release check helper

Reviewed-on: fsfw/fsfw#736

CHANGELOG.md

@@ -8,13 +8,36 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v6.0.0]
+# [v6.0.0] 2023-02-10
 
 ## Fixes
 
+- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
+  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
+  subservice not working properly.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
+- Memory leak fixes for the TCP/IP TMTC bridge.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
+- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
+  seconds instead of uptime.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
+  only the X scaling factor was used.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
+- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
+- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
+  to false correctly because the `read` and `write` calls were missing.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
+- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
+  of the correct unsegmented flags (0b11) as specified in the standard.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
+- TC Scheduler Service 11: Add size and CRC check for contained TC.
+  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
 - Only delete health table entry in `HealthHelper` destructor if
   health table was set.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
   Also properly reset the reply size for successfull transfers and erroneous transfers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
@@ -27,6 +50,15 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
+- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
+- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
+  option on the TCP server. CTOR prototype has changed and expects an explicit
+  TCP configuration struct to be passed.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
+- `DleParser` helper class to parse DLE encoded packets from a byte stream.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
 - `UioMapper` is able to resolve symlinks now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
@@ -37,7 +69,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
 - Moved some container returnvalues to dedicated header and namespace
-  to they can be used without template specification.
+  so they can be used without template specification.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
   `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
@@ -98,7 +130,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
      implementation without an extra component
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
 
-# [v5.0.0] 25.07.2022
+# [v5.0.0] 2022-07-25
 
 ## Changes
 

CMakeLists.txt

@@ -153,12 +153,12 @@ if(FSFW_BUILD_TESTS)
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
   )
   # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
     message(
       STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
     )
     include(FetchContent)
 
@@ -201,8 +201,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
+      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
-      "etl with FindPackage")
+  )
   include(FetchContent)
 
   FetchContent_Declare(

automation/Jenkinsfile

@@ -1,48 +1,90 @@
 pipeline {
     environment {
-        BUILDDIR = 'cmake-build-tests'
+        BUILDDIR_HOST = 'cmake-build-tests-host'
+        BUILDDIR_LINUX = 'cmake-build-tests-linux'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
             image 'fsfw-ci:d6'
-            args '--network host'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
         }
     }
+    stages {
+        stage('Host') {
             stages{
                 stage('Clean') {
                     steps {
-                sh 'rm -rf $BUILDDIR'
+                        sh 'rm -rf $BUILDDIR_HOST'
                     }
                 }
                 stage('Configure') {
                     steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                             sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                         }
                     }
                 }
                 stage('Build') {
                     steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                             sh 'cmake --build . -j4'
                         }
                     }
                 }
                 stage('Unittests') {
                     steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                             sh 'cmake --build . -- fsfw-tests_coverage -j4'
                         }
                     }
                 }
                 stage('Valgrind') {
                     steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                             sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                         }
                     }
                 }
+            }
+        }
+        stage('Linux') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_LINUX'
+                    }
+                }
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
+                }
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
+                }
+            }
+        }
         stage('Documentation') {
             when {
                 branch 'development'

scripts/check_release.py

@@ -0,0 +1,43 @@
+import argparse
+import json
+import urllib.request
+import re
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="List undocumented PRs"
+    )
+    parser.add_argument("-m", "--milestone", type=int, required=True)
+    args = parser.parse_args()
+    
+    milestone = args.milestone
+    
+    with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones/" + str(milestone)) as milestone_json:
+        milestone_title = json.load(milestone_json)['title']
+    
+    match = re.search("(v[0-9]+\.[0-9]+\.[0-9]+)", milestone_title)
+    
+    if not match:
+        print("invalid Milestone name")
+        exit(1)
+    
+    version = match.group(0)
+    
+    print("detected Version " + version)
+    
+    milestone_prs = []
+    
+    page = 1
+    last_count = 1;
+    while last_count != 0:
+        with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
+            pull_requests = json.load(pull_requests_json)
+            for pr in pull_requests:
+                milestone_prs.append(pr['number'])
+            page += 1
+            last_count = len(pull_requests)
+    
+    print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
+
+
+main()

