Merge remote-tracking branch 'upstream/mueller/master' into mueller/master

2021-01-03 16:00:09 +01:00 · 2021-01-03 16:00:09 +01:00 · fd44fb4781
commit fd44fb4781
parent 3486a04741 c94a396ffb
190 changed files with 1581 additions and 308 deletions
--- a/12
+++ b/12
@ -70,3 +70,15 @@ now
 ### Commanding Service Base

 - CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file
+
+### Service Interface
+
+- Proper printf support contained in ServiceInterfacePrinter.h
+- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
+- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
+  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
+- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
+  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
+  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
+  If this is not the case, everything should work as usual.
+- 
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -139,5 +139,4 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
 target_compile_options(${LIB_FSFW_NAME} PRIVATE 
 	${WARNING_FLAGS}
 	${COMPILER_FLAGS}
-	${ABI_FLAGS}
 )
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@ -47,9 +47,11 @@ ReturnValue_t SharedRingBuffer::initialize() {
 DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
 	if(receiveSizesFIFO == nullptr) {
 		// Configuration error.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
 				<< " was not configured to have sizes FIFO, returning nullptr!"
 				<< std::endl;
+#endif
 	}
 	return receiveSizesFIFO;
 }
--- a/controller/ExtendedControllerBase.cpp
+++ b/controller/ExtendedControllerBase.cpp
@ -107,7 +107,9 @@ MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
 }

 LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
            << " implementation provided, returning nullptr!" << std::endl;
+#endif
    return nullptr;
 }
--- a/datalinklayer/Clcw.cpp
+++ b/datalinklayer/Clcw.cpp
@ -55,7 +55,9 @@ void Clcw::setBitLock(bool bitLock) {
 }

 void Clcw::print() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
+#endif
 }

 void Clcw::setWhole(uint32_t rawClcw) {
--- a/datalinklayer/DataLinkLayer.cpp
+++ b/datalinklayer/DataLinkLayer.cpp
@ -98,8 +98,10 @@ ReturnValue_t DataLinkLayer::processFrame(uint16_t length) {
 	receivedDataLength = length;
 	ReturnValue_t status = allFramesReception();
 	if (status != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataLinkLayer::processFrame: frame reception failed. "
 		         "Error code: " << std::hex << status << std::dec << std::endl;
+#endif
 //		currentFrame.print();
 		return status;
 	} else {
@ -124,7 +126,9 @@ ReturnValue_t DataLinkLayer::initialize() {
 	if ( virtualChannels.begin() != virtualChannels.end() ) {
 		clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() );
 	} else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl;
+#endif
 		return RETURN_FAILED;
 	}

--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@ -29,9 +29,11 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
 			bufferPosition = &packetBuffer[packetLength];
 			status = RETURN_OK;
 		} else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error
 					<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
 					<< packetLength << std::endl;
+#endif
 			clearBuffers();
 			status = CONTENT_TOO_LARGE;
 		}
@ -51,24 +53,30 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
 				}
 				status = RETURN_OK;
 			} else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error
 						<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
 						<< packetLength << std::endl;
+#endif
 				clearBuffers();
 				status = CONTENT_TOO_LARGE;
 			}
 		} else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error
 					<< "MapPacketExtraction::extractPackets. Illegal segment! Last flag: "
 					<< (int) lastSegmentationFlag << std::endl;
+#endif
 			clearBuffers();
 			status = ILLEGAL_SEGMENTATION_FLAG;
 		}
 		break;
 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error
 				<< "MapPacketExtraction::extractPackets. Illegal segmentationFlag: "
 				<< (int) segmentationFlag << std::endl;
+#endif
 		clearBuffers();
 		status = DATA_CORRUPTED;
 		break;
@ -135,10 +143,14 @@ ReturnValue_t MapPacketExtraction::initialize() {
 }

 void MapPacketExtraction::printPacketBuffer(void) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "DLL: packet_buffer contains: " << std::endl;
+#endif
 	for (uint32_t i = 0; i < this->packetLength; ++i) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex
 				<< (uint16_t) this->packetBuffer[i] << std::endl;
+#endif
 	}
 }

--- a/datalinklayer/TcTransferFrame.cpp
+++ b/datalinklayer/TcTransferFrame.cpp
@ -87,16 +87,25 @@ uint8_t* TcTransferFrame::getFullDataField() {
 }

 void TcTransferFrame::print() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Raw Frame: " << std::hex << std::endl;
 	for (uint16_t count = 0; count < this->getFullSize(); count++ ) {
 		sif::debug << (uint16_t)this->getFullFrame()[count] << " ";
 	}
 	sif::debug << std::dec << std::endl;
-//	debug << "Frame Header:" << std::endl;
-//	debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl;
-//	debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet()  << std::endl;
-//	debug << "SCID : " << this->current_frame.getSpacecraftId() << std::endl;
-//	debug << "VCID : " << (uint16_t)this->current_frame.getVirtualChannelId() << std::endl;
-//	debug << "Frame length: " << std::dec << this->current_frame.getFrameLength() << std::endl;
-//	debug << "Sequence Number: " << (uint16_t)this->current_frame.getSequenceNumber() << std::endl;
+
+	sif::debug << "Frame Header:" << std::endl;
+	sif::debug << "Version Number: " << std::hex
+			<< (uint16_t)this->getVersionNumber() << std::endl;
+	sif::debug << "Bypass Flag set?| Ctrl Cmd Flag set?: "
+			<< (uint16_t)this->bypassFlagSet() << " | "
+			<< (uint16_t)this->controlCommandFlagSet()  << std::endl;
+	sif::debug << "SCID : " << this->getSpacecraftId() << std::endl;
+	sif::debug << "VCID : " << (uint16_t)this->getVirtualChannelId()
+			<< std::endl;
+	sif::debug << "Frame length: " << std::dec << this->getFrameLength()
+			<< std::endl;
+	sif::debug << "Sequence Number: " << (uint16_t)this->getSequenceNumber()
+			<< std::endl;
+#endif
 }
--- a/datalinklayer/TcTransferFrameLocal.cpp
+++ b/datalinklayer/TcTransferFrameLocal.cpp
@ -37,7 +37,9 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
 			this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
 			this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
 		} else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
+#endif
 		}
 	} else {
 		//No data in frame
--- a/datalinklayer/VirtualChannelReception.cpp
+++ b/datalinklayer/VirtualChannelReception.cpp
@ -102,8 +102,10 @@ uint8_t VirtualChannelReception::getChannelId() const {
 ReturnValue_t VirtualChannelReception::initialize() {
 	ReturnValue_t returnValue = RETURN_FAILED;
 	if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "VirtualChannelReception::initialize: Illegal sliding window width: "
 				<< (int) slidingWindowWidth << std::endl;
+#endif
 		return RETURN_FAILED;
 	}
 	for (mapChannelIterator iterator = mapChannels.begin(); iterator != mapChannels.end();
--- a/datapool/PoolDataSetBase.cpp
+++ b/datapool/PoolDataSetBase.cpp
@ -9,21 +9,28 @@ PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,

 PoolDataSetBase::~PoolDataSetBase() {}

+
 ReturnValue_t PoolDataSetBase::registerVariable(
 		PoolVariableIF *variable) {
 	if (state != States::STATE_SET_UNINITIALISED) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataSet::registerVariable: "
 				"Call made in wrong position." << std::endl;
+#endif
 		return DataSetIF::DATA_SET_UNINITIALISED;
 	}
 	if (variable == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataSet::registerVariable: "
 				"Pool variable is nullptr." << std::endl;
+#endif
 		return DataSetIF::POOL_VAR_NULL;
 	}
 	if (fillCount >= maxFillCount) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataSet::registerVariable: "
 				"DataSet is full." << std::endl;
+#endif
 		return DataSetIF::DATA_SET_FULL;
 	}
 	registeredVariables[fillCount] = variable;
@ -33,23 +40,30 @@ ReturnValue_t PoolDataSetBase::registerVariable(

 ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	ReturnValue_t error = result;
 	if (state == States::STATE_SET_UNINITIALISED) {
 		lockDataPool(lockTimeout);
 		for (uint16_t count = 0; count < fillCount; count++) {
 			result = readVariable(count);
 			if(result != RETURN_OK) {
-				break;
+				error = result;
 			}
 		}
 		state = States::STATE_SET_WAS_READ;
 		unlockDataPool();
 	}
 	else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataSet::read(): "
 				"Call made in wrong position. Don't forget to commit"
 				" member datasets!" << std::endl;
+#endif
 		result = SET_WAS_ALREADY_READ;
 	}
+
+	if(error != HasReturnvaluesIF::RETURN_OK) {
+		result = error;
+	}
 	return result;
 }

@ -71,7 +85,13 @@ ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
 		registeredVariables[count]->getDataPoolId()
 				!= PoolVariableIF::NO_PARAMETER)
 	{
-		result = registeredVariables[count]->readWithoutLock();
+		if(protectEveryReadCommitCall) {
+			result = registeredVariables[count]->read(mutexTimeout);
+		}
+		else {
+			result = registeredVariables[count]->readWithoutLock();
+		}
+
 		if(result != HasReturnvaluesIF::RETURN_OK) {
 			result = INVALID_PARAMETER_DEFINITION;
 		}
@ -96,7 +116,12 @@ void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
 				!= PoolVariableIF::VAR_READ
 				&& registeredVariables[count]->getDataPoolId()
 				!= PoolVariableIF::NO_PARAMETER) {
-			registeredVariables[count]->commitWithoutLock();
+			if(protectEveryReadCommitCall) {
+				registeredVariables[count]->commit(mutexTimeout);
+			}
+			else {
+				registeredVariables[count]->commitWithoutLock();
+			}
 		}
 	}
 	state = States::STATE_SET_UNINITIALISED;
@ -111,12 +136,20 @@ ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
 				== PoolVariableIF::VAR_WRITE
 				&& registeredVariables[count]->getDataPoolId()
 				!= PoolVariableIF::NO_PARAMETER) {
-			registeredVariables[count]->commitWithoutLock();
+			if(protectEveryReadCommitCall) {
+				result = registeredVariables[count]->commit(mutexTimeout);
+			}
+			else {
+				result = registeredVariables[count]->commitWithoutLock();
+			}
+
 		} else if (registeredVariables[count]->getDataPoolId()
 				!= PoolVariableIF::NO_PARAMETER) {
 			if (result != COMMITING_WITHOUT_READING) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error << "DataSet::commit(): commit-without-read call made "
 						"with non write-only variable." << std::endl;
+#endif
 				result = COMMITING_WITHOUT_READING;
 			}
 		}
@ -172,3 +205,9 @@ size_t PoolDataSetBase::getSerializedSize() const {
 void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
    this->registeredVariables = variablesContainer;
 }
+
+void PoolDataSetBase::setReadCommitProtectionBehaviour(
+		bool protectEveryReadCommit, uint32_t mutexTimeout) {
+	this->protectEveryReadCommitCall = protectEveryReadCommit;
+	this->mutexTimeout = mutexTimeout;
+}
--- a/datapool/PoolDataSetBase.h
+++ b/datapool/PoolDataSetBase.h
@ -44,6 +44,7 @@ public:

 	/**
 	 * @brief	The read call initializes reading out all registered variables.
+	 * 			It is mandatory to call commit after every read call!
 	 * @details
 	 * It iterates through the list of registered variables and calls all read()
 	 * functions of the registered pool variables (which read out their values
@ -52,13 +53,14 @@ public:
 	 * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
 	 *
 	 * The data pool is locked during the whole read operation and
-	 * freed afterwards.The state changes to "was written" after this operation.
+	 * freed afterwards. It is mandatory to call commit after a read call,
+	 * even if the read operation is not successful!
 	 * @return
 	 * - @c RETURN_OK if all variables were read successfully.
-	 * - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
-	 * requested variable is invalid.
+	 * - @c INVALID_PARAMETER_DEFINITION if a pool entry does not exist or there
+	 *      is a type conflict.
 	 * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
-	 * commit() in between
+	 *      commit() in between
 	 */
 	virtual ReturnValue_t read(uint32_t lockTimeout =
 			MutexIF::BLOCKING) override;
@ -75,7 +77,7 @@ public:
 	 * If the set does contain at least one variable which is not write-only
 	 * commit() can only be called after read(). If the set only contains
 	 * variables which are write only, commit() can be called without a
-	 * preceding read() call.
+	 * preceding read() call. Every read call must be followed by a commit call!
 	 * @return	- @c RETURN_OK if all variables were read successfully.
 	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
 	 * 			  contains non write-only variables
@ -89,6 +91,7 @@ public:
 	 * @return
 	 */
 	virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
+
 	/**
 	 * Provides the means to lock the underlying data structure to ensure
 	 * thread-safety. Default implementation is empty
@ -114,6 +117,15 @@ public:
 	        SerializeIF::Endianness streamEndianness) override;

 protected:
+
+	/**
+	 * Can be used to individually protect every read and commit call.
+	 * @param protectEveryReadCommit
+	 * @param mutexTimeout
+	 */
+	void setReadCommitProtectionBehaviour(bool protectEveryReadCommit,
+			uint32_t mutexTimeout = 20);
+
 	/**
 	 * @brief	The fill_count attribute ensures that the variables
 	 * 			register in the correct array position and that the maximum
@ -144,6 +156,9 @@ protected:
 	void setContainer(PoolVariableIF** variablesContainer);

 private:
+	bool protectEveryReadCommitCall = false;
+	uint32_t mutexTimeout = 20;
+
 	ReturnValue_t readVariable(uint16_t count);
 	void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
 	ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
--- a/datapool/PoolDataSetIF.h
+++ b/datapool/PoolDataSetIF.h
@ -1,19 +1,17 @@
 #ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
 #define FSFW_DATAPOOL_POOLDATASETIF_H_

+#include "ReadCommitIF.h"
 #include "DataSetIF.h"

 /**
 * @brief   Extendes the DataSetIF by adding abstract functions to lock
 *          and unlock a data pool and read/commit semantics.
 */
-class PoolDataSetIF: public DataSetIF {
+class PoolDataSetIF: public DataSetIF, public ReadCommitIF {
 public:
    virtual~ PoolDataSetIF() {};

-    virtual ReturnValue_t read(dur_millis_t lockTimeout) = 0;
-    virtual ReturnValue_t commit(dur_millis_t lockTimeout) = 0;
-
    /**
     * @brief   Most underlying data structures will have a pool like structure
     *          and will require a lock and unlock mechanism to ensure
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@ -3,6 +3,7 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../globalfunctions/arrayprinter.h"
 #include <cstring>
+#include <algorithm>

 template <typename T>
 PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
@ -12,9 +13,11 @@ PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
 		std::memset(this->address, 0, this->getByteSize());
 	}
 	else if (initValue.size() != setLength){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "PoolEntry: setLength is not equal to initializer list"
 				"length! Performing zero initialization with given setLength"
 				<< std::endl;
+#endif
 		std::memset(this->address, 0, this->getByteSize());
 	}
 	else {
@ -67,10 +70,14 @@ bool PoolEntry<T>::getValid() {

 template <typename T>
 void PoolEntry<T>::print() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	 sif::debug << "Pool Entry Validity: " <<
 			 (this->valid? " (valid) " : " (invalid) ") << std::endl;
+#endif
 	arrayprinter::print(reinterpret_cast<uint8_t*>(address), length);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << std::dec << std::endl;
+#endif
 }

 template<typename T>
--- a/datapool/PoolVariableIF.h
+++ b/datapool/PoolVariableIF.h
@ -3,6 +3,7 @@

 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
+#include "ReadCommitIF.h"

 /**
 * @brief	This interface is used to control data pool
@ -17,9 +18,9 @@
 * @author 	Bastian Baetz
 * @ingroup data_pool
 */
-class PoolVariableIF : public SerializeIF {
+class PoolVariableIF : public SerializeIF,
+		public ReadCommitIF {
 	friend class PoolDataSetBase;
-	friend class GlobDataSet;
 	friend class LocalPoolDataSetBase;
 public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
@ -57,41 +58,6 @@ public:
 	 */
 	virtual void setValid(bool validity) = 0;

-	/**
-	 * @brief	The commit call shall write back a newly calculated local
-	 * 			value to the data pool.
-	 * @details
-	 * It is assumed that these calls are implemented in a thread-safe manner!
-	 */
-	virtual ReturnValue_t commit(uint32_t lockTimeout) = 0;
-	/**
-	 * @brief	The read call shall read the value of this parameter from
-	 * 			the data pool and store the content locally.
-	 * @details
-	 * It is assumbed that these calls are implemented in a thread-safe manner!
-	 */
-	virtual ReturnValue_t read(uint32_t lockTimeout) = 0;
-
-protected:
-
-	/**
-	 * @brief 	Same as commit with the difference that comitting will be
-	 * 			performed without a lock
-	 * @return
-	 * This can be used if the lock protection is handled externally
-	 * to avoid the overhead of locking and unlocking consecutively.
-	 * Declared protected to avoid free public usage.
-	 */
-	virtual ReturnValue_t readWithoutLock() = 0;
-	/**
-	 * @brief 	Same as commit with the difference that comitting will be
-	 * 			performed without a lock
-	 * @return
-	 * This can be used if the lock protection is handled externally
-	 * to avoid the overhead of locking and unlocking consecutively.
-	 * Declared protected to avoid free public usage.
-	 */
-	virtual ReturnValue_t commitWithoutLock() = 0;
 };

 using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
--- a/datapool/ReadCommitIF.h
+++ b/datapool/ReadCommitIF.h
@ -0,0 +1,31 @@
+#ifndef FSFW_DATAPOOL_READCOMMITIF_H_
+#define FSFW_DATAPOOL_READCOMMITIF_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+/**
+ * @brief 	Common interface for all software objects which employ read-commit
+ * 			semantics.
+ */
+class ReadCommitIF {
+public:
+	virtual ~ReadCommitIF() {}
+	virtual ReturnValue_t read(uint32_t mutexTimeout) = 0;
+	virtual ReturnValue_t commit(uint32_t mutexTimeout) = 0;
+
+protected:
+
+	//! Optional and protected because this is interesting for classes grouping
+	//! members with commit and read semantics where the lock is only necessary
+	//! once.
+	virtual ReturnValue_t readWithoutLock()  {
+		return read(20);
+	}
+
+	virtual ReturnValue_t commitWithoutLock() {
+		return commit(20);
+	}
+};
+
+
+#endif /* FSFW_DATAPOOL_READCOMMITIF_H_ */
--- a/datapoollocal/HasLocalDataPoolIF.h
+++ b/datapoollocal/HasLocalDataPoolIF.h
@ -44,6 +44,9 @@ public:

 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;

+    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
+    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
+
 	static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;

 	virtual object_id_t getObjectId() const = 0;
@ -86,8 +89,10 @@ public:
 	 * @return
 	 */
 	virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
 	            << ". Returning nullptr!" << std::endl;
+#endif
 	    return nullptr;
 	}

--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@ -21,15 +21,19 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
        MessageQueueIF* queueToUse, bool appendValidityBuffer):
                        appendValidityBuffer(appendValidityBuffer) {
    if(owner == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
                << "Invalid supplied owner!" << std::endl;
+#endif
        return;
    }
    this->owner = owner;
    mutex = MutexFactory::instance()->createMutex();
    if(mutex == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
                << "Could not create mutex." << std::endl;
+#endif
    }

    hkQueue = queueToUse;
@ -39,17 +43,21 @@ LocalDataPoolManager::~LocalDataPoolManager() {}

 ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
    if(queueToUse == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalDataPoolManager::initialize: "
                << std::hex << "0x" << owner->getObjectId() << ". Supplied "
                << "queue invalid!" << std::dec << std::endl;
+#endif
    }
    hkQueue = queueToUse;

    ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
    if(ipcStore == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalDataPoolManager::initialize: "
                << std::hex << "0x" << owner->getObjectId() << ": Could not "
                << "set IPC store." <<std::dec << std::endl;
+#endif
        return HasReturnvaluesIF::RETURN_FAILED;
    }

@ -61,8 +69,10 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
            hkDestinationId = hkPacketReceiver->getHkQueue();
        }
        else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
                    << "Default HK destination object is invalid!" << std::endl;
+#endif
            return HasReturnvaluesIF::RETURN_FAILED;
        }
    }
@ -85,8 +95,10 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
        }
        return result;
    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "HousekeepingManager: The map should only be initialized "
            << "once!" << std::endl;
+#endif
    return HasReturnvaluesIF::RETURN_OK;
 }

@ -339,8 +351,10 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
    AcceptsHkPacketsIF* hkReceiverObject =
            objectManager->get<AcceptsHkPacketsIF>(packetDestination);
    if(hkReceiverObject == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
                << " Invalid receiver!"<< std::endl;
+#endif
        return HasReturnvaluesIF::RETURN_OK;
    }

@ -369,8 +383,10 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
    AcceptsHkPacketsIF* hkReceiverObject =
            objectManager->get<AcceptsHkPacketsIF>(packetDestination);
    if(hkReceiverObject == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
                << " Invalid receiver!"<< std::endl;
+#endif
        return HasReturnvaluesIF::RETURN_OK;
    }

@ -575,9 +591,11 @@ ReturnValue_t LocalDataPoolManager::printPoolEntry(
        lp_id_t localPoolId) {
    auto poolIter = localPoolMap.find(localPoolId);
    if (poolIter == localPoolMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "HousekeepingManager::fechPoolEntry:"
                << " Pool entry not found." << std::endl;
-        return POOL_ENTRY_NOT_FOUND;
+#endif
+        return HasLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
    }
    poolIter->second->print();
    return HasReturnvaluesIF::RETURN_OK;
@ -596,8 +614,10 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
        MessageQueueId_t destination) {
    if(dataSet == nullptr) {
        // Configuration error.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
                << " Set ID not found or dataset not assigned!" << std::endl;
+#endif
        return HasReturnvaluesIF::RETURN_FAILED;
    }

@ -678,10 +698,12 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
            sid, dataSet, true);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        // configuration error
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "LocalDataPoolManager::performHkOperation:"
                << "0x" << std::hex << std::setfill('0') << std::setw(8)
                << owner->getObjectId() << " Error generating "
                << "HK packet" << std::setfill(' ') << std::dec << std::endl;
+#endif
    }
 }

@ -726,8 +748,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
    // Get and check dataset first.
    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
    if(dataSet == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
                << " Set ID not found" << std::endl;
+#endif
        return HasReturnvaluesIF::RETURN_FAILED;
    }

@ -752,8 +776,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
            expectedSize,&storePtr);
    if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
                << "Could not get free element from IPC store." << std::endl;
+#endif
        return result;
    }

@ -762,8 +788,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
    result = setPacket.serialize(&storePtr, &size, expectedSize,
            SerializeIF::Endianness::BIG);
    if(expectedSize != size) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "HousekeepingManager::generateSetStructurePacket: "
                << "Expected size is not equal to serialized size" << std::endl;
+#endif
    }

    // Send structure reporting reply.
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@ -55,14 +55,11 @@ class LocalDataPoolManager {
 public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;

-    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
-    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x0);

-    static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x02);
-
-    static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x03);
-    static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x04);
-    static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x05);
+    static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x02);
+    static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x03);

    /**
     * This constructor is used by a class which wants to implement
@ -378,16 +375,20 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 		PoolEntry<T> **poolEntry) {
 	auto poolIter = localPoolMap.find(localPoolId);
 	if (poolIter == localPoolMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
 		        "not found." << std::endl;
-		return POOL_ENTRY_NOT_FOUND;
+#endif
+		return HasLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
 	}

 	*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
 	if(*poolEntry == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "HousekeepingManager::fetchPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return POOL_ENTRY_TYPE_CONFLICT;
+#endif
+		return HasLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
--- a/datapoollocal/LocalPoolDataSetBase.cpp
+++ b/datapoollocal/LocalPoolDataSetBase.cpp
@ -8,12 +8,14 @@

 LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
        uint32_t setId, PoolVariableIF** registeredVariablesArray,
-        const size_t maxNumberOfVariables, bool noPeriodicHandling):
+        const size_t maxNumberOfVariables, bool periodicHandling):
        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
    if(hkOwner == nullptr) {
        // Configuration error.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
                << "invalid!" << std::endl;
+#endif
        return;
    }
    hkManager = hkOwner->getHkManagerHandle();
@ -23,7 +25,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
    mutex = MutexFactory::instance()->createMutex();

    // Data creators get a periodic helper for periodic HK data generation.
-    if(not noPeriodicHandling) {
+    if(periodicHandling) {
        periodicHelper = new PeriodicHousekeepingHelper(this);
    }
 }
@ -34,13 +36,9 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
            sid.objectId);
-    if(hkOwner == nullptr) {
-        // Configuration error.
-        sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
-                << "invalid!" << std::endl;
-        return;
+    if(hkOwner != nullptr) {
+    	hkManager = hkOwner->getHkManagerHandle();
    }
-    hkManager = hkOwner->getHkManagerHandle();
    this->sid = sid;

    mutex = MutexFactory::instance()->createMutex();
@ -50,8 +48,11 @@ LocalPoolDataSetBase::~LocalPoolDataSetBase() {
 }

 ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
-    MutexIF* mutex = hkManager->getMutexHandle();
-    return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
+	if(hkManager != nullptr) {
+	    MutexIF* mutex = hkManager->getMutexHandle();
+	    return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
@ -127,8 +128,11 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
 }

 ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
-    MutexIF* mutex = hkManager->getMutexHandle();
-    return mutex->unlockMutex();
+	if(hkManager != nullptr) {
+	    MutexIF* mutex = hkManager->getMutexHandle();
+	    return mutex->unlockMutex();
+	}
+	return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
@ -145,8 +149,10 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
        auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
                size, maxSize, streamEndianness);
        if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
                    " error!" << std::endl;
+#endif
            return result;
        }
    }
@ -204,8 +210,10 @@ ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,

 void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
    if(position > 7) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "Pool Raw Access: Bit setting invalid position"
                << std::endl;
+#endif
        return;
    }
    uint8_t shiftNumber = position + (7 - 2 * position);
@ -254,8 +262,10 @@ sid_t LocalPoolDataSetBase::getSid() const {
 bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
        uint8_t position) const {
    if(position > 7) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "Pool Raw Access: Bit setting invalid position"
                << std::endl;
+#endif
        return false;
    }
    uint8_t shiftNumber = position + (7 - 2 * position);
@ -276,3 +286,9 @@ void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
    }
    this->valid = valid;
 }
+
+void LocalPoolDataSetBase::setReadCommitProtectionBehaviour(
+		bool protectEveryReadCommit, uint32_t mutexTimeout) {
+	PoolDataSetBase::setReadCommitProtectionBehaviour(protectEveryReadCommit,
+			mutexTimeout);
+}
--- a/datapoollocal/LocalPoolDataSetBase.h
+++ b/datapoollocal/LocalPoolDataSetBase.h
@ -54,7 +54,7 @@ public:
 	 */
 	LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
 			uint32_t setId, PoolVariableIF** registeredVariablesArray,
-	        const size_t maxNumberOfVariables, bool noPeriodicHandling = false);
+	        const size_t maxNumberOfVariables, bool periodicHandling = true);

 	/**
 	 * @brief	Constructor for users of local pool data.
@ -77,6 +77,16 @@ public:
 	 */
 	~LocalPoolDataSetBase();

+	/**
+	 * If the data is pulled from different local data pools, every read and
+	 * commit call should be mutex protected for thread safety.
+	 * This can be specified with the second parameter.
+	 * @param dataCreator
+	 * @param protectEveryReadCommit
+	 */
+	void setReadCommitProtectionBehaviour(bool protectEveryReadCommit,
+			uint32_t mutexTimeout = 20);
+
 	void setValidityBufferGeneration(bool withValidityBuffer);

 	sid_t getSid() const;
@ -128,6 +138,7 @@ public:

 protected:
 	sid_t sid;
+	uint32_t mutexTimeout = 20;
 	MutexIF* mutex = nullptr;

 	bool diagnostic = false;
@ -181,7 +192,7 @@ protected:
 	 */
 	ReturnValue_t unlockDataPool() override;

-	LocalDataPoolManager* hkManager;
+	LocalDataPoolManager* hkManager = nullptr;

 	/**
 	 * Set n-th bit of a byte, with n being the position from 0
--- a/datapoollocal/LocalPoolObjectBase.cpp
+++ b/datapoollocal/LocalPoolObjectBase.cpp
@ -5,12 +5,16 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId,
        pool_rwm_t setReadWriteMode): localPoolId(poolId),
        readWriteMode(setReadWriteMode) {
    if(poolId == PoolVariableIF::NO_PARAMETER) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
                << "which is the NO_PARAMETER value!" << std::endl;
+#endif
    }
    if(hkOwner == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
                << "owner is a invalid!" << std::endl;
+#endif
        return;
    }
    hkManager = hkOwner->getHkManagerHandle();
@ -23,15 +27,19 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
        DataSetIF *dataSet, pool_rwm_t setReadWriteMode): localPoolId(poolId),
        readWriteMode(setReadWriteMode) {
    if(poolId == PoolVariableIF::NO_PARAMETER) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
                << "which is the NO_PARAMETER value!" << std::endl;
+#endif
    }
    HasLocalDataPoolIF* hkOwner =
            objectManager->get<HasLocalDataPoolIF>(poolOwner);
    if(hkOwner == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "LocalPoolVariable: The supplied pool owner did not "
                << "implement the correct interface"
                << " HasLocalDataPoolIF!" << std::endl;
+#endif
        return;
    }
    hkManager = hkOwner->getHkManagerHandle();
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@ -157,10 +157,12 @@ protected:
 	 */
 	ReturnValue_t commitWithoutLock() override;

+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	// std::ostream is the type for object std::cout
 	template <typename U>
 	friend std::ostream& operator<< (std::ostream &out,
 			const LocalPoolVariable<U> &var);
+#endif

 private:
 };
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@ -11,14 +11,14 @@ inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
 		LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}

 template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
+		lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}


 template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF *dataSet,
-		pool_rwm_t setReadWriteMode):
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
+		DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
 		LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
 				dataSet, setReadWriteMode){}

@ -33,18 +33,22 @@ inline ReturnValue_t LocalPoolVariable<T>::read(dur_millis_t lockTimeout) {
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "LocalPoolVar: Invalid read write "
 				"mode for read() call." << std::endl;
+#endif
 		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}

 	PoolEntry<T>* poolEntry = nullptr;
 	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
-	if(result != RETURN_OK and poolEntry != nullptr) {
+	if(result != RETURN_OK or poolEntry == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PoolVector: Read of local pool variable of object "
-				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
-				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
-				std::dec << " failed.\n" << std::flush;
+				<< std::hex << std::setw(8) << std::setfill('0')
+				<< hkManager->getOwner() << " and lp ID " << localPoolId
+				<< std::dec << " failed." << std::setfill(' ') <<  std::endl;
+#endif
 		return result;
 	}
 	this->value = *(poolEntry->address);
@ -62,17 +66,21 @@ inline ReturnValue_t LocalPoolVariable<T>::commit(dur_millis_t lockTimeout) {
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_READ) {
-		sif::debug << "LocalPoolVar: Invalid read write "
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::debug << "LocalPoolVariable: Invalid read write "
 				 "mode for commit() call." << std::endl;
+#endif
 		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}
 	PoolEntry<T>* poolEntry = nullptr;
 	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
 	if(result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PoolVector: Read of local pool variable of object "
 				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
 				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
 				std::dec << " failed.\n" << std::flush;
+#endif
 		return result;
 	}
 	*(poolEntry->address) = this->value;
@ -98,12 +106,14 @@ inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
 	return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }

+#if FSFW_CPP_OSTREAM_ENABLED == 1
 template<typename T>
 inline std::ostream& operator<< (std::ostream &out,
 		const LocalPoolVariable<T> &var) {
    out << var.value;
    return out;
 }
+#endif

 template<typename T>
 inline LocalPoolVariable<T>::operator T() const {
--- a/datapoollocal/LocalPoolVector.tpp
+++ b/datapoollocal/LocalPoolVector.tpp
@ -32,8 +32,10 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout)
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "LocalPoolVar: Invalid read write "
 				"mode for read() call." << std::endl;
+#endif
 		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}

@ -42,10 +44,12 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
 	memset(this->value, 0, vectorSize * sizeof(T));

 	if(result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PoolVector: Read of local pool variable of object "
 				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
 				hkManager->getOwner() << "and lp ID 0x" << localPoolId <<
 				std::dec << " failed." << std::endl;
+#endif
 		return result;
 	}
 	std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
@ -64,17 +68,21 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_READ) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "LocalPoolVar: Invalid read write "
 				"mode for commit() call." << std::endl;
+#endif
 		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}
 	PoolEntry<T>* poolEntry = nullptr;
 	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
 	if(result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PoolVector: Read of local pool variable of object "
 				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
 				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
 				std::dec << " failed.\n" << std::flush;
+#endif
 		return result;
 	}
 	std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
@ -89,8 +97,10 @@ inline T& LocalPoolVector<T, vectorSize>::operator [](int i) {
 	}
 	// If this happens, I have to set some value. I consider this
 	// a configuration error, but I wont exit here.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "LocalPoolVector: Invalid index. Setting or returning"
 			" last value!" << std::endl;
+#endif
 	return value[i];
 }

@ -101,8 +111,10 @@ inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
 	}
 	// If this happens, I have to set some value. I consider this
 	// a configuration error, but I wont exit here.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "LocalPoolVector: Invalid index. Setting or returning"
 			" last value!" << std::endl;
+#endif
 	return value[i];
 }

--- a/datapoollocal/PoolReadHelper.h
+++ b/datapoollocal/PoolReadHelper.h
@ -0,0 +1,43 @@
+#ifndef FSFW_DATAPOOLLOCAL_POOLREADHELPER_H_
+#define FSFW_DATAPOOLLOCAL_POOLREADHELPER_H_
+
+#include <fsfw/datapoollocal/LocalPoolDataSetBase.h>
+#include <FSFWConfig.h>
+
+/**
+ * @brief 	Helper class to read data sets or pool variables
+ */
+class PoolReadHelper {
+public:
+	PoolReadHelper(ReadCommitIF* readObject, uint32_t mutexTimeout = 20):
+			readObject(readObject), mutexTimeout(mutexTimeout) {
+		if(readObject != nullptr) {
+			readResult = readObject->read(mutexTimeout);
+#if FSFW_PRINT_VERBOSITY_LEVEL == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+			sif::error << "PoolReadHelper: Read failed!" << std::endl;
+#endif
+#endif
+		}
+	}
+
+	ReturnValue_t getReadResult() const {
+		return readResult;
+	}
+
+	~PoolReadHelper() {
+		if(readObject != nullptr) {
+			readObject->commit(mutexTimeout);
+		}
+
+	}
+
+private:
+	ReadCommitIF* readObject = nullptr;
+	ReturnValue_t readResult = HasReturnvaluesIF::RETURN_OK;
+	uint32_t mutexTimeout = 20;
+};
+
+
+
+#endif /* FSFW_DATAPOOLLOCAL_POOLREADHELPER_H_ */
--- a/defaultcfg/fsfwconfig/CMakeLists.txt
+++ b/defaultcfg/fsfwconfig/CMakeLists.txt
@ -1,15 +1,15 @@
-target_sources(${TARGET_NAME} 
-	PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	ipc/missionMessageTypes.cpp
+	objects/FsfwFactory.cpp
+	pollingsequence/PollingSequenceFactory.cpp
 )

-# Add include paths for the executable
-target_include_directories(${TARGET_NAME} 
-	PUBLIC 
-		${CMAKE_CURRENT_SOURCE_DIR}
+# Should be added to include path
+target_include_directories(${TARGET_NAME} PRIVATE
+	${CMAKE_CURRENT_SOURCE_DIR}
 )

-# Add include paths for the FSFW library
-target_include_directories(${LIB_FSFW_NAME} 
-	PUBLIC
-		${CMAKE_CURRENT_SOURCE_DIR}
-)
+if(NOT FSFW_CONFIG_PATH)
+	set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+endif()
+
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@ -4,17 +4,26 @@
 #include <cstddef>
 #include <cstdint>

-//! Used to determine whether C++ ostreams are used
-//! Those can lead to code bloat.
+//! Used to determine whether C++ ostreams are used which can increase
+//! the binary size significantly. If this is disabled,
+//! the C stdio functions can be used alternatively
 #define FSFW_CPP_OSTREAM_ENABLED 	1

-//! Reduced printout to further decrease code size
+//! More FSFW related printouts.
 //! Be careful, this also turns off most diagnostic prinouts!
 #define FSFW_ENHANCED_PRINTOUT		0

+//! Can be used to completely disable printouts, even the C stdio ones.
+#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
+	#define FSFW_DISABLE_PRINTOUT 	0
+#endif
+
 //! Can be used to enable additional debugging printouts for developing the FSFW
 #define FSFW_PRINT_VERBOSITY_LEVEL   0

+//! Can be used to disable the ANSI color sequences for C stdio.
+#define FSFW_COLORED_OUTPUT 		1
+
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiled source files)
@ -50,6 +59,8 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 //! simulataneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
+
+static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
 }

 #endif /* CONFIG_FSFWCONFIG_H_ */
--- a/defaultcfg/fsfwconfig/OBSWConfig.h
+++ b/defaultcfg/fsfwconfig/OBSWConfig.h
@ -3,11 +3,12 @@

 #include "OBSWVersion.h"

+#ifdef __cplusplus
+
 #include "objects/systemObjectList.h"
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"

-#ifdef __cplusplus
 namespace config {
 #endif

--- a/defaultcfg/fsfwconfig/devices/logicalAddresses.h
+++ b/defaultcfg/fsfwconfig/devices/logicalAddresses.h
@ -2,7 +2,7 @@
 #define CONFIG_DEVICES_LOGICALADDRESSES_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include "../objects/systemObjectList.h"
+#include <objects/systemObjectList.h>
 #include <cstdint>

 /**
--- a/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
+++ b/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
@ -1,9 +1,5 @@
-#include "Factory.h"
-#include "../tmtc/apid.h"
-#include "../tmtc/pusIds.h"
-#include "../objects/systemObjectList.h"
-#include "../devices/logicalAddresses.h"
-#include "../devices/powerSwitcherList.h"
+#include "FsfwFactory.h"
+#include <OBSWConfig.h>

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/events/EventManager.h>
@ -11,24 +7,27 @@
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
-#include <internalError/InternalErrorReporter.h>
+#include <fsfw/internalError/InternalErrorReporter.h>

 #include <cstdint>

 /**
- * This class should be used to create all system objects required for
- * the on-board software, using the object ID list from the configuration
- * folder.
+ * This function builds all system objects required for using
+ * the FSFW. It is recommended to build all other required objects
+ * in a function with an identical prototype, call this function in it and
+ * then pass the function to the object manager so it builds all system
+ * objects on software startup.
 *
- * The objects are registered in the internal object manager automatically.
- * This is used later to add objects to tasks.
+ * All system objects are registered in the internal object manager
+ * automatically. The objects should be added to tasks at a later stage, using
+ * their objects IDs.
 *
- * This file also sets static framework IDs.
+ * This function also sets static framework IDs.
 *
- * Framework objects are created first.
+ * Framework should be created first before creating mission system objects.
 * @ingroup init
 */
-void Factory::produce(void) {
+void Factory::produceFsfwObjects(void) {
 	setStaticFrameworkObjectIds();
 	new EventManager(objects::EVENT_MANAGER);
 	new HealthTable(objects::HEALTH_TABLE);
--- a/defaultcfg/fsfwconfig/objects/FsfwFactory.h
+++ b/defaultcfg/fsfwconfig/objects/FsfwFactory.h
@ -1,5 +1,5 @@
-#ifndef FACTORY_H_
-#define FACTORY_H_
+#ifndef FSFWCONFIG_OBJECTS_FACTORY_H_
+#define FSFWCONFIG_OBJECTS_FACTORY_H_

 #include <fsfw/objectmanager/SystemObjectIF.h>
 #include <cstddef>
@ -9,9 +9,9 @@ namespace Factory {
 	 * @brief   Creates all SystemObject elements which are persistent
 	 *          during execution.
 	 */
-	void produce();
+	void produceFsfwObjects();
 	void setStaticFrameworkObjectIds();
 }


-#endif /* FACTORY_H_ */
+#endif /* FSFWCONFIG_OBJECTS_FACTORY_H_ */
--- a/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
+++ b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
@ -15,8 +15,10 @@ ReturnValue_t pst::pollingSequenceInitDefault(
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
 		        << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 }
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@ -39,11 +39,13 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 	cookieInfo.state = COOKIE_UNUSED;
 	cookieInfo.pendingCommand = deviceCommandMap.end();
 	if (comCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
 				<< std::setw(8) << std::setfill('0') << this->getObjectId()
 				<< std::dec << ": Do not pass nullptr as a cookie, consider "
 				<< std::setfill(' ') << "passing a dummy cookie instead!"
 				<< std::endl;
+#endif
 	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
@ -130,24 +132,30 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	communicationInterface = objectManager->get<DeviceCommunicationIF>(
 			deviceCommunicationId);
 	if (communicationInterface == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DeviceHandlerBase::initialize: Communication interface "
 				"invalid." << std::endl;
 		sif::error << "Make sure it is set up properly and implements"
 				" DeviceCommunicationIF" << std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

 	result = communicationInterface->initializeInterface(comCookie);
 	if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "DeviceHandlerBase::initialize: Initializing "
 	            "communication interface failed!" << std::endl;
+#endif
 	    return result;
 	}

 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	if (IPCStore == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
 				"factory." << std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

@ -156,10 +164,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 				AcceptsDeviceResponsesIF>(rawDataReceiverId);

 		if (rawReceiver == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
 					"ID set but no valid object found." << std::endl;
 			sif::error << "Make sure the raw receiver object is set up properly"
 					" and implements AcceptsDeviceResponsesIF" << std::endl;
+#endif
 			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 		defaultRawReceiver = rawReceiver->getDeviceQueue();
@ -168,10 +178,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	if(powerSwitcherId != objects::NO_OBJECT) {
 		powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
 		if (powerSwitcher == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "DeviceHandlerBase::initialize: Power switcher "
 					<< "object ID set but no valid object found." << std::endl;
 			sif::error << "Make sure the raw receiver object is set up properly"
 					<< " and implements PowerSwitchIF" << std::endl;
+#endif
 			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 	}
@ -682,8 +694,10 @@ void DeviceHandlerBase::doGetRead() {
 		replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
 	}

-	if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
-		replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
+	if (mode == MODE_RAW) {
+		if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
+			replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
+		}
 	}
 	else {
 		parseReply(receivedData, receivedDataLen);
@ -693,7 +707,7 @@ void DeviceHandlerBase::doGetRead() {
 void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		size_t receivedDataLen) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND;
+	DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND_ID;
 	size_t foundLen = 0;
 	// The loop may not execute more often than the number of received bytes
 	// (worst case). This approach avoids infinite loops due to buggy
@ -706,8 +720,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		case RETURN_OK:
 			handleReply(receivedData, foundId, foundLen);
 			if(foundLen == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
 			            " Packet parsing will be stuck." << std::endl;
+#endif
 			}
 			break;
 		case APERIODIC_REPLY: {
@ -718,8 +734,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 			            foundId);
 			}
 			if(foundLen == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
 			            " Packet parsing will be stuck." << std::endl;
+#endif
 			}
 			break;
 		}
@ -1273,9 +1291,11 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		result = buildNormalDeviceCommand(&deviceCommandId);
 		if (result == BUSY) {
 		    //so we can track misconfigurations
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::debug << std::hex << getObjectId()
 					<< ": DHB::buildInternalCommand: Busy" << std::dec
 					<< std::endl;
+#endif
 			result = NOTHING_TO_SEND; //no need to report this
 		}
 	}
@ -1300,10 +1320,12 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 			result = COMMAND_NOT_SUPPORTED;
 		} else if (iter->second.isExecuting) {
 			//so we can track misconfigurations
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::debug << std::hex << getObjectId()
 					<< ": DHB::buildInternalCommand: Command "
 					<< deviceCommandId << " isExecuting" << std::dec
 					<< std::endl;
+#endif
 			// this is an internal command, no need to report a failure here,
 			// missed reply will track if a reply is too late, otherwise, it's ok
 			return;
@ -1452,7 +1474,7 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
    if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
        return cookieInfo.pendingCommand->first;
    }
-    return DeviceHandlerIF::NO_COMMAND;
+    return DeviceHandlerIF::NO_COMMAND_ID;
 }

 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@ -575,8 +575,6 @@ protected:
 	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
 	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);

-	static const DeviceCommandId_t RAW_COMMAND_ID = -1;
-	static const DeviceCommandId_t NO_COMMAND_ID = -2;
 	static const MessageQueueId_t NO_COMMANDER = 0;

 	/** Pointer to the raw packet that will be sent.*/
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@ -169,8 +169,10 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
 ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 	ReturnValue_t result = FailureIsolationBase::initialize();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
 				" initialize FailureIsolationBase." << std::endl;
+#endif
 		return result;
 	}
 	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
@ -250,8 +252,10 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(

 	if (owner == nullptr) {
 	    // Configuration error.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "DeviceHandlerFailureIsolation::"
 	            << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
+#endif
 	    return false;
 	}

--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@ -22,7 +22,8 @@ using DeviceCommandId_t = uint32_t;
 */
 class DeviceHandlerIF {
 public:
-	static constexpr DeviceCommandId_t NO_COMMAND = -1;
+	static const DeviceCommandId_t RAW_COMMAND_ID = -1;
+	static const DeviceCommandId_t NO_COMMAND_ID = -2;

 	static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@ -122,6 +122,7 @@ void EventManager::printEvent(EventMessage* message) {
 	case severity::INFO:
 #if DEBUG_INFO_EVENT == 1
 		string = translateObject(message->getReporter());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::info << "EVENT: ";
 		if (string != 0) {
 			sif::info << string;
@ -132,10 +133,12 @@ void EventManager::printEvent(EventMessage* message) {
 				<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
 				<< message->getParameter1() << " P2: 0x"
 				<< message->getParameter2() << std::dec << std::endl;
-#endif
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* DEBUG_INFO_EVENT == 1 */
 		break;
 	default:
 		string = translateObject(message->getReporter());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "EventManager: ";
 		if (string != 0) {
 			sif::debug << string;
@ -146,13 +149,13 @@ void EventManager::printEvent(EventMessage* message) {
 		sif::debug << " reported " << translateEvents(message->getEvent())
 				<< " (" << std::dec << message->getEventId() << ") "
 				<< std::endl;
-
 		sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
 				<< ", P1 Dec: " << std::dec << message->getParameter1()
 				<< std::endl;
 		sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
 				<< ", P2 Dec: " <<  std::dec << message->getParameter2()
 				<< std::endl;
+#endif
 		break;
 	}
 }
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@ -21,8 +21,10 @@ ReturnValue_t FailureIsolationBase::initialize() {
 	EventManagerIF* manager = objectManager->get<EventManagerIF>(
 			objects::EVENT_MANAGER);
 	if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "FailureIsolationBase::initialize: Event Manager has not"
 				" been initialized!" << std::endl;
+#endif
 		return RETURN_FAILED;
 	}
 	ReturnValue_t result = manager->registerListener(eventQueue->getId());
@ -36,8 +38,10 @@ ReturnValue_t FailureIsolationBase::initialize() {
 		}
 		owner = objectManager->get<HasHealthIF>(ownerId);
 		if (owner == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "FailureIsolationBase::intialize: Owner object "
 					"invalid. Make sure it implements HasHealthIF" << std::endl;
+#endif
 			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 	}
@ -45,10 +49,14 @@ ReturnValue_t FailureIsolationBase::initialize() {
 		ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
 				faultTreeParent);
 		if (parentIF == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "FailureIsolationBase::intialize: Parent object"
 					<< "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "Make sure it implements ConfirmsFailuresIF."
 					<< std::endl;
+#endif
 			return ObjectManagerIF::CHILD_INIT_FAILED;
 			return RETURN_FAILED;
 		}
--- a/globalfunctions/arrayprinter.cpp
+++ b/globalfunctions/arrayprinter.cpp
@ -4,10 +4,12 @@

 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
 		bool printInfo, size_t maxCharPerLine) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	if(printInfo) {
 		sif::info << "Printing data with size " << size << ": ";
 	}
 	sif::info << "[";
+#endif
 	if(type == OutputType::HEX) {
 		arrayprinter::printHex(data, size, maxCharPerLine);
 	}
@ -21,6 +23,7 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,

 void arrayprinter::printHex(const uint8_t *data, size_t size,
 		size_t maxCharPerLine) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::info << std::hex;
 	for(size_t i = 0; i < size; i++) {
 		sif::info << "0x" << static_cast<int>(data[i]);
@ -28,16 +31,18 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
 			sif::info << " , ";
 			if(i > 0 and i % maxCharPerLine == 0) {
 				sif::info << std::endl;
+
 			}
 		}
-
 	}
 	sif::info << std::dec;
 	sif::info << "]" << std::endl;
+#endif
 }

 void arrayprinter::printDec(const uint8_t *data, size_t size,
 		size_t maxCharPerLine) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::info << std::dec;
 	for(size_t i = 0; i < size; i++) {
 		sif::info << static_cast<int>(data[i]);
@ -49,13 +54,16 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
 		}
 	}
 	sif::info << "]" << std::endl;
+#endif
 }

 void arrayprinter::printBin(const uint8_t *data, size_t size) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "\n" << std::flush;
    for(size_t i = 0; i < size; i++) {
        sif::info << "Byte " << i + 1 << ": 0b"<<
                std::bitset<8>(data[i]) << ",\n" << std::flush;
    }
    sif::info << "]" << std::endl;
+#endif
 }
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@ -41,14 +41,18 @@ ReturnValue_t HealthHelper::initialize() {
 	eventSender = objectManager->get<EventReportingProxyIF>(objectId);

 	if (healthTable == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "HealthHelper::initialize: Health table object needs"
 	            "to be created in factory." << std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

 	if(eventSender == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "HealthHelper::initialize: Owner has to implement "
 	            "ReportingProxyIF." << std::endl;
+#endif
 	    return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

@ -79,8 +83,10 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
 			health, oldHealth);
 	if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
 	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "HealthHelper::informParent: sending health reply failed."
 				<< std::endl;
+#endif
 	}
 }

@ -98,8 +104,10 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
 	}
 	if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
 	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "HealthHelper::handleHealthCommand: sending health "
 		        "reply failed." << std::endl;
+#endif

 	}
 }
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@ -5,6 +5,8 @@
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"

+#include <utility>
+
 class HealthTableIF: public ManagesHealthIF {
 public:
 	virtual ~HealthTableIF() {}
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@ -29,14 +29,16 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
 	uint32_t newTmHits = getAndResetTmHits();
 	uint32_t newStoreHits = getAndResetStoreHits();

-#ifdef DEBUG
+#if FSFW_ENHANCED_PRINTOUT == 1
 	if(diagnosticPrintout) {
 	    if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	        sif::debug << "InternalErrorReporter::performOperation: Errors "
 	                << "occured!" << std::endl;
 	        sif::debug << "Queue errors: " << newQueueHits << std::endl;
 	        sif::debug << "TM errors: " << newTmHits << std::endl;
 	        sif::debug << "Store errors: " << newStoreHits << std::endl;
+#endif
 	    }
 	}
 #endif
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@ -15,8 +15,10 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
 		this->messageSize = this->HEADER_SIZE + size;
 	}
 	else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "MessageQueueMessage: Passed size larger than maximum"
 				"allowed size! Setting content to 0" << std::endl;
+#endif
 		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
 		this->messageSize = this->HEADER_SIZE;
 	}
@ -52,7 +54,9 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
 }

 void MessageQueueMessage::print(bool printWholeMessage) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "MessageQueueMessage content: " << std::endl;
+#endif
 	if(printWholeMessage) {
 	    arrayprinter::print(getData(), getMaximumMessageSize());
 	}
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@ -12,12 +12,16 @@ public:
 		ReturnValue_t status = mutex->lockMutex(timeoutType,
 		        timeoutMs);
 		if(status == MutexIF::MUTEX_TIMEOUT) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
 					<< timeoutMs << " milliseconds!" << std::endl;
+#endif
 		}
 		else if(status != HasReturnvaluesIF::RETURN_OK){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MutexHelper: Lock of Mutex failed with code "
 			        << status << std::endl;
+#endif
 		}
 	}

--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@ -16,7 +16,9 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
 	lastSender = message->getSender();
 	lastCommand = message->getCommand();
 	if (busy) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "MemHelper: Busy!" << std::endl;
+#endif
 	}
 	switch (lastCommand) {
 	case MemoryMessage::CMD_MEMORY_DUMP:
--- a/monitoring/MonitoringMessageContent.h
+++ b/monitoring/MonitoringMessageContent.h
@ -72,8 +72,10 @@ private:
 		if (timeStamper == nullptr) {
 			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
 			if ( timeStamper == nullptr ) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error << "MonitoringReportContent::checkAndSetStamper: "
 				        "Stamper not found!" << std::endl;
+#endif
 				return false;
 			}
 		}
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@ -1,6 +1,9 @@
 #include "ObjectManager.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 #include <iomanip>
+#endif
 #include <cstdlib>

 ObjectManager::ObjectManager( void (*setProducer)() ):
@ -18,13 +21,18 @@ ObjectManager::~ObjectManager() {
 ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 	auto returnPair = objectList.emplace(id, object);
 	if (returnPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    // sif::debug << "ObjectManager::insert: Object " << std::hex
 	    //            << (int)id << std::dec << " inserted." << std::endl;
+#endif
 		return this->RETURN_OK;
 	} else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManager::insert: Object id " << std::hex
-		           << (int)id << std::dec << " is already in use!" << std::endl;
+		           << static_cast<uint32_t>(id) << std::dec
+				   << " is already in use!" << std::endl;
 		sif::error << "Terminating program." << std::endl;
+#endif
 		//This is very severe and difficult to handle in other places.
 		std::exit(INSERTION_FAILED);
 	}
@ -33,12 +41,16 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 ReturnValue_t ObjectManager::remove( object_id_t id ) {
 	if ( this->getSystemObject(id) != NULL ) {
 		this->objectList.erase( id );
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		//sif::debug << "ObjectManager::removeObject: Object " << std::hex
 		//           << (int)id << std::dec << " removed." << std::endl;
+#endif
 		return RETURN_OK;
 	} else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManager::removeObject: Requested object "
 		        << std::hex << (int)id << std::dec << " not found." << std::endl;
+#endif
 		return NOT_FOUND;
 	}
 }
@ -60,8 +72,10 @@ ObjectManager::ObjectManager() : produceObjects(nullptr) {

 void ObjectManager::initialize() {
 	if(produceObjects == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManager::initialize: Passed produceObjects "
 				"functions is nullptr!" << std::endl;
+#endif
 		return;
 	}
 	this->produceObjects();
@ -70,38 +84,49 @@ void ObjectManager::initialize() {
 	for (auto const& it : objectList) {
 		result = it.second->initialize();
 		if ( result != RETURN_OK ) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			object_id_t var = it.first;
 			sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
 					std::setw(8) << std::setfill('0')<< var << " failed to "
 					"initialize with code 0x" << result << std::dec <<
 					std::setfill(' ') << std::endl;
+#endif
 			errorCount++;
 		}
 	}
 	if (errorCount > 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
 		           << " failed initializations." << std::endl;
+#endif
 	}
 	//Init was successful. Now check successful interconnections.
 	errorCount = 0;
 	for (auto const& it : objectList) {
 		result = it.second->checkObjectConnections();
 		if ( result != RETURN_OK ) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
 					(int) it.first  << " connection check failed with code 0x"
 					<< result << std::dec << std::endl;
+#endif
 			errorCount++;
 		}
 	}
 	if (errorCount > 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
 		           << " failed connection checks." << std::endl;
+#endif
 	}
 }

 void ObjectManager::printList() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "ObjectManager: Object List contains:" << std::endl;
 	for (auto const& it : objectList) {
 		sif::debug << std::hex << it.first << " | " << it.second << std::endl;
+
 	}
+#endif
 }
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@ -86,8 +86,10 @@ extern ObjectManagerIF *objectManager;
 template <typename T>
 T* ObjectManagerIF::get( object_id_t id ) {
 	if(objectManager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManagerIF: Global object manager has not "
 				"been initialized yet!" << std::endl;
+#endif
 	}
 	SystemObjectIF* temp = this->getSystemObject(id);
 	return dynamic_cast<T*>(temp);
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@ -8,8 +8,10 @@
 BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
 	handle = TaskManagement::getCurrentTaskHandle();
 	if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Could not retrieve task handle. Please ensure the"
 				"constructor was called inside a task." << std::endl;
+#endif
 	}
 	xTaskNotifyGive(handle);
 }
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@ -5,7 +5,9 @@
 BinarySemaphore::BinarySemaphore() {
 	handle = xSemaphoreCreateBinary();
 	if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
+#endif
 	}
 	// Initiated semaphore must be given before it can be taken.
 	xSemaphoreGive(handle);
@ -18,7 +20,9 @@ BinarySemaphore::~BinarySemaphore() {
 BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
    handle = xSemaphoreCreateBinary();
    if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "Binary semaphore creation failure" << std::endl;
+#endif
    }
    xSemaphoreGive(handle);
 }
@ -28,7 +32,9 @@ BinarySemaphore& BinarySemaphore::operator =(
    if(&s != this) {
        handle = xSemaphoreCreateBinary();
        if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "Binary semaphore creation failure" << std::endl;
+#endif
        }
        xSemaphoreGive(handle);
    }
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@ -9,25 +9,31 @@
 CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
 		uint8_t initCount): maxCount(maxCount) {
 	if(initCount > maxCount) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
 				"intial cout. Setting initial count to max count." << std::endl;
+#endif
 		initCount = maxCount;
 	}

 	handle = TaskManagement::getCurrentTaskHandle();
 	if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
 				"handle. Please ensure the constructor was called inside a "
 				"task." << std::endl;
+#endif
 	}

 	uint32_t oldNotificationValue;
 	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
 			&oldNotificationValue);
 	if(oldNotificationValue != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
 				"current notification value is not 0. Please ensure the "
 				"notification value is not used for other purposes!" << std::endl;
+#endif
 	}
 	for(int i = 0; i < initCount; i++) {
 		xTaskNotifyGive(handle);
--- a/osal/FreeRTOS/CountingSemaphore.cpp
+++ b/osal/FreeRTOS/CountingSemaphore.cpp
@ -10,14 +10,18 @@
 CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
 		maxCount(maxCount), initCount(initCount) {
 	if(initCount > maxCount) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
 				"intial cout. Setting initial count to max count." << std::endl;
+#endif
 		initCount = maxCount;
 	}

 	handle = xSemaphoreCreateCounting(maxCount, initCount);
 	if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+#endif
 	}
 }

@ -25,7 +29,9 @@ CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
 		maxCount(other.maxCount), initCount(other.initCount) {
 	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
 	if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+#endif
 	}
 }

@ -33,7 +39,9 @@ CountingSemaphore& CountingSemaphore::operator =(
 		CountingSemaphore&& other) {
 	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
 	if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+#endif
 	}
 	return * this;
 }
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@ -37,15 +37,19 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
 	}

 	originalTask->taskFunctionality();
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Polling task " << originalTask->handle
 			<< " returned from taskFunctionality." << std::endl;
+#endif
 }

 void FixedTimeslotTask::missedDeadlineCounter() {
 	FixedTimeslotTask::deadlineMissedCount++;
 	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
+#endif
 	}
 }

@ -69,8 +73,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		return HasReturnvaluesIF::RETURN_OK;
 	}

+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_FAILED;
 }

--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@ -10,6 +10,7 @@
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 		maxMessageSize(maxMessageSize) {
 	handle = xQueueCreate(messageDepth, maxMessageSize);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	if (handle == nullptr) {
 		sif::error << "MessageQueue::MessageQueue:"
 		        << " Creation failed." << std::endl;
@ -17,7 +18,9 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 		        << std::endl;
 		sif::error << "Specified Maximum Message Size: "
 		        << maxMessageSize << std::endl;
+
 	}
+#endif
 }

 MessageQueue::~MessageQueue() {
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@ -5,7 +5,9 @@
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
 	if(handle == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
+#endif
 	}
 }

--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@ -13,8 +13,10 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
 			stackSize, this, setPriority, &handle);
 	if(status != pdPASS){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
 		        "Status: " << status << std::endl;
+#endif
 	}

 }
@ -41,8 +43,10 @@ void PeriodicTask::taskEntryPoint(void* argument) {
 	}

 	originalTask->taskFunctionality();
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Polling task " << originalTask->handle
 			<< " returned from taskFunctionality." << std::endl;
+#endif
 }

 ReturnValue_t PeriodicTask::startTask() {
@ -99,8 +103,10 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
 	            "it implement ExecutableObjectIF" << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
--- a/osal/FreeRTOS/SemaphoreFactory.cpp
+++ b/osal/FreeRTOS/SemaphoreFactory.cpp
@ -32,8 +32,10 @@ SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
 		return new BinarySemaphoreUsingTask();
 	}
 	else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
 				"binary semaphore" << std::endl;
+#endif
 		return new BinarySemaphore();
 	}
 }
@ -47,8 +49,10 @@ SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
 		return new CountingSemaphoreUsingTask(maxCount, initCount);
 	}
 	else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
 						"binary semaphore" << std::endl;
+#endif
 		return new CountingSemaphore(maxCount, initCount);
 	}

--- a/osal/host/CMakeLists.txt
+++ b/osal/host/CMakeLists.txt
@ -13,9 +13,11 @@ target_sources(${LIB_FSFW_NAME}
 )

 if(UNIX)
+	find_package(Threads REQUIRED)
+	
 	target_link_libraries(${LIB_FSFW_NAME} 
 	PRIVATE
 		rt
-		pthread
+		${CMAKE_THREAD_LIBS_INIT}
 	)
 endif()
--- a/osal/host/Clock.cpp
+++ b/osal/host/Clock.cpp
@ -14,7 +14,9 @@ MutexIF* Clock::timeMutex = NULL;
 using SystemClock = std::chrono::system_clock;

 uint32_t Clock::getTicksPerSecond(void){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
+#endif
 	return 0;
 	//return CLOCKS_PER_SEC;
 	//uint32_t ticks = sysconf(_SC_CLK_TCK);
@ -23,7 +25,9 @@ uint32_t Clock::getTicksPerSecond(void){

 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
 	// do some magic with chrono
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_OK;
 }

@ -36,7 +40,9 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 #else

 #endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_FAILED;
 }

@ -60,7 +66,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 	time->tv_usec = timeUnix.tv_nsec / 1000.0;
 	return HasReturnvaluesIF::RETURN_OK;
 #else
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_FAILED;
 #endif

@ -68,7 +76,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {

 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 	// do some magic with chrono
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_OK;
 }

@ -90,7 +100,9 @@ timeval Clock::getUptime() {
 		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
 	}
 #else
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
 #endif
 	return timeval;
 }
@ -126,7 +138,9 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
 	time->usecond = usecond.count();

+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_OK;
 }

@ -148,7 +162,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
 	to->tv_usec = from->usecond;
 	//Fails in 2038..
 	return HasReturnvaluesIF::RETURN_OK;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_OK;
 }

--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@ -35,15 +35,19 @@ FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
            reinterpret_cast<HANDLE>(mainThread.native_handle()),
            ABOVE_NORMAL_PRIORITY_CLASS);
    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
                << GetLastError() << std::endl;
+#endif
    }
    result = SetThreadPriority(
            reinterpret_cast<HANDLE>(mainThread.native_handle()),
            THREAD_PRIORITY_NORMAL);
    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
                << GetLastError() << std::endl;
+#endif
    }
 #elif defined(LINUX)
    // TODO: we can just copy and paste the code from the linux OSAL here.
@ -70,8 +74,10 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
    }

    this->taskFunctionality();
+#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
            "Returned from taskFunctionality." << std::endl;
+#endif
 }

 ReturnValue_t FixedTimeslotTask::startTask() {
@ -134,8 +140,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
        return HasReturnvaluesIF::RETURN_OK;
    }

+#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "Component " << std::hex << componentId <<
            " not found, not adding it to pst" << std::endl;
+#endif
    return HasReturnvaluesIF::RETURN_FAILED;
 }

--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@ -10,8 +10,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 	queueLock = MutexFactory::instance()->createMutex();
 	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::MessageQueue:"
 		        << " Could not be created" << std::endl;
+#endif
 	}
 }

@ -137,8 +139,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			targetQueue->messageQueue.push(*mqmMessage);
 		}
 		else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
 					"is not MessageQueueMessage!" << std::endl;
+#endif
 		}

 	}
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@ -33,15 +33,19 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
            reinterpret_cast<HANDLE>(mainThread.native_handle()),
            ABOVE_NORMAL_PRIORITY_CLASS);
    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
                << GetLastError() << std::endl;
+#endif
    }
    result = SetThreadPriority(
            reinterpret_cast<HANDLE>(mainThread.native_handle()),
            THREAD_PRIORITY_NORMAL);
    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
                << GetLastError() << std::endl;
+#endif
    }
 #elif defined(LINUX)
    // we can just copy and paste the code from linux here.
@ -69,8 +73,10 @@ void PeriodicTask::taskEntryPoint(void* argument) {
 	}

 	this->taskFunctionality();
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "PeriodicTask::taskEntryPoint: "
 			"Returned from taskFunctionality." << std::endl;
+#endif
 }

 ReturnValue_t PeriodicTask::startTask() {
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@ -26,8 +26,10 @@ ReturnValue_t QueueMapManager::addMessageQueue(
 	auto returnPair = queueMap.emplace(currentId, queueToInsert);
 	if(not returnPair.second) {
 		// this should never happen for the atomic variable.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "QueueMapManager: This ID is already inside the map!"
 				<< std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if (id != nullptr) {
@ -44,8 +46,10 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
 		return queueIter->second;
 	}
 	else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "QueueMapManager::getQueueHandle: The ID " <<
 				messageQueueId << " does not exists in the map" << std::endl;
+#endif
 		return nullptr;
 	}
 }
--- a/osal/host/SemaphoreFactory.cpp
+++ b/osal/host/SemaphoreFactory.cpp
@ -21,16 +21,20 @@ SemaphoreFactory* SemaphoreFactory::instance() {

 SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
 	// Just gonna wait for full C++20 for now.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
 			" Returning nullptr!\n" << std::flush;
+#endif
 	return nullptr;
 }

 SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
 		uint8_t initCount, uint32_t arguments) {
 	// Just gonna wait for full C++20 for now.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
 				" Returning nullptr!\n" << std::flush;
+#endif
 	return nullptr;
 }

--- a/osal/linux/BinarySemaphore.cpp
+++ b/osal/linux/BinarySemaphore.cpp
@ -43,8 +43,10 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
 		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
 	    result = sem_timedwait(&handle, &timeOut);
 	    if(result != 0 and errno == EINVAL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
 	    			<< std::endl;
+#endif
 	    }
 	}
 	if(result == 0) {
@ -62,8 +64,10 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
 		return SemaphoreIF::SEMAPHORE_INVALID;
 	case(EINTR):
 		// Call was interrupted by signal handler
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
 				"Code " << strerror(errno) << std::endl;
+#endif
 		/* No break */
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
@ -126,8 +130,10 @@ void BinarySemaphore::initSemaphore(uint8_t initCount) {
 			// Value exceeds SEM_VALUE_MAX
 		case(ENOSYS):
 		// System does not support process-shared semaphores
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
 				<< std::endl;
+#endif
 		}
 	}
 }
--- a/osal/linux/CMakeLists.txt
+++ b/osal/linux/CMakeLists.txt
@ -18,8 +18,14 @@ target_sources(${LIB_FSFW_NAME}
 		Timer.cpp
 )

-target_link_libraries(${LIB_FSFW_NAME} 
-	PRIVATE
-		rt
-		pthread
+find_package(Threads REQUIRED)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+	${CMAKE_THREAD_LIBS_INIT}
+	rt
 )
+
+target_link_libraries(${LIB_FSFW_NAME} INTERFACE
+	${CMAKE_THREAD_LIBS_INIT}
+)
+
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@ -69,7 +69,9 @@ timeval Clock::getUptime() {
 	timeval uptime;
 	auto result = getUptime(&uptime);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
+#endif
 	}
 	return uptime;
 }
--- a/osal/linux/CountingSemaphore.cpp
+++ b/osal/linux/CountingSemaphore.cpp
@ -4,8 +4,10 @@
 CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
 		maxCount(maxCount), initCount(initCount) {
 	if(initCount > maxCount) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
 				"intial cout. Setting initial count to max count." << std::endl;
+#endif
 		initCount = maxCount;
 	}

--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@ -47,8 +47,10 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		return HasReturnvaluesIF::RETURN_OK;
 	}

+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::dec << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_FAILED;
 }

@ -91,7 +93,9 @@ void FixedTimeslotTask::taskFunctionality() {
 void FixedTimeslotTask::missedDeadlineCounter() {
 	FixedTimeslotTask::deadlineMissedCount++;
 	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
 				   << " deadlines." << std::endl;
+#endif
 	}
 }
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@ -10,7 +10,6 @@
 #include <errno.h>


-
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
 		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
 		defaultDestination(MessageQueueIF::NO_QUEUE),
@ -43,13 +42,17 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
 MessageQueue::~MessageQueue() {
 	int status = mq_close(this->id);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
 				   << strerror(errno) <<std::endl;
+#endif
 	}
 	status = mq_unlink(name);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
 				   << strerror(errno) << std::endl;
+#endif
 	}
 }

@ -57,8 +60,10 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 		uint32_t messageDepth) {
 	switch(errno) {
 	case(EINVAL): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
 				" for message size" << std::endl;
+#endif
 		size_t defaultMqMaxMsg = 0;
 		// Not POSIX conformant, but should work for all UNIX systems.
 		// Just an additional helpful printout :-)
@ -79,11 +84,13 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 			Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
 			Apply changes with: sudo sysctl -p
 			*/
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::MessageQueue: Default MQ size "
 					<< defaultMqMaxMsg << " is too small for requested size "
 					<< messageDepth << std::endl;
 			sif::error << "This error can be fixed by setting the maximum "
 					"allowed message size higher!" << std::endl;
+#endif

 		}
 		break;
@ -95,8 +102,10 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 		//We unlink the other queue
 		int status = mq_unlink(name);
 		if (status != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "mq_unlink Failed with status: " << strerror(errno)
 													<< std::endl;
+#endif
 		}
 		else {
 			// Successful unlinking, try to open again
@ -114,9 +123,11 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,

 	default:
 		// Failed either the first time or the second time
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 		<< name << std::dec << " failed with status: "
 		<< strerror(errno) << std::endl;
+#endif

 	}
 	return HasReturnvaluesIF::RETURN_FAILED;
@ -151,15 +162,19 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,

 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	if(message == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::receiveMessage: Message is "
 				"nullptr!" << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

 	if(message->getMaximumMessageSize() < maxMessageSize) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::receiveMessage: Message size "
 				<< message->getMaximumMessageSize()
 				<< " too small to receive data!" << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

@ -187,8 +202,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 			return MessageQueueIF::EMPTY;
 		case EBADF:
 			//mqdes doesn't represent a valid queue open for reading.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::receive: configuration error "
 			           << strerror(errno)  << std::endl;
+#endif
 			/*NO BREAK*/
 		case EINVAL:
 			/*
@ -200,8 +217,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 			 *   queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
 			 *   been set in the queue's mq_flags.
 			 */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::receive: configuration error "
 					   << strerror(errno)  << std::endl;
+#endif
 			/*NO BREAK*/
 		case EMSGSIZE:
 			/*
@ -213,8 +232,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 			 *   given msg_len is too short for the message that would have
 			 *   been received.
 			 */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::receive: configuration error "
 			           << strerror(errno)  << std::endl;
+#endif
 			/*NO BREAK*/
 		case EINTR:
 			//The operation was interrupted by a signal.
@ -237,8 +258,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 		switch(errno){
 		case EBADF:
 			//mqdes doesn't represent a valid message queue.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::flush configuration error, "
 					"called flush with an invalid queue ID" << std::endl;
+#endif
 			/*NO BREAK*/
 		case EINVAL:
 			//mq_attr is NULL
@ -253,8 +276,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 		switch(errno){
 		case EBADF:
 			//mqdes doesn't represent a valid message queue.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::flush configuration error, "
 					"called flush with an invalid queue ID" << std::endl;
+#endif
 			/*NO BREAK*/
 		case EINVAL:
 			/*
@ -306,8 +331,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	if(message == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
 				"nullptr!" << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

@ -335,11 +362,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		case EBADF: {
 			//mq_des doesn't represent a valid message queue descriptor,
 			//or mq_des wasn't opened for writing.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
 					<< " destination invalid."  << std::endl;
 			sif::error << strerror(errno) << " in "
 					<<"mq_send to: " << sendTo << " sent from "
 					<< sentFrom << std::endl;
+#endif
 			return DESTINVATION_INVALID;
 		}
 		case EINTR:
@ -354,14 +383,18 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			 * - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
 			 *   msg_prio is greater than the priority of the calling process.
 			 */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::sendMessage: Configuration error "
 			           << strerror(errno) << " in mq_send" << std::endl;
+#endif
 			/*NO BREAK*/
 		case EMSGSIZE:
 			// The msg_len is greater than the msgsize associated with
 			//the specified queue.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "MessageQueue::sendMessage: Size error [" <<
 					strerror(errno) << "] in mq_send" << std::endl;
+#endif
 			/*NO BREAK*/
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@ -12,24 +12,32 @@ Mutex::Mutex() {
 	pthread_mutexattr_t mutexAttr;
 	int status = pthread_mutexattr_init(&mutexAttr);
 	if (status != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
+#endif
 	}
 	status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
 	if (status != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
 				<< std::endl;
+#endif
 	}
 	status = pthread_mutex_init(&mutex, &mutexAttr);
 	if (status != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: creation with name, id " << mutex.__data.__count
 				<< ", " << " failed with " << strerror(status) << std::endl;
+#endif
 	}
 	// After a mutex attributes object has been used to initialize one or more
 	// mutexes, any function affecting the attributes object
 	// (including destruction) shall not affect any previously initialized mutexes.
 	status = pthread_mutexattr_destroy(&mutexAttr);
 	if (status != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
+#endif
 	}
 }

--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@ -25,8 +25,10 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
 				<< " it implements ExecutableObjectIF!" << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
@ -42,7 +44,9 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {

 ReturnValue_t PeriodicPosixTask::startTask(void) {
 	started = true;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	//sif::info << stackSize << std::endl;
+#endif
 	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
@ -67,12 +71,16 @@ void PeriodicPosixTask::taskFunctionality(void) {
 			char name[20] = {0};
 			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
 			if(status == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error << "PeriodicPosixTask " << name << ": Deadline "
 						"missed." << std::endl;
+#endif
 			}
 			else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
 						status << std::endl;
+#endif
 			}
 			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@ -48,8 +48,10 @@ void PosixThread::suspend() {
 	sigaddset(&waitSignal, SIGUSR1);
 	sigwait(&waitSignal, &caughtSig);
 	if (caughtSig != SIGUSR1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
 				caughtSig << std::endl;
+#endif
 	}
 }

@ -118,7 +120,9 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){


 void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	//sif::debug << "PosixThread::createTask" << std::endl;
+#endif
 	/*
 	 * The attr argument points to a pthread_attr_t structure whose contents
       are used at thread creation time to determine attributes for the new
@ -129,53 +133,69 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	pthread_attr_t attributes;
 	int status = pthread_attr_init(&attributes);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Posix Thread attribute init failed with: " <<
 				strerror(status) << std::endl;
+#endif
 	}
 	void* stackPointer;
 	status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PosixThread::createTask: Stack init failed with: " <<
 				strerror(status) << std::endl;
+#endif
 		if(errno == ENOMEM) {
 			uint64_t stackMb = stackSize/10e6;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "PosixThread::createTask: Insufficient memory for"
 					" the requested " << stackMb << " MB" << std::endl;
+#endif
 		}
 		else if(errno == EINVAL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "PosixThread::createTask: Wrong alignment argument!"
 					<< std::endl;
+#endif
 		}
 		return;
 	}

 	status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PosixThread::createTask: pthread_attr_setstack "
 				" failed with: " << strerror(status) <<  std::endl;
 		sif::error << "Make sure the specified stack size is valid and is "
 				"larger than the minimum allowed stack size." << std::endl;
+#endif
 	}

 	status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "Posix Thread attribute setinheritsched failed with: " <<
 					strerror(status) << std::endl;
+#endif
 	}

 	// TODO FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Posix Thread attribute schedule policy failed with: " <<
 				strerror(status) << std::endl;
+#endif
 	}

 	sched_param scheduleParams;
 	scheduleParams.__sched_priority = priority;
 	status = pthread_attr_setschedparam(&attributes, &scheduleParams);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Posix Thread attribute schedule params failed with: " <<
 				strerror(status) << std::endl;
+#endif
 	}

 	//Set Signal Mask for suspend until startTask is called
@ -184,36 +204,48 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	sigaddset(&waitSignal, SIGUSR1);
 	status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Posix Thread sigmask failed failed with: " <<
 				strerror(status) << " errno: " << strerror(errno) << std::endl;
+#endif
 	}


 	status = pthread_create(&thread,&attributes,fnc_,arg_);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Posix Thread create failed with: " <<
 				strerror(status) << std::endl;
+#endif
 	}

 	status = pthread_setname_np(thread,name);
 	if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PosixThread::createTask: setname failed with: " <<
 				strerror(status) << std::endl;
+#endif
 		if(status == ERANGE) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "PosixThread::createTask: Task name length longer"
 					" than 16 chars. Truncating.." << std::endl;
+#endif
 			name[15] = '\0';
 			status = pthread_setname_np(thread,name);
 			if(status != 0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error << "PosixThread::createTask: Setting name"
 						" did not work.." << std::endl;
+#endif
 			}
 		}
 	}

 	status = pthread_attr_destroy(&attributes);
 	if(status!=0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Posix Thread attribute destroy failed with: " <<
 				strerror(status) << std::endl;
+#endif
 	}
 }
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@ -39,14 +39,18 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
 		if(bytesReceived < 0) {
 			// handle error
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "TcSocketPollingTask::performOperation: Reception"
 					"error." << std::endl;
+#endif
 			handleReadError();

 			continue;
 		}
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 //		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
 //				<< " bytes received" << std::endl;
+#endif

 		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {
@ -65,9 +69,11 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 			receptionBuffer.data(), bytesRead);
 	// arrayprinter::print(receptionBuffer.data(), bytesRead);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
 				"storage failed" << std::endl;
 		sif::error << "Packet size: " << bytesRead << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

@ -75,8 +81,10 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {

 	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Serial Polling: Sending message to queue failed"
 				<< std::endl;
+#endif
 		tcStore->deleteData(storeId);
 	}
 	return result;
@ -85,15 +93,19 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 ReturnValue_t TcUnixUdpPollingTask::initialize() {
 	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 	if (tcStore == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
 				<< std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

 	tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
 	if(tmtcBridge == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
 				" TMTC bridge object!" << std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

@ -115,8 +127,10 @@ void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
 	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
 			&tval, sizeof(receptionTimeout));
 	if(result == -1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
 				"receive timeout failed with " << strerror(errno) << std::endl;
+#endif
 	}
 }

@ -126,13 +140,17 @@ void TcUnixUdpPollingTask::handleReadError() {
 	case(EAGAIN): {
 		// todo: When working in timeout mode, this will occur more often
 		// and is not an error.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
 				<< std::endl;
+#endif
 		break;
 	}
 	default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcUnixUdpPollingTask::handleReadError: "
 				<< strerror(errno) << std::endl;
+#endif
 	}
 	}
 }
--- a/osal/linux/Timer.cpp
+++ b/osal/linux/Timer.cpp
@ -10,8 +10,10 @@ Timer::Timer() {
 	sigEvent.sigev_value.sival_ptr = &timerId;
 	int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
 	if(status!=0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Timer creation failed with: " << status <<
 				" errno: " << errno << std::endl;
+#endif
 	}
 }

--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@ -26,8 +26,10 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
 	serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
 	if(serverSocket < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
 				" UDP socket!" << std::endl;
+#endif
 		handleSocketError();
 		return;
 	}
@ -51,9 +53,11 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 			reinterpret_cast<struct sockaddr*>(&serverAddress),
 			serverAddressLen);
 	if(result == -1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
 				"local port " << setServerPort << " to server socket!"
 				<< std::endl;
+#endif
 		handleBindError();
 		return;
 	}
@ -74,18 +78,24 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	}

 //	char ipAddress [15];
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 //	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
 //					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+#endif

 	ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
 			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
 	if(bytesSent < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
 				<< std::endl;
+#endif
 		handleSendError();
 	}
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 //	sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
 //			" sent." << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_OK;
 }

@ -93,10 +103,12 @@ void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
 	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);

 //	char ipAddress [15];
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 //	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
 //			&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 //	sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
 //			&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+#endif

 	// Set new IP address if it has changed.
 	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
@ -117,12 +129,16 @@ void TmTcUnixUdpBridge::handleSocketError() {
 	case(ENOBUFS):
 	case(ENOMEM):
 	case(EPROTONOSUPPORT):
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
 				<< " with " << strerror(errno) << std::endl;
+#endif
 		break;
 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
 				<< std::endl;
+#endif
 		break;
 	}
 }
@ -135,10 +151,12 @@ void TmTcUnixUdpBridge::handleBindError() {
 		 Ephermeral ports can be shown with following command:
 		 sysctl -A | grep ip_local_port_range
 		 */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
 				"Ports 1-1024 are reserved on UNIX systems and require root "
 				"rights while ephermeral ports should not be used as well."
 				<< std::endl;
+#endif
 	}
 	break;
 	case(EADDRINUSE):
@ -153,13 +171,17 @@ void TmTcUnixUdpBridge::handleBindError() {
 	case(ENOMEM):
 	case(ENOTDIR):
 	case(EROFS): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
 				<< " with " << strerror(errno) << std::endl;
+#endif
 		break;
 	}
 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
 				<< std::endl;
+#endif
 		break;
 	}
 }
@ -167,8 +189,10 @@ void TmTcUnixUdpBridge::handleBindError() {
 void TmTcUnixUdpBridge::handleSendError() {
 	switch(errno) {
 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TmTcUnixBridge::handleSendError: "
 		        << strerror(errno) << std::endl;
+#endif
 	}
 }

--- a/osal/rtems/CMakeLists.txt
+++ b/osal/rtems/CMakeLists.txt
@ -0,0 +1,18 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		CpuUsage.cpp
+		InitTask.cpp
+		InternalErrorCodes.cpp
+		MessageQueue.cpp
+		MultiObjectTask.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PollingTask.cpp
+		QueueFactory.cpp
+		RtemsBasic.cpp
+		TaskBase.cpp
+		TaskFactory.cpp
+)
+
+
--- a/osal/rtems/Clock.cpp
+++ b/osal/rtems/Clock.cpp
@ -1,6 +1,10 @@
-#include "../../timemanager/Clock.h"
 #include "RtemsBasic.h"
+
+#include "../../timemanager/Clock.h"
+#include "../../ipc/MutexHelper.h"
+
 #include <rtems/score/todimpl.h>
+#include <rtems/rtems/clockimpl.h>

 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = nullptr;
--- a/osal/rtems/InternalErrorCodes.cpp
+++ b/osal/rtems/InternalErrorCodes.cpp
@ -34,8 +34,10 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 		return OUT_OF_PROXIES;
 	case INTERNAL_ERROR_INVALID_GLOBAL_ID:
 		return INVALID_GLOBAL_ID;
+#ifndef STM32H743ZI_NUCLEO
 	case INTERNAL_ERROR_BAD_STACK_HOOK:
 		return BAD_STACK_HOOK;
+#endif
 //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
 //		return BAD_ATTRIBUTES;
 //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@ -9,9 +9,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 	rtems_status_code status = rtems_message_queue_create(name, message_depth,
 			max_message_size, 0, &(this->id));
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 				<< name << std::dec << " failed with status:"
 				<< (uint32_t) status << std::endl;
+#endif
 		this->id = 0;
 	}
 }
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@ -30,8 +30,10 @@ ReturnValue_t MultiObjectTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
+#endif
 	}
 	switch(status){
 	case RTEMS_SUCCESSFUL:
@ -63,7 +65,9 @@ void MultiObjectTask::taskFunctionality() {
 			char nameSpace[8] = { 0 };
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
 					nameSpace);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
+#endif
 			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@ -10,16 +10,20 @@ Mutex::Mutex() :
 	RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
 			&mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
 				<< " failed with " << status << std::endl;
+#endif
 	}
 }

 Mutex::~Mutex() {
 	rtems_status_code status = rtems_semaphore_delete(mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: deletion for id " << mutexId
 				<< " failed with " << status << std::endl;
+#endif
 	}
 }

--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@ -35,15 +35,19 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
 	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Polling task " << originalTask->getId()
 			<< " returned from taskFunctionality." << std::endl;
+#endif
 }

 void PollingTask::missedDeadlineCounter() {
 	PollingTask::deadlineMissedCount++;
 	if (PollingTask::deadlineMissedCount % 10 == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PST missed " << PollingTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
+#endif
 	}
 }

@ -51,8 +55,10 @@ ReturnValue_t PollingTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PollingTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
+#endif
 	}
 	switch(status){
 	case RTEMS_SUCCESSFUL:
@ -75,8 +81,10 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		return HasReturnvaluesIF::RETURN_OK;
 	}

+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_FAILED;
 }

--- a/osal/rtems/TaskBase.cpp
+++ b/osal/rtems/TaskBase.cpp
@ -22,9 +22,11 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 	}
 	ReturnValue_t result = convertReturnCode(status);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
 				<< osalName << std::dec << " failed with return code "
 				<< (uint32_t) status << std::endl;
+#endif
 		this->id = 0;
 	}
 }
--- a/osal/windows/TcWinUdpPollingTask.cpp
+++ b/osal/windows/TcWinUdpPollingTask.cpp
@ -43,13 +43,17 @@ ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
 				&senderAddressSize);
 		if(bytesReceived == SOCKET_ERROR) {
 			// handle error
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "TcWinUdpPollingTask::performOperation: Reception"
 					" error." << std::endl;
+#endif
 			handleReadError();
 			continue;
 		}
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
 		//		<< " bytes received" << std::endl;
+#endif

 		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {
@ -68,9 +72,11 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 			receptionBuffer.data(), bytesRead);
 	// arrayprinter::print(receptionBuffer.data(), bytesRead);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
 				"storage failed" << std::endl;
 		sif::error << "Packet size: " << bytesRead << std::endl;
+#endif
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

@ -78,8 +84,10 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {

 	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Serial Polling: Sending message to queue failed"
 				<< std::endl;
+#endif
 		tcStore->deleteData(storeId);
 	}
 	return result;
@ -88,21 +96,27 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 ReturnValue_t TcWinUdpPollingTask::initialize() {
 	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 	if (tcStore == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
 				<< std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

 	tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
 	if(tmtcBridge == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
 				" TMTC bridge object!" << std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}

 	serverUdpSocket = tmtcBridge->serverSocket;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
 	//        << serverUdpSocket << std::endl;
+#endif

 	return HasReturnvaluesIF::RETURN_OK;
 }
@ -119,8 +133,10 @@ void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
 	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
 			reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
 	if(result == -1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
 				"receive timeout failed with " << strerror(errno) << std::endl;
+#endif
 	}
 }

@ -128,23 +144,31 @@ void TcWinUdpPollingTask::handleReadError() {
    int error = WSAGetLastError();
    switch(error) {
    case(WSANOTINITIALISED): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TcWinUdpPollingTask::handleReadError: WSANOTINITIALISED: "
                << "WSAStartup(...) call " << "necessary" << std::endl;
+#endif
        break;
    }
    case(WSAEFAULT): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TcWinUdpPollingTask::handleReadError: WSADEFAULT: "
                << "Bad address " << std::endl;
+#endif
        break;
    }
    case(WSAEINVAL): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TcWinUdpPollingTask::handleReadError: WSAEINVAL: "
                << "Invalid input parameters. " << std::endl;
+#endif
        break;
    }
    default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TcWinUdpPollingTask::handleReadError: Error code: "
                << error << std::endl;
+#endif
        break;
    }
    }
--- a/osal/windows/TmTcWinUdpBridge.cpp
+++ b/osal/windows/TmTcWinUdpBridge.cpp
@ -15,8 +15,10 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
    if (err != 0) {
        /* Tell the user that we could not find a usable */
        /* Winsock DLL.                                  */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
                "WSAStartup failed with error: " << err << std::endl;
+#endif
        return;
    }

@ -34,8 +36,10 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
    //clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
    serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
    if(serverSocket == INVALID_SOCKET) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
                " UDP socket!" << std::endl;
+#endif
        handleSocketError();
        return;
    }
@ -59,9 +63,11 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
            reinterpret_cast<struct sockaddr*>(&serverAddress),
            serverAddressLen);
    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
                "local port " << setServerPort << " to server socket!"
                << std::endl;
+#endif
        handleBindError();
    }
 }
@ -77,19 +83,25 @@ ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
    //clientAddressLen = sizeof(serverAddress);

 //  char ipAddress [15];
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 //  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
 //                  &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+#endif

    ssize_t bytesSent = sendto(serverSocket,
            reinterpret_cast<const char*>(data), dataLen, flags,
            reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
    if(bytesSent == SOCKET_ERROR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed."
                << std::endl;
+#endif
        handleSendError();
    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 //  sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
 //          " sent." << std::endl;
+#endif
    return HasReturnvaluesIF::RETURN_OK;
 }

@ -97,10 +109,12 @@ void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
    MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);

 //  char ipAddress [15];
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 //  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
 //          &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 //  sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
 //          &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+#endif
    registerCommConnect();

    // Set new IP address if it has changed.
@ -114,8 +128,10 @@ void TmTcWinUdpBridge::handleSocketError() {
    int errCode = WSAGetLastError();
    switch(errCode) {
    case(WSANOTINITIALISED): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
                << "WSAStartup(...) call necessary" << std::endl;
+#endif
        break;
    }
    default: {
@ -123,8 +139,10 @@ void TmTcWinUdpBridge::handleSocketError() {
        https://docs.microsoft.com/en-us/windows/win32/winsock/
        windows-sockets-error-codes-2
         */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: "
                << errCode << std::endl;
+#endif
        break;
    }
    }
@ -134,13 +152,17 @@ void TmTcWinUdpBridge::handleBindError() {
    int errCode = WSAGetLastError();
    switch(errCode) {
    case(WSANOTINITIALISED): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: "
                << "WSAStartup(...) call " << "necessary" << std::endl;
+#endif
        break;
    }
    case(WSAEADDRINUSE): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
    	sif::warning << "TmTcWinUdpBridge::handleBindError: WSAEADDRINUSE: "
    			<< "Port is already in use!" << std::endl;
+#endif
    	break;
    }
    default: {
@ -148,8 +170,10 @@ void TmTcWinUdpBridge::handleBindError() {
        https://docs.microsoft.com/en-us/windows/win32/winsock/
        windows-sockets-error-codes-2
        */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TmTcWinUdpBridge::handleBindError: Error code: "
                << errCode << std::endl;
+#endif
        break;
    }
    }
@ -159,13 +183,17 @@ void TmTcWinUdpBridge::handleSendError() {
    int errCode = WSAGetLastError();
    switch(errCode) {
    case(WSANOTINITIALISED): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
                << "WSAStartup(...) call necessary" << std::endl;
+#endif
        break;
    }
    case(WSAEADDRNOTAVAIL): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TmTcWinUdpBridge::handleSendError: WSAEADDRNOTAVAIL: "
                << "Check target address. " << std::endl;
+#endif
        break;
    }
    default: {
@ -173,8 +201,10 @@ void TmTcWinUdpBridge::handleSendError() {
        https://docs.microsoft.com/en-us/windows/win32/winsock/
        windows-sockets-error-codes-2
        */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TmTcWinUdpBridge::handleSendError: Error code: "
                << errCode << std::endl;
+#endif
        break;
    }
    }
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@ -48,8 +48,10 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
        ConstStorageAccessor accessor(storeId);
        result = storage->getData(storeId, accessor);
        if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "ParameterHelper::handleParameterMessage: Getting"
                    << " store data failed for load command." << std::endl;
+#endif
            break;
        }

--- a/pus/CService201HealthCommanding.cpp
+++ b/pus/CService201HealthCommanding.cpp
@ -22,7 +22,9 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice)
 	case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
 		return RETURN_OK;
 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Invalid Subservice" << std::endl;
+#endif
 		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
 	}
 }
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@ -51,8 +51,10 @@ ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
 		result = generateSuccessReport(message);
 	}
 	if(result != HasReturnvaluesIF::RETURN_OK){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Service1TelecommandVerification::sendVerificationReport: "
 		        "Sending verification packet failed !" << std::endl;
+#endif
 	}
 	return result;
 }
@ -88,9 +90,11 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
 	AcceptsTelemetryIF* funnel = objectManager->
 			get<AcceptsTelemetryIF>(targetDestination);
 	if(funnel == nullptr){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "Service1TelecommandVerification::initialize: Specified"
 	            " TM funnel invalid. Make sure it is set up and implements"
 	            " AcceptsTelemetryIF." << std::endl;
+#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 	tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@ -25,7 +25,9 @@ ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
 	case Subservice::COMMAND_TOGGLE_WIRETAPPING:
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Invalid Subservice" << std::endl;
+#endif
 		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
 	}
 }
@ -125,9 +127,11 @@ void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
 				static_cast<uint8_t>(Subservice::REPLY_RAW));
 		break;
 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Unknown message in Service2DeviceAccess::"
 				"handleUnrequestedReply with command ID " <<
 				reply->getCommand() << std::endl;
+#endif
 		break;
 	}
 	//Must be reached by all cases to clear message
@ -143,9 +147,11 @@ void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
 	size_t size = 0;
 	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
 	if(result != HasReturnvaluesIF::RETURN_OK){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
 		        "handleUnrequestedReply with failure ID "<< result
 		        << std::endl;
+#endif
 		return;
 	}

--- a/pus/Service3Housekeeping.cpp
+++ b/pus/Service3Housekeeping.cpp
@ -222,8 +222,10 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
 	}

 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Service3Housekeeping::handleReply: Invalid reply with "
 				<< "reply command " << command << "!" << std::endl;
+#endif
 		return CommandingServiceBase::INVALID_REPLY;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
@ -249,16 +251,20 @@ void Service3Housekeeping::handleUnrequestedReply(
 	}

 	default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Service3Housekeeping::handleUnrequestedReply: Invalid "
 		        << "reply with " << "reply command " << command << "!"
 		        << std::endl;
+#endif
 		return;
 	}

 	if(result != HasReturnvaluesIF::RETURN_OK) {
 		// Configuration error
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "Service3Housekeeping::handleUnrequestedReply:"
 				<< "Could not generate reply!" << std::endl;
+#endif
 	}
 }

--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@ -37,8 +37,10 @@ ReturnValue_t Service5EventReporting::performService() {
 	       }
 	    }
 	}
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug <<  "Service5EventReporting::generateEventReport:"
 	        " Too many events" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_OK;
 }

@ -53,8 +55,10 @@ ReturnValue_t Service5EventReporting::generateEventReport(
 	ReturnValue_t result = tmPacket.sendPacket(
 	        requestQueue->getDefaultDestination(),requestQueue->getId());
 	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "Service5EventReporting::generateEventReport:"
 		        " Could not send TM packet" << std::endl;
+#endif
 	}
 	return result;
 }
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@ -60,9 +60,11 @@ ReturnValue_t Service8FunctionManagement::prepareCommand(
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
                << " TC size smaller thant minimum size of direct command."
                << std::endl;
+#endif
        return CommandingServiceBase::INVALID_TC;
    }

@ -125,8 +127,10 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(
    const uint8_t * buffer = nullptr;
    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
    if(result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "Service 8: Could not retrieve data for data reply"
                << std::endl;
+#endif
        return result;
    }
    DataReply dataReply(objectId, actionId, buffer, size);
@ -135,8 +139,10 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(

    auto deletionResult = IPCStore->deleteData(storeId);
    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
                << " of data in pool failed." << std::endl;
+#endif
    }
    return result;
 }
--- a/serialize/EndianConverter.h
+++ b/serialize/EndianConverter.h
@ -3,7 +3,6 @@

 #include "../osal/Endiness.h"
 #include <cstring>
-#include <iostream>

 /**
 * Helper class to convert variables or bitstreams between machine
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@ -95,8 +95,10 @@ ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 template<typename count_t>
 uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
 	if(buffer == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Wrong access function for stored type !"
 				 " Use getConstBuffer()." << std::endl;
+#endif
 		return nullptr;
 	}
 	return buffer;
@ -105,8 +107,10 @@ uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
 template<typename count_t>
 const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
 	if(constBuffer == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "SerialBufferAdapter::getConstBuffer:"
 				" Buffers are unitialized!" << std::endl;
+#endif
 		return nullptr;
 	}
 	return constBuffer;
--- a/serviceinterface/CMakeLists.txt
+++ b/serviceinterface/CMakeLists.txt
@ -1,5 +1,5 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ServiceInterfaceStream.cpp
-		ServiceInterfaceBuffer.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE 
+	ServiceInterfaceStream.cpp
+	ServiceInterfaceBuffer.cpp
+	ServiceInterfacePrinter.cpp
 )
--- a/serviceinterface/ServiceInterface.h
+++ b/serviceinterface/ServiceInterface.h
@ -0,0 +1,12 @@
+#ifndef FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_
+#define FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_
+
+#include <FSFWConfig.h>
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#else
+#include <fsfw/serviceinterface/ServiceInterfacePrinter.h>
+#endif
+
+#endif /* FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_ */
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@ -1,8 +1,17 @@
-#include "../timemanager/Clock.h"
 #include "ServiceInterfaceBuffer.h"
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+
+#include "../timemanager/Clock.h"
+
+#include "serviceInterfaceDefintions.h"
 #include <cstring>
 #include <inttypes.h>

+#if defined(WIN32) && FSFW_COLORED_OUTPUT == 1
+#include "Windows.h"
+#endif
+
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);

@ -17,6 +26,31 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
+
+#if FSFW_COLORED_OUTPUT == 1
+	if(setMessage.find("DEBUG")) {
+		colorPrefix = fsfw::ANSI_COLOR_MAGENTA;
+	}
+	else if(setMessage.find("INFO")) {
+		colorPrefix = fsfw::ANSI_COLOR_GREEN;
+	}
+	else if(setMessage.find("WARNING")) {
+		colorPrefix = fsfw::ANSI_COLOR_YELLOW;
+	}
+	else if(setMessage.find("ERROR")) {
+		colorPrefix = fsfw::ANSI_COLOR_RED;
+	}
+
+#ifdef WIN32
+	HANDLE hOut = GetStdHandle(STD_OUTPUT_HANDLE);
+	DWORD dwMode = 0;
+	GetConsoleMode(hOut, &dwMode);
+	dwMode |= ENABLE_VIRTUAL_TERMINAL_PROCESSING;
+	SetConsoleMode(hOut, dwMode);
+#endif
+
+#endif
+
 	preamble.reserve(MAX_PREAMBLE_SIZE);
 	preamble.resize(MAX_PREAMBLE_SIZE);
 }
@ -102,6 +136,12 @@ std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 		currentSize += 1;
 		parsePosition += 1;
 	}
+
+#if FSFW_COLORED_OUTPUT == 1
+	currentSize += sprintf(parsePosition, "%s", colorPrefix.c_str());
+	parsePosition += colorPrefix.size();
+#endif
+
 	int32_t charCount = sprintf(parsePosition,
 			"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
 					this->logMessage.c_str(), loggerTime.hour,
@ -215,3 +255,5 @@ void ServiceInterfaceBuffer::initSocket() {
 }

 #endif //ML505
+
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@ -2,6 +2,10 @@
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_

 #include "../returnvalues/HasReturnvaluesIF.h"
+#include <FSFWConfig.h>
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+
 #include <iostream>
 #include <sstream>
 #include <iomanip>
@ -41,6 +45,11 @@ private:
 	//! For additional message information
 	std::string logMessage;
 	std::string preamble;
+
+#if FSFW_COLORED_OUTPUT == 1
+	std::string colorPrefix;
+#endif
+
 	// For EOF detection
 	typedef std::char_traits<char> Traits;

@ -54,7 +63,7 @@ private:
 	bool errStream;

 	//! Needed for buffered mode.
-	static size_t const BUF_SIZE = 128;
+	static size_t const BUF_SIZE = fsfwconfig::FSFW_PRINT_BUFFER_SIZE;
 	char buf[BUF_SIZE];

 	//! In this function, the characters are parsed.
@ -141,5 +150,6 @@ private:
 };
 #endif //ML505

+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */

 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */
--- a/Show More
+++ b/Show More