missing call added

Reviewed-on: fsfw/fsfw#612

CHANGELOG.md

@@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
+  compiler supports it
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
 - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
   and mode
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@@ -22,9 +25,42 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
+  creation call. It allows passing context information and an arbitrary user argument into
+  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+
+### HAL
+
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 
+### Time
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
+https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
+
+- `timeval` to `TimeOfDay_t`
+- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+- Moved the statics used by Clock in ClockCommon.cpp to this file
+- Better check for leap seconds
+- Added Unittests for Clock (only getter)
+
+### Power 
+
+- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
+  also specify a `ReturnValue_t` return type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
+  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
@@ -33,15 +69,47 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
+  can make good use of it and it usually makes the code faster and/or smaller.
+  After some more research:
+  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
+  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
+  because if an application linking against the FSFW does not use LTO, there can be compile
+  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
+  can be seen in the multiple CMake issues for it: 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
+  Easiest solution for now: Keep this option OFF by default.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
+- Added ETL dependency and improved library dependency management
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
+- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- New typedef for switcher type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- `Subsystem`: New API to add table and sequence entries
 
 ## Fixed
 
+- TCP TMTC Server: `MutexGuard` was not created properly in
+  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
+- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
+  Is not currently used right now but might be used in the future
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
+- Move some CMake directives further up top so they are not ignored
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
 - Small bugfix in STM32 HAL for SPI
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
+- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
+  configuration fails, the function will exit prematurely with a dedicated error code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
 
 # [v4.0.0]
 

CMakeLists.txt

@@ -1,5 +1,15 @@
 cmake_minimum_required(VERSION 3.13)
 
+set(LIB_FSFW_NAME fsfw)
+project(${LIB_FSFW_NAME})
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 17)
+  message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
+endif()
+
 set(FSFW_VERSION 4)
 set(FSFW_SUBVERSION 0)
 set(FSFW_REVISION 0)
@@ -7,14 +17,45 @@ set(FSFW_REVISION 0)
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
+set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LIB_MAJOR_VERSION
+    20
+    CACHE STRING "ETL library major version requirement")
+set(FSFW_ETL_LIB_VERSION
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
+    CACHE STRING "ETL library exact version requirement")
+set(FSFW_ETL_LINK_TARGET etl::etl)
+
+set(FSFW_CATCH2_LIB_MAJOR_VERSION
+    3
+    CACHE STRING "Catch2 library major version requirement")
+set(FSFW_CATCH2_LIB_VERSION
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    CACHE STRING "Catch2 library exact version requirement")
+
+# Keep this off by default for now. See PR:
+# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
+# keeping this on by default is problematic
+option(
+  FSFW_ENABLE_IPO
+  "Enable interprocedural optimization or link-time optimization if available"
+  OFF)
+if(FSFW_ENABLE_IPO)
+  include(CheckIPOSupported)
+  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
+  if(NOT IPO_SUPPORTED)
+    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+  endif()
+endif()
+
 option(FSFW_GENERATE_SECTIONS
-    "Generate function and data sections. Required to remove unused code" ON
-)
+       "Generate function and data sections. Required to remove unused code" ON)
 if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@@ -38,50 +79,56 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
-set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
-project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
+if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                TRUE)
+endif()
+
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "Building the FSFW unittests in addition to the static library")
+  message(
+    STATUS "Building the FSFW unittests in addition to the static library")
   # Check whether the user has already installed Catch2 first
-    find_package(Catch2 3 QUIET)
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
-        message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
+    message(
+      STATUS
+        "Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
     include(FetchContent)
 
     FetchContent_Declare(
       Catch2
       GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        v3.0.0-preview4
-        )
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
 
-        FetchContent_MakeAvailable(Catch2)
-        #fixes regression -preview4, to be confirmed in later releases
-        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
   set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
   configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
+  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                  TRUE)
+  endif()
 
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "Generating coverage data for the library")
     message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
-        )
+                   "will be compiled with coverage data as well")
     include(FetchContent)
     FetchContent_Declare(
-            cmake-modules
-            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
-        )
+      cmake-modules GIT_REPOSITORY https://github.com/bilke/cmake-modules.git)
     FetchContent_MakeAvailable(cmake-modules)
     set(CMAKE_BUILD_TYPE "Debug")
     list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
@@ -89,24 +136,49 @@ if(FSFW_BUILD_UNITTESTS)
   endif()
 endif()
 
+message(STATUS "Finding and/or providing ETL library")
+
+# Check whether the user has already installed ETL first
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_ETL_LIB_NAME}
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
+endif()
+
+# The documentation for FetchContent recommends declaring all the dependencies
+# before making them available. We make all declared dependency available here
+# after their declaration
+if(FSFW_FETCH_CONTENT_TARGETS)
+  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+  if(TARGET ${FSFW_ETL_LIB_NAME})
+    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
+  endif()
+  if(TARGET Catch2)
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+  endif()
+endif()
+
 set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-
-if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 11)
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 11)
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
-endif()
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(${LIB_FSFW_NAME}
+                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
@@ -118,14 +190,13 @@ if(NOT FSFW_OSAL)
   message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
   # Assume host OS and autodetermine from OS_FSFW
   if(UNIX)
-		set(FSFW_OSAL  "linux" 
-			CACHE STRING 
-			"OS abstraction layer used in the FSFW"
-		)
+    set(FSFW_OSAL
+        "linux"
+        CACHE STRING "OS abstraction layer used in the FSFW")
   elseif(WIN32)
-		set(FSFW_OSAL  "host" 
-			CACHE STRING "OS abstraction layer used in the FSFW"
-		)
+    set(FSFW_OSAL
+        "host"
+        CACHE STRING "OS abstraction layer used in the FSFW")
   endif()
 
 endif()
@@ -141,16 +212,13 @@ elseif(FSFW_OSAL MATCHES linux)
 elseif(FSFW_OSAL MATCHES freertos)
   set(FSFW_OS_NAME "FreeRTOS")
   set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_OS_NAME}
-    )
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
 elseif(FSFW_OSAL STREQUAL rtems)
   set(FSFW_OS_NAME "RTEMS")
   set(FSFW_OSAL_RTEMS ON)
 else()
-    message(WARNING
-        "Invalid operating system for FSFW specified! Setting to host.."
-    )
+  message(
+    WARNING "Invalid operating system for FSFW specified! Setting to host..")
   set(FSFW_OS_NAME "Host")
   set(OS_FSFW "host")
 endif()
@@ -176,69 +244,57 @@ if(FSFW_BUILD_UNITTESTS)
       include(CodeCoverage)
 
       # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
-            )
+      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
+                         "${COVERAGE_COMPILER_FLAGS}")
 
       # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
+      target_compile_options(${FSFW_TEST_TGT}
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
+      target_compile_options(${LIB_FSFW_NAME}
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
 
       # Exclude directories here
       if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
-                    "--exclude-throw-branches"
-                    "--exclude-unreachable-branches"
-                )
-                set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
-                )
+        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
+                                  "--exclude-unreachable-branches")
+        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
       elseif(UNIX)
         set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
-                )
+            "/usr/include/*"
+            "/usr/bin/*"
+            "Catch2/*"
+            "/usr/local/include/*"
+            "*/fsfw_tests/*"
+            "*/catch2-src/*"
+            "*/fsfw_hal/*")
       endif()
 
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            # Need to specify this as an interface, otherwise there will the compile issues
-            target_link_options(${LIB_FSFW_NAME} INTERFACE
-                -fprofile-arcs
-                -ftest-coverage
-            )
+      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
+                          -ftest-coverage)
+      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
+                          -ftest-coverage)
+      # Need to specify this as an interface, otherwise there will the compile
+      # issues
+      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
+                          -ftest-coverage)
 
       if(WIN32)
         setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
       else()
         setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
       endif()
     endif()
   endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
+                                                 ${LIB_FSFW_NAME})
 endif()
 
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
-# If this is not given, we include the default configuration and emit a warning.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
+# this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
   set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
   if(NOT FSFW_BUILD_DOCS)
@@ -249,22 +305,21 @@ if(NOT FSFW_CONFIG_PATH)
   set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
-# FSFW might be part of a possibly complicated folder structure, so we 
-# extract the absolute path of the fsfwconfig folder.
+# FSFW might be part of a possibly complicated folder structure, so we extract
+# the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
   set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
-	)
+  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
+                         BASE_DIR ${CMAKE_SOURCE_DIR})
 endif()
 
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
   if(IS_ABSOLUTE ${INCLUDE_PATH})
     set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
   else()
-        get_filename_component(CURR_ABS_INC_PATH
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
+                           ${CMAKE_SOURCE_DIR})
   endif()
 
   if(CMAKE_VERBOSE)
@@ -297,23 +352,19 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
         -Wcast-qual # Warn if the constness is cast away
         -Wstringop-overflow=4
         # -Wstack-protector # Emits a few false positives for low level access
-          # -Wconversion # Creates many false positives
-          # -Warith-conversion # Use with Wconversion to find more implicit conversions
-          # -fanalyzer # Should be used to look through problems
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
+        # be used to look through problems
     )
   endif()
 
   if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
-            "-ffunction-sections"
-            "-fdata-sections"
-        )
+    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
+                                                    "-fdata-sections")
   endif()
 
   if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
-            "Wl,--gc-sections"
-        )
+    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
   endif()
 
   if(FSFW_WARNING_SHADOW_LOCAL_GCC)
@@ -327,41 +378,31 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
+target_include_directories(
+  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 
-# Includes path required to compile FSFW itself as well
-# We assume that the fsfwconfig folder uses include relative to the project
-# root here!
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
+# Includes path required to compile FSFW itself as well We assume that the
+# fsfwconfig folder uses include relative to the project root here!
+target_include_directories(
+  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
-	${FSFW_WARNING_FLAGS}
-	${COMPILER_FLAGS}
-)
+target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
+                                                ${COMPILER_FLAGS})
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_ADDITIONAL_LINK_LIBS}
-)
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
 
-string(CONCAT POST_BUILD_COMMENT
+string(
+  CONCAT
+    POST_BUILD_COMMENT
     "######################################################################\n"
     "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
     "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
-)
+    "######################################################################\n")
 
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
-)
+  COMMENT ${POST_BUILD_COMMENT})

README.md

@@ -11,9 +11,15 @@ with Airbus Defence and Space GmbH.
 
 ## Quick facts
 
-The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+The framework is designed for systems, which communicate with external devices, perform control loops, 
+receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore,
+a mode and health system provides control over the states of the software and the controlled devices.
+In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 
-The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system
+abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
+also very useful for developers to implement the same application logic on different operating
+systems with a uniform interface.
 
 Currently, the FSFW provides the following OSALs:
 
@@ -45,6 +51,28 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
+## Prerequisites
+
+The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
+installed and provided by the build system unless the correction version was installed.
+The current recommended version can be found inside the fsfw `CMakeLists.txt` file or by using
+`ccmake` and looking up the `FSFW_ETL_LIB_MAJOR_VERSION` variable.
+
+You can install the ETL library like this. On Linux, it might be necessary to add `sudo` before
+the install call:
+
+```cpp
+git clone https://github.com/ETLCPP/etl
+cd etl
+git checkout <currentRecommendedVersion>
+mkdir build && cd build
+cmake ..
+cmake --install .
+```
+
+It is recommended to install `20.27.2` or newer for the package version handling of
+ETL to work.
+
 ## Adding the library
 
 The following steps show how to add and use FSFW components. It is still recommended to
@@ -83,6 +111,19 @@ The FSFW also has unittests which use the [Catch2 library](https://github.com/ca
 These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
+You can install the Catch2 library, which prevents the build system to avoid re-downloading
+the dependency if the unit tests are completely rebuilt. The current recommended version
+can be found inside the fsfw `CMakeLists.txt` file or by using `ccmake` and looking up
+the `FSFW_CATCH2_LIB_VERSION` variable.
+
+```sh
+git clone https://github.com/catchorg/Catch2.git
+cd Catch2
+git checkout <currentRecommendedVersion>
+cmake -Bbuild -H. -DBUILD_TESTING=OFF
+sudo cmake --build build/ --target install
+```
+
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.

automation/Dockerfile

@@ -6,3 +6,9 @@ RUN apt-get --yes upgrade
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
+
+RUN git clone https://github.com/catchorg/Catch2.git && \
+	cd Catch2 && \
+	git checkout v3.0.0-preview5 && \
+	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+	cmake --build build/ --target install

automation/Jenkinsfile

@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image 'fsfw-ci:d1'}
+        docker { image 'fsfw-ci:d2'}
     }
     stages {
         stage('Clean') {

docs/getting_started.rst

@@ -19,6 +19,29 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
+Prerequisites
+-------------------
+
+The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
+installed and provided by the build system unless the correction version was installed.
+The current recommended version can be found inside the fsfw ``CMakeLists.txt`` file or by using
+``ccmake`` and looking up the ``FSFW_ETL_LIB_MAJOR_VERSION`` variable.
+
+You can install the ETL library like this. On Linux, it might be necessary to add ``sudo`` before
+the install call:
+
+.. code-block:: console
+
+   git clone https://github.com/ETLCPP/etl
+   cd etl
+   git checkout <currentRecommendedVersion>
+   mkdir build && cd build
+   cmake ..
+   cmake --install .
+
+It is recommended to install ``20.27.2`` or newer for the package version handling of
+ETL to work.
+
 Adding the library
 -------------------
 
@@ -60,6 +83,20 @@ The FSFW also has unittests which use the `Catch2 library`_.
 These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
+You can install the Catch2 library, which prevents the build system to avoid re-downloading
+the dependency if the unit tests are completely rebuilt. The current recommended version
+can be found inside the fsfw ``CMakeLists.txt`` file or by using ``ccmake`` and looking up
+the ``FSFW_CATCH2_LIB_VERSION`` variable.
+
+.. code-block:: console
+
+   git clone https://github.com/catchorg/Catch2.git
+   cd Catch2
+   git checkout <currentRecommendedVersion>
+   cmake -Bbuild -H. -DBUILD_TESTING=OFF
+   sudo cmake --build build/ --target install
+
+
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -1,9 +1,9 @@
 #include "MgmLIS3MDLHandler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -12,9 +12,14 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
 if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
 endif()
-	add_subdirectory(spi)
-	add_subdirectory(i2c)
 	add_subdirectory(uart)
+	# Adding those does not really make sense on Apple systems which
+	# are generally host systems. It won't even compile as the headers
+	# are missing
+	if(NOT APPLE)
+		add_subdirectory(i2c)
+		add_subdirectory(spi)
+	endif()
 endif()
 
 add_subdirectory(uio)

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

@@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
   ReturnValue_t result;
   if (gpioCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -44,6 +46,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
+  ReturnValue_t result = RETURN_OK;
   for (auto& gpioConfig : mapToAdd) {
     auto& gpioType = gpioConfig.second->gpioType;
     switch (gpioType) {
@@ -55,7 +58,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        configureGpioByChip(gpioConfig.first, *regularGpio);
+        result = configureGpioByChip(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
@@ -63,7 +66,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        configureGpioByLabel(gpioConfig.first, *regularGpio);
+        result = configureGpioByLabel(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
@@ -71,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        configureGpioByLineName(gpioConfig.first, *regularGpio);
+        result = configureGpioByLineName(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::CALLBACK): {
@@ -83,8 +86,11 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                                gpioCallback->initValue, gpioCallback->callbackArgs);
       }
     }
+    if (result != RETURN_OK) {
+      return GPIO_INIT_FAILED;
     }
-  return RETURN_OK;
+  }
+  return result;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
@@ -92,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
   std::string& label = gpioByLabel.label;
   struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                  << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "label: " + label;
@@ -104,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
   std::string& chipname = gpioByChip.chipname;
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                  << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "chipname: " + chipname;
@@ -129,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                  << ". <Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "line name: " + lineName;
@@ -149,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   lineNum = regularGpio.lineNum;
   lineHandle = gpiod_chip_get_line(chip, lineNum);
   if (!lineHandle) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
     sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                  << std::endl;
     sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+#endif
     gpiod_chip_close(chip);
     return RETURN_FAILED;
   }
@@ -171,7 +185,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
       break;
     }
     default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+#endif
       return GPIO_INVALID_INSTANCE;
     }
 
@@ -200,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+#endif
     return UNKNOWN_GPIO_ID;
   }
 

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

@@ -29,6 +29,8 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
   static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
+  static constexpr ReturnValue_t GPIO_INIT_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
 
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();

hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+class ManualCsLockWrapper : public HasReturnvaluesIF {
+ public:
+  ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie,
+                      MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING,
+                      uint32_t timeoutMs = 0)
+      : lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) {
+    if (cookie == nullptr) {
+      // TODO: Error? Or maybe throw exception..
+      return;
+    }
+    cookie->setCsLockManual(true);
+    lockResult = lock->lockMutex(type, timeoutMs);
+    if (lockResult != RETURN_OK) {
+      return;
+    }
+    gpioResult = gpioIF->pullLow(cookie->getChipSelectPin());
+  }
+
+  ~ManualCsLockWrapper() {
+    if (gpioResult == RETURN_OK) {
+      gpioIF->pullHigh(cookie->getChipSelectPin());
+    }
+    cookie->setCsLockManual(false);
+    if (lockResult == RETURN_OK) {
+      lock->unlockMutex();
+    }
+  }
+  ReturnValue_t lockResult;
+  ReturnValue_t gpioResult;
+
+ private:
+  MutexIF* lock;
+  GpioIF* gpioIF;
+  SpiCookie* cookie;
+  MutexIF::TimeoutType type;
+  uint32_t timeoutMs = 0;
+};

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

@@ -196,16 +196,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 
   bool fullDuplex = spiCookie->isFullDuplex();
   gpioId_t gpioId = spiCookie->getChipSelectPin();
+  bool csLockManual = spiCookie->getCsLockManual();
 
-  /* Pull SPI CS low. For now, no support for active high given  */
-  if (gpioId != gpio::NO_GPIO) {
-    result = spiMutex->lockMutex(timeoutType, timeoutMs);
+  MutexIF::TimeoutType csType;
+  dur_millis_t csTimeout = 0;
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
     if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
 #else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
 #endif
 #endif
       return result;
@@ -248,7 +254,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     }
   }
 
-  if (gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -292,12 +298,27 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     return result;
   }
 
+  bool csLockManual = spiCookie->getCsLockManual();
   gpioId_t gpioId = spiCookie->getChipSelectPin();
+<<<<<<< Updated upstream
   if (gpioId != gpio::NO_GPIO) {
     result = spiMutex->lockMutex(timeoutType, timeoutMs);
+=======
+  MutexIF::TimeoutType csType;
+  dur_millis_t csTimeout = 0;
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
+>>>>>>> Stashed changes
     if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
+#else
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+#endif
 #endif
       return result;
     }
@@ -315,7 +336,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     result = HALF_DUPLEX_TRANSFER_FAILED;
   }
 
-  if (gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -346,6 +367,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+<<<<<<< Updated upstream
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
   if (timeoutType != nullptr) {
     *timeoutType = this->timeoutType;
@@ -355,6 +377,9 @@ MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeout
   }
   return spiMutex;
 }
+=======
+MutexIF* SpiComIF::getCsMutex() { return csMutex; }
+>>>>>>> Stashed changes
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
   if (spiCookie == nullptr) {

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

@@ -22,15 +22,15 @@ class SpiCookie;
  */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  public:
-  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+  static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
   static constexpr ReturnValue_t OPENING_FILE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
   /* Full duplex (ioctl) transfer failure */
   static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
   /* Half duplex (read/write) transfer failure */
   static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
 
   SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
@@ -44,7 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    * @brief   This function returns the mutex which can be used to protect the spi bus when
    *          the chip select must be driven from outside of the com if.
    */
-  MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
+  MutexIF* getCsMutex();
 
   /**
    * Perform a regular send operation using Linux iotcl. This is public so it can be used
@@ -70,10 +70,13 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   GpioIF* gpioComIF = nullptr;
+  std::string dev = "";
+  /**
+   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
+   * pulled high
+   */
+  MutexIF* csMutex = nullptr;
 
-  MutexIF* spiMutex = nullptr;
-  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-  uint32_t timeoutMs = 20;
   spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

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

@@ -1,4 +1,4 @@
-#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "SpiCookie.h"
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                      const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
@@ -107,3 +107,17 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
   *callback = this->sendCallback;
   *args = this->callbackArgs;
 }
+
+void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
+
+bool SpiCookie::getCsLockManual() const { return manualCsLock; }
+
+void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
+  csTimeoutType = this->csTimeoutType;
+  csTimeout = this->csTimeout;
+}
+
+void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
+  this->csTimeoutType = csTimeoutType;
+  this->csTimeout = csTimeout;
+}

hal/src/fsfw_hal/linux/spi/SpiCookie.h

@@ -2,6 +2,8 @@
 #define LINUX_SPI_SPICOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/timemanager/clockDefinitions.h>
 #include <linux/spi/spidev.h>
 
 #include "../../common/gpio/gpioDefinitions.h"
@@ -20,6 +22,8 @@
  */
 class SpiCookie : public CookieIF {
  public:
+  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
+
   /**
    * Each SPI device will have a corresponding cookie. The cookie is used by the communication
    * interface and contains device specific information like the largest expected size to be
@@ -139,9 +143,43 @@ class SpiCookie : public CookieIF {
    */
   void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
+  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
+  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
+
+  void setCsLockManual(bool enable);
+  bool getCsLockManual() const;
+
   spi_ioc_transfer* getTransferStructHandle();
 
  private:
+  address_t spiAddress;
+  gpioId_t chipSelectPin;
+  std::string spiDevice;
+
+  spi::SpiComIfModes comIfMode;
+
+  // Required for regular mode
+  const size_t maxSize;
+  spi::SpiModes spiMode;
+  /**
+   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
+   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
+   * whole duration of the transfers.
+   */
+  bool manualCsLock = false;
+  uint32_t spiSpeed;
+  bool halfDuplex = false;
+
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
+  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
+
+  // Required for callback mode
+  spi::send_callback_function_t sendCallback = nullptr;
+  void* callbackArgs = nullptr;
+
+  struct spi_ioc_transfer spiTransferStruct = {};
+  UncommonParameters uncommonParameters;
+
   /**
    * Internal constructor which initializes every field
    * @param spiAddress
@@ -154,27 +192,8 @@ class SpiCookie : public CookieIF {
    * @param args
    */
   SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
-
-  address_t spiAddress;
-  gpioId_t chipSelectPin;
-  std::string spiDevice;
-
-  spi::SpiComIfModes comIfMode;
-
-  // Required for regular mode
-  const size_t maxSize;
-  spi::SpiModes spiMode;
-  uint32_t spiSpeed;
-  bool halfDuplex = false;
-
-  // Required for callback mode
-  spi::send_callback_function_t sendCallback = nullptr;
-  void* callbackArgs = nullptr;
-
-  struct spi_ioc_transfer spiTransferStruct = {};
-  UncommonParameters uncommonParameters;
 };
 
 #endif /* LINUX_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -265,6 +265,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       cfsetispeed(options, B230400);
       cfsetospeed(options, B230400);
       break;
+#ifndef __APPLE__
     case UartBaudRate::RATE_460800:
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
@@ -313,6 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       cfsetispeed(options, B4000000);
       cfsetospeed(options, B4000000);
       break;
+#endif  // ! __APPLE__
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
 Parity UartCookie::getParity() const { return parity; }
 
-void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) {
-  bitsPerWord = bitsPerWord_;
-}
+void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
 
 BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
 

scripts/apply-clang-format.sh

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

scripts/auto-formatter.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+  cd ..
+fi
+
+cmake_fmt="cmake-format"
+if command -v ${cmake_fmt} &> /dev/null; then
+  cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
+  eval ${cmake_fmt_cmd}
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  find ./src ${file_selectors} | xargs clang-format --style=file -i
+  find ./hal ${file_selectors} | xargs clang-format --style=file -i
+  find ./tests ${file_selectors} | xargs clang-format --style=file -i
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi

src/fsfw/cfdp/pdu/HeaderSerializer.h

@@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF {
   cfdp::WidthInBytes getLenEntityIds() const override;
   cfdp::WidthInBytes getLenSeqNum() const override;
   cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override;
-  bool hasSegmentMetadataFlag() const;
+  bool hasSegmentMetadataFlag() const override;
   void setSegmentationControl(cfdp::SegmentationControl);
 
   void getSourceId(cfdp::EntityId& sourceId) const override;

src/fsfw/container/FIFOBase.tpp

@@ -5,11 +5,11 @@
 #error Include FIFOBase.h before FIFOBase.tpp!
 #endif
 
-template<typename T>
-inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
-        maxCapacity(maxCapacity), values(values){};
+template <typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
+    : maxCapacity(maxCapacity), values(values){};
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
   if (full()) {
     return FULL;
@@ -21,12 +21,12 @@ inline ReturnValue_t FIFOBase<T>::insert(T value) {
   }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
   if (empty()) {
     return EMPTY;
   } else {
-        if (value == nullptr){
+    if (value == nullptr) {
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     *value = values[readIndex];
@@ -36,12 +36,12 @@ inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
   }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::peek(T* value) {
-    if(empty()) {
+  if (empty()) {
     return EMPTY;
   } else {
-        if (value == nullptr){
+    if (value == nullptr) {
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     *value = values[readIndex];
@@ -49,28 +49,28 @@ inline ReturnValue_t FIFOBase<T>::peek(T* value) {
   }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::pop() {
   T value;
   return this->retrieve(&value);
 };
 
-template<typename T>
+template <typename T>
 inline bool FIFOBase<T>::empty() {
   return (currentSize == 0);
 };
 
-template<typename T>
+template <typename T>
 inline bool FIFOBase<T>::full() {
   return (currentSize == maxCapacity);
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::size() {
   return currentSize;
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::next(size_t current) {
   ++current;
   if (current == maxCapacity) {
@@ -79,14 +79,13 @@ inline size_t FIFOBase<T>::next(size_t current) {
   return current;
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::getMaxCapacity() const {
   return maxCapacity;
 }
 
-
-template<typename T>
-inline void FIFOBase<T>::setContainer(T *data) {
+template <typename T>
+inline void FIFOBase<T>::setContainer(T* data) {
   this->values = data;
 }
 

src/fsfw/container/FixedArrayList.h

@@ -2,6 +2,7 @@
 #define FIXEDARRAYLIST_H_
 
 #include <cmath>
+#include <limits>
 
 #include "ArrayList.h"
 /**
@@ -9,10 +10,9 @@
  */
 template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
-#if !defined(_MSC_VER)
-  static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
+  static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
-#endif
+
  private:
   T data[MAX_SIZE];
 

src/fsfw/container/FixedOrderedMultimap.tpp

@@ -1,15 +1,15 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 
-
-template<typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
+template <typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
+                                                                         Iterator *storedValue) {
   if (_size == theMap.maxSize()) {
     return MAP_FULL;
   }
   size_t position = findNicePlace(key);
-    memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
-            (_size - position) * sizeof(std::pair<key_t,T>));
+  memmove(static_cast<void *>(&theMap[position + 1]), static_cast<void *>(&theMap[position]),
+          (_size - position) * sizeof(std::pair<key_t, T>));
   theMap[position].first = key;
   theMap[position].second = value;
   ++_size;
@@ -18,12 +18,12 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t k
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
   return insert(pair.first, pair.second);
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
   ReturnValue_t result = KEY_DOES_NOT_EXIST;
   if (findFirstIndex(key) < _size) {
@@ -32,7 +32,7 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t k
   return result;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
   size_t i;
   if ((i = findFirstIndex((*iter).value->first)) >= _size) {
@@ -47,7 +47,7 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
   size_t i;
   if ((i = findFirstIndex(key)) >= _size) {
@@ -60,7 +60,7 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t ke
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
   ReturnValue_t result = exists(key);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -70,8 +70,9 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
-inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
+template <typename key_t, typename T, typename KEY_COMPARE>
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
+                                                                          size_t startAt) const {
   if (startAt >= _size) {
     return startAt + 1;
   }
@@ -84,7 +85,7 @@ inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t
   return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
   size_t i = 0;
   for (i = 0; i < _size; ++i) {
@@ -95,15 +96,14 @@ inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t k
   return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
   if (_size <= position) {
     return;
   }
-    memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
-            (_size - position - 1) * sizeof(std::pair<key_t,T>));
+  memmove(static_cast<void *>(&theMap[position]), static_cast<void *>(&theMap[position + 1]),
+          (_size - position - 1) * sizeof(std::pair<key_t, T>));
   --_size;
 }
 