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,5 +1,6 @@
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
+#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -359,6 +360,8 @@ void DeviceHandlerBase::doStateMachine() {
       if ((switchState == PowerSwitchIF::SWITCH_ON) || (switchState == NO_SWITCH)) {
         // NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition
         childTransitionFailure = CHILD_TIMEOUT;
+        transitionSourceMode = _MODE_SHUT_DOWN;
+        transitionSourceSubMode = SUBMODE_NONE;
         setMode(_MODE_START_UP);
         callChildStatemachine();
       }
@@ -1506,10 +1509,13 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   for (const auto& reply : deviceReplyMap) {
     if (reply.second.dataSet != nullptr) {
+      PoolReadGuard pg(reply.second.dataSet);
+      if (pg.getReadResult() == returnvalue::OK) {
         reply.second.dataSet->setValidity(false, true);
       }
     }
   }
+}
 
 void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const char* functionName,
                                             ReturnValue_t errorCode, const char* errorPrint) {

src/fsfw/events/EventManager.cpp

@@ -23,6 +23,7 @@ EventManager::EventManager(object_id_t setObjectId)
 }
 
 EventManager::~EventManager() {
+  listenerList.clear();
   QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
   MutexFactory::instance()->deleteMutex(mutex);
 }
@@ -61,9 +62,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
   if (!result.second) {
     return returnvalue::FAILED;
   }
+
   return returnvalue::OK;
 }
 
+ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
+  return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
+}
+
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
   return subscribeToEventRange(listener, event);
 }

src/fsfw/events/EventManager.h

@@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
   MessageQueueId_t getEventReportQueue();
 
   ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
+  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
   ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
   ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,

src/fsfw/events/EventManagerIF.h

@@ -18,6 +18,7 @@ class EventManagerIF {
 
   virtual ReturnValue_t registerListener(MessageQueueId_t listener,
                                          bool forwardAllButSelected = false) = 0;
+  virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
     return;
   }
-  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
+  manager->unregisterListener(eventQueue->getId());
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 

src/fsfw/globalfunctions/CMakeLists.txt

@@ -4,6 +4,7 @@ target_sources(
           AsciiConverter.cpp
           CRC.cpp
           DleEncoder.cpp
+          DleParser.cpp
           PeriodicOperationDivider.cpp
           timevalOperations.cpp
           Type.cpp

src/fsfw/globalfunctions/DleParser.cpp

@@ -0,0 +1,173 @@
+#include "DleParser.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <cstdio>
+#include <fstream>
+#include <iostream>
+
+DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
+                     BufPair decodedBuf)
+    : decodeRingBuf(decodeRingBuf),
+      decoder(decoder),
+      encodedBuf(encodedBuf),
+      decodedBuf(decodedBuf) {}
+
+ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
+  if (data == nullptr or len == 0) {
+    return returnvalue::FAILED;
+  }
+  return decodeRingBuf.writeData(data, len);
+}
+
+ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
+  ctx.setType(DleParser::ContextType::NONE);
+  size_t availableData = decodeRingBuf.getAvailableReadData();
+  if (availableData == 0) {
+    return NO_PACKET_FOUND;
+  }
+  if (availableData > encodedBuf.second) {
+    ErrorInfo info;
+    info.len = decodeRingBuf.getAvailableReadData();
+    setErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = decodeRingBuf.readData(encodedBuf.first, availableData);
+  if (result != returnvalue::OK) {
+    ErrorInfo info;
+    info.res = result;
+    setErrorContext(ErrorTypes::RING_BUF_ERROR, info);
+    return result;
+  }
+  bool stxFound = false;
+  size_t stxIdx = 0;
+  for (size_t vectorIdx = 0; vectorIdx < availableData; vectorIdx++) {
+    // handle STX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::STX_CHAR) {
+      if (not stxFound) {
+        stxFound = true;
+        stxIdx = vectorIdx;
+      } else {
+        // might be lost packet, so we should advance the read pointer
+        // without skipping the STX
+        readSize = vectorIdx;
+        ErrorInfo info;
+        setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
+      }
+    }
+    // handle ETX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::ETX_CHAR) {
+      if (stxFound) {
+        // This is propably a packet, so we decode it.
+        size_t decodedLen = 0;
+        size_t dummy = 0;
+
+        ReturnValue_t result =
+            decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
+                           decodedBuf.first, decodedBuf.second, &decodedLen);
+        if (result == returnvalue::OK) {
+          ctx.setType(ContextType::PACKET_FOUND);
+          ctx.decodedPacket.first = decodedBuf.first;
+          ctx.decodedPacket.second = decodedLen;
+          readSize = ++vectorIdx;
+          return returnvalue::OK;
+        } else {
+          // invalid packet, skip.
+          readSize = ++vectorIdx;
+          ErrorInfo info;
+          info.res = result;
+          setErrorContext(ErrorTypes::DECODE_ERROR, info);
+          return POSSIBLE_PACKET_LOSS;
+        }
+      } else {
+        // might be lost packet, so we should advance the read pointer
+        readSize = ++vectorIdx;
+        ErrorInfo info;
+        info.len = 0;
+        setErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
+      }
+    }
+  }
+  return NO_PACKET_FOUND;
+}
+
+void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
+            << std::endl;
+#else
+  sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
+#endif
+#endif
+}
+
+void DleParser::defaultErrorHandler() {
+  if (ctx.getType() != DleParser::ContextType::ERROR) {
+    errorPrinter("No error");
+    return;
+  }
+  switch (ctx.error.first) {
+    case (ErrorTypes::NONE): {
+      errorPrinter("No error");
+      break;
+    }
+    case (ErrorTypes::DECODE_ERROR): {
+      errorPrinter("Decode Error");
+      break;
+    }
+    case (ErrorTypes::RING_BUF_ERROR): {
+      errorPrinter("Ring Buffer Error");
+      break;
+    }
+    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
+    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
+      char opt[64];
+      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu",
+               ctx.decodedPacket.second);
+      if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
+        errorPrinter("Encoded buf too small", opt);
+      } else {
+        errorPrinter("Decoding buf too small", opt);
+      }
+      break;
+    }
+    case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
+      errorPrinter("Consecutive STX chars detected");
+      break;
+    }
+    case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
+      errorPrinter("Consecutive ETX chars detected");
+      break;
+    }
+  }
+}
+
+void DleParser::errorPrinter(const char* str, const char* opt) {
+  if (opt == nullptr) {
+    opt = "";
+  }
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
+#else
+  sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
+#endif
+#endif
+}
+
+void DleParser::setErrorContext(ErrorTypes err, ErrorInfo info) {
+  ctx.setType(ContextType::ERROR);
+  ctx.error.first = err;
+  ctx.error.second = info;
+}
+
+ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
+  return decodeRingBuf.deleteData(bytesRead);
+}
+
+const DleParser::Context& DleParser::getContext() { return ctx; }
+
+void DleParser::reset() { decodeRingBuf.clear(); }

src/fsfw/globalfunctions/DleParser.h

@@ -0,0 +1,127 @@
+#pragma once
+
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/globalfunctions/DleEncoder.h>
+#include <fsfw/returnvalues/returnvalue.h>
+
+#include <cstddef>
+#include <utility>
+
+/**
+ * @brief This base helper class can be used to extract DLE encoded packets from a data stream
+ * @details
+ * The core API of the parser takes received packets which can contains DLE packets. The parser
+ * can deal with DLE packets split across multiple packets. It does so by using a dedicated
+ * decoding ring buffer. The user can process received packets and detect errors by
+ * overriding two provided virtual methods. This also allows detecting multiple DLE packets
+ * inside one passed packet.
+ */
+class DleParser {
+ public:
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
+  using BufPair = std::pair<uint8_t*, size_t>;
+
+  enum class ContextType { NONE, PACKET_FOUND, ERROR };
+
+  enum class ErrorTypes {
+    NONE,
+    ENCODED_BUF_TOO_SMALL,
+    DECODING_BUF_TOO_SMALL,
+    DECODE_ERROR,
+    RING_BUF_ERROR,
+    CONSECUTIVE_STX_CHARS,
+    CONSECUTIVE_ETX_CHARS
+  };
+
+  union ErrorInfo {
+    size_t len;
+    ReturnValue_t res;
+  };
+
+  using ErrorPair = std::pair<ErrorTypes, ErrorInfo>;
+
+  struct Context {
+   public:
+    Context() { setType(ContextType::PACKET_FOUND); }
+
+    void setType(ContextType type) {
+      this->type = type;
+      if (type == ContextType::PACKET_FOUND) {
+        error.first = ErrorTypes::NONE;
+        error.second.len = 0;
+      } else {
+        decodedPacket.first = nullptr;
+        decodedPacket.second = 0;
+      }
+    }
+
+    ContextType getType() const { return type; }
+
+    BufPair decodedPacket = {};
+    ErrorPair error;
+
+   private:
+    ContextType type;
+  };
+
+  /**
+   * Base class constructor
+   * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
+   * split across multiple packets
+   * @param decoder Decoder instance
+   * @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold
+   * the largest expected encoded DLE packet size
+   * @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the
+   * largest expected decoded DLE packet size
+   * @param handler Function which will be called on a found packet
+   * @param args Arbitrary user argument
+   */
+  DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
+            BufPair decodedBuf);
+
+  /**
+   * This function allows to pass new data into the parser. It then scans for DLE packets
+   * automatically and inserts (part of) the packet into a ring buffer if necessary.
+   * @param data
+   * @param len
+   * @return
+   */
+  ReturnValue_t passData(const uint8_t* data, size_t len);
+
+  ReturnValue_t parseRingBuf(size_t& bytesRead);
+
+  ReturnValue_t confirmBytesRead(size_t bytesRead);
+
+  const Context& getContext();
+  /**
+   * Example found packet handler
+   * function call
+   * @param packet Decoded packet
+   * @param len Length of detected packet
+   */
+  void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args);
+  /**
+   * Will be called if an error occured in the #passData call
+   * @param err
+   * @param ctx Context information depending on the error type
+   *  - For buffer length errors, will be set to the detected packet length which is too large
+   *  - For decode or ring buffer errors, will be set to the result returned from the failed call
+   */
+  void defaultErrorHandler();
+
+  static void errorPrinter(const char* str, const char* opt = nullptr);
+
+  void setErrorContext(ErrorTypes err, ErrorInfo ctx);
+  /**
+   * Resets the parser by resetting the internal states and clearing the decoding ring buffer
+   */
+  void reset();
+
+ private:
+  SimpleRingBuffer& decodeRingBuf;
+  DleEncoder& decoder;
+  BufPair encodedBuf;
+  BufPair decodedBuf;
+  Context ctx;
+};

src/fsfw/globalfunctions/matching/MatchTree.h

@@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
   MatchTree(iterator root, uint8_t maxDepth = -1)
       : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
   MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
-  virtual ~MatchTree() {}
+  virtual ~MatchTree() { clear(); }
   virtual bool match(T number) override { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
@@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
     return cleanUpElement(position);
   }
 
+  void clear() {
+    Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
+
+    if (localRoot == nullptr) {
+      return;
+    }
+
+    Node* node = localRoot->left;
+
+    while (true) {
+      if (node->left != nullptr) {
+        node = node->left;
+        continue;
+      }
+      if (node->right != nullptr) {
+        node = node->right;
+        continue;
+      }
+      if (node->parent == nullptr) {
+        // this is the root node with no children
+        if (node->value != nullptr) {
+          cleanUpElement(iterator(node));
+        }
+        return;
+      }
+      // leaf
+      {
+        Node* parent = node->parent;
+        if (parent->left == node) {
+          parent->left = nullptr;
+        } else {
+          parent->right = nullptr;
+        }
+        cleanUpElement(iterator(node));
+        node = parent;
+      }
+    }
+  }
+
   virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
 
   bool matchSubtree(iterator iter, T number) {

src/fsfw/health/HasHealthIF.h

@@ -16,26 +16,24 @@ class HasHealthIF {
   };
 
   static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
+  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = returnvalue::makeCode(INTERFACE_ID, 1);
-  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
+  static constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2);
+  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
+  //! P1: New Health, P2: Old Health
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  static const Event OVERWRITING_HEALTH =
+  //! Assembly overwrites health information of children to keep satellite alive.
-      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
-                                     //!< satellite alive.
+  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY =
+  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+  //! Recovery is ongoing. Comes twice during recovery.
-                                         //!< power-cycle). No parameters.
+  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP =
+  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+  //! Recovery was completed. Not necessarily successful. No parameters.
-                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
-  static const Event RECOVERY_DONE = MAKE_EVENT(
-      12,
-      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
-
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/health/HealthTable.cpp

@@ -6,8 +6,6 @@
 
 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
   mutex = MutexFactory::instance()->createMutex();
-  ;
-
   mapIterator = healthMap.begin();
 }
 

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,14 +7,17 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
-      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
+  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   mutex = MutexFactory::instance()->createMutex();
 }
 
-InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
+InternalErrorReporter::~InternalErrorReporter() {
+  MutexFactory::instance()->deleteMutex(mutex);
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}
 
 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
   this->diagnosticPrintout = enable;

src/fsfw/modes/ModeMessage.cpp

@@ -24,3 +24,19 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
   message->setParameter(reason);
   message->setParameter2(0);
 }
+
+void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
+  Command_t cmd;
+  if (recursive) {
+    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
+  } else {
+    cmd = CMD_MODE_ANNOUNCE;
+  }
+  message.setCommand(cmd);
+}
+
+void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
+  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
+}
+
+void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); }

src/fsfw/modes/ModeMessage.h

@@ -45,6 +45,9 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
+  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
+  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
+  static void setModeReadMessage(CommandMessage& message);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

src/fsfw/objectmanager/ObjectManager.cpp

@@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
 
 ObjectManager::ObjectManager() = default;
 
+void ObjectManager::clear() {
+  if (objManagerInstance != nullptr) {
+    delete objManagerInstance;
+    objManagerInstance = nullptr;
+  }
+}
+
 ObjectManager::~ObjectManager() {
-  for (auto const& iter : objectList) {
+  teardown = true;
-    delete iter.second;
+  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
+    delete iter->second;
   }
 }
 
@@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }
 
 ReturnValue_t ObjectManager::remove(object_id_t id) {
+  // this function is called during destruction of System Objects
+  // disabeld for teardown to avoid iterator invalidation and
+  // double free
+  if (teardown) {
+    return returnvalue::OK;
+  }
   if (this->getSystemObject(id) != nullptr) {
     this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1

src/fsfw/objectmanager/ObjectManager.h

@@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
   using produce_function_t = void (*)(void* args);
 
   /**
-   * Returns the single instance of TaskFactory.
+   * Returns the single instance of ObjectManager.
    * The implementation of #instance is found in its subclasses.
    * Thus, we choose link-time variability of the  instance.
    */
   static ObjectManager* instance();
 
+  /**
+   * Deletes the single instance of ObjectManager
+   */
+  static void clear();
+
   void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
 
   template <typename T>
@@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
    */
   std::map<object_id_t, SystemObjectIF*> objectList;
   static ObjectManager* objManagerInstance;
+  // used when the OM itself is deleted to modify behaviour of remove()
+  // to avoid iterator invalidation and double free
+  bool teardown = false;
 };
 
 // Documentation can be found in the class method declaration above

src/fsfw/osal/CMakeLists.txt

@@ -1,10 +1,13 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
   add_subdirectory(freertos)
+  set(FSFW_OSAL_FREERTOS 1)
 elseif(FSFW_OSAL MATCHES "rtems")
   add_subdirectory(rtems)
+  set(FSFW_OSAL_RTEMS 1)
 elseif(FSFW_OSAL MATCHES "linux")
   add_subdirectory(linux)
+  set(FSFW_OSAL_LINUX 1)
 elseif(FSFW_OSAL MATCHES "host")
   add_subdirectory(host)
   if(WIN32)
@@ -13,16 +16,20 @@ elseif(FSFW_OSAL MATCHES "host")
     # We still need to pull in some Linux specific sources
     target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
   endif()
-
+  set(FSFW_OSAL_HOST 1)
 else()
+  message(
+    WARNING
+      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
 
-  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)
     add_subdirectory(windows)
+    set(FSFW_OSAL_HOST 1)
   elseif(UNIX)
     add_subdirectory(linux)
+    set(FSFW_OSAL_LINUX 1)
   else()
     # MacOS or other OSes have not been tested yet / are not supported.
     message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@@ -31,3 +38,5 @@ else()
 endif()
 
 add_subdirectory(common)
+
+configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             size_t receptionBufferSize, size_t ringBufferSize,
+                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
-                             std::string customTcpServerPort, ReceptionModes receptionMode)
+                             size_t ringBufferSize, ReceptionModes receptionMode)
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(std::move(customTcpServerPort)),
+      tcpConfig(cfg),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() {
     return returnvalue::FAILED;
   }
 
+  if (tcpConfig.reuseAddr) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
+  }
+  if (tcpConfig.reusePort) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
+  }
+
   // Bind to the address found by getaddrinfo
   retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
   if (retval == SOCKET_ERROR) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -41,11 +41,11 @@ class SpacePacketParser;
  */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
  public:
-  enum class ReceptionModes { SPACE_PACKETS };
-
   struct TcpConfig {
    public:
-    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
+    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
+    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
+        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
 
     /**
      * Passed to the recv call
@@ -63,8 +63,23 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    const std::string tcpPort;
+    std::string tcpPort = DEFAULT_SERVER_PORT;
+
+    /**
+     * Sets the SO_REUSEADDR option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
+     * especially useful in a debugging and development environment where an OBSW image might be
+     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
+     * port.
+     */
+    bool reuseAddr = false;
+    /**
+     * Sets the SO_REUSEPORT option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
+     */
+    bool reusePort = false;
   };
+  enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;
 
@@ -80,10 +95,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
    *                              size will be the Ethernet MTU size
    * @param customTcpServerPort   The user can specify another port than the default (7301) here.
    */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
                 size_t receptionBufferSize = RING_BUFFER_SIZE,
                 size_t ringBufferSize = RING_BUFFER_SIZE,
-                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
   ~TcpTmTcServer() override;
 

src/fsfw/osal/linux/MessageQueue.cpp

@@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
   attributes.mq_msgsize = maxMessageSize;
   attributes.mq_flags = 0;  // Flags are ignored on Linux during mq_open
   // Set the name of the queue. The slash is mandatory!
-  sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u", queueCounter++);
 
   // Create a nonblocking queue if the name is available (the queue is read
   // and writable for the owner as well as the group)

src/fsfw/osal/osal.h.in

@@ -0,0 +1,36 @@
+#pragma once
+
+namespace osal {
+    enum osalTarget{
+        HOST,
+        LINUX,
+        WINDOWS,
+        FREERTOS,
+        RTEMS,
+    };
+
+#cmakedefine FSFW_OSAL_HOST
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_WINDOWS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_RTEMS
+
+
+    constexpr osalTarget getTarget() {
+#ifdef FSFW_OSAL_HOST
+  return HOST;
+#endif
+#ifdef FSFW_OSAL_LINUX
+  return LINUX;
+#endif
+#ifdef FSFW_OSAL_WINDOWS
+  return WINDOWS;
+#endif
+#ifdef FSFW_OSAL_FREERTOS
+  return FREERTOS;
+#endif
+#ifdef FSFW_OSAL_RTEMS
+  return RTEMS;
+#endif
+    }
+};

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -19,7 +19,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_ANNCOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -53,6 +53,9 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                         const uint8_t *tcData, size_t tcDataLen,
                                                         uint32_t *state, object_id_t objectId) {
+  bool recursive = false;
+  switch (subservice) {
+    case (Subservice::COMMAND_MODE_COMMAND): {
       ModePacket modeCommandPacket;
       ReturnValue_t result =
           modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
@@ -60,9 +63,22 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message,
         return result;
       }
 
-  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+      ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND,
-                              modeCommandPacket.getSubmode());
+                                  modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
-  return result;
+      return returnvalue::OK;
+    }
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
+      recursive = true;
+      [[fallthrough]];
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
+      ModeMessage::setModeAnnounceMessage(*message, recursive);
+      return EXECUTION_COMPLETE;
+    case (Subservice::COMMAND_MODE_READ):
+      ModeMessage::setModeReadMessage(*message);
+      return returnvalue::OK;
+    default:
+      return CommandingServiceBase::INVALID_SUBSERVICE;
+  }
 }
 
 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
@@ -73,8 +89,10 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
   ReturnValue_t result = returnvalue::FAILED;
   switch (replyId) {
     case (ModeMessage::REPLY_MODE_REPLY): {
-      result = prepareModeReply(reply, objectId);
+      if (previousCommand != ModeMessage::CMD_MODE_COMMAND) {
-      break;
+        return prepareModeReply(reply, objectId);
+      }
+      return returnvalue::OK;
     }
     case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
       result = prepareWrongModeReply(reply, objectId);

src/fsfw/pus/CService200ModeCommanding.h

@@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
     COMMAND_MODE_READ = 3,
     //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
     //! This command does NOT have a reply
-    COMMAND_MODE_ANNCOUNCE = 4,
+    COMMAND_MODE_ANNOUNCE = 4,
     //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
     //! command to every child. This command does NOT have a reply.
     COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
   static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
   static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5);
+  static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6);
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
 

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,9 +2,11 @@
 
 #include <cstddef>
 
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
     return returnvalue::FAILED;
   }
 
+  if (size < PusTcIF::MIN_SIZE) {
+    return CONTAINED_TC_TOO_SMALL;
+  }
+
+  if (CRC::crc16ccitt(data, size) != 0) {
+    return CONTAINED_TC_CRC_MISSMATCH;
+  }
+
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

src/fsfw/pus/Service20ParameterManagement.cpp

@@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
                << "MessageQueue: Can't access object" << std::endl;
-    sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
+    sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
+    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
 #else
     sif::printError(
         "Service20ParameterManagement::checkInterfaceAndAcquire"
         "MessageQueue: Can't access object\n");
     sif::printError("Object ID: 0x%08x\n", *objectId);
-    sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
+    sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
 #endif
 
     return CommandingServiceBase::INVALID_OBJECT;

src/fsfw/pus/Service9TimeManagement.cpp

@@ -1,5 +1,7 @@
 #include "fsfw/pus/Service9TimeManagement.h"
 
+#include <cmath>
+
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
-    case SUBSERVICE::SET_TIME: {
+    case Subservice::SET_TIME: {
       return setTime();
     }
+    case Subservice::DUMP_TIME: {
+      timeval newTime;
+      Clock::getClock_timeval(&newTime);
+      uint32_t subsecondMs =
+          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
+      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
+      return returnvalue::OK;
+    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
@@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  uint32_t formerUptime;
+  timeval time;
-  Clock::getUptime(&formerUptime);
+  Clock::getClock_timeval(&time);
   result = Clock::setClock(&timeToSet);
 
   if (result == returnvalue::OK) {
-    uint32_t newUptime;
+    timeval newTime;
-    Clock::getUptime(&newUptime);
+    Clock::getClock_timeval(&newTime);
-    triggerEvent(CLOCK_SET, newUptime, formerUptime);
+    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
     return returnvalue::OK;
   } else {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);

src/fsfw/pus/Service9TimeManagement.h

@@ -6,10 +6,13 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  static constexpr Event CLOCK_SET =
+
-      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
-  static constexpr Event CLOCK_SET_FAILURE =
+  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
+  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
+  //!< Clock could not be set. P1: Returncode.
+  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
@@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase {
   virtual ReturnValue_t setTime();
 
  private:
-  enum SUBSERVICE {
+  enum Subservice {
-    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    DUMP_TIME = 129,
   };
 };
 

src/fsfw/timemanager/CdsShortTimeStamper.cpp

@@ -4,6 +4,8 @@
 
 #include "fsfw/timemanager/Clock.h"
 
+CdsShortTimeStamper::CdsShortTimeStamper() : SystemObject(0, false) {}
+
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
 
 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,

src/fsfw/timemanager/CdsShortTimeStamper.h

@@ -18,6 +18,7 @@
 class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
  public:
   static constexpr size_t TIMESTAMP_LEN = 7;
+  CdsShortTimeStamper();
   /**
    * @brief   Default constructor which also registers the time stamper as a
    *          system object so it can be found with the #objectManager.

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

@@ -100,5 +100,6 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa
 void PusTcCreator::setup() {
   spCreator.setPacketType(ccsds::PacketType::TC);
   spCreator.setSecHeaderFlag();
+  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
   updateSpLengthField();
 }

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp

@@ -119,6 +119,7 @@ void PusTmCreator::setup() {
   updateSpLengthField();
   spCreator.setPacketType(ccsds::PacketType::TM);
   spCreator.setSecHeaderFlag();
+  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
 }
 
 void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -5,20 +5,28 @@
 
 class SourceSequenceCounter {
  private:
-  uint16_t sequenceCount;
+  uint16_t sequenceCount = 0;
 
  public:
-  SourceSequenceCounter() : sequenceCount(0) {}
+  SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
-  void increment() {
+  void increment() { sequenceCount = (sequenceCount + 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
-    sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+  void decrement() { sequenceCount = (sequenceCount - 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
+  uint16_t get() const { return this->sequenceCount; }
+  void reset(uint16_t toValue = 0) { sequenceCount = toValue % (ccsds::LIMIT_SEQUENCE_COUNT); }
+  SourceSequenceCounter& operator++(int) {
+    this->increment();
+    return *this;
   }
-  void decrement() {
+  SourceSequenceCounter& operator--(int) {
-    sequenceCount = (sequenceCount - 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+    this->decrement();
+    return *this;
   }
-  uint16_t get() { return this->sequenceCount; }
+  SourceSequenceCounter& operator=(const uint16_t& newCount) {
-  void reset(uint16_t toValue = 0) {
+    sequenceCount = newCount;
-    sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+    return *this;
   }
+
+  operator uint16_t() { return this->get(); }
 };
 
 #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -16,7 +16,9 @@ TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDes
       tcDestination(tcDestination)
 
 {
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
+      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@@ -35,7 +37,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC
   }
 }
 
-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) {
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) {
   if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
     this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
     return returnvalue::OK;
@@ -143,13 +145,17 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 #endif /* FSFW_VERBOSE_LEVEL >= 3 */
 
     if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) {
-      storeDownlinkData(&message);
+      ReturnValue_t result = storeDownlinkData(&message);
+      if (result != returnvalue::OK) {
+        tmStore->deleteData(message.getStorageId());
+      }
       continue;
     }
 
     result = tmStore->getData(message.getStorageId(), &data, &size);
     if (result != returnvalue::OK) {
       status = result;
+      tmStore->deleteData(message.getStorageId());
       continue;
     }
 
@@ -157,9 +163,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
     if (result != returnvalue::OK) {
       status = result;
     } else {
-      tmStore->deleteData(message.getStorageId());
       packetSentCounter++;
     }
+    tmStore->deleteData(message.getStorageId());
   }
   return status;
 }
@@ -171,6 +177,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
   }
 
   if (tmFifo->full()) {
+    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
                       "of stored packet IDs reached!"
@@ -180,6 +187,8 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
           "TmTcBridge::storeDownlinkData: TM downlink max. number "
           "of stored packet IDs reached!\n");
 #endif
+      warningSwitch = false;
+    }
     if (overwriteOld) {
       tmFifo->retrieve(&storeId);
       tmStore->deleteData(storeId);
@@ -221,6 +230,7 @@ ReturnValue_t TmTcBridge::handleStoredTm() {
     packetSentCounter++;
 
     if (tmFifo->empty()) {
+      warningSwitch = true;
       tmStored = false;
     }
     tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -17,7 +17,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
  public:
   static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
   static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-  static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
+  static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500;
 
   static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
   static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
@@ -42,7 +42,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    * @return -@c returnvalue::OK if value was set successfully
    *         -@c returnvalue::FAILED otherwise, stored value stays the same
    */
-  ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
+  ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored);
 
   /**
    * This will set up the bridge to overwrite old data in the FIFO.
@@ -91,6 +91,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
   //! by default, so telemetry will be handled immediately.
   bool communicationLinkUp = true;
   bool tmStored = false;
+  bool warningSwitch = true;
   bool overwriteOld = true;
   uint8_t packetSentCounter = 0;
 
@@ -152,7 +153,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    */
   DynamicFIFO<store_address_t>* tmFifo = nullptr;
   uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-  uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+  unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -325,12 +325,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   // trickery here to calculate the raw values first
   int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
   int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
 
   // Now scale to physical value in microtesla
   float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
 
   if (periodicPrintout) {
     if (debugDivider.checkAndIncrement()) {

src/fsfw_hal/linux/CommandExecutor.cpp

@@ -32,6 +32,8 @@ ReturnValue_t CommandExecutor::execute() {
   } else if (state == States::PENDING) {
     return COMMAND_PENDING;
   }
+  // Reset data in read vector
+  std::memset(readVec.data(), 0, readVec.size());
   currentCmdFile = popen(currentCmd.c_str(), "r");
   if (currentCmdFile == nullptr) {
     lastError = errno;
@@ -205,3 +207,5 @@ ReturnValue_t CommandExecutor::executeBlocking() {
   }
   return returnvalue::OK;
 }
+
+const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }

src/fsfw_hal/linux/CommandExecutor.h

@@ -107,6 +107,8 @@ class CommandExecutor {
    */
   void reset();
 
+  const std::vector<char>& getReadVector() const;
+
  private:
   std::string currentCmd;
   bool blocking = true;

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -168,16 +168,18 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 
   int readLen = read(fd, replyBuffer, requestLen);
   if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
+#if FSFW_VERBOSE_LEVEL >= 1
-    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
-               << "device failed with error code " << errno << ". Description"
-               << " of error: " << strerror(errno) << std::endl;
-    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
-               << " bytes" << std::endl;
-#endif
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+    if (readLen < 0) {
-               << " bytes" << std::endl;
+      sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
+                   << "device failed with error code " << errno << " | " << strerror(errno)
+                   << std::endl;
+    } else {
+      sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
+                   << requestLen << " bytes" << std::endl;
+    }
+#else
+#endif
 #endif
     return returnvalue::FAILED;
   }

unittests/CatchSetup.cpp

@@ -31,4 +31,7 @@ int customSetup() {
   return 0;
 }
 
-int customTeardown() { return 0; }
+int customTeardown() {
+  ObjectManager::clear();
+  return 0;
+}

unittests/devicehandler/DeviceHandlerCommander.cpp

@@ -9,7 +9,9 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
       QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-DeviceHandlerCommander::~DeviceHandlerCommander() {}
+DeviceHandlerCommander::~DeviceHandlerCