/uioMapper

.clang-format

@@ -0,0 +1,7 @@
+---
+BasedOnStyle: Google
+IndentWidth: 2
+---
+Language: Cpp
+ColumnLimit: 100
+---

CMakeLists.txt

@@ -4,6 +4,9 @@ set(FSFW_VERSION 2)
 set(FSFW_SUBVERSION 0)
 set(FSFW_REVISION 0)
 
+# Add the cmake folder so the FindSphinx module is found
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
 )
@@ -12,6 +15,7 @@ if(FSFW_GENERATE_SECTIONS)
 endif()
 
 option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
     option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
@@ -36,7 +40,9 @@ option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
 set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
+set(FSFW_DUMMY_TGT fsfw-dummy)
 
+project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
 if(FSFW_BUILD_UNITTESTS)
@@ -59,7 +65,6 @@ if(FSFW_BUILD_UNITTESTS)
     set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
     configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
     configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in OBSWConfig.h)
 
     project(${FSFW_TEST_TGT} CXX C)
     add_executable(${FSFW_TEST_TGT})
@@ -147,7 +152,7 @@ else()
     set(OS_FSFW "host")
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS)
     configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
     configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 else()
@@ -163,6 +168,9 @@ if(FSFW_ADD_HAL)
     add_subdirectory(hal)
 endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_DOCS)
+    add_subdirectory(docs)
+endif()
 
 if(FSFW_BUILD_UNITTESTS)
     if(FSFW_TESTS_GEN_COV)
@@ -234,9 +242,11 @@ endif()
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-    message(WARNING "Flight Software Framework configuration path not set!")
     set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+    if(NOT FSFW_BUILD_DOCS)
+        message(WARNING "Flight Software Framework configuration path not set!")
         message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    endif()
     add_subdirectory(${DEF_CONF_PATH})
     set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()

README.md

@@ -42,7 +42,7 @@ There are some functions like `printChar` which are different depending on the t
 and need to be implemented by the mission developer.
 
 A template configuration folder was provided and can be copied into the project root to have
-a starting point. The [configuration section](doc/README-config.md#top) provides more specific 
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
 ## Adding the library
@@ -107,16 +107,22 @@ cmake --build . -- fsfw-tests_coverage -j
 
 The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
 
+## Formatting the sources
+
+The formatting is done by the `clang-format` tool. The configuration is contained within the
+`.clang-format` file in the repository root. As long as `clang-format` is installed, you
+can run the `apply-clang-format.sh` helper script to format all source files consistently.
+
 ## Index
 
-[1. High-level overview](doc/README-highlevel.md#top) <br>
+[1. High-level overview](docs/README-highlevel.md#top) <br>
-[2. Core components](doc/README-core.md#top) <br>
+[2. Core components](docs/README-core.md#top) <br>
-[3. Configuration](doc/README-config.md#top) <br>
+[3. Configuration](docs/README-config.md#top) <br>
-[4. OSAL overview](doc/README-osal.md#top) <br>
+[4. OSAL overview](docs/README-osal.md#top) <br>
-[5. PUS services](doc/README-pus.md#top) <br>
+[5. PUS services](docs/README-pus.md#top) <br>
-[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
+[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
-[7. Controller overview](doc/README-controllers.md#top) <br>
+[7. Controller overview](docs/README-controllers.md#top) <br>
-[8. Local Data Pools](doc/README-localpools.md#top) <br>
+[8. Local Data Pools](docs/README-localpools.md#top) <br>
 
 
 

cmake/FindSphinx.cmake

@@ -0,0 +1,13 @@
+# Look for an executable called sphinx-build
+find_program(SPHINX_EXECUTABLE
+             NAMES sphinx-build
+             DOC "Path to sphinx-build executable")
+
+include(FindPackageHandleStandardArgs)
+
+# Handle standard arguments to find_package like REQUIRED and QUIET
+find_package_handle_standard_args(
+    Sphinx
+    "Failed to find sphinx-build executable"
+    SPHINX_EXECUTABLE
+)

docs/CMakeLists.txt

@@ -0,0 +1,66 @@
+# This is based on this excellent posting provided by Sy: 
+# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
+find_package(Doxygen REQUIRED)
+find_package(Sphinx REQUIRED)
+
+get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
+# TODO: Add HAL as well
+file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
+file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
+
+set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
+set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
+set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
+set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
+set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+# Replace variables inside @@ with the current values
+configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
+
+# Doxygen won't create this for us
+file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
+
+# Only regenerate Doxygen when the Doxyfile or public headers change
+add_custom_command(
+  OUTPUT ${DOXYGEN_INDEX_FILE}
+  DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
+  COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
+  MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
+  COMMENT "Generating docs"
+  VERBATIM
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
+
+set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
+set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
+set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
+
+# Only regenerate Sphinx when:
+# - Doxygen has rerun
+# - Our doc files have been updated
+# - The Sphinx config has been updated
+add_custom_command(
+  OUTPUT ${SPHINX_INDEX_FILE}
+  COMMAND
+    ${SPHINX_EXECUTABLE} -b html
+    # Tell Breathe where to find the Doxygen output
+    -Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
+  ${SPHINX_SOURCE} ${SPHINX_BUILD}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  DEPENDS
+  # Other docs files you want to track should go here (or in some variable)
+  ${RST_DOC_FILES}
+  ${DOXYGEN_INDEX_FILE}
+  MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
+  COMMENT "Generating documentation with Sphinx"
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
+
+# Add an install target to install the docs
+include(GNUInstallDirs)
+install(DIRECTORY ${SPHINX_BUILD}
+DESTINATION ${CMAKE_INSTALL_DOCDIR})

docs/Doxyfile.in

@@ -0,0 +1,7 @@
+INPUT = "@DOXYGEN_INPUT_DIR@"
+
+RECURSIVE = YES
+
+OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
+
+GENERATE_XML = YES

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README-localpools.md

@@ -31,7 +31,9 @@ cohesive pool variables. These sets simply iterator over the list of variables a
 `read` and `commit` functions of each variable. The following diagram shows the
 high-level architecture of the local data pools.
 
-<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
 
 An example is shown for using the local data pools with a Gyroscope.
 For example, the following code shows an implementation to access data from a Gyroscope taken

docs/api.rst

@@ -0,0 +1,16 @@
+API
+====
+
+.. toctree::
+   :maxdepth: 4
+
+   api/objectmanager
+   api/task
+   api/ipc
+   api/returnvalue
+   api/event
+   api/modes
+   api/health
+   api/action
+   api/devicehandler
+   api/controller

docs/api/action.rst

@@ -0,0 +1,15 @@
+Action Module API
+=================
+
+``ActionHelper``
+-----------------
+
+.. doxygenclass:: ActionHelper
+	:members:
+
+``HasActionsIF``
+-----------------
+
+.. doxygenclass:: HasActionsIF
+	:members:
+	:protected-members:

docs/api/controller.rst

@@ -0,0 +1,16 @@
+Controller API
+=================
+
+``ControllerBase``
+-------------------------
+
+.. doxygenclass:: ControllerBase
+	:members:
+	:protected-members:
+
+``ExtendedControllerBase``
+-----------------------------
+
+.. doxygenclass:: ExtendedControllerBase
+	:members:
+	:protected-members:

docs/api/devicehandler.rst

@@ -0,0 +1,16 @@
+Device Handler Base API
+=========================
+
+``DeviceHandlerBase``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerBase
+	:members:
+	:protected-members:
+
+``DeviceHandlerIF``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerIF
+	:members:
+	:protected-members:

docs/api/event.rst

@@ -0,0 +1,6 @@
+.. _eventapi:
+
+Event API
+============
+
+.. doxygenfile:: Event.h

docs/api/health.rst

@@ -0,0 +1,9 @@
+Health API
+===========
+
+``HasHealthIF``
+------------------
+
+.. doxygenclass:: HasHealthIF
+	:members:
+	:protected-members:

docs/api/ipc.rst

@@ -0,0 +1,9 @@
+IPC Module API
+=================
+
+``MessageQueueIF``
+-------------------
+
+.. doxygenclass:: MessageQueueIF
+	:members:
+	:protected-members:

docs/api/modes.rst

@@ -0,0 +1,10 @@
+Modes API
+=========
+
+
+``HasModesIF``
+---------------
+
+.. doxygenclass:: HasModesIF
+	:members:
+	:protected-members:

docs/api/objectmanager.rst

@@ -0,0 +1,30 @@
+Object Manager API
+=========================
+
+``SystemObject``
+--------------------
+
+.. doxygenclass:: SystemObject
+	:members:
+	:protected-members:
+
+``ObjectManager``
+-----------------------
+
+.. doxygenclass:: ObjectManager
+	:members:
+	:protected-members:
+
+``SystemObjectIF``
+--------------------
+
+.. doxygenclass:: SystemObjectIF
+	:members:
+	:protected-members:
+
+``ObjectManagerIF``
+-----------------------
+
+.. doxygenclass:: ObjectManagerIF
+	:members:
+	:protected-members:

docs/api/returnvalue.rst

@@ -0,0 +1,10 @@
+.. _retvalapi:
+
+Returnvalue API
+==================
+
+.. doxygenfile:: HasReturnvaluesIF.h
+
+.. _fwclassids:
+
+.. doxygenfile:: FwClassIds.h

docs/api/task.rst

@@ -0,0 +1,8 @@
+Task API
+=========
+
+``ExecutableObjectIF``
+-----------------------
+
+.. doxygenclass:: ExecutableObjectIF
+	:members:

docs/conf.py

@@ -0,0 +1,56 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'Flight Software Framework'
+copyright = '2021, Institute of Space Systems (IRS)'
+author = 'Institute of Space Systems (IRS)'
+
+# The full version, including alpha/beta/rc tags
+release = '2.0.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [ "breathe" ]
+
+breathe_default_project = "fsfw"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []

docs/config.rst

@@ -0,0 +1,41 @@
+Configuring the FSFW
+=====================
+
+The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
+``misc/defaultcfg`` to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
+of the available options will be explained in more detail here.
+
+Auto-Translation of Events
+----------------------------
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the
+   `fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
+3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
+   and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
+4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
+   ``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
+
+An example implementations of these translation file generators can be found as part
+of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
+or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
+
+Configuring the Event Manager
+----------------------------------
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+.. code-block:: cpp
+
+   namespace fsfwconfig {
+   //! Configure the allocated pool sizes for the event manager.
+   static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+   static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+   static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+   }

docs/controllers.rst

@@ -0,0 +1,2 @@
+Controllers
+=============

docs/core.rst

@@ -0,0 +1,70 @@
+.. _core:
+
+Core Modules
+=============
+
+The core modules provide the most important functionalities of the Flight Software Framework.
+
+Clock
+------
+
+- This is a class of static functions that can be used at anytime
+- Leap Seconds must be set if any time conversions from UTC to other times is used
+
+Object Manager
+---------------
+
+- Must be created during program startup
+- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
+  component.
+- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
+  framework objects.
+- A reference to an object can be retrieved by calling the ``get`` function of
+  :cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
+  A ``nullptr`` check of the returning pointer must be done. This function is based on
+  run-time type information.
+
+	.. code-block:: cpp
+
+		template <typename T> T* ObjectManagerIF::get(object_id_t id);
+
+- A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
+  produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
+  afterwards.
+
+Event Manager
+---------------
+
+- Component which allows routing of events
+- Other objects can subscribe to specific events, ranges of events or all events of an object.
+- Subscriptions can be done during runtime but should be done during initialization
+- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
+
+Health Table
+---------------
+
+- A component which holds every health state
+- Provides a thread safe way to access all health states without the need of message exchanges
+
+Stores
+--------------
+
+- The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+- All of them should use the Thread Safe Class storagemanager/PoolManager
+
+Tasks
+---------
+
+There are two different types of tasks:
+
+- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+  insertion to the Tasks.
+- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+  DeviceHandlers, where polling should be in a defined order. An example can be found in 
+  ``defaultcfg/fsfwconfig/pollingSequence`` folder
+

docs/devicehandlers.rst

@@ -0,0 +1,3 @@
+Device Handlers
+==================
+

docs/getting_started.rst

@@ -0,0 +1,115 @@
+Getting Started
+================
+
+
+Getting started
+----------------
+
+The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
+It is recommended to get started by building and playing around with the demo application.
+There are also other examples provided for all OSALs using the popular embedded platforms
+Raspberry Pi, Beagle Bone Black and STM32H7.
+
+Generally, the FSFW is included in a project by providing
+a configuration folder, building the static library and linking against it. 
+There are some functions like ``printChar`` which are different depending on the target architecture
+and need to be implemented by the mission developer.
+
+A template configuration folder was provided and can be copied into the project root to have
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
+information about the possible options.
+
+Adding the library
+-------------------
+
+The following steps show how to add and use FSFW components. It is still recommended to
+try out the example mentioned above to get started, but the following steps show how to
+add and link against the FSFW library in general.
+
+1. Add this repository as a submodule
+
+   .. code-block:: console
+
+      git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
+
+2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
+
+   .. code-block:: cmake
+
+      add_subdirectory(fsfw)
+
+3. Make sure to provide a configuration folder and supply the path to that folder with
+   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
+   It is also necessary to provide the `printChar` function. You can find an example
+   implementation for a hosted build
+   `here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
+
+4. Link against the FSFW library
+
+   .. code-block:: cmake
+
+      target_link_libraries(<YourProjectName> PRIVATE fsfw)
+
+
+5. It should now be possible use the FSFW as a static library from the user code.
+
+Building the unittests
+-------------------------
+
+The FSFW also has unittests which use the `Catch2 library`_.
+These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
+from your project `CMakeLists.txt` file or from the command line.
+
+The fsfw-tests binary will be built as part of the static library and dropped alongside it.
+If the unittests are built, the library and the tests will be built with coverage information by
+default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
+
+You can use the following commands inside the ``fsfw`` folder to set up the build system
+
+.. code-block:: console
+
+   mkdir build-tests && cd build-tests
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+
+
+You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
+
+Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
+To build the unittests, run them and then generare the coverage data in this format,
+the following command can be used inside the build directory after the build system was set up
+
+.. code-block:: console
+
+   cmake --build . -- fsfw-tests_coverage -j
+
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the unittests conveniently. Try ``helper.py -h`` for more information.
+
+Building the documentation
+----------------------------
+
+The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
+documentation build system using the following commands
+
+.. code-block:: bash
+
+   mkdir build-docs && cd build-docs
+   cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
+
+Then you can generate the documentation using
+
+.. code-block:: bash
+
+   cmake --build . -j
+
+You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
+folder. Simply open the ``index.html`` in the webbrowser of your choice.
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the documentation conveniently. Try ``helper.py -h`` for more information.
+
+.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
+.. _`Catch2 library`: https://github.com/catchorg/Catch2
+.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

docs/highlevel.rst

@@ -0,0 +1,149 @@
+.. _highlevel:
+
+High-level overview
+===================
+
+Structure
+----------
+
+The general structure is driven by the usage of interfaces provided by objects.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
+This simplifies the instantiation of objects and allows the usage of some standard containers.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+
+Failure Handling
+-----------------
+
+Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
+or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
+See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
+``fsfwconfig`` folder.
+
+OSAL
+------------
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
+The :ref:`OSAL README <osal>` provides more detailed information on provided components
+and how to use them.
+
+Core Components
+----------------
+
+The FSFW has following core components. More detailed informations can be found in the
+:ref:`core component section <core>`:
+
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
+4. Clock: This module provided common time related functions
+5. EventManager: This module allows routing of events generated by `SystemObjects`
+6. HealthTable: A component which stores the health states of objects
+
+Static IDs in the framework
+--------------------------------
+
+Some parts of the framework use a static routing address for communication.
+An example setup of IDs can be found in the example config in ``misc/defaultcfg/fsfwconfig/objects``
+inside the function ``Factory::setStaticFrameworkObjectIds``.
+
+Events
+----------------
+
+Events are tied to objects. EventIds can be generated by calling the
+:ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
+This works analog to the returnvalues. Every object that needs own Event IDs has to get a
+unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
+:cpp:func:`SystemObject::triggerEvent` from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
+
+Internal Communication
+-------------------------
+
+Components communicate mostly via Messages through Queues.
+Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
+will create `MessageQueue` instances for the used OSAL.
+
+External Communication
+--------------------------
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used.
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+TMTC Communication
+~~~~~~~~~~~~~~~~~~~
+
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in ``osal/common``. The FSFW example uses this functionality to allow sending
+telecommands and receiving telemetry using the
+`TMTC commander application <https://github.com/robamu-org/tmtccmd>`_.
+
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+``tmtc_client_cli.py`` or ``tmtc_client_gui.py`` utility in
+the `example tmtc folder <https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc>`_
+while the `fsfw_example` application is running.
+
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the ``TmTcBridge`` implementation.
+
+CCSDS Frames, CCSDS Space Packets and PUS
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in ``tcdistribution``.
+If Space Packets are used, a timestamper has to be provided by the user.
+An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
+
+Device Handlers
+--------------------------
+
+DeviceHandlers are another important component of the FSFW. The idea is, to have a software
+counterpart of every physical device to provide a simple mode, health and commanding interface.
+By separating the underlying Communication Interface with
+``DeviceCommunicationIF``, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+for FDIR reaction.  Device Handlers can be created by implementing ``DeviceHandlerBase``.
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related [documentation section](doc/README-devicehandlers.md#top).
+
+Modes and Health
+--------------------
+
+The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
+of components. On-board mode management is implement in hierarchy system.
+
+- Device handlers and controllers are the lowest part of the hierarchy.
+- The next layer are assemblies. Those assemblies act as a component which handle
+  redundancies of handlers. Assemblies share a common core with the top level subsystem components
+- The top level subsystem components are used to group assemblies, controllers and device handlers.
+  For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
+
+Those assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component.
+The target table is used to describe the state that is checked continuously by the subsystem.
+All of this allows System Modes to be generated as Subsystem object as well from the same database.
+This System contains list of subsystem modes in the transition and target tables.
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks.
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery.

docs/index.rst

@@ -0,0 +1,69 @@
+.. Flight Software Framework documentation master file, created by
+   sphinx-quickstart on Tue Nov 30 10:56:03 2021.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Flight Software Framework (FSFW) documentation
+================================================
+
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
+The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
+automated systems like Satellites. 
+
+The initial version of the Flight Software Framework was developed during
+the Flying Laptop Project by the University of Stuttgart in cooperation
+with Airbus Defence and Space GmbH.
+
+Quick facts
+---------------
+
+The framework is designed for systems, which communicate with external devices, perform control
+loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
+Therefore, a mode and health system provides control over the states of the software and the
+controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
+recovery is implemented as well.
+
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system
+abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
+also very useful for developers to implement the same application logic on different operating
+systems with a uniform interface.
+
+Currently, the FSFW provides the following OSALs:
+
+- Linux
+- Host 
+- FreeRTOS
+- RTEMS
+
+The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
+memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
+ISISPACE IOBC or a Zynq-7020 SoC. The ``fsfw`` was also successfully run on the
+STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
+satellite mission Flying Laptop.
+
+Index
+-------
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   getting_started
+   highlevel
+   core
+   config
+   osal
+   pus
+   devicehandlers
+   controllers
+   localpools
+   api
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

docs/localpools.rst

@@ -0,0 +1,181 @@
+Local Data Pools
+=========================================
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be
+used by other software objects like controllers as well. If a custom class should have a local
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a ``LocalDataPoolManager`` member object in the custom class
+2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
+   manager and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change
+detected by the data creator instead of checking the data manually each cycle. Two important
+framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
+shown above so the steps required are altered slightly.
+
+Storing and Accessing pool data
+-------------------------------------
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
+The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all
+cohesive pool variables. These sets simply iterator over the list of variables and call the
+``read`` and ``commit`` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+.. image:: ../docs/images/PoolArchitecture.png
+	:alt: Pool Architecture
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+.. code-block:: cpp
+
+	class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+	public:
+	    /**
+	     * Constructor for data users
+	     * @param gyroId
+	     */
+	    GyroPrimaryDataset(object_id_t gyroId):
+	            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+	        setAllVariablesReadOnly();
+	    }
+
+	    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_X, this);
+	    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Y, this);
+	    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Z, this);
+	private:
+
+	    friend class GyroHandler;
+	    /**
+	     * Constructor for data creator
+	     * @param hkOwner
+	     */
+	    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+	            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+	};
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
+as a friend class. Both the atittude controller and the ``GyroHandler`` can now
+use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+Using the local data pools in a ``DeviceHandlerBase`` subclass
+--------------------------------------------------------------
+
+It is very common to store data generated by devices like a sensor into a pool which can
+then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
+local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
+as a member:
+
+.. code-block:: cpp
+
+	class GyroHandler: ... {
+
+	public:
+		...
+	private:
+		...
+		GyroPrimaryDataset gyroData;
+		...
+	};
+
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+.. code-block:: cpp
+
+	GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+	        CookieIF *comCookie, uint8_t switchId):
+	        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+			gyroData(this) {}
+
+
+We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
+The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
+``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local
+pool manager can access the custom data sets as well.
+By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
+``DeviceHandlerBase`` subclass will use the internal command map to retrieve
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the ``fillCommandAndReplyMap`` function:
+
+.. code-block:: cpp
+
+	void GyroHandler::fillCommandAndReplyMap() {
+		...
+		this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+		...
+	}
+
+
+Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
+function. Here, we also immediately subscribe for periodic housekeeping packets
+with an interval of 4 seconds. They are still disabled in this example and can be enabled
+with a housekeeping service command.
+
+.. code-block:: cpp
+
+	ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+			LocalDataPoolManager &poolManager) {
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+				new PoolEntry<uint8_t>({0}));
+		localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+				new PoolEntry<uint8_t>({0}));
+
+		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+Now, if we receive some sensor data and converted them into the right format,
+we can write it into the pool like this, using a guard class to ensure the set is commited back
+in any case:
+
+.. code-block:: cpp
+
+	PoolReadGuard readHelper(&gyroData);
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+		if(not gyroData.isValid()) {
+			gyroData.setValidity(true, true);
+		}
+
+		gyroData.angVelocityX = angularVelocityX;
+		gyroData.angVelocityY = angularVelocityY;
+		gyroData.angVelocityZ = angularVelocityZ;
+	}
+
+
+The guard class will commit the changed data on destruction automatically.
+
+Using the local data pools in a ``ExtendedControllerBase`` subclass
+----------------------------------------------------------------------
+
+Coming soon
+
+

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/osal.rst

@@ -0,0 +1,63 @@
+.. _osal:
+
+Operating System Abstraction Layer (OSAL)
+============================================
+
+Some specific information on the provided OSALs are provided.
+
+Linux
+-------
+
+This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
+embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
+and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
+``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
+will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
+to be configured specifically to allow the real-time functionalities required by the FSFW.
+
+Hosted OSAL
+-------------------
+
+This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
+implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
+FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
+the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
+Cross-platform serial port (USB) support might be added soon.
+
+FreeRTOS OSAL
+------------------
+
+FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
+adding the  ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
+extensively with the pre-emptive scheduler configuration so far but it should in principle also be
+possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
+When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
+the FreeRTOS configuration file to ensure thread-safety.
+
+When using this OSAL, developers also need to provide an implementation for the
+``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
+switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
+the target architecture or device.
+
+RTEMS OSAL
+---------------
+
+The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
+
+TCP/IP socket abstraction
+------------------------------
+
+The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
+have been imlemented. This is very useful to test TMTC handling either on the host computer
+directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
+TMTC packets via Ethernet.
+
+Example Applications
+----------------------
+
+There are example applications available for each OSAL
+
+- `Hosted OSAL <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted>`_
+- `Linux OSAL for MCUs <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu>`_
+- `FreeRTOS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos>`_
+- `RTEMS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems>`_

docs/pus.rst

@@ -0,0 +1,2 @@
+PUS Services
+==============

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -16,8 +16,8 @@ enum Levels: uint8_t {
 };
 
 enum Direction: uint8_t {
-    IN = 0,
+    DIR_IN = 0,
-    OUT = 1
+    DIR_OUT = 1
 };
 
 enum GpioOperation {
@@ -30,7 +30,7 @@ enum class GpioTypes {
     GPIO_REGULAR_BY_CHIP,
     GPIO_REGULAR_BY_LABEL,
     GPIO_REGULAR_BY_LINE_NAME,
-    CALLBACK
+    TYPE_CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
@@ -68,7 +68,7 @@ public:
     // Can be used to cast GpioBase to a concrete child implementation
     gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
     std::string consumer;
-    gpio::Direction direction = gpio::Direction::IN;
+    gpio::Direction direction = gpio::Direction::DIR_IN;
     gpio::Levels initValue = gpio::Levels::NONE;
 };
 
@@ -92,7 +92,7 @@ class GpiodRegularByChip: public GpiodRegularBase {
 public:
     GpiodRegularByChip() :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
-                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+                    std::string(), gpio::Direction::DIR_IN, gpio::LOW, 0) {
     }
 
     GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
@@ -104,7 +104,7 @@ public:
 
     GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                    gpio::Direction::DIR_IN, gpio::LOW, lineNum_),
             chipname(chipname_) {
     }
 
@@ -122,7 +122,7 @@ public:
 
     GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                    gpio::Direction::DIR_IN, gpio::LOW, lineNum_),
             label(label_) {
     }
 
@@ -144,7 +144,7 @@ public:
 
     GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
-                    gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
+                    gpio::Direction::DIR_IN, gpio::LOW), lineName(lineName_) {
     }
 
     std::string lineName;
@@ -154,7 +154,7 @@ class GpioCallback: public GpioBase {
 public:
     GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
             gpio::gpio_cb_t callback, void* callbackArgs):
-            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+            GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_),
             callback(callback), callbackArgs(callbackArgs) {}
 
     gpio::gpio_cb_t callback = nullptr;

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -9,7 +9,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(10);
 #endif
 }
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -12,7 +12,7 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         dataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(10);
 #endif
     // Set to default values right away
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
@@ -283,7 +283,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
         int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
                 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
 
-        /* Target value in microtesla */
+        // Target value in microtesla
         float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
                 *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
         float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
@@ -489,7 +489,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
 }
 
 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-
+    DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
 }
 
 uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -12,7 +12,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         primaryDataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(10);
 #endif
 }
 

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,6 +4,7 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,210 @@
+#include "CommandExecutor.h"
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+CommandExecutor::CommandExecutor(const size_t maxSize):
+readVec(maxSize) {
+    waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+    if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+
+    currentCmd = command;
+    this->blocking = blocking;
+    this->printOutput = printOutput;
+    if(state == States::IDLE) {
+        state = States::COMMAND_LOADED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+    if(state == States::IDLE) {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    else if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+    currentCmdFile = popen(currentCmd.c_str(), "r");
+    if(currentCmdFile == nullptr) {
+        lastError = errno;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(blocking) {
+        return executeBlocking();
+    }
+    else {
+        currentFd = fileno(currentCmdFile);
+        waiter.fd = currentFd;
+    }
+    state = States::PENDING;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+    if(state == States::PENDING) {
+        // Attempt to close process, irrespective of if it is running or not
+        if(currentCmdFile != nullptr) {
+            pclose(currentCmdFile);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+    if(lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << funcName << " pclose failed with code " << lastError << ": " <<
+                strerror(lastError) << std::endl;
+#else
+        sif::printError("%s pclose failed with code %d: %s\n",
+                funcName, lastError, strerror(lastError));
+#endif
+    }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
+        DynamicFIFO<uint16_t>* sizesFifo) {
+    this->ringBuffer = ringBuffer;
+    this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& bytesRead) {
+    if(blocking) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    switch(state) {
+    case(States::IDLE):
+    case(States::COMMAND_LOADED): {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case(States::PENDING): {
+        break;
+    }
+    }
+
+    int result = poll(&waiter, 1, 0);
+    switch(result) {
+    case(0): {
+        return HasReturnvaluesIF::RETURN_OK;
+        break;
+    }
+    case(1): {
+        if (waiter.revents & POLLIN) {
+            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+            if(readBytes == 0) {
+                // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: No bytes read "
+                        "after poll event.." << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+                break;
+            }
+            else if(readBytes > 0) {
+                bytesRead = true;
+                if(printOutput) {
+                    // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                    sif::info << currentCmd << " | " << readVec.data();
+#else
+                    sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+                }
+                if(ringBuffer != nullptr) {
+                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
+                            readVec.data()), readBytes);
+                }
+                if(sizesFifo != nullptr) {
+                    if(not sizesFifo->full()) {
+                        sizesFifo->insert(readBytes);
+                    }
+                }
+                return BYTES_READ;
+            }
+            else {
+                // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
+                        strerror(errno) << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+            }
+        }
+        else if(waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+            sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+            return COMMAND_ERROR;
+        }
+        else if(waiter.revents & POLLHUP) {
+            int result = pclose(currentCmdFile);
+            if(result != 0) {
+                lastError = result;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            state = States::IDLE;
+            currentCmdFile = nullptr;
+            currentFd = 0;
+            return EXECUTION_FINISHED;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+    CommandExecutor::close();
+    currentCmdFile = nullptr;
+    currentFd = 0;
+    state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+    return this->lastError;
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const {
+    return state;
+}
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+        std::string output(readVec.data());
+        if(printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << output;
+#else
+            sif::printInfo("%s | %s", currentCmd, output);
+#endif
+        }
+        if(ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+        }
+        if(sizesFifo != nullptr) {
+            if(not sizesFifo->full()) {
+                sizesFifo->insert(output.size());
+            }
+        }
+    }
+    int result = pclose(currentCmdFile);
+    if(result != 0) {
+        lastError = result;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,134 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+class SimpleRingBuffer;
+template <typename T> class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+public:
+    enum class States {
+        IDLE,
+        COMMAND_LOADED,
+        PENDING
+    };
+
+    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+    //! [EXPORT] : [COMMENT] Execution of the current command has finished
+    static constexpr ReturnValue_t EXECUTION_FINISHED =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+    //! to load another command but a command is still pending
+    static constexpr ReturnValue_t COMMAND_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+    static constexpr ReturnValue_t BYTES_READ =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static constexpr ReturnValue_t COMMAND_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+    //! [EXPORT] : [COMMENT]
+    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+    /**
+     * Constructor. Is initialized with maximum size of internal buffer to read data from the
+     * executed process.
+     * @param maxSize
+     */
+    CommandExecutor(const size_t maxSize);
+
+    /**
+     * Load a new command which should be executed
+     * @param command
+     * @param blocking
+     * @param printOutput
+     * @return
+     */
+    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+    /**
+     * Execute the loaded command.
+     * @return
+     *  - In blocking mode, it will return RETURN_FAILED if
+     *    the result of the system call was not 0. The error value can be accessed using
+     *    getLastError
+     *  - In non-blocking mode, this call will start
+     *    the execution and then return RETURN_OK
+     */
+    ReturnValue_t execute();
+    /**
+     * Only used in non-blocking mode. Checks the currently running command.
+     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+     * @return
+     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+     *    check again after this
+     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+     *  - EXECUTION_FINISHED if the process was executed successfully
+     *  - COMMAND_ERROR internal poll error
+     */
+    ReturnValue_t check(bool& bytesRead);
+    /**
+     * Abort the current command. Should normally not be necessary, check can be used to find
+     * out whether command execution was successful
+     * @return RETURN_OK
+     */
+    ReturnValue_t close();
+
+    States getCurrentState() const;
+    int getLastError() const;
+    void printLastError(std::string funcName) const;
+
+    /**
+     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+     * read from the started process
+     * @param ringBuffer
+     * @param sizesFifo
+     */
+    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+    /**
+     * Reset the executor. This calls close internally and then reset the state machine so new
+     * commands can be loaded and executed
+     */
+    void reset();
+private:
+    std::string currentCmd;
+    bool blocking = true;
+    FILE* currentCmdFile = nullptr;
+    int currentFd = 0;
+    bool printOutput = true;
+    std::vector<char> readVec;
+    struct pollfd waiter {};
+    SimpleRingBuffer* ringBuffer = nullptr;
+    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+    States state = States::IDLE;
+    int lastError = 0;
+
+    ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -75,7 +75,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
             configureGpioByLineName(gpioConfig.first, *regularGpio);
             break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+        case(gpio::GpioTypes::TYPE_CALLBACK): {
             auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
             if(gpioCallback->callback == nullptr) {
                 return GPIO_INVALID_INSTANCE;
@@ -163,12 +163,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
     consumer = regularGpio.consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
-    case(gpio::OUT): {
+    case(gpio::DIR_OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
                 regularGpio.initValue);
         break;
     }
-    case(gpio::IN): {
+    case(gpio::DIR_IN): {
         result = gpiod_line_request_input(lineHandle, consumer.c_str());
         break;
     }
@@ -330,7 +330,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
             }
             break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+        case(gpio::GpioTypes::TYPE_CALLBACK): {
             auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
             if(callbackGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
@@ -371,13 +371,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
         case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
         case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
         case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
-            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) {
                 eraseDuplicateDifferentType = true;
             }
             break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+        case(gpio::GpioTypes::TYPE_CALLBACK): {
-            if(gpioType != gpio::GpioTypes::CALLBACK) {
+            if(gpioType != gpio::GpioTypes::TYPE_CALLBACK) {
                 eraseDuplicateDifferentType = true;
             }
         }

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -7,7 +7,7 @@
 
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-        std::string consumer, gpio::Direction direction, int initValue) {
+        std::string consumer, gpio::Direction direction, gpio::Levels initValue) {
     if(cookie == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }

hal/src/fsfw_hal/linux/rpi/GpioRPi.h

@@ -20,7 +20,7 @@ namespace gpio {
  * @return
  */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-        std::string consumer, gpio::Direction direction, int initValue);
+        std::string consumer, gpio::Direction direction, gpio::Levels initValue);
 }
 
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

misc/defaultcfg/fsfwconfig/CMakeLists.txt

@@ -1,3 +1,4 @@
+if(DEFINED TARGET_NAME) 
     target_include_directories(${TARGET_NAME} PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
     )
@@ -21,3 +22,28 @@ if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
             events/translateEvents.cpp
         )
     endif()
+else()
+    target_include_directories(${LIB_FSFW_NAME} PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        ipc/missionMessageTypes.cpp
+        pollingsequence/PollingSequenceFactory.cpp
+        objects/FsfwFactory.cpp
+    )
+
+    # If a special translation file for object IDs exists, compile it.
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+        target_sources(${LIB_FSFW_NAME} PRIVATE
+            objects/translateObjects.cpp
+        )
+    endif()
+
+    # If a special translation file for events exists, compile it.
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+        target_sources(${LIB_FSFW_NAME} PRIVATE
+            events/translateEvents.cpp
+        )
+    endif()
+endif()

misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp

@@ -7,7 +7,7 @@
 #include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
-#include <fsfw/internalError/InternalErrorReporter.h>
+#include <fsfw/internalerror/InternalErrorReporter.h>
 
 #include <cstdint>
 
@@ -48,6 +48,6 @@ void Factory::setStaticFrameworkObjectIds() {
 
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-	TmPacketStored::timeStamperId = objects::NO_OBJECT;
+	TmPacketBase::timeStamperId = objects::NO_OBJECT;
 }
 

scripts/apply-clang-format.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+	cd ..
+fi
+
+find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
+find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
+find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

scripts/coverage.py

@@ -1,76 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*
-"""Small portable helper script to generate LCOV HTML coverage data"""
-import os
-import platform
-import sys
-import time
-import argparse
-from typing import List
-
-
-"""Copy this helper script into your project folder. It will try to determine a CMake build folder
-and then attempt to build your project with coverage information.
-
-See Unittest documentation at https://egit.irs.uni-stuttgart.de/fsfw/fsfw for more
-information how to set up the build folder.
-"""
-def main():
-
-    parser = argparse.ArgumentParser(description="Processing arguments for LCOV helper script.")
-
-    build_dir_list = []
-    if not os.path.isfile('README.md'):
-        os.chdir('..')
-    for directory in os.listdir("."):
-        if os.path.isdir(directory):
-            os.chdir(directory)
-            check_for_cmake_build_dir(build_dir_list)
-            os.chdir("..")
-
-    if len(build_dir_list) == 0:
-        print("No valid CMake build directory found. Trying to set up hosted build")
-        build_directory = 'build-Debug-Host'
-        os.mkdir(build_directory)
-        os.chdir(build_directory)
-        os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
-        os.chdir('..')
-    elif len(build_dir_list) == 1:
-        build_directory = build_dir_list[0]
-    else:
-        print("Multiple build directories found!")
-        build_directory = determine_build_dir(build_dir_list)
-    perform_lcov_operation(build_directory)
-
-
-def check_for_cmake_build_dir(build_dir_dict: list):
-    if os.path.isfile("CMakeCache.txt"):
-        build_dir_dict.append(os.getcwd())
-
-
-def perform_lcov_operation(directory):
-    os.chdir(directory)
-    os.system("cmake --build . -- fsfw-tests_coverage -j")
-
-
-def determine_build_dir(build_dir_list: List[str]):
-    build_directory = ""
-    for idx, directory in enumerate(build_dir_list):
-        print(f"{idx + 1}: {directory}")
-    while True:
-        idx = input("Pick the directory to perform LCOV HTML generation by index: ")
-        if not idx.isdigit():
-            print("Invalid input!")
-            continue
-
-        idx = int(idx)
-        if idx > len(build_dir_list) or idx < 1:
-            print("Invalid input!")
-            continue
-        build_directory = build_dir_list[idx - 1]
-        break
-    return build_directory
-
-
-if __name__ == "__main__":
-    main()

scripts/helper.py

@@ -0,0 +1,188 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*
+"""Small portable helper script to generate test or doc configuration for the
+flight software framework
+"""
+import os
+import argparse
+import webbrowser
+import shutil
+import sys
+import time
+from typing import List
+
+
+UNITTEST_FOLDER_NAME = 'build-tests'
+DOCS_FOLDER_NAME = 'build-docs'
+
+
+def main():
+
+    parser = argparse.ArgumentParser(description="FSFW helper script")
+    choices = ('docs', 'tests')
+    parser.add_argument(
+        'type', metavar='type', choices=choices,
+        help=f'Target type. Choices: {choices}'
+    )
+    parser.add_argument(
+        '-a', '--all', action='store_true',
+        help='Create, build and open specified type'
+    )
+    parser.add_argument(
+        '-c', '--create', action='store_true',
+        help='Create docs or test build configuration'
+    )
+    parser.add_argument(
+        '-b', '--build', action='store_true',
+        help='Build the specified type'
+    )
+    parser.add_argument(
+        '-o', '--open', action='store_true',
+        help='Open test or documentation data in webbrowser'
+    )
+
+    args = parser.parse_args()
+    if args.all:
+        args.build = True
+        args.create = True
+        args.open = True
+    elif not args.build and not args.create and not args.open:
+        print(
+            'Please select at least one operation to perform. '
+            'Use helper.py -h for more information'
+        )
+        sys.exit(1)
+
+    # This script can be called from root and from script folder
+    if not os.path.isfile('README.md'):
+        os.chdir('..')
+    build_dir_list = []
+    if not args.create:
+        build_dir_list = build_build_dir_list()
+
+    if args.type == 'tests':
+        handle_tests_type(args, build_dir_list)
+    elif args.type == 'docs':
+        handle_docs_type(args, build_dir_list)
+    else:
+        print('Invalid or unknown type')
+        sys.exit(1)
+
+
+def handle_docs_type(args, build_dir_list: list):
+    if args.create:
+        if os.path.exists(DOCS_FOLDER_NAME):
+            shutil.rmtree(DOCS_FOLDER_NAME)
+        create_docs_build_cfg()
+        build_directory = DOCS_FOLDER_NAME
+    elif len(build_dir_list) == 0:
+        print('No valid CMake docs build directory found. Trying to set up docs build system')
+        shutil.rmtree(DOCS_FOLDER_NAME)
+        create_docs_build_cfg()
+        build_directory = DOCS_FOLDER_NAME
+    elif len(build_dir_list) == 1:
+        build_directory = build_dir_list[0]
+    else:
+        print("Multiple build directories found!")
+        build_directory = determine_build_dir(build_dir_list)
+    os.chdir(build_directory)
+    if args.build:
+        os.system('cmake --build . -j')
+    if args.open:
+        if not os.path.isfile('docs/sphinx/index.html'):
+            # try again..
+            os.system('cmake --build . -j')
+            if not os.path.isfile('docs/sphinx/index.html'):
+                print(
+                    "No Sphinx documentation file detected. "
+                    "Try to build it first with the -b argument"
+                )
+                sys.exit(1)
+        webbrowser.open('docs/sphinx/index.html')
+
+
+def handle_tests_type(args, build_dir_list: list):
+    if args.create:
+        if os.path.exists(UNITTEST_FOLDER_NAME):
+            shutil.rmtree(UNITTEST_FOLDER_NAME)
+        create_tests_build_cfg()
+        build_directory = UNITTEST_FOLDER_NAME
+    elif len(build_dir_list) == 0:
+        print(
+            'No valid CMake tests build directory found. '
+            'Trying to set up test build system'
+        )
+        create_tests_build_cfg()
+        build_directory = UNITTEST_FOLDER_NAME
+    elif len(build_dir_list) == 1:
+        build_directory = build_dir_list[0]
+    else:
+        print("Multiple build directories found!")
+        build_directory = determine_build_dir(build_dir_list)
+    os.chdir(build_directory)
+    if args.build:
+        perform_lcov_operation(build_directory, False)
+    if args.open:
+        if not os.path.isdir('fsfw-tests_coverage'):
+            print("No Unittest folder detected. Try to build them first with the -b argument")
+            sys.exit(1)
+        webbrowser.open('fsfw-tests_coverage/index.html')
+
+
+def create_tests_build_cfg():
+    os.mkdir(UNITTEST_FOLDER_NAME)
+    os.chdir(UNITTEST_FOLDER_NAME)
+    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
+    os.chdir('..')
+
+
+def create_docs_build_cfg():
+    os.mkdir(DOCS_FOLDER_NAME)
+    os.chdir(DOCS_FOLDER_NAME)
+    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..')
+    os.chdir('..')
+
+
+def build_build_dir_list() -> list:
+    build_dir_list = []
+    for directory in os.listdir("."):
+        if os.path.isdir(directory):
+            os.chdir(directory)
+            build_dir_list = check_for_cmake_build_dir(build_dir_list)
+            os.chdir("..")
+    return build_dir_list
+
+
+def check_for_cmake_build_dir(build_dir_list: list) -> list:
+    if os.path.isfile("CMakeCache.txt"):
+        build_dir_list.append(os.getcwd())
+    return build_dir_list
+
+
+def perform_lcov_operation(directory: str, chdir: bool):
+    if chdir:
+        os.chdir(directory)
+    os.system("cmake --build . -- fsfw-tests_coverage -j")
+
+
+def determine_build_dir(build_dir_list: List[str]):
+    build_directory = ""
+    for idx, directory in enumerate(build_dir_list):
+        print(f"{idx + 1}: {directory}")
+    while True:
+        idx = input("Pick the directory: ")
+        if not idx.isdigit():
+            print("Invalid input!")
+            continue
+
+        idx = int(idx)
+        if idx > len(build_dir_list) or idx < 1:
+            print("Invalid input!")
+            continue
+        build_directory = build_dir_list[idx - 1]
+        break
+    return build_directory
+
+
+if __name__ == "__main__":
+    main()

src/fsfw/FSFW.h.in

@@ -18,6 +18,10 @@
 
 // FSFW core defines
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
 #ifndef FSFW_CPP_OSTREAM_ENABLED
 #define FSFW_CPP_OSTREAM_ENABLED            1
 #endif /* FSFW_CPP_OSTREAM_ENABLED */

src/fsfw/container/SimpleRingBuffer.h

@@ -5,8 +5,7 @@
 #include <cstddef>
 
 /**
- * @brief     Circular buffer implementation, useful for buffering
+ * @brief     Circular buffer implementation, useful for buffering into data streams.
- *          into data streams.
  * @details
  * Note that the deleteData() has to be called to increment the read pointer.
  * This class allocated dynamically, so
@@ -20,8 +19,8 @@ public:
      * @param size
      * @param overwriteOld If the ring buffer is overflowing at a write
      * operation, the oldest data will be overwritten.
-     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * @param maxExcessBytes These additional bytes will be allocated in addition
-     * to the specified size to accomodate contiguous write operations
+     * to the specified size to accommodate continuous write operations
      * with getFreeElement.
      *
      */
@@ -32,10 +31,10 @@ public:
      * @param buffer
      * @param size
      * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * If the ring buffer is overflowing at a write operation, the oldest data
      * will be overwritten.
      * @param maxExcessBytes
-     * If the buffer can accomodate additional bytes for contigous write
+     * If the buffer can accommodate additional bytes for contiguous write
      * operations with getFreeElement, this is the maximum allowed additional
      * size
      */
@@ -48,7 +47,7 @@ public:
      * Write to circular buffer and increment write pointer by amount.
      * @param data
      * @param amount
-     * @return -@c RETURN_OK if write operation was successfull
+     * @return -@c RETURN_OK if write operation was successful
      * -@c RETURN_FAILED if
      */
     ReturnValue_t writeData(const uint8_t* data, size_t amount);
@@ -108,7 +107,7 @@ public:
      * Delete data by incrementing read pointer.
      * @param amount
      * @param deleteRemaining
-     * If the amount specified is larger than the remaing size to read and this
+     * If the amount specified is larger than the remaining size to read and this
      * is set to true, the remaining amount will be deleted as well
      * @param trueAmount [out]
      * If deleteRemaining was set to true, the amount deleted will be assigned

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -321,3 +321,7 @@ float LocalPoolDataSetBase::getCollectionInterval() const {
         return 0.0;
     }
 }
+
+void LocalPoolDataSetBase::printSet() {
+    return;
+}

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

@@ -176,6 +176,11 @@ public:
      */
     float getCollectionInterval() const;
 
+    /**
+     * @brief   Can be overwritten by a specific implementation of a dataset to print the set.
+     */
+    virtual void printSet();
+
 protected:
     sid_t sid;
     //! This mutex is used if the data is created by one object only.
@@ -234,7 +239,6 @@ protected:
 
     PeriodicHousekeepingHelper* periodicHelper = nullptr;
     LocalDataPoolManager* poolManager = nullptr;
-
 };
 
 

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -46,11 +46,12 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
     HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
     if(hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
+        sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex <<
-                "interface HasLocalDataPoolIF!" << std::endl;
+                poolOwner << std::dec << " did not implement the correct interface " <<
+                "HasLocalDataPoolIF" << std::endl;
 #else
-        sif::printError( "LocalPoolVariable: The supplied pool owner did not implement the correct "
+        sif::printError( "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
-                "interface HasLocalDataPoolIF!\n");
+                "interface HasLocalDataPoolIF\n", poolOwner);
 #endif
         return;
     }

src/fsfw/devicehandlers/AssemblyBase.h

@@ -7,7 +7,7 @@
 
 /**
  * @brief   Base class to implement reconfiguration and failure handling for
- *          redundant devices by monitoring their modes health states.
+ *          redundant devices by monitoring their modes and health states.
  * @details
  * Documentation: Dissertation Baetz p.156, 157.
  *

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,9 +85,10 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return - @c RETURN_OK if data was sent successfull
+	 * @return
-	 * 		   - Everything else triggers falure event with
+	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
-	 * 		     returnvalue as parameter 1
+	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -684,6 +684,11 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
     ReturnValue_t result;
 
+    result = doSendReadHook();
+    if (result != RETURN_OK){
+        return;
+    }
+
     size_t replyLen = 0;
     if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
         replyLen = getNextReplyLength(cookieInfo.pendingCommand->first);
@@ -950,6 +955,10 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
     }
 }
 
+ReturnValue_t DeviceHandlerBase::doSendReadHook() {
+    return RETURN_OK;
+}
+
 ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
         uint8_t *numberOfSwitches) {
     return DeviceHandlerBase::NO_SWITCH;

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -334,8 +334,7 @@ protected:
      *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
      *       have been set.
      *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-     *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
+     *       be used if no reply is expected
-     *       to finish the command handling.
      *  - Anything else triggers an event with the return code as a parameter as well as a
      *    step reply failed with the return code
      */
@@ -1095,6 +1094,12 @@ protected:
      */
     void commandSwitch(ReturnValue_t onOff);
 
+    /**
+     * @brief   This function can be used to insert device specific code during the do-send-read
+     *          step.
+     */
+    virtual ReturnValue_t doSendReadHook();
+
 private:
 
     /**

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,7 +120,8 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/globalfunctions/timevalOperations.h

@@ -2,8 +2,9 @@
 #define TIMEVALOPERATIONS_H_
 
 #include <stdint.h>
+#include <fsfw/platform.h>
 
-#ifdef WIN32
+#ifdef PLATFORM_WIN
 #include <winsock2.h>
 #else
 #include <sys/time.h>

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
     Clock.cpp
     BinarySemaphore.cpp
     CountingSemaphore.cpp

src/fsfw/osal/linux/Clock.cpp

@@ -108,8 +108,6 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-
-
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 	timespec timeUnix;
 	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to: " << sendTo << " sent from "
+            sif::warning << "mq_send to " << sendTo << " sent from "
                     << sentFrom << " failed" << std::endl;
 #else
-            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/serialize/SerializeAdapter.h

@@ -21,18 +21,21 @@
 class SerializeAdapter {
 public:
     /***
-	 * This function can be used to serialize a trivial copy-able type or a
+     * @brief   Serialize a trivial copy-able type or a child of SerializeIF.
-	 * child of SerializeIF.
+     * @details
      * The right template to be called is determined in the function itself.
      * For objects of non trivial copy-able type this function is almost never
      * called by the user directly. Instead helpers for specific types like
-	 * SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here.
+     * SerialArrayListAdapter or SerialLinkedListAdapter are the right choice here.
      *
-	 * @param[in] object Object to serialize, the used type is deduced from this pointer
+     * @param[in] object: Object to serialize, the used type is deduced from this pointer
-	 * @param[in/out] buffer Buffer to serialize into. Will be moved by the function.
+     * @param[in/out] buffer: Pointer to the buffer to serialize into. Buffer position will be
-	 * @param[in/out] size Size of current written buffer. Will be incremented by the function.
+     *     incremented by the function.
-	 * @param[in] maxSize Max size of Buffer
+     * @param[in/out] size: Pointer to size of current written buffer.
-	 * @param[in] streamEndianness Endianness of serialized element as in according to SerializeIF::Endianness
+     *     SIze will be incremented by the function.
+     * @param[in] maxSize: Max size of Buffer
+     * @param[in] streamEndianness: Endianness of serialized element as in according to
+     *     SerializeIF::Endianness
      * @return
      * 		- @c BUFFER_TOO_SHORT The given buffer in is too short
      * 		- @c RETURN_FAILED Generic Error
@@ -46,9 +49,46 @@ public:
         return adapter.serialize(object, buffer, size, maxSize,
                 streamEndianness);
     }
+
+    /***
+     * This function can be used to serialize a trivial copy-able type or a child of SerializeIF.
+     * The right template to be called is determined in the function itself.
+     * For objects of non trivial copy-able type this function is almost never
+     * called by the user directly. Instead helpers for specific types like
+     * SerialArrayListAdapter or SerialLinkedListAdapter are the right choice here.
+     *
+     * @param[in] object: Object to serialize, the used type is deduced from this pointer
+     * @param[in/out] buffer: Buffer to serialize into.
+     * @param[out] serSize: Serialized size
+     * @param[in] maxSize: Max size of buffer
+     * @param[in] streamEndianness: Endianness of serialized element as in according to
+     *     SerializeIF::Endianness
+     * @return
+     *      - @c BUFFER_TOO_SHORT The given buffer in is too short
+     *      - @c RETURN_FAILED Generic Error
+     *      - @c RETURN_OK Successful serialization
+     */
+    template<typename T>
+    static ReturnValue_t serialize(const T *object, uint8_t* const buffer, size_t* serSize,
+            size_t maxSize, SerializeIF::Endianness streamEndianness) {
+        if(object == nullptr or buffer == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
+        uint8_t** tempPtr = const_cast<uint8_t**>(&buffer);
+        size_t tmpSize = 0;
+        ReturnValue_t result = adapter.serialize(object, tempPtr, &tmpSize, maxSize,
+                streamEndianness);
+        if(serSize != nullptr) {
+            *serSize = tmpSize;
+        }
+        return result;
+    }
+
     /**
-	 * Function to return the serialized size of the object in the pointer.
+     * @brief   Function to return the serialized size of the object in the pointer.
-	 * May be a trivially copy-able object or a Child of SerializeIF
+     * @details
+     * May be a trivially copy-able object or a child of SerializeIF.
      *
      * @param object Pointer to Object
      * @return Serialized size of object
@@ -58,17 +98,20 @@ public:
         InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
         return adapter.getSerializedSize(object);
     }
+
     /**
-	 * @brief
+     * @brief Deserializes a object from a given buffer of given size.
-	 * Deserializes a object from a given buffer of given size.
-	 * Object Must be trivially copy-able or a child of SerializeIF.
      *
      * @details
+     * Object Must be trivially copy-able or a child of SerializeIF.
      * Buffer will be moved to the current read location. Size will be decreased by the function.
      *
-	 * @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function.
+     * @param[in] object:        Pointer to object to deserialize
-	 * @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function.
+     * @param[in/out] buffer:    Pointer to the buffer to deSerialize from. Buffer position will be
-	 * @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness
+     *     incremented by the function
+     * @param[in/out] size:      Pointer to remaining size of the buffer to read from.
+     *     Will be decreased by function.
+     * @param[in] streamEndianness: Endianness as in according to SerializeIF::Endianness
      * @return
      * 	- @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
      * 	- @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
@@ -81,6 +124,39 @@ public:
         InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
         return adapter.deSerialize(object, buffer, size, streamEndianness);
     }
+
+    /**
+     * @brief Deserializes a object from a given buffer of given size.
+     *
+     * @details
+     * Object Must be trivially copy-able or a child of SerializeIF.
+     *
+     * @param[in] object:        Pointer to object to deserialize
+     * @param[in] buffer:    Buffer to deSerialize from
+     * @param[out] deserSize:    Deserialized length
+     * @param[in] streamEndianness: Endianness as in according to SerializeIF::Endianness
+     * @return
+     *  - @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
+     *  - @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
+     *  - @c RETURN_FAILED Generic Error
+     *  - @c RETURN_OK Successful deserialization
+     */
+    template<typename T>
+    static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
+            size_t* deserSize, SerializeIF::Endianness streamEndianness) {
+        if(object == nullptr or buffer == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
+        const uint8_t** tempPtr = &buffer;
+        size_t maxVal = -1;
+        ReturnValue_t result = adapter.deSerialize(object, tempPtr, &maxVal, streamEndianness);
+        if(deserSize != nullptr) {
+            *deserSize = -1 - maxVal;
+        }
+        return result;
+    }
+
 private:
     /**
      * Internal template to deduce the right function calls at compile time

src/fsfw/subsystem/SubsystemBase.h

@@ -62,7 +62,8 @@ protected:
 	struct ChildInfo {
 		MessageQueueId_t commandQueue;
 		Mode_t mode;
-		Submode_t submode;bool healthChanged;
+		Submode_t submode;
+		bool healthChanged;
 	};
 
 	Mode_t mode;

src/fsfw/timemanager/Clock.h

@@ -99,6 +99,14 @@ public:
 	 */
 	static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
 
+	/**
+	 * Convert to time of day struct given the POSIX timeval struct
+	 * @param from
+	 * @param to
+	 * @return
+	 */
+	static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from,
+	        TimeOfDay_t *to);
 	/**
 	 * Converts a time of day struct to POSIX seconds.
 	 * @param time The time of day as input

src/fsfw/timemanager/ClockCommon.cpp

@@ -42,6 +42,20 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
+    struct tm* timeInfo;
+    timeInfo = gmtime(&from->tv_sec);
+    to->year = timeInfo->tm_year + 1900;
+    to->month = timeInfo->tm_mon+1;
+    to->day = timeInfo->tm_mday;
+    to->hour = timeInfo->tm_hour;
+    to->minute = timeInfo->tm_min;
+    to->second = timeInfo->tm_sec;
+    to->usecond = from->tv_usec;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
 ReturnValue_t Clock::checkOrCreateClockMutex() {
 	if (timeMutex == nullptr) {
 		MutexFactory *mutexFactory = MutexFactory::instance();

src/fsfw/tmtcpacket/SpacePacket.h

@@ -73,7 +73,7 @@ namespace spacepacket {
 
 constexpr uint16_t getSpacePacketIdFromApid(bool isTc, uint16_t apid,
         bool secondaryHeaderFlag = true) {
-    return (((isTc << 5) & 0x10) | ((secondaryHeaderFlag << 4) & 0x08) |
+    return ((isTc << 4) | (secondaryHeaderFlag << 3) |
             ((apid >> 8) & 0x07)) << 8 | (apid & 0x00ff);
 }
 

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -183,6 +183,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	}
 
 	if(tmFifo->full()) {
+	    if(warningLatch) {
     #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
                     "of stored packet IDs reached!" << std::endl;
@@ -190,6 +191,8 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
             sif::printWarning("TmTcBridge::storeDownlinkData: TM downlink max. number "
                     "of stored packet IDs reached!\n");
     #endif
+            warningLatch = true;
+	    }
 	    if(overwriteOld) {
 	        tmFifo->retrieve(&storeId);
 	        tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -75,6 +75,7 @@ public:
 	virtual uint16_t getIdentifier() override;
 	virtual MessageQueueId_t getRequestQueue() override;
 
+    bool warningLatch = true;
 protected:
 	//! Cached for initialize function.
 	object_id_t tmStoreId = objects::NO_OBJECT;

tests/src/fsfw_tests/integration/task/CMakeLists.txt

@@ -1,3 +1,3 @@
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE
     TestTask.cpp
 )

tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp

@@ -3,128 +3,213 @@
 
 #include <catch2/catch_test_macros.hpp>
 #include <catch2/catch_approx.hpp>
+#include <fsfw/serialize/SerialBufferAdapter.h>
 
 #include <array>
 
-static bool test_value_bool = true;
+static bool testBool = true;
-static uint8_t tv_uint8   {5};
+static uint8_t tvUint8   {5};
-static uint16_t tv_uint16 {283};
+static uint16_t tvUint16 {283};
-static uint32_t tv_uint32 {929221};
+static uint32_t tvUint32 {929221};
-static uint64_t tv_uint64 {2929329429};
+static uint64_t tvUint64 {2929329429};
 
-static int8_t tv_int8 {-16};
+static int8_t tvInt8 {-16};
-static int16_t tv_int16 {-829};
+static int16_t tvInt16 {-829};
-static int32_t tv_int32 {-2312};
+static int32_t tvInt32 {-2312};
 
-static float tv_float {8.2149214};
+static float tvFloat {8.2149214};
-static float tv_sfloat = {-922.2321321};
+static float tvSfloat = {-922.2321321};
-static double tv_double {9.2132142141e8};
+static double tvDouble {9.2132142141e8};
-static double tv_sdouble {-2.2421e19};
+static double tvSdouble {-2.2421e19};
 
-static std::array<uint8_t, 512> test_array;
+static std::array<uint8_t, 512> TEST_ARRAY;
 
-TEST_CASE( "Serialization size tests", "[TestSerialization]") {
+TEST_CASE( "Serialization size tests", "[SerSizeTest]") {
 	//REQUIRE(unitTestClass.test_autoserialization() == 0);
-	REQUIRE(SerializeAdapter::getSerializedSize(&test_value_bool) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&testBool) ==
-			sizeof(test_value_bool));
+			sizeof(testBool));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint8) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint8) ==
-			sizeof(tv_uint8));
+			sizeof(tvUint8));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint16) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint16) ==
-			sizeof(tv_uint16));
+			sizeof(tvUint16));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint32 ) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint32 ) ==
-			sizeof(tv_uint32));
+			sizeof(tvUint32));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint64) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint64) ==
-			sizeof(tv_uint64));
+			sizeof(tvUint64));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int8) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvInt8) ==
-			sizeof(tv_int8));
+			sizeof(tvInt8));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int16) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvInt16) ==
-			sizeof(tv_int16));
+			sizeof(tvInt16));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int32) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvInt32) ==
-			sizeof(tv_int32));
+			sizeof(tvInt32));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_float) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvFloat) ==
-			sizeof(tv_float));
+			sizeof(tvFloat));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_sfloat) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvSfloat) ==
-			sizeof(tv_sfloat ));
+			sizeof(tvSfloat ));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_double) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvDouble) ==
-			sizeof(tv_double));
+			sizeof(tvDouble));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_sdouble) ==
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvSdouble) ==
-			sizeof(tv_sdouble));
+			sizeof(tvSdouble));
 }
 
+TEST_CASE("Auto Serialize Adapter", "[SerAdapter]") {
+	size_t serializedSize = 0;
+	uint8_t * pArray = TEST_ARRAY.data();
 
-TEST_CASE("Auto Serialize Adapter testing", "[single-file]") {
+    SECTION("SerDe") {
-	size_t serialized_size = 0;
+        size_t deserSize = 0;
-	uint8_t * p_array = test_array.data();
+        SerializeAdapter::serialize(&testBool, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 1);
+        REQUIRE(TEST_ARRAY[0] == true);
+        bool readBack = false;
+        SerializeAdapter::deSerialize(&readBack, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 1);
+        REQUIRE(readBack == true);
+        SerializeAdapter::serialize(&tvUint8, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 1);
+        REQUIRE(TEST_ARRAY[0] == 5);
+        uint8_t readBackUint8 = 0;
+        uint8_t* const testPtr = TEST_ARRAY.data();
+        uint8_t* const shouldStayConst = testPtr;
+        SerializeAdapter::deSerialize(&readBackUint8, testPtr, &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(testPtr == shouldStayConst);
+        REQUIRE(deserSize == 1);
+        REQUIRE(readBackUint8 == 5);
+        SerializeAdapter::serialize(&tvUint16, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 2);
+        deserSize = 0;
+        uint16_t readBackUint16 = 0;
+        SerializeAdapter::deSerialize(&readBackUint16, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 2);
+        REQUIRE(readBackUint16 == 283);
 
-	SECTION("Serializing...") {
+        SerializeAdapter::serialize(&tvUint32, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
-		SerializeAdapter::serialize(&test_value_bool, &p_array,
+                SerializeIF::Endianness::MACHINE);
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 4);
-		SerializeAdapter::serialize(&tv_uint8, &p_array,
+        uint32_t readBackUint32 = 0;
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        deserSize = 0;
-		SerializeAdapter::serialize(&tv_uint16, &p_array,
+        SerializeAdapter::deSerialize(&readBackUint32, TEST_ARRAY.data(), &deserSize,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+                SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_uint32, &p_array,
+        REQUIRE(deserSize == 4);
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        REQUIRE(readBackUint32 == 929221);
-		SerializeAdapter::serialize(&tv_int8, &p_array,
+
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        SerializeAdapter::serialize(&tvInt16, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
-		SerializeAdapter::serialize(&tv_int16, &p_array,
+                SerializeIF::Endianness::MACHINE);
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 2);
-		SerializeAdapter::serialize(&tv_int32, &p_array,
+        int16_t readBackInt16 = 0;
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        SerializeAdapter::deSerialize(&readBackInt16, TEST_ARRAY.data(), &deserSize,
-		SerializeAdapter::serialize(&tv_uint64, &p_array,
+                SerializeIF::Endianness::MACHINE);
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        REQUIRE(readBackInt16 == -829);
-		SerializeAdapter::serialize(&tv_float, &p_array,
+        REQUIRE(deserSize == 2);
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+
-		SerializeAdapter::serialize(&tv_double, &p_array,
+        SerializeAdapter::serialize(&tvFloat, TEST_ARRAY.data(),  &deserSize, TEST_ARRAY.size(),
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+                SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_sfloat, &p_array,
+        float readBackFloat = 0.0;
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        SerializeAdapter::deSerialize(&readBackFloat, TEST_ARRAY.data(), &deserSize,
-		SerializeAdapter::serialize(&tv_sdouble, &p_array,
+                SerializeIF::Endianness::MACHINE);
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+        REQUIRE(readBackFloat == Catch::Approx(8.214921));
-		REQUIRE (serialized_size == 47);
+
+        SerializeAdapter::serialize(&tvSdouble, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        double readBackSignedDouble = 0.0;
+        SerializeAdapter::deSerialize(&readBackSignedDouble, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(readBackSignedDouble == Catch::Approx(-2.2421e19));
+
+        uint8_t testBuf[4] = {1, 2, 3, 4};
+        SerialBufferAdapter<uint8_t> bufferAdapter(testBuf, sizeof(testBuf));
+        SerializeAdapter::serialize(&bufferAdapter, TEST_ARRAY.data(), &deserSize,
+                TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 4);
+        for(uint8_t idx = 0; idx < 4; idx++) {
+            REQUIRE(TEST_ARRAY[idx] == idx + 1);
+        }
+        deserSize = 0;
+        testBuf[0] = 0;
+        testBuf[1] = 12;
+        SerializeAdapter::deSerialize(&bufferAdapter, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 4);
+        for(uint8_t idx = 0; idx < 4; idx++) {
+            REQUIRE(testBuf[idx] == idx + 1);
+        }
     }
 
-	SECTION("Deserializing") {
+	SECTION("Serialize incrementing") {
-		p_array = test_array.data();
+		SerializeAdapter::serialize(&testBool, &pArray, &serializedSize,
-		size_t remaining_size = serialized_size;
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&test_value_bool,
+		SerializeAdapter::serialize(&tvUint8, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint8,
+		SerializeAdapter::serialize(&tvUint16, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint16,
+		SerializeAdapter::serialize(&tvUint32, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint32,
+		SerializeAdapter::serialize(&tvInt8, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_int8,
+		SerializeAdapter::serialize(&tvInt16, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_int16,
+		SerializeAdapter::serialize(&tvInt32, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_int32,
+		SerializeAdapter::serialize(&tvUint64, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint64,
+		SerializeAdapter::serialize(&tvFloat, &pArray, &serializedSize,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_float,
+		SerializeAdapter::serialize(&tvDouble, &pArray, &serializedSize, TEST_ARRAY.size(),
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_double,
+		SerializeAdapter::serialize(&tvSfloat, &pArray, &serializedSize, TEST_ARRAY.size(),
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_sfloat,
+		SerializeAdapter::serialize(&tvSdouble, &pArray, &serializedSize, TEST_ARRAY.size(),
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		        SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_sdouble,
+		REQUIRE (serializedSize == 47);
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	}
 
-		REQUIRE(test_value_bool == true);
+	SECTION("Deserialize decrementing") {
-		REQUIRE(tv_uint8 == 5);
+		pArray = TEST_ARRAY.data();
-		REQUIRE(tv_uint16 == 283);
+		size_t remaining_size = serializedSize;
-		REQUIRE(tv_uint32 == 929221);
+		SerializeAdapter::deSerialize(&testBool, const_cast<const uint8_t**>(&pArray),
-		REQUIRE(tv_uint64 == 2929329429);
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
-		REQUIRE(tv_int8 == -16);
+		SerializeAdapter::deSerialize(&tvUint8, const_cast<const uint8_t**>(&pArray),
-		REQUIRE(tv_int16 == -829);
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
-		REQUIRE(tv_int32 == -2312);
+		SerializeAdapter::deSerialize(&tvUint16, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvUint32, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvInt8, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvInt16, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvInt32, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvUint64,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvFloat,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvDouble,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvSfloat,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvSdouble,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
 
-		REQUIRE(tv_float == Catch::Approx(8.214921));
+		REQUIRE(testBool == true);
-		REQUIRE(tv_double == Catch::Approx(9.2132142141e8));
+		REQUIRE(tvUint8 == 5);
-		REQUIRE(tv_sfloat == Catch::Approx(-922.2321321));
+		REQUIRE(tvUint16 == 283);
-		REQUIRE(tv_sdouble == Catch::Approx(-2.2421e19));
+		REQUIRE(tvUint32 == 929221);
+		REQUIRE(tvUint64 == 2929329429);
+		REQUIRE(tvInt8 == -16);
+		REQUIRE(tvInt16 == -829);
+		REQUIRE(tvInt32 == -2312);
+
+		REQUIRE(tvFloat == Catch::Approx(8.214921));
+		REQUIRE(tvDouble == Catch::Approx(9.2132142141e8));
+		REQUIRE(tvSfloat == Catch::Approx(-922.2321321));
+		REQUIRE(tvSdouble == Catch::Approx(-2.2421e19));
 	}
 }
 

tests/src/fsfw_tests/unit/tmtcpacket/CMakeLists.txt

@@ -1,3 +1,3 @@
 target_sources(${FSFW_TEST_TGT} PRIVATE
-	PusTmTest.cpp
+	testCcsds.cpp
 )

tests/src/fsfw_tests/unit/tmtcpacket/PusTmTest.cpp

@@ -1,3 +0,0 @@
-
-
-

tests/src/fsfw_tests/unit/tmtcpacket/testCcsds.cpp

@@ -0,0 +1,11 @@
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw/tmtcpacket/SpacePacket.h"
+
+TEST_CASE( "CCSDS Test" , "[ccsds]") {
+    REQUIRE(spacepacket::getTcSpacePacketIdFromApid(0x22) == 0x1822);
+    REQUIRE(spacepacket::getTmSpacePacketIdFromApid(0x22) == 0x0822);
+
+    REQUIRE(spacepacket::getTcSpacePacketIdFromApid(0x7ff) == 0x1fff);
+    REQUIRE(spacepacket::getTmSpacePacketIdFromApid(0x7ff) == 0xfff);
+}