-
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

src/fsfw/container/HybridIterator.h

@@ -10,16 +10,23 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
   HybridIterator() {}
 
   HybridIterator(typename LinkedElement<T>::Iterator *iter)
-      : LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {}
+      : LinkedElement<T>::Iterator(*iter), linked(true) {
+    if (iter != nullptr) {
+      value = iter->value;
+    }
+  }
 
-  HybridIterator(LinkedElement<T> *start)
-      : LinkedElement<T>::Iterator(start), value(start->value), linked(true) {}
+  HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
+    if (start != nullptr) {
+      value = start->value;
+    }
+  }
 
   HybridIterator(typename ArrayList<T, count_t>::Iterator start,
                  typename ArrayList<T, count_t>::Iterator end)
       : ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) {
     if (value == this->end) {
-      value = NULL;
+      value = nullptr;
     }
   }
 

src/fsfw/controller/ControllerBase.h

@@ -55,7 +55,7 @@ class ControllerBase : public HasModesIF,
   virtual void performControlOperation() = 0;
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) = 0;
+                                         uint32_t *msToReachTheMode) override = 0;
 
   const object_id_t parentId;
 
@@ -80,9 +80,9 @@ class ControllerBase : public HasModesIF,
 
   /** Mode helpers */
   virtual void modeChanged(Mode_t mode, Submode_t submode);
-  virtual void startTransition(Mode_t mode, Submode_t submode);
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
-  virtual void setToExternalControl();
+  virtual void startTransition(Mode_t mode, Submode_t submode) override;
+  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
+  virtual void setToExternalControl() override;
   virtual void announceMode(bool recursive);
   /** HK helpers */
   virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);

src/fsfw/datapool/PoolDataSetBase.h

@@ -109,7 +109,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
    */
   virtual ReturnValue_t unlockDataPool() override;
 
-  virtual uint16_t getFillCount() const;
+  virtual uint16_t getFillCount() const override;
 
   /* SerializeIF implementations */
   virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -787,7 +787,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   // Serialize set packet into store.
   size_t size = 0;
   result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
-  if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     ipcStore->deleteData(storeId);
     return result;
   }
@@ -806,7 +806,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   }
 
   result = hkQueue->reply(&reply);
-  if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     ipcStore->deleteData(storeId);
   }
   return result;

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -94,13 +94,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount) / 8.0);
   uint8_t *validityPtr = nullptr;
-#ifdef _MSC_VER
-  /* Use a std::vector here because MSVC will (rightly) not create a fixed size array
-  with a non constant size specifier */
-  std::vector<uint8_t> validityMask(validityMaskSize);
+#if defined(_MSC_VER) || defined(__clang__)
+  // Use a std::vector here because MSVC will (rightly) not create a fixed size array
+  // with a non constant size specifier. The Apple compiler (LLVM) will not accept
+  // the  initialization of a variable sized array
+  std::vector<uint8_t> validityMask(validityMaskSize, 0);
   validityPtr = validityMask.data();
 #else
-  uint8_t validityMask[validityMaskSize] = {0};
+  uint8_t validityMask[validityMaskSize] = {};
   validityPtr = validityMask;
 #endif
   uint8_t validBufferIndex = 0;

src/fsfw/datapoollocal/LocalPoolObjectBase.h

@@ -23,8 +23,8 @@ class LocalPoolObjectBase : public PoolVariableIF, public HasReturnvaluesIF, pub
   LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr,
                       pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
-  void setReadWriteMode(pool_rwm_t newReadWriteMode);
-  pool_rwm_t getReadWriteMode() const;
+  void setReadWriteMode(pool_rwm_t newReadWriteMode) override;
+  pool_rwm_t getReadWriteMode() const override;
 
   bool isValid() const override;
   void setValid(bool valid) override;

src/fsfw/datapoollocal/LocalPoolVariable.tpp

@@ -5,33 +5,31 @@
 #error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
 #endif
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
-        lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+template <typename T>
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
+    : 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):
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+template <typename T>
+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)
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
+                          setReadWriteMode) {}
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
-                dataSet, setReadWriteMode){}
-
-
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::read(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    if(hkManager == nullptr) {
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
+                                                uint32_t timeoutMs) {
+  if (hkManager == nullptr) {
     return readWithoutLock();
   }
   MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
   ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = readWithoutLock();
@@ -39,23 +37,21 @@ inline ReturnValue_t LocalPoolVariable<T>::read(
   return result;
 }
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
-                localPoolId);
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
+                          targetObjectId, localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
     object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
-                false, ownerObjectId, localPoolId);
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
     return result;
   }
 
@@ -64,22 +60,22 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
   return RETURN_OK;
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
+                                                  uint32_t timeoutMs) {
   this->setValid(setValid);
   return commit(timeoutType, timeoutMs);
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    if(hkManager == nullptr) {
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
+                                                  uint32_t timeoutMs) {
+  if (hkManager == nullptr) {
     return commitWithoutLock();
   }
   MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
   ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = commitWithoutLock();
@@ -87,23 +83,21 @@ inline ReturnValue_t LocalPoolVariable<T>::commit(
   return result;
 }
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_READ) {
+  if (readWriteMode == pool_rwm_t::VAR_READ) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
-                localPoolId);
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
+                          targetObjectId, localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
     object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
-                false, ownerObjectId, localPoolId);
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
     return result;
   }
 
@@ -112,98 +106,88 @@ inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
   return RETURN_OK;
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
-        size_t* size, const size_t max_size,
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::serialize(
+    uint8_t** buffer, size_t* size, const size_t max_size,
     SerializeIF::Endianness streamEndianness) const {
-    return SerializeAdapter::serialize(&value,
-            buffer, size ,max_size, streamEndianness);
+  return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
 }
 
-template<typename T>
+template <typename T>
 inline size_t LocalPoolVariable<T>::getSerializedSize() const {
   return SerializeAdapter::getSerializedSize(&value);
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
-        size_t* size, SerializeIF::Endianness streamEndianness) {
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
+                                                       SerializeIF::Endianness streamEndianness) {
   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) {
+template <typename T>
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
   out << var.value;
   return out;
 }
 #endif
 
-template<typename T>
+template <typename T>
 inline LocalPoolVariable<T>::operator T() const {
   return value;
 }
 
-template<typename T>
-inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
-        const T& newValue) {
+template <typename T>
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
   value = newValue;
   return *this;
 }
 
-template<typename T>
-inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
+template <typename T>
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(
     const LocalPoolVariable<T>& newPoolVariable) {
   value = newPoolVariable.value;
   return *this;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator ==(
-        const LocalPoolVariable<T> &other) const {
+template <typename T>
+inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
   return this->value == other.value;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
+template <typename T>
+inline bool LocalPoolVariable<T>::operator==(const T& other) const {
   return this->value == other;
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator !=(
-        const LocalPoolVariable<T> &other) const {
-    return not (*this == other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
+  return not(*this == other);
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
-    return not (*this == other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator!=(const T& other) const {
+  return not(*this == other);
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator <(
-        const LocalPoolVariable<T> &other) const {
+template <typename T>
+inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
   return this->value < other.value;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator <(const T &other) const {
+template <typename T>
+inline bool LocalPoolVariable<T>::operator<(const T& other) const {
   return this->value < other;
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator >(
-        const LocalPoolVariable<T> &other) const {
-    return not (*this < other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
+  return not(*this < other);
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator >(const T &other) const {
-    return not (*this < other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator>(const T& other) const {
+  return not(*this < other);
 }
 
 #endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

src/fsfw/datapoollocal/LocalPoolVector.tpp

@@ -5,48 +5,47 @@
 #error Include LocalPoolVector.h before LocalPoolVector.tpp!
 #endif
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
-        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
-        pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+                                                       DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
+                                                       DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
-                dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
+                          setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
+                                                          uint32_t timeoutMs) {
   MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
   return readWithoutLock();
 }
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
-                localPoolId);
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
+                          targetObjectId, localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   memset(this->value, 0, vectorSize * sizeof(T));
 
-    if(result != RETURN_OK) {
+  if (result != RETURN_OK) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
-                localPoolId);
+    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
     return result;
   }
   std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
@@ -54,36 +53,35 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
   return RETURN_OK;
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                            MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
   this->setValid(valid);
   return commit(timeoutType, timeoutMs);
 }
 
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
   MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
   return commitWithoutLock();
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_READ) {
+  if (readWriteMode == pool_rwm_t::VAR_READ) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
-                localPoolId);
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
+                          targetObjectId, localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
-                localPoolId);
+    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
     return result;
   }
   std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
@@ -91,48 +89,51 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
   return RETURN_OK;
 }
 
-template<typename T, uint16_t vectorSize>
-inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
-    if(i < vectorSize) {
+template <typename T, uint16_t vectorSize>
+inline T& LocalPoolVector<T, vectorSize>::operator[](size_t i) {
+  if (i < vectorSize) {
     return value[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::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
+               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
       " last value!\n");
 #endif
   return value[vectorSize - 1];
 }
 
-template<typename T, uint16_t vectorSize>
-inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
-    if(i < vectorSize) {
+template <typename T, uint16_t vectorSize>
+inline const T& LocalPoolVector<T, vectorSize>::operator[](size_t i) const {
+  if (i < vectorSize) {
     return value[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::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
+               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
       " last value!\n");
 #endif
   return value[vectorSize - 1];
 }
 
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
-        size_t* size, size_t maxSize,
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
+    uint8_t** buffer, size_t* size, size_t maxSize,
     SerializeIF::Endianness streamEndianness) const {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
   for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-                maxSize, streamEndianness);
+    result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       break;
     }
@@ -140,19 +141,17 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
   return result;
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
   return vectorSize * SerializeAdapter::getSerializedSize(value);
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
-        const uint8_t** buffer, size_t* size,
-        SerializeIF::Endianness streamEndianness) {
+    const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
   for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-                streamEndianness);
+    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       break;
     }
@@ -161,13 +160,12 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-template<typename T, uint16_t vectorSize>
-inline std::ostream& operator<< (std::ostream &out,
-        const LocalPoolVector<T, vectorSize> &var) {
+template <typename T, uint16_t vectorSize>
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
   out << "Vector: [";
-    for(int i = 0;i < vectorSize; i++) {
+  for (int i = 0; i < vectorSize; i++) {
     out << var.value[i];
-        if(i < vectorSize - 1) {
+    if (i < vectorSize - 1) {
       out << ", ";
     }
   }

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -459,8 +459,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
   DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
   if (command->second.useAlternativeReplyId) {
     replyId = command->second.alternativeReplyId;
-  }
-  else {
+  } else {
     replyId = commandId;
   }
   DeviceReplyIter iter = deviceReplyMap.find(replyId);

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -163,7 +163,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return RETURN_OK for successful execution
    */
-  virtual ReturnValue_t performOperation(uint8_t counter);
+  virtual ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -173,7 +173,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  virtual ReturnValue_t initialize();
+  virtual ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
@@ -1058,11 +1058,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param parameter1	Optional parameter 1
    * @param parameter2	Optional parameter 2
    */
-  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
   /**
    * Same as triggerEvent, but for forwarding if object is used as proxy.
    */
-  virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
+  virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+                            uint32_t parameter2 = 0) const override;
 
   /**
    * Checks if current mode is transitional mode.

src/fsfw/globalfunctions/matching/MatchTree.h

@@ -25,7 +25,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
       : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
   MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
   virtual ~MatchTree() {}
-  virtual bool match(T number) { return matchesTree(number); }
+  virtual bool match(T number) override { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
     if (iter == this->end()) {
@@ -179,6 +179,9 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
   virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; }
 
   bool matchSubtree(iterator iter, T number) {
+    if (iter == nullptr) {
+      return false;
+    }
     bool isMatch = iter->match(number);
     if (isMatch) {
       if (iter.left() == this->end()) {

src/fsfw/globalfunctions/matching/RangeMatcher.h

@@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF<T> {
   RangeMatcher(T lowerBound, T upperBound, bool inverted = false)
       : inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {}
 
-  bool match(T input) {
+  bool match(T input) override {
     if (inverted) {
       return !doMatch(input);
     } else {

src/fsfw/ipc/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE
     CommandMessage.cpp
     CommandMessageCleaner.cpp
     MessageQueueMessage.cpp
+    MessageQueueBase.cpp
 )

src/fsfw/ipc/MessageQueueBase.cpp

@@ -0,0 +1,54 @@
+#include "MessageQueueBase.h"
+
+MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* args)
+    : id(id) {
+  this->defaultDest = defaultDest;
+  if (args != nullptr) {
+    this->args = *args;
+  }
+}
+
+MessageQueueBase::~MessageQueueBase() {}
+
+ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
+  return sendToDefaultFrom(message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
+  if (this->last != MessageQueueIF::NO_QUEUE) {
+    return sendMessageFrom(this->last, message, this->getId());
+  } else {
+    return NO_REPLY_PARTNER;
+  }
+}
+
+ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
+                                               MessageQueueId_t* receivedFrom) {
+  ReturnValue_t status = this->receiveMessage(message);
+  *receivedFrom = this->last;
+  return status;
+}
+
+MessageQueueId_t MessageQueueBase::getLastPartner() const { return last; }
+
+MessageQueueId_t MessageQueueBase::getId() const { return id; }
+
+MqArgs& MessageQueueBase::getMqArgs() { return args; }
+
+void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
+  this->defaultDest = defaultDestination;
+}
+
+MessageQueueId_t MessageQueueBase::getDefaultDestination() const { return defaultDest; }
+
+bool MessageQueueBase::isDefaultDestinationSet() const { return (defaultDest != NO_QUEUE); }
+
+ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                            bool ignoreFault) {
+  return sendMessageFrom(sendTo, message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueueBase::sendToDefaultFrom(MessageQueueMessageIF* message,
+                                                  MessageQueueId_t sentFrom, bool ignoreFault) {
+  return sendMessageFrom(defaultDest, message, sentFrom, ignoreFault);
+}

src/fsfw/ipc/MessageQueueBase.h

@@ -0,0 +1,40 @@
+#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
+#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
+
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/ipc/definitions.h>
+
+class MessageQueueBase : public MessageQueueIF {
+ public:
+  MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
+  virtual ~MessageQueueBase();
+
+  // Default implementations for MessageQueueIF where possible
+  virtual MessageQueueId_t getLastPartner() const override;
+  virtual MessageQueueId_t getId() const override;
+  virtual MqArgs& getMqArgs() override;
+  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+  virtual MessageQueueId_t getDefaultDestination() const override;
+  virtual bool isDefaultDestinationSet() const override;
+  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                    bool ignoreFault) override;
+  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+                                       MessageQueueId_t* receivedFrom) override;
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+                                          bool ignoreFault = false) override;
+
+  // OSAL specific, forward the abstract function
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
+  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
+
+ protected:
+  MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
+  MqArgs args = {};
+};
+
+#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

src/fsfw/ipc/MessageQueueIF.h

@@ -1,6 +1,8 @@
 #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
+#include <fsfw/ipc/definitions.h>
+
 #include <cstdint>
 
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -44,8 +46,8 @@ class MessageQueueIF {
   virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
 
   /**
-   * @brief	This function reads available messages from the message queue
-   *          and returns the sender.
+   * @brief	This function reads available messages from the message queue and returns the
+   * sender.
    * @details
    * It works identically to the other receiveMessage call, but in addition
    * returns the sender's queue id.
@@ -78,19 +80,16 @@ class MessageQueueIF {
    */
   virtual ReturnValue_t flush(uint32_t* count) = 0;
   /**
-   * @brief	This method returns the message queue
-   *          id of the last communication partner.
+   * @brief	This method returns the message queue ID of the last communication partner.
    */
   virtual MessageQueueId_t getLastPartner() const = 0;
   /**
-   * @brief	This method returns the message queue
-   *          id of this class's message queue.
+   * @brief	This method returns the message queue ID  of this class's message queue.
    */
   virtual MessageQueueId_t getId() const = 0;
 
   /**
-   * @brief	With the sendMessage call, a queue message
-   *          is sent to a receiving queue.
+   * @brief	With the sendMessage call, a queue message is sent to a receiving queue.
    * @details
    * This method takes the message provided, adds the sentFrom information
    * and passes it on to the destination provided with an operating system
@@ -129,8 +128,7 @@ class MessageQueueIF {
                                     bool ignoreFault = false) = 0;
 
   /**
-   * @brief	The sendToDefaultFrom method sends a queue message
-   *          to the default destination.
+   * @brief	The sendToDefaultFrom method sends a queue message to the default destination.
    * @details
    * In all other aspects, it works identical to the sendMessage method.
    * @param message
@@ -164,6 +162,8 @@ class MessageQueueIF {
   virtual MessageQueueId_t getDefaultDestination() const = 0;
 
   virtual bool isDefaultDestinationSet() const = 0;
+
+  virtual MqArgs& getMqArgs() = 0;
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

src/fsfw/ipc/QueueFactory.h

@@ -5,6 +5,7 @@
 
 #include "MessageQueueIF.h"
 #include "MessageQueueMessage.h"
+#include "definitions.h"
 
 /**
  * Creates message queues.
@@ -22,7 +23,8 @@ class QueueFactory {
   static QueueFactory* instance();
 
   MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
-                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+                                     MqArgs* args = nullptr);
 
   void deleteMessageQueue(MessageQueueIF* queue);
 

src/fsfw/ipc/definitions.h

@@ -0,0 +1,14 @@
+#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+struct MqArgs {
+  MqArgs(){};
+  MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
+  object_id_t objectId = objects::NO_OBJECT;
+  void* args = nullptr;
+};
+
+#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -34,7 +34,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   SerializeElement<T> limitValue;
   SerializeElement<ReturnValue_t> oldState;
   SerializeElement<ReturnValue_t> newState;
-  uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
+  uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {};
   SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
   TimeStamperIF* timeStamper;
   MonitoringReportContent()
@@ -46,7 +46,6 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
         limitValue(0),
         oldState(0),
         newState(0),
-        rawTimestamp({0}),
         timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
         timeStamper(NULL) {
     setAllNext();

src/fsfw/objectmanager/SystemObject.h

@@ -48,9 +48,10 @@ class SystemObject : public SystemObjectIF {
   virtual ~SystemObject();
   object_id_t getObjectId() const override;
   virtual ReturnValue_t initialize() override;
-  virtual ReturnValue_t checkObjectConnections();
+  virtual ReturnValue_t checkObjectConnections() override;
 
-  virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
+  virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+                            uint32_t parameter2 = 0) const override;
 };
 
 #endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -19,6 +19,8 @@
 #include <ws2tcpip.h>
 #elif defined(PLATFORM_UNIX)
 #include <netdb.h>
+
+#include <utility>
 #endif
 
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
@@ -29,7 +31,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(customTcpServerPort),
+      tcpConfig(std::move(customTcpServerPort)),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -103,7 +105,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
 
 TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
 
-ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
+[[noreturn]] ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
   using namespace tcpip;
   // If a connection is accepted, the corresponding socket will be assigned to the new socket
   socket_t connSocket = 0;
@@ -138,7 +140,6 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
     closeSocket(connSocket);
     connSocket = 0;
   }
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
@@ -159,7 +160,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 #endif
 
   while (true) {
-    int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
+    ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
                           receptionBuffer.capacity(), tcpConfig.tcpFlags);
     if (retval == 0) {
       size_t availableReadData = ringBuffer.getAvailableReadData();
@@ -252,17 +253,17 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
   return result;
 }
 
-std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
+const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
 
-void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
-  this->validPacketIds = validPacketIds;
+void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
+  this->validPacketIds = std::move(validPacketIds_);
 }
 
 TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() { return tcpConfig; }
 
 ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
   // Access to the FIFO is mutex protected because it is filled by the bridge
-  MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
+  MutexGuard mg(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
   store_address_t storeId;
   while ((not tmtcBridge->tmFifo->empty()) and
          (tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
@@ -283,7 +284,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
 #endif
       arrayprinter::print(storeAccessor.data(), storeAccessor.size());
     }
-    int retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
+    ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
                           storeAccessor.size(), tcpConfig.tcpTmFlags);
     if (retval == static_cast<int>(storeAccessor.size())) {
       // Packet sent, clear FIFO entry
@@ -339,6 +340,9 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   size_t foundSize = 0;
   size_t readLen = 0;
   while (readLen < readAmount) {
+    if (spacePacketParser == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
     result =
         spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
     switch (result) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -17,6 +17,7 @@
 #endif
 
 #include <string>
+#include <utility>
 #include <vector>
 
 class TcpTmTcBridge;
@@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   struct TcpConfig {
    public:
-    TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
 
     /**
      * Passed to the recv call
@@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
                 size_t ringBufferSize = RING_BUFFER_SIZE,
                 std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
-  virtual ~TcpTmTcServer();
+  ~TcpTmTcServer() override;
 
   void enableWiretapping(bool enable);
 
@@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
 
   ReturnValue_t initialize() override;
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  std::string getTcpPort() const;
+  [[nodiscard]] const std::string& getTcpPort() const;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   ReceptionModes receptionMode;
   TcpConfig tcpConfig;
-  struct sockaddr tcpAddress;
+  struct sockaddr tcpAddress = {};
   socket_t listenerTcpSocket = 0;
 
   MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

src/fsfw/osal/common/UdpTcPollingTask.cpp

@@ -16,11 +16,13 @@
 //! Debugging preprocessor define.
 #define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0
 
+const timeval UdpTcPollingTask::DEFAULT_TIMEOUT = {0, 500000};
+
 UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge,
                                    size_t maxRecvSize, double timeoutSeconds)
     : SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) {
-  if (frameSize > 0) {
-    this->frameSize = frameSize;
+  if (maxRecvSize > 0) {
+    this->frameSize = maxRecvSize;
   } else {
     this->frameSize = DEFAULT_MAX_RECV_SIZE;
   }
@@ -31,22 +33,20 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
   receptionBuffer.resize(this->frameSize);
 
   if (timeoutSeconds == -1) {
-    receptionTimeout = DEFAULT_TIMEOUT;
+    receptionTimeout = UdpTcPollingTask::DEFAULT_TIMEOUT;
   } else {
     receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
   }
 }
 
-UdpTcPollingTask::~UdpTcPollingTask() {}
-
-ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
+[[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
   /* Sender Address is cached here. */
-  struct sockaddr senderAddress;
+  struct sockaddr senderAddress {};
   socklen_t senderAddressSize = sizeof(senderAddress);
 
   /* Poll for new UDP datagrams in permanent loop. */
   while (true) {
-    int bytesReceived =
+    ssize_t bytesReceived =
         recvfrom(this->serverSocket, reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
                  receptionFlags, &senderAddress, &senderAddressSize);
     if (bytesReceived == SOCKET_ERROR) {
@@ -70,7 +70,6 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
     }
     tmtcBridge->checkAndSetClientAddress(senderAddress);
   }
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
@@ -155,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
 #endif
   }
 #elif defined(PLATFORM_UNIX)
-  timeval tval;
+  timeval tval{};
   tval = timevalOperations::toTimeval(timeoutSeconds);
   int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
   if (result == -1) {

src/fsfw/osal/common/UdpTcPollingTask.h

@@ -21,11 +21,11 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
  public:
   static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
   //! 0.5  default milliseconds timeout for now.
-  static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
+  static const timeval DEFAULT_TIMEOUT;
 
   UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize = 0,
                    double timeoutSeconds = -1);
-  virtual ~UdpTcPollingTask();
+  ~UdpTcPollingTask() override = default;
 
   /**
    * Turn on optional timeout for UDP polling. In the default mode,
@@ -34,9 +34,9 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
    */
   void setTimeout(double timeoutSeconds);
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual ReturnValue_t initialize() override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initialize() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -51,7 +51,7 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
   std::vector<uint8_t> receptionBuffer;
 
   size_t frameSize = 0;
-  timeval receptionTimeout;
+  timeval receptionTimeout{};
 
   ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
 };

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -20,13 +20,13 @@
 const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             std::string udpServerPort, object_id_t tmStoreId,
+                             const std::string &udpServerPort_, object_id_t tmStoreId,
                              object_id_t tcStoreId)
     : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
-  if (udpServerPort == "") {
-    this->udpServerPort = DEFAULT_SERVER_PORT;
+  if (udpServerPort_.empty()) {
+    udpServerPort = DEFAULT_SERVER_PORT;
   } else {
-    this->udpServerPort = udpServerPort;
+    udpServerPort = udpServerPort_;
   }
 
   mutex = MutexFactory::instance()->createMutex();
@@ -117,7 +117,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
   tcpip::printAddress(&clientAddress);
 #endif
 
-  int bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
+  ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
                              &clientAddress, clientAddressLen);
   if (bytesSent == SOCKET_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) {
   clientAddressLen = sizeof(clientAddress);
 }
 
-void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) {
-  this->timeoutType = timeoutType;
-  this->mutexTimeoutMs = timeoutMs;
+void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) {
+  timeoutType = timeoutType_;
+  mutexTimeoutMs = timeoutMs;
 }

src/fsfw/osal/common/UdpTmTcBridge.h

@@ -29,10 +29,10 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
   /* The ports chosen here should not be used by any other process. */
   static const std::string DEFAULT_SERVER_PORT;
 
-  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, std::string udpServerPort = "",
-                object_id_t tmStoreId = objects::TM_STORE,
+  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+                const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
-  virtual ~UdpTmTcBridge();
+  ~UdpTmTcBridge() override;
 
   /**
    * Set properties of internal mutex.
@@ -46,12 +46,12 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
   std::string getUdpPort() const;
 
  protected:
-  virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
+  ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
 
  private:
   std::string udpServerPort;
 
-  struct sockaddr clientAddress;
+  struct sockaddr clientAddress = {};
   socklen_t clientAddressLen = 0;
 
   //! Access to the client address is mutex protected as it is set by another task.

src/fsfw/osal/freertos/Clock.cpp

@@ -11,9 +11,6 @@
 // TODO sanitize input?
 // TODO much of this code can be reused for tick-only systems
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = nullptr;
-
 uint32_t Clock::getTicksPerSecond(void) { return 1000; }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {

src/fsfw/osal/freertos/MessageQueue.cpp

@@ -4,8 +4,9 @@
 #include "fsfw/osal/freertos/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
-    : maxMessageSize(maxMessageSize) {
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -15,10 +16,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
 #else
     sif::printError("MessageQueue::MessageQueue: Creation failed\n");
     sif::printError("Specified Message Depth: %d\n", messageDepth);
-    sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
+    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
 #endif
   }
-  QueueMapManager::instance()->addMessageQueue(handle, &queueId);
+  QueueMapManager::instance()->addMessageQueue(handle, &id);
 }
 
 MessageQueue::~MessageQueue() {
@@ -29,28 +30,6 @@ MessageQueue::~MessageQueue() {
 
 void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
@@ -72,27 +51,16 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  if (status == HasReturnvaluesIF::RETURN_OK) {
-    *receivedFrom = this->lastPartner;
-  }
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
   if (result == pdPASS) {
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     return HasReturnvaluesIF::RETURN_OK;
   } else {
     return MessageQueueIF::EMPTY;
   }
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   // TODO FreeRTOS does not support flushing partially
   // Is always successful
@@ -100,17 +68,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return queueId; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  defaultDestinationSet = true;
-  this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
-
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/freertos/MessageQueue.h

@@ -1,12 +1,15 @@
 #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
+
 #include "FreeRTOS.h"
 #include "TaskManagement.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MessageQueueMessageIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "queue.h"
 
 /**
@@ -32,7 +35,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -53,7 +56,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
@@ -73,40 +77,15 @@ class MessageQueue : public MessageQueueIF {
    */
   void switchSystemContext(CallContext callContext);
 
-  /** MessageQueueIF implementation */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false) override;
+  QueueHandle_t getNativeQueueHandle();
 
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
-
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false) override;
-
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-
   ReturnValue_t flush(uint32_t* count) override;
 
-  MessageQueueId_t getLastPartner() const override;
-
-  MessageQueueId_t getId() const override;
-
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-
-  MessageQueueId_t getDefaultDestination() const override;
-
-  bool isDefaultDestinationSet() const override;
-
-  QueueHandle_t getNativeQueueHandle();
-
  protected:
   /**
    * @brief 	Implementation to be called from any send Call within
@@ -136,12 +115,8 @@ class MessageQueue : public MessageQueueIF {
   static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
  private:
-  bool defaultDestinationSet = false;
   QueueHandle_t handle;
-  MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
 
-  MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
   const size_t maxMessageSize;
   //! Stores the current system context
   CallContext callContext = CallContext::TASK;

src/fsfw/osal/freertos/QueueFactory.cpp

@@ -22,8 +22,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/host/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE
   Clock.cpp
   FixedTimeslotTask.cpp
   MessageQueue.cpp
@@ -16,9 +15,13 @@ target_sources(${LIB_FSFW_NAME}
 if(UNIX)
   find_package(Threads REQUIRED)
 
-	target_link_libraries(${LIB_FSFW_NAME} 
-	PRIVATE
-		rt
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE
     ${CMAKE_THREAD_LIBS_INIT}
   )
+  if(NOT APPLE)
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+      rt
+      )
+  endif()
+
 endif()

src/fsfw/osal/host/Clock.cpp

@@ -2,6 +2,7 @@
 
 #include <chrono>
 
+#include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -11,9 +12,6 @@
 #include <fstream>
 #endif
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
-
 using SystemClock = std::chrono::system_clock;
 
 uint32_t Clock::getTicksPerSecond(void) {
@@ -127,6 +125,13 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
   auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
   auto fraction = now - seconds;
   time_t tt = SystemClock::to_time_t(now);
+  ReturnValue_t result = checkOrCreateClockMutex();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  MutexGuard helper(timeMutex);
+  // gmtime writes its output in a global buffer which is not Thread Safe
+  // Therefore we have to use a Mutex here
   struct tm* timeInfo;
   timeInfo = gmtime(&tt);
   time->year = timeInfo->tm_year + 1900;

src/fsfw/osal/host/MessageQueue.cpp

@@ -8,10 +8,12 @@
 #include "fsfw/osal/host/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
-    : messageSize(maxMessageSize), messageDepth(messageDepth) {
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      messageSize(maxMessageSize),
+      messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
-  auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+  auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
   if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
@@ -23,42 +25,11 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
 
 MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return MessageQueueIF::NO_REPLY_PARTNER;
-  }
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  if (status == HasReturnvaluesIF::RETURN_OK) {
-    *receivedFrom = this->lastPartner;
-  }
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (messageQueue.empty()) {
     return MessageQueueIF::EMPTY;
@@ -68,12 +39,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
             message->getBuffer());
   messageQueue.pop();
   // The last partner is the first uint32_t field in the message
-  this->lastPartner = message->getSender();
+  this->last = message->getSender();
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   *count = messageQueue.size();
   // Clears the queue.
@@ -81,17 +50,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return mqId; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  defaultDestinationSet = true;
-  this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
-
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/host/MessageQueue.h

@@ -5,9 +5,11 @@
 #include <queue>
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
+#include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MutexIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/timemanager/Clock.h"
 
 /**
@@ -33,7 +35,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -54,7 +56,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
@@ -67,121 +70,12 @@ class MessageQueue : public MessageQueueIF {
    */
   virtual ~MessageQueue();
 
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender
-   * parent, but passes its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the
-   *  destination message queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter
-   * is not incremented if queue is full.
-   */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false) override;
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the
-   * sendToDefault call of the MessageQueueSender parent class and adds its
-   * queue id as "sentFrom" information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using
-   * the stored lastPartner information as destination. If there was no
-   * message received yet (i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
-
-  /**
-   * @brief	With the sendMessage call, a queue message is sent to a
-   * 			receiving queue.
-   * @details
-   * This method takes the message provided, adds the sentFrom information and
-   * passes it on to the destination provided with an operating system call.
-   *  The OS's return value is returned.
-   * @param sendTo	This parameter specifies the message queue id to send
-   * the message to.
-   * @param message	This is a pointer to a previously created message,
-   * which is sent.
-   * @param sentFrom	The sentFrom information can be set to inject the
-   * sender's queue id into the message. This variable is set to zero by
-   * default.
-   * @param ignoreFault If set to true, the internal software fault counter
-   * is not incremented if queue is full.
-   */
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
-
-  /**
-   * @brief	The sendToDefault method sends a queue message to the default
-   * 			destination.
-   * @details
-   * In all other aspects, it works identical to the sendMessage method.
-   * @param message	This is a pointer to a previously created message,
-   * which is sent.
-   * @param sentFrom	The sentFrom information can be set to inject the
-   * sender's queue id into the message. This variable is set to zero by
-   * default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false) override;
-
-  /**
-   * @brief	This function reads available messages from the message queue
-   * 			and returns the sender.
-   * @details
-   * It works identically to the other receiveMessage call, but in  addition
-   * returns the sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details
-   * If data is available it is stored in the passed message pointer.
-   * The message's original content is overwritten and the sendFrom
-   * information is stored in the lastPartner attribute. Else, the lastPartner
-   * information remains untouched, the message's content is cleared and the
-   * function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
   ReturnValue_t flush(uint32_t* count) override;
-  /**
-   * @brief	This method returns the message queue id of the last
-   * 			communication partner.
-   */
-  MessageQueueId_t getLastPartner() const override;
-  /**
-   * @brief	This method returns the message queue id of this class's
-   * 			message queue.
-   */
-  MessageQueueId_t getId() const override;
-
-  /**
-   * @brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-  /**
-   * @brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const override;
-
-  bool isDefaultDestinationSet() const override;
 
   ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout);
   ReturnValue_t unlockQueue();
@@ -211,23 +105,14 @@ class MessageQueue : public MessageQueueIF {
                                                    MessageQueueId_t sentFrom = NO_QUEUE,
                                                    bool ignoreFault = false);
 
-  // static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
-
  private:
   std::queue<std::vector<uint8_t>> messageQueue;
-  /**
-   * @brief	The class stores the queue id it got assigned.
-   * 			If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE;
   size_t messageSize = 0;
   size_t messageDepth = 0;
 
   MutexIF* queueLock;
 
-  bool defaultDestinationSet = false;
   MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

src/fsfw/osal/host/QueueFactory.cpp

@@ -27,12 +27,13 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   // A thread-safe queue can be implemented  by using a combination
   // of std::queue and std::mutex. This uses dynamic memory allocation
   // which could be alleviated by using a custom allocator, external library
   // (etl::queue) or simply using std::queue, we're on a host machine anyway.
-  return new MessageQueue(messageDepth, maxMessageSize);
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/linux/CMakeLists.txt

@@ -14,16 +14,16 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
   TaskFactory.cpp
   tcpipHelpers.cpp
   unixUtility.cpp
-)
+  )
 
 find_package(Threads REQUIRED)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC
   ${CMAKE_THREAD_LIBS_INIT}
+  )
+
+if(NOT APPLE)
+  target_link_libraries(${LIB_FSFW_NAME} PUBLIC
     rt
-)
-
-target_link_libraries(${LIB_FSFW_NAME} INTERFACE
-	${CMAKE_THREAD_LIBS_INIT}
-)
-
+  )
+endif()

src/fsfw/osal/linux/Clock.cpp

@@ -8,11 +8,9 @@
 
 #include <fstream>
 
+#include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
-
 uint32_t Clock::getTicksPerSecond(void) {
   uint32_t ticks = sysconf(_SC_CLK_TCK);
   return ticks;
@@ -117,7 +115,13 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
     // TODO errno
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-
+  ReturnValue_t result = checkOrCreateClockMutex();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  MutexGuard helper(timeMutex);
+  // gmtime writes its output in a global buffer which is not Thread Safe
+  // Therefore we have to use a Mutex here
   struct tm* timeInfo;
   timeInfo = gmtime(&timeUnix.tv_sec);
   time->year = timeInfo->tm_year + 1900;

src/fsfw/osal/linux/MessageQueue.cpp

@@ -11,13 +11,10 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
-    : id(MessageQueueIF::NO_QUEUE),
-      lastPartner(MessageQueueIF::NO_QUEUE),
-      defaultDestination(MessageQueueIF::NO_QUEUE),
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
       maxMessageSize(maxMessageSize) {
   mq_attr attributes;
-  this->id = 0;
   // Set attributes
   attributes.mq_curmsgs = 0;
   attributes.mq_maxmsg = messageDepth;
@@ -50,30 +47,6 @@ MessageQueue::~MessageQueue() {
   }
 }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), false);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != 0) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  *receivedFrom = this->lastPartner;
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -96,7 +69,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()),
                           message->getMaximumMessageSize(), &messagePriority);
   if (status > 0) {
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -164,8 +137,6 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   }
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   mq_attr attrib;
   int status = mq_getattr(id, &attrib);
@@ -212,26 +183,11 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return this->id; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  this->defaultDestination = defaultDestination;
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
-
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
@@ -240,9 +196,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         bool ignoreFault) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
+    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl;
 #else
-    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
+    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -256,7 +212,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     if (!ignoreFault) {
       InternalErrorReporterIF* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-      if (internalErrorReporter != NULL) {
+      if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();
       }
     }

src/fsfw/osal/linux/MessageQueue.h

@@ -1,11 +1,13 @@
 #ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 #define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
 #include <mqueue.h>
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 /**
  * @brief		This class manages sending and receiving of message queue messages.
  *
@@ -25,7 +27,7 @@
  * makes use of the operating system calls provided.
  *	@ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -42,104 +44,24 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(uint32_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
+
+  /** Copying message queues forbidden */
+  MessageQueue(const MessageQueue&) = delete;
+  MessageQueue& operator=(const MessageQueue&) = delete;
+
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
-   * its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the destination message
-   * queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
-   * queue is full.
-   */
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                    bool ignoreFault = false);
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
-   * information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using the stored
-   * 			lastParnter information as destination. If there was no message received yet
-   * 			(i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  /**
-   * @brief	This function reads available messages from the message queue and returns the
-   * sender.
-   * @details	It works identically to the other receiveMessage call, but in addition returns the
-   * 			sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details	If data is available it is stored in the passed message pointer. The message's
-   * 			original content is overwritten and the sendFrom information is stored in
-   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
-   * content is cleared and the function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
-  ReturnValue_t flush(uint32_t* count);
-  /**
-   * @brief	This method returns the message queue id of the last communication partner.
-   */
-  MessageQueueId_t getLastPartner() const;
-  /**
-   * @brief	This method returns the message queue id of this class's message queue.
-   */
-  MessageQueueId_t getId() const;
-  /**
-   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-   * \param sendTo	This parameter specifies the message queue id to send the message to.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
-   * internal software fault counter is not incremented if queue is full.
-   */
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false);
-  /**
-   * \brief	The sendToDefault method sends a queue message to the default destination.
-   * \details	In all other aspects, it works identical to the sendMessage method.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false);
-  /**
-   * \brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination);
-  /**
-   * \brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const;
-
-  bool isDefaultDestinationSet() const;
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+  ReturnValue_t flush(uint32_t* count) override;
+  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                MessageQueueId_t sentFrom, bool ignoreFault = false) override;
 
  protected:
   /**
@@ -158,31 +80,10 @@ class MessageQueue : public MessageQueueIF {
                                                    bool ignoreFault = false);
 
  private:
-  /**
-   * @brief	The class stores the queue id it got assigned from the operating system in this
-   * attribute. If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t id;
-  /**
-   * @brief	In this attribute, the queue id of the last communication partner is stored
-   * 			to allow for replying.
-   */
-  MessageQueueId_t lastPartner;
-  /**
-   * @brief	The message queue's name -a user specific information for the operating system-  is
-   * 			generated automatically with the help of this static counter.
-   */
-  /**
-   * \brief	This attribute stores a default destination to send messages to.
-   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
-   * 			be set in the constructor or by a setter call to setDefaultDestination.
-   */
-  MessageQueueId_t defaultDestination;
-
   /**
    * The name of the message queue, stored for unlinking
    */
-  char name[16];
+  char name[16] = {};
 
   static uint16_t queueCounter;
   const size_t maxMessageSize;

src/fsfw/osal/linux/QueueFactory.cpp

@@ -28,8 +28,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/rtems/Clock.cpp

@@ -6,9 +6,6 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = nullptr;
-
 uint32_t Clock::getTicksPerSecond(void) {
   rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
   return static_cast<uint32_t>(ticks_per_second);

src/fsfw/osal/rtems/MessageQueue.cpp

@@ -6,8 +6,9 @@
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
-    : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
+MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =
       rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id));
@@ -16,43 +17,19 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
     sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec
                << " failed with status:" << (uint32_t)status << std::endl;
 #endif
-    this->id = 0;
+    this->id = MessageQueueIF::NO_QUEUE;
   }
 }
 
 MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != 0) {
-    return sendMessage(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  *receivedFrom = this->lastPartner;
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   size_t size = 0;
   rtems_status_code status =
       rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1);
   if (status == RTEMS_SUCCESSFUL) {
     message->setMessageSize(size);
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -65,19 +42,11 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   return convertReturnCode(status);
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   rtems_status_code status = rtems_message_queue_flush(id, count);
   return convertReturnCode(status);
 }
 
-MessageQueueId_t MessageQueue::getId() const { return this->id; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  this->defaultDestination = defaultDestination;
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   message->setSender(sentFrom);
@@ -103,15 +72,6 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
   return returnCode;
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
-
 ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) {
   switch (inValue) {
     case RTEMS_SUCCESSFUL:

src/fsfw/osal/rtems/MessageQueue.h

@@ -1,10 +1,13 @@
 #ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
+
 #include "RtemsBasic.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 
 /**
  *	@brief		This class manages sending and receiving of message queue messages.
@@ -19,7 +22,7 @@
  *as well as sending and receiving messages, the class makes use of the operating system calls
  *provided. \ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
  public:
   /**
    * @brief	The constructor initializes and configures the message queue.
@@ -34,131 +37,26 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(size_t message_depth = 3,
-               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
+
+  /** Copying message queues forbidden */
+  MessageQueue(const MessageQueue&) = delete;
+  MessageQueue& operator=(const MessageQueue&) = delete;
+
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
-   * its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the destination message
-   * queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
-   * queue is full.
-   */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false);
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
-   * information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using the stored
-   * 			lastParnter information as destination. If there was no message received yet
-   * 			(i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  /**
-   * @brief	This function reads available messages from the message queue and returns the
-   * sender.
-   * @details	It works identically to the other receiveMessage call, but in addition returns the
-   * 			sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details	If data is available it is stored in the passed message pointer. The message's
-   * 			original content is overwritten and the sendFrom information is stored in
-   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
-   * content is cleared and the function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
-  ReturnValue_t flush(uint32_t* count);
-  /**
-   * @brief	This method returns the message queue id of the last communication partner.
-   */
-  MessageQueueId_t getLastPartner() const;
-  /**
-   * @brief	This method returns the message queue id of this class's message queue.
-   */
-  MessageQueueId_t getId() const;
-  /**
-   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-   * \details	This method takes the message provided, adds the sentFrom information and passes
-   * 			it on to the destination provided with an operating system call. The OS's
-   * return value is returned.
-   * \param sendTo	This parameter specifies the message queue id to send the message to.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
-   * internal software fault counter is not incremented if queue is full.
-   */
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
+  ReturnValue_t flush(uint32_t* count) override;
+  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                 MessageQueueId_t sentFrom = NO_QUEUE,
-                                        bool ignoreFault = false);
-  /**
-   * \brief	The sendToDefault method sends a queue message to the default destination.
-   * \details	In all other aspects, it works identical to the sendMessage method.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false);
-  /**
-   * \brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination);
-  /**
-   * \brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const;
-
-  bool isDefaultDestinationSet() const;
+                                bool ignoreFault = false) override;
 
  private:
-  /**
-   * @brief	The class stores the queue id it got assigned from the operating system in this
-   * attribute. If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t id;
-  /**
-   * @brief	In this attribute, the queue id of the last communication partner is stored
-   * 			to allow for replying.
-   */
-  MessageQueueId_t lastPartner;
-  /**
-   * @brief	The message queue's name -a user specific information for the operating system-  is
-   * 			generated automatically with the help of this static counter.
-   */
-  /**
-   * \brief	This attribute stores a default destination to send messages to.
-   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
-   * 			be set in the constructor or by a setter call to setDefaultDestination.
-   */
-  MessageQueueId_t defaultDestination;
-
   /**
    * \brief	This attribute stores a reference to the internal error reporter for reporting full
    * queues. \details	In the event of a full destination queue, the reporter will be notified. The

src/fsfw/osal/rtems/PeriodicTask.h

@@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object) override;
 
-/**
+  /**
    * Adds an object to the list of objects to be executed.
    * The objects are executed in the order added.
    * @param object pointer to the object to add.
    * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
+  ReturnValue_t addComponent(ExecutableObjectIF *object) override;
 
   uint32_t getPeriodMs() const override;
 

src/fsfw/osal/rtems/QueueFactory.cpp

@@ -49,8 +49,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
-  return new MessageQueue(messageDepth, maxMessageSize);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/power/CMakeLists.txt

@@ -1,7 +1,7 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE
     Fuse.cpp
     PowerComponent.cpp
     PowerSensor.cpp
     PowerSwitcher.cpp
+    DummyPowerSwitcher.cpp
 )

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -0,0 +1,47 @@
+#include "DummyPowerSwitcher.h"
+
+DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
+                                       size_t numberOfFuses, bool registerGlobally,
+                                       uint32_t switchDelayMs)
+    : SystemObject(objectId, registerGlobally),
+      switcherList(numberOfSwitches),
+      fuseList(numberOfFuses),
+      switchDelayMs(switchDelayMs) {}
+
+void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
+  this->switcherList = switcherList;
+}
+
+void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
+  this->fuseList = fuseList;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (switchNr < switcherList.capacity()) {
+    switcherList[switchNr] = onOff;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
+  if (fuseNr < fuseList.capacity()) {
+    fuseList[fuseNr] = FUSE_ON;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
+  if (switchNr < switcherList.capacity()) {
+    return switcherList[switchNr];
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
+  if (fuseNr < fuseList.capacity()) {
+    return fuseList[fuseNr];
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return switchDelayMs; }

src/fsfw/power/DummyPowerSwitcher.h

@@ -0,0 +1,38 @@
+#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+
+#include <cstddef>
+#include <vector>
+
+#include "PowerSwitchIF.h"
+#include "definitions.h"
+#include "fsfw/objectmanager/SystemObject.h"
+
+/**
+ * @brief   This component can be used to simulate a power switcher like a
+ *          Power Control Distribution Unit (PCDU)
+ * @details
+ * The dummy switcher will simply cache the commanded fuse and switch states and return them
+ * in the according switch getter functions. In that sense, it simulates an ideal PCDU.
+ */
+class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
+ public:
+  DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
+                     bool registerGlobally = true, uint32_t switchDelayMs = 5000);
+
+  void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
+  void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
+
+  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  virtual uint32_t getSwitchDelayMs(void) const override;
+
+ private:
+  std::vector<ReturnValue_t> switcherList;
+  std::vector<ReturnValue_t> fuseList;
+  uint32_t switchDelayMs = 5000;
+};
+
+#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */

src/fsfw/power/Fuse.h

@@ -34,14 +34,14 @@ class Fuse : public SystemObject,
   };
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(
-      1, severity::LOW);  //!< PSS detected that current on a fuse is totally out of bounds.
-  static const Event FUSE_WENT_OFF =
-      MAKE_EVENT(2, severity::LOW);  //!< PSS detected a fuse that went off.
-  static const Event POWER_ABOVE_HIGH_LIMIT =
-      MAKE_EVENT(4, severity::LOW);  //!< PSS detected a fuse that violates its limits.
-  static const Event POWER_BELOW_LOW_LIMIT =
-      MAKE_EVENT(5, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  //! PSS detected that current on a fuse is totally out of bounds.
+  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
+  //! PSS detected a fuse that went off.
+  static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
 
   typedef std::list<PowerComponentIF *> DeviceList;
   Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,
@@ -54,7 +54,7 @@ class Fuse : public SystemObject,
 
   ReturnValue_t check();
   uint8_t getFuseId() const;
-  ReturnValue_t initialize();
+  ReturnValue_t initialize() override;
   DeviceList devices;
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override;

src/fsfw/power/PowerSensor.cpp

@@ -15,7 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  commandQueue =
+      QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitchIF.h

@@ -3,6 +3,7 @@
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
+#include "definitions.h"
 /**
  *
  * @brief   This interface defines a connection to a device that is capable of
@@ -37,11 +38,11 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    * @param switchNr
    * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
    */
-  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0;
+  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) = 0;
   /**
    * Sends a command to the Power Unit to enable a certain fuse.
    */
-  virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0;
 
   /**
    * get the state of the Switches.
@@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    *     - @c SWITCH_OFF if the specified switch is off.
    *     - @c RETURN_FAILED if an error occured
    */
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
   /**
    * get state of a fuse.
    * @param fuseNr

src/fsfw/power/PowerSwitcher.cpp

@@ -1,19 +1,12 @@
 #include "fsfw/power/PowerSwitcher.h"
 
+#include "definitions.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
-                             PowerSwitcher::State_t setStartState)
-    : state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
-
-ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
-  power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
-  if (power == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
+PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                             power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
+    : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
   SwitchReturn_t result = howManySwitches();
@@ -52,18 +45,37 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
   return;
 }
 
-void PowerSwitcher::turnOn() {
+void PowerSwitcher::turnOn(bool checkCurrentState) {
+  if (checkCurrentState) {
+    if (getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
+      state = SWITCH_IS_ON;
+      return;
+    }
+  }
   commandSwitches(PowerSwitchIF::SWITCH_ON);
   state = WAIT_ON;
 }
 
-void PowerSwitcher::turnOff() {
+void PowerSwitcher::turnOff(bool checkCurrentState) {
+  if (checkCurrentState) {
+    if (getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
+      state = SWITCH_IS_OFF;
+      return;
+    }
+  }
   commandSwitches(PowerSwitchIF::SWITCH_OFF);
   state = WAIT_OFF;
 }
 
+bool PowerSwitcher::active() {
+  if (state == WAIT_OFF or state == WAIT_ON) {
+    return true;
+  }
+  return false;
+}
+
 PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
-  if (secondSwitch == NO_SWITCH) {
+  if (secondSwitch == power::NO_SWITCH) {
     return ONE_SWITCH;
   } else {
     return TWO_SWITCHES;

src/fsfw/power/PowerSwitcher.h

@@ -14,28 +14,29 @@ class PowerSwitcher : public HasReturnvaluesIF {
     SWITCH_IS_OFF,
     SWITCH_IS_ON,
   };
-  State_t state;
+
   static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
   static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
   static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-  PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                power::Switch_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
-  ReturnValue_t initialize(object_id_t powerSwitchId);
-  void turnOn();
-  void turnOff();
+  void turnOn(bool checkCurrentState = true);
+  void turnOff(bool checkCurrentState = true);
+  bool active();
   void doStateMachine();
   State_t getState();
   ReturnValue_t checkSwitchState();
   uint32_t getSwitchDelay();
-  uint8_t getFirstSwitch() const;
-  uint8_t getSecondSwitch() const;
+  power::Switch_t getFirstSwitch() const;
+  power::Switch_t getSecondSwitch() const;
 
  private:
-  uint8_t firstSwitch;
-  uint8_t secondSwitch;
   PowerSwitchIF* power = nullptr;
+  State_t state;
+  power::Switch_t firstSwitch = power::NO_SWITCH;
+  power::Switch_t secondSwitch = power::NO_SWITCH;
 
-  static const uint8_t NO_SWITCH = 0xFF;
   enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 };
   ReturnValue_t getStateOfSwitches();
   void commandSwitches(ReturnValue_t onOff);

src/fsfw/power/definitions.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace power {
+
+using Switch_t = uint8_t;
+static constexpr Switch_t NO_SWITCH = 0xFF;
+
+}  // namespace power
+
+#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -13,8 +13,6 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
     : CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
 }
 
-CService201HealthCommanding::~CService201HealthCommanding() {}
-
 ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_SET_HEALTH):
@@ -43,8 +41,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
 }
 
 ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
-  HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
   if (destination == nullptr) {
     return CommandingServiceBase::INVALID_OBJECT;
   }
@@ -77,6 +75,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
       HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
       break;
     }
+    default: {
+      // Should never happen, subservice was already checked
+      result = RETURN_FAILED;
+    }
   }
   return result;
 }
@@ -95,10 +97,10 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 }
 
 // Not used for now, health state already reported by event
-ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
-  prepareHealthSetReply(reply);
-  uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
+    const CommandMessage *reply) {
+  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);
   return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
 }

src/fsfw/pus/CService201HealthCommanding.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
-#include "../tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
 
 /**
  * @brief   Custom PUS service to set health of all objects
@@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
  public:
   CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                               uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  virtual ~CService201HealthCommanding();
+  ~CService201HealthCommanding() override = default;
 
  protected:
   /* CSB abstract function implementations */
@@ -38,12 +38,10 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             bool *isStep) override;
 
  private:
-  ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
-                                        size_t tcDataLen);
-  ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
-                                                     object_id_t *objectId);
+  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
+                                                            const object_id_t *objectId);
 
-  ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+  [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 
   enum Subservice {
     //! [EXPORT] : [TC] Set health of target object

src/fsfw/pus/Service3Housekeeping.h

@@ -43,7 +43,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
                             CommandMessage* optionalNextCommand, object_id_t objectId,
                             bool* isStep) override;
 
-  virtual MessageQueueId_t getHkQueue() const;
+  virtual MessageQueueId_t getHkQueue() const override;
 
  private:
   enum class Subservice {

src/fsfw/subsystem/Subsystem.cpp

@@ -30,11 +30,11 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
     return FALLBACK_SEQUENCE_DOES_NOT_EXIST;
   }
 
-  if (iter.value == NULL) {
+  if (iter.value == nullptr) {
     return NO_TARGET_TABLE;
   }
 
-  for (; iter.value != NULL; ++iter) {
+  for (; iter.value != nullptr; ++iter) {
     if (!existsModeTable(iter->getTableId())) {
       return TABLE_DOES_NOT_EXIST;
     } else {
@@ -66,13 +66,18 @@ HybridIterator<ModeListEntry> Subsystem::getCurrentTable() {
 void Subsystem::performChildOperation() {
   if (isInTransition) {
     if (commandsOutstanding <= 0) {  // all children of the current table were commanded and replied
-      if (currentSequenceIterator.value == NULL) {  // we're through with this sequence
+      if (currentSequenceIterator.value == nullptr) {  // we're through with this sequence
         if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
           setMode(targetMode, targetSubmode);
           isInTransition = false;
           return;
         } else {
-          transitionFailed(TARGET_TABLE_NOT_REACHED, getSequence(targetMode)->getTableId());
+          Mode_t tableId = 0;
+          auto seq = getSequence(targetMode);
+          if (seq.value != nullptr) {
+            tableId = seq->getTableId();
+          }
+          transitionFailed(TARGET_TABLE_NOT_REACHED, tableId);
           return;
         }
       }
@@ -248,10 +253,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
     case ModeSequenceMessage::READ_TABLE: {
       ReturnValue_t result;
       Mode_t table = ModeSequenceMessage::getSequenceId(message);
-      EntryPointer *entry = NULL;
+      EntryPointer *entry = nullptr;
       result = modeTables.find(table, &entry);
-      if (result != RETURN_OK) {
+      if (result != RETURN_OK or entry == nullptr) {
         replyToCommand(result, 0);
+        if (entry == nullptr) {
+          return result;
+        }
       }
 
       SerializeIF *elements[2];
@@ -299,6 +307,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
   }
 }
 
+ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) {
+  return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore,
+                     sequence.preInit);
+}
+
 ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id,
                                      Mode_t fallbackSequence, bool inStore, bool preInit) {
   ReturnValue_t result;
@@ -342,6 +355,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t
   return result;
 }
 
+ReturnValue_t Subsystem::addTable(TableEntry table) {
+  return addTable(table.table, table.mode, table.inStore, table.preInit);
+}
+
 ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore,
                                   bool preInit) {
   ReturnValue_t result;
@@ -450,6 +467,7 @@ ReturnValue_t Subsystem::initialize() {
   }
 
   mode = initialMode;
+  submode = initSubmode;
 
   return RETURN_OK;
 }
@@ -587,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() {
   return RETURN_OK;
 }
 
-void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; }
+void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) {
+  this->initialMode = mode;
+  this->initSubmode = submode;
+}
 
 void Subsystem::cantKeepMode() {
   ReturnValue_t result;

src/fsfw/subsystem/Subsystem.h

@@ -1,16 +1,37 @@
 #ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
 #define FSFW_SUBSYSTEM_SUBSYSTEM_H_
 
-#include <FSFWConfig.h>
-
 #include "../container/FixedArrayList.h"
 #include "../container/FixedMap.h"
 #include "../container/HybridIterator.h"
 #include "../container/SinglyLinkedList.h"
 #include "../serialize/SerialArrayListAdapter.h"
 #include "SubsystemBase.h"
+#include "fsfw/FSFW.h"
 #include "modes/ModeDefinitions.h"
 
+struct TableSequenceBase {
+ public:
+  TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
+  Mode_t mode;
+  ArrayList<ModeListEntry> *table;
+  bool inStore = false;
+  bool preInit = true;
+};
+
+struct TableEntry : public TableSequenceBase {
+ public:
+  TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
+};
+
+struct SequenceEntry : public TableSequenceBase {
+ public:
+  SequenceEntry(Mode_t mode, ArrayList<ModeListEntry> *table, Mode_t fallbackMode)
+      : TableSequenceBase(mode, table), fallbackMode(fallbackMode) {}
+
+  Mode_t fallbackMode;
+};
+
 /**
  * @brief   TODO: documentation missing
  * @details
@@ -45,13 +66,15 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
             uint32_t maxNumberOfTables);
   virtual ~Subsystem();
 
+  ReturnValue_t addSequence(SequenceEntry sequence);
   ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
                             bool inStore = true, bool preInit = true);
 
+  ReturnValue_t addTable(TableEntry table);
   ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
                          bool preInit = true);
 
-  void setInitialMode(Mode_t mode);
+  void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
 
   virtual ReturnValue_t initialize() override;
 
@@ -90,6 +113,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
   Submode_t targetSubmode;
 
   Mode_t initialMode = 0;
+  Submode_t initSubmode = SUBMODE_NONE;
 
   HybridIterator<ModeListEntry> currentSequenceIterator;
 
@@ -127,18 +151,18 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
 
   ReturnValue_t deleteTable(Mode_t id);
 
-  virtual void performChildOperation();
+  virtual void performChildOperation() override;
 
-  virtual ReturnValue_t handleCommandMessage(CommandMessage *message);
+  virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override;
 
   bool isFallbackSequence(Mode_t SequenceId);
 
   bool isTableUsed(Mode_t tableId);
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode);
+                                         uint32_t *msToReachTheMode) override;
 
-  virtual void startTransition(Mode_t mode, Submode_t submode);
+  virtual void startTransition(Mode_t mode, Submode_t submode) override;
 
   void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);
 

src/fsfw/subsystem/SubsystemBase.h

@@ -123,15 +123,15 @@ class SubsystemBase : public SystemObject,
   virtual void performChildOperation() = 0;
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) = 0;
+                                         uint32_t *msToReachTheMode) override = 0;
 
-  virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
+  virtual void startTransition(Mode_t mode, Submode_t submode) override = 0;
 
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
 
-  virtual void setToExternalControl();
+  virtual void setToExternalControl() override;
 
-  virtual void announceMode(bool recursive);
+  virtual void announceMode(bool recursive) override;
 
   virtual void modeChanged();
 };

src/fsfw/timemanager/CCSDSTime.cpp

@@ -6,10 +6,6 @@
 
 #include "fsfw/FSFW.h"
 
-CCSDSTime::CCSDSTime() {}
-
-CCSDSTime::~CCSDSTime() {}
-
 ReturnValue_t CCSDSTime::convertToCcsds(Ccs_seconds* to, const Clock::TimeOfDay_t* from) {
   ReturnValue_t result = checkTimeOfDay(from);
   if (result != RETURN_OK) {
@@ -91,7 +87,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const uint8_t* f
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return convertTimevalToTimeOfDay(to, &time);
+  return Clock::convertTimevalToTimeOfDay(&time, to);
 }
 
 ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* from,
@@ -428,7 +424,7 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, const uint8_t* from, size_t
   from++;
   ReturnValue_t result = convertFromCUC(to, pField, from, foundLength, maxLength - 1);
   if (result == HasReturnvaluesIF::RETURN_OK) {
-    if (foundLength != NULL) {
+    if (foundLength != nullptr) {
       *foundLength += 1;
     }
   }
@@ -489,11 +485,6 @@ ReturnValue_t CCSDSTime::checkTimeOfDay(const Clock::TimeOfDay_t* time) {
   return RETURN_OK;
 }
 
-ReturnValue_t CCSDSTime::convertTimevalToTimeOfDay(Clock::TimeOfDay_t* to, timeval* from) {
-  // This is rather tricky. Implement only if needed. Also, if so, move to OSAL.
-  return UNSUPPORTED_TIME_FORMAT;
-}
-
 ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t* foundLength,
                                         size_t maxLength) {
   uint8_t pField = *from;
@@ -583,7 +574,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime:
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval);
+  return Clock::convertTimevalToTimeOfDay(&tempTimeval, to);
 }
 
 ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from,
@@ -593,18 +584,18 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8
   uint8_t nCoarse = ((pField & 0b1100) >> 2) + 1;
   uint8_t nFine = (pField & 0b11);
   size_t totalLength = nCoarse + nFine;
-  if (foundLength != NULL) {
+  if (foundLength != nullptr) {
     *foundLength = totalLength;
   }
   if (totalLength > maxLength) {
     return LENGTH_MISMATCH;
   }
-  for (int count = 0; count < nCoarse; count++) {
-    secs += *from << ((nCoarse * 8 - 8) * (1 + count));
+  for (int count = nCoarse; count > 0; count--) {
+    secs += *from << (count * 8 - 8);
     from++;
   }
-  for (int count = 0; count < nFine; count++) {
-    subSeconds += *from << ((nFine * 8 - 8) * (1 + count));
+  for (int count = nFine; count > 0; count--) {
+    subSeconds += *from << (count * 8 - 8);
     from++;
   }
   // Move to POSIX epoch.

src/fsfw/timemanager/CCSDSTime.h

@@ -161,18 +161,37 @@ class CCSDSTime : public HasReturnvaluesIF {
    */
   static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from, size_t *foundLength,
                                         size_t maxLength);
-
+  /**
+   * @brief Currently unsupported conversion due to leapseconds
+   *
+   * @param to Time Of Day (UTC)
+   * @param from Buffer to take the CUC from
+   * @param length Length of buffer
+   * @return ReturnValue_t UNSUPPORTED_TIME_FORMAT in any case ATM
+   */
   static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to, uint8_t const *from, uint8_t length);
-
+  /**
+   * @brief Converts from CCSDS CUC to timeval
+   *
+   * If input is CCSDS Epoch this is TAI! -> No leapsecond support.
+   *
+   * Currently, it only supports seconds + 2 Byte Subseconds (1/65536 seconds)
+   *
+   *
+   * @param to Timeval to write the result to
+   * @param from Buffer to read from
+   * @param foundLength Length found by this function (can be nullptr if unused)
+   * @param maxLength Max length of the buffer to be read
+   * @return ReturnValue_t - RETURN_OK if successful
+   *                       - LENGTH_MISMATCH if expected length is larger than maxLength
+   */
   static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from, size_t *foundLength,
                                       size_t maxLength);
-
   static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField, uint8_t const *from,
                                       size_t *foundLength, size_t maxLength);
 
   static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from, size_t *foundLength,
                                       size_t maxLength);
-
   static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField, uint8_t const *from,
                                       size_t *foundLength, size_t maxLength);
 
@@ -192,8 +211,8 @@ class CCSDSTime : public HasReturnvaluesIF {
   static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
 
  private:
-  CCSDSTime();
-  virtual ~CCSDSTime();
+  CCSDSTime(){};
+  virtual ~CCSDSTime(){};
   /**
    * checks a ccs time stream for validity
    *
@@ -223,7 +242,6 @@ class CCSDSTime : public HasReturnvaluesIF {
                                          uint8_t *day);
 
   static bool isLeapYear(uint32_t year);
-  static ReturnValue_t convertTimevalToTimeOfDay(Clock::TimeOfDay_t *to, timeval *from);
 };
 
 #endif /* FSFW_TIMEMANAGER_CCSDSTIME_H_ */

src/fsfw/timemanager/Clock.h

@@ -99,6 +99,13 @@ class Clock {
    */
   static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
 
+  /**
+   * Convert to time of day struct given the POSIX timeval struct
+   * @param from
+   * @param to
+   * @return
+   */
+  static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
   /**
    * Converts a time of day struct to POSIX seconds.
    * @param time The time of day as input
@@ -166,6 +173,7 @@ class Clock {
 
   static MutexIF *timeMutex;
   static uint16_t leapSeconds;
+  static bool leapSecondsSet;
 };
 
 #endif /* FSFW_TIMEMANAGER_CLOCK_H_ */

src/fsfw/timemanager/ClockCommon.cpp

@@ -1,7 +1,13 @@
+#include <ctime>
+
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/timemanager/Clock.h"
 
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) {
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = nullptr;
+bool Clock::leapSecondsSet = false;
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
   uint16_t leapSeconds;
   ReturnValue_t result = getLeapSeconds(&leapSeconds);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -27,12 +33,16 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
   MutexGuard helper(timeMutex);
 
   leapSeconds = leapSeconds_;
+  leapSecondsSet = true;
 
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
-  if (timeMutex == nullptr) {
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
+  if (not leapSecondsSet) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   MutexGuard helper(timeMutex);
@@ -42,9 +52,32 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
+  struct tm* timeInfo;
+  // According to https://en.cppreference.com/w/c/chrono/gmtime, the implementation of gmtime_s
+  // in the Windows CRT is incompatible with the C standard but this should not be an issue for
+  // this implementation
+  ReturnValue_t result = checkOrCreateClockMutex();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  MutexGuard helper(timeMutex);
+  // gmtime writes its output in a global buffer which is not Thread Safe
+  // Therefore we have to use a Mutex here
+  timeInfo = gmtime(&from->tv_sec);
+  to->year = timeInfo->tm_year + 1900;
+  to->month = timeInfo->tm_mon + 1;
+  to->day = timeInfo->tm_mday;
+  to->hour = timeInfo->tm_hour;
+  to->minute = timeInfo->tm_min;
+  to->second = timeInfo->tm_sec;
+  to->usecond = from->tv_usec;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t Clock::checkOrCreateClockMutex() {
   if (timeMutex == nullptr) {
-    MutexFactory *mutexFactory = MutexFactory::instance();
+    MutexFactory* mutexFactory = MutexFactory::instance();
     if (mutexFactory == nullptr) {
       return HasReturnvaluesIF::RETURN_FAILED;
     }

src/fsfw/tmtcpacket/SpacePacket.cpp

@@ -19,8 +19,8 @@ SpacePacket::SpacePacket(uint16_t packetDataLength, bool isTelecommand, uint16_t
 SpacePacket::~SpacePacket(void) {}
 
 bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) {
-  if (packet_size <= sizeof(this->data)) {
-    memcpy(&this->localData.byteStream, p_Data, packet_size);
+  if (packet_size <= sizeof(this->localData)) {
+    memcpy(this->localData.byteStream, p_Data, packet_size);
     return true;
   } else {
     return false;

src/fsfw/tmtcservices/CommandingServiceBase.h

@@ -95,7 +95,7 @@ class CommandingServiceBase : public SystemObject,
    */
   virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual uint16_t getIdentifier();
+  virtual uint16_t getIdentifier() override;
 
   /**
    * Returns the requestQueue MessageQueueId_t
@@ -104,7 +104,7 @@ class CommandingServiceBase : public SystemObject,
    *
    * @return requestQueue messageQueueId_t
    */
-  virtual MessageQueueId_t getRequestQueue();
+  virtual MessageQueueId_t getRequestQueue() override;
 
   /**
    * Returns the commandQueue MessageQueueId_t
@@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
    * @param objectId Target object ID
    * @return
    * - @c RETURN_OK to generate a verification start message
-   * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
+   * - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
    *      verification message.
    * - @c Anything else rejects the packets and generates a start failure
    *      verification.

src/fsfw/version.cpp

@@ -1,8 +1,9 @@
 #include "version.h"
-#include "fsfw/FSFWVersion.h"
 
 #include <cstdio>
 
+#include "fsfw/FSFWVersion.h"
+
 #ifdef major
 #undef major
 #endif

src/fsfw/version.h

@@ -29,7 +29,7 @@ class Version {
   }
 
   friend bool operator>(const Version& v1, const Version& v2) {
-    return not (v1 < v2) and not (v1 == v2);
+    return not(v1 < v2) and not(v1 == v2);
   }
 
   friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); }

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -11,7 +11,10 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
 )
 
 add_subdirectory(testcfg)
+add_subdirectory(mocks)
+
 add_subdirectory(action)
+add_subdirectory(power)
 add_subdirectory(container)
 add_subdirectory(osal)
 add_subdirectory(serialize)

tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp

@@ -21,8 +21,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
   REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
   REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK);
 
-  MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle();
-  REQUIRE(mqMock != nullptr);
+  MessageQueueMockBase* poolOwnerMock = poolOwner->getMockQueueHandle();
+  REQUIRE(poolOwnerMock != nullptr);
+
+  // MessageQueueIF* hkCommander = QueueFactory::instance()->createMessageQueue();
   CommandMessage messageSent;
   uint8_t messagesSent = 0;
 
@@ -41,9 +43,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     /* Now the update message should be generated. */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent() == true);
+    REQUIRE(poolOwnerMock->wasMessageSent() == true);
 
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
@@ -53,9 +55,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
@@ -63,15 +65,15 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 2);
     /* first message sent should be the update notification, considering
     the internal list is a vector checked in insertion order. */
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
     /* Clear message to avoid memory leak, our mock won't do it for us (yet) */
     CommandMessageCleaner::clearCommandMessage(&messageSent);
@@ -99,9 +101,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
 
     /* Trigger generation of snapshot */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     /* Check that snapshot was generated */
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_SET));
     /* Now we deserialize the snapshot into a new dataset instance */
@@ -162,12 +164,12 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update snapshot was sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
 
     /* Should have been reset. */
     CHECK(poolVar->hasChanged() == false);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE));
     /* Now we deserialize the snapshot into a new dataset instance */
@@ -209,11 +211,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update notification was sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
     /* Should have been reset. */
     CHECK(poolVar->hasChanged() == false);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
     /* Now subscribe for the dataset update (HK and update) again with subscription interface */
@@ -225,26 +227,26 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now two messages should be sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 2);
-    mqMock->clearMessages(true);
+    poolOwnerMock->clearMessages(true);
 
     poolOwner->dataset.setChanged(true);
     poolVar->setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now three messages should be sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 3);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
     CommandMessageCleaner::clearCommandMessage(&messageSent);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
   }
 
   SECTION("PeriodicHKAndMessaging") {
@@ -255,38 +257,38 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now HK packet should be sent as message immediately. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid);
     REQUIRE(setHandle != nullptr);
     CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, setHandle, false) ==
           retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     CHECK(setHandle->getReportingEnabled() == true);
     CommandMessage hkCmd;
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == false);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == true);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == false);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   false);
@@ -294,23 +296,23 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     /* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the
     resulting collection interval should be 1.0 second */
     CHECK(poolOwner->dataset.getCollectionInterval() == 1.0);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     /* Now HK packet should be sent as message. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid);
     sid_t sidToCheck;
@@ -326,62 +328,62 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
     /* We still expect a failure message being sent */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid);
     gp_id_t gpidToCheck;
@@ -407,5 +409,5 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
   /* we need to reset the subscription list because the pool owner
   is a global object. */
   CHECK(poolOwner->reset() == retval::CATCH_OK);
-  mqMock->clearMessages(true);
+  poolOwnerMock->clearMessages(true);
 }

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

@@ -3,4 +3,5 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
     testOpDivider.cpp
     testBitutil.cpp
     testCRC.cpp
+    testTimevalOperations.cpp
 )

tests/src/fsfw_tests/unit/globalfunctions/testTimevalOperations.cpp

@@ -0,0 +1,124 @@
+#include <fsfw/globalfunctions/timevalOperations.h>
+
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+TEST_CASE("TimevalTest", "[timevalOperations]") {
+  SECTION("Comparison") {
+    timeval t1;
+    t1.tv_sec = 1648227422;
+    t1.tv_usec = 123456;
+    timeval t2;
+    t2.tv_sec = 1648227422;
+    t2.tv_usec = 123456;
+    REQUIRE(t1 == t2);
+    REQUIRE(t2 == t1);
+    REQUIRE_FALSE(t1 != t2);
+    REQUIRE_FALSE(t2 != t1);
+    REQUIRE(t1 <= t2);
+    REQUIRE(t2 <= t1);
+    REQUIRE(t1 >= t2);
+    REQUIRE(t2 >= t1);
+    REQUIRE_FALSE(t1 < t2);
+    REQUIRE_FALSE(t2 < t1);
+    REQUIRE_FALSE(t1 > t2);
+    REQUIRE_FALSE(t2 > t1);
+
+    timeval t3;
+    t3.tv_sec = 1648227422;
+    t3.tv_usec = 123457;
+    REQUIRE_FALSE(t1 == t3);
+    REQUIRE(t1 != t3);
+    REQUIRE(t1 <= t3);
+    REQUIRE_FALSE(t3 <= t1);
+    REQUIRE_FALSE(t1 >= t3);
+    REQUIRE(t3 >= t1);
+    REQUIRE(t1 < t3);
+    REQUIRE_FALSE(t3 < t1);
+    REQUIRE_FALSE(t1 > t3);
+    REQUIRE(t3 > t1);
+
+    timeval t4;
+    t4.tv_sec = 1648227423;
+    t4.tv_usec = 123456;
+    REQUIRE_FALSE(t1 == t4);
+    REQUIRE(t1 != t4);
+    REQUIRE(t1 <= t4);
+    REQUIRE_FALSE(t4 <= t1);
+    REQUIRE_FALSE(t1 >= t4);
+    REQUIRE(t4 >= t1);
+    REQUIRE(t1 < t4);
+    REQUIRE_FALSE(t4 < t1);
+    REQUIRE_FALSE(t1 > t4);
+    REQUIRE(t4 > t1);
+  }
+  SECTION("Operators") {
+    timeval t1;
+    t1.tv_sec = 1648227422;
+    t1.tv_usec = 123456;
+    timeval t2;
+    t2.tv_sec = 1648227422;
+    t2.tv_usec = 123456;
+    timeval t3 = t1 - t2;
+    REQUIRE(t3.tv_sec == 0);
+    REQUIRE(t3.tv_usec == 0);
+    timeval t4 = t1 - t3;
+    REQUIRE(t4.tv_sec == 1648227422);
+    REQUIRE(t4.tv_usec == 123456);
+    timeval t5 = t3 - t1;
+    REQUIRE(t5.tv_sec == -1648227422);
+    REQUIRE(t5.tv_usec == -123456);
+
+    timeval t6;
+    t6.tv_sec = 1648227400;
+    t6.tv_usec = 999999;
+
+    timeval t7 = t6 + t1;
+    REQUIRE(t7.tv_sec == (1648227422ull + 1648227400ull + 1ull));
+    REQUIRE(t7.tv_usec == 123455);
+
+    timeval t8 = t1 - t6;
+    REQUIRE(t8.tv_sec == 1648227422 - 1648227400 - 1);
+    REQUIRE(t8.tv_usec == 123457);
+
+    double scalar = 2;
+    timeval t9 = t1 * scalar;
+    REQUIRE(t9.tv_sec == 3296454844);
+    REQUIRE(t9.tv_usec == 246912);
+    timeval t10 = scalar * t1;
+    REQUIRE(t10.tv_sec == 3296454844);
+    REQUIRE(t10.tv_usec == 246912);
+    timeval t11 = t6 * scalar;
+    REQUIRE(t11.tv_sec == (3296454800 + 1));
+    REQUIRE(t11.tv_usec == 999998);
+
+    timeval t12 = t1 / scalar;
+    REQUIRE(t12.tv_sec == 824113711);
+    REQUIRE(t12.tv_usec == 61728);
+
+    timeval t13 = t6 / scalar;
+    REQUIRE(t13.tv_sec == 824113700);
+    // Rounding issue
+    REQUIRE(t13.tv_usec == 499999);
+
+    double scalar2 = t9 / t1;
+    REQUIRE(scalar2 == Catch::Approx(2.0));
+    double scalar3 = t1 / t6;
+    REQUIRE(scalar3 == Catch::Approx(1.000000013));
+    double scalar4 = t3 / t1;
+    REQUIRE(scalar4 == Catch::Approx(0));
+    double scalar5 = t12 / t1;
+    REQUIRE(scalar5 == Catch::Approx(0.5));
+  }
+
+  SECTION("timevalOperations::toTimeval") {
+    double seconds = 1648227422.123456;
+    timeval t1 = timevalOperations::toTimeval(seconds);
+    REQUIRE(t1.tv_sec == 1648227422);
+    // Allow 1 usec rounding tolerance
+    REQUIRE(t1.tv_usec >= 123455);
+    REQUIRE(t1.tv_usec <= 123457);
+  }
+}

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

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+	PowerSwitcherMock.cpp
+)

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

@@ -5,15 +5,17 @@
 #include <queue>
 
 #include "fsfw/ipc/CommandMessage.h"
+#include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw_tests/unit/CatchDefinitions.h"
 
-class MessageQueueMockBase : public MessageQueueIF {
+class MessageQueueMockBase : public MessageQueueBase {
  public:
-  MessageQueueId_t myQueueId = tconst::testQueueId;
+  MessageQueueMockBase()
+      : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
+
   uint8_t messageSentCounter = 0;
-  bool defaultDestSet = false;
   bool messageSent = false;
 
   bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) {
@@ -38,39 +40,19 @@ class MessageQueueMockBase : public MessageQueueIF {
     return receiveMessage(&message);
   }
 
-  virtual ReturnValue_t reply(MessageQueueMessageIF* message) {
-    return sendMessage(myQueueId, message);
-  };
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                                       MessageQueueId_t* receivedFrom) {
-    return receiveMessage(message);
-  }
-
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override {
     if (messagesSentQueue.empty()) {
       return MessageQueueIF::EMPTY;
     }
-
+    this->last = message->getSender();
     std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(),
                 message->getMessageSize());
     messagesSentQueue.pop();
     return HasReturnvaluesIF::RETURN_OK;
   }
   virtual ReturnValue_t flush(uint32_t* count) { return HasReturnvaluesIF::RETURN_OK; }
-  virtual MessageQueueId_t getLastPartner() const { return myQueueId; }
-  virtual MessageQueueId_t getId() const { return myQueueId; }
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false) {
-    return sendMessage(sendTo, message);
-  }
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-                                          bool ignoreFault = false) {
-    return sendMessage(myQueueId, message);
-  }
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) {
-    return sendMessage(myQueueId, message);
-  }
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom,
                                         bool ignoreFault = false) override {
     messageSent = true;
     messageSentCounter++;
@@ -78,13 +60,10 @@ class MessageQueueMockBase : public MessageQueueIF {
     messagesSentQueue.push(messageRef);
     return HasReturnvaluesIF::RETURN_OK;
   }
-  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
-    myQueueId = defaultDestination;
-    defaultDestSet = true;
-  }
 
-  virtual MessageQueueId_t getDefaultDestination() const { return myQueueId; }
-  virtual bool isDefaultDestinationSet() const { return defaultDestSet; }
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override {
+    return sendMessageFrom(MessageQueueIF::NO_QUEUE, message, this->getId(), false);
+  }
 
   void clearMessages(bool clearCommandMessages = true) {
     while (not messagesSentQueue.empty()) {

tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp

@@ -0,0 +1,77 @@
+#include "PowerSwitcherMock.h"
+
+static uint32_t SWITCH_REQUEST_UPDATE_VALUE = 0;
+
+PowerSwitcherMock::PowerSwitcherMock() {}
+
+ReturnValue_t PowerSwitcherMock::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (switchMap.count(switchNr) == 0) {
+    switchMap.emplace(switchNr, SwitchInfo(switchNr, onOff));
+  } else {
+    SwitchInfo& info = switchMap.at(switchNr);
+    info.currentState = onOff;
+    if (onOff == PowerSwitchIF::SWITCH_ON) {
+      info.timesCalledOn++;
+    } else {
+      info.timesCalledOff++;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherMock::sendFuseOnCommand(uint8_t fuseNr) {
+  if (fuseMap.count(fuseNr) == 0) {
+    fuseMap.emplace(fuseNr, FuseInfo(fuseNr));
+  } else {
+    FuseInfo& info = fuseMap.at(fuseNr);
+    info.timesCalled++;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherMock::getSwitchState(power::Switch_t switchNr) const {
+  if (switchMap.count(switchNr) == 1) {
+    auto& info = switchMap.at(switchNr);
+    SWITCH_REQUEST_UPDATE_VALUE++;
+    return info.currentState;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t PowerSwitcherMock::getFuseState(uint8_t fuseNr) const {
+  if (fuseMap.count(fuseNr) == 1) {
+    return FUSE_ON;
+  } else {
+    return FUSE_OFF;
+  }
+  return RETURN_FAILED;
+}
+
+uint32_t PowerSwitcherMock::getSwitchDelayMs(void) const { return 5000; }
+
+SwitchInfo::SwitchInfo() : switcher(0) {}
+
+SwitchInfo::SwitchInfo(power::Switch_t switcher, ReturnValue_t initState)
+    : switcher(switcher), currentState(initState) {}
+
+FuseInfo::FuseInfo(uint8_t fuse) : fuse(fuse) {}
+
+void PowerSwitcherMock::getSwitchInfo(power::Switch_t switcher, SwitchInfo& info) {
+  if (switchMap.count(switcher) == 1) {
+    info = switchMap.at(switcher);
+  }
+}
+
+void PowerSwitcherMock::getFuseInfo(uint8_t fuse, FuseInfo& info) {
+  if (fuseMap.count(fuse) == 1) {
+    info = fuseMap.at(fuse);
+  }
+}
+
+uint32_t PowerSwitcherMock::getAmountSwitchStatWasRequested() {
+  return SWITCH_REQUEST_UPDATE_VALUE;
+}
+
+void PowerSwitcherMock::initSwitch(power::Switch_t switchNr) {
+  switchMap.emplace(switchNr, SwitchInfo(switchNr, PowerSwitchIF::SWITCH_OFF));
+}

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

@@ -0,0 +1,52 @@
+#ifndef FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
+#define FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
+
+#include <fsfw/power/PowerSwitchIF.h>
+
+#include <map>
+#include <utility>
+
+struct SwitchInfo {
+ public:
+  SwitchInfo();
+  SwitchInfo(power::Switch_t switcher, ReturnValue_t initState);
+
+  power::Switch_t switcher;
+  ReturnValue_t currentState = PowerSwitchIF::SWITCH_OFF;
+  uint32_t timesCalledOn = 0;
+  uint32_t timesCalledOff = 0;
+  uint32_t timesStatusRequested = 0;
+};
+
+struct FuseInfo {
+ public:
+  FuseInfo(uint8_t fuse);
+  uint8_t fuse;
+  uint32_t timesCalled = 0;
+};
+
+class PowerSwitcherMock : public PowerSwitchIF {
+ public:
+  PowerSwitcherMock();
+
+  ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
+
+  void getSwitchInfo(power::Switch_t switcher, SwitchInfo& info);
+  void getFuseInfo(uint8_t fuse, FuseInfo& info);
+
+  uint32_t getAmountSwitchStatWasRequested();
+
+  void initSwitch(power::Switch_t switchNr);
+
+ private:
+  using SwitchOnOffPair = std::pair<power::Switch_t, ReturnValue_t>;
+  using FuseOnOffPair = std::pair<uint8_t, ReturnValue_t>;
+  std::map<power::Switch_t, SwitchInfo> switchMap;
+  std::map<uint8_t, FuseInfo> fuseMap;
+};
+
+#endif /* FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_ */

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

@@ -1,4 +1,5 @@
 target_sources(${FSFW_TEST_TGT} PRIVATE
 	TestMessageQueue.cpp
 	TestSemaphore.cpp
+	TestClock.cpp
 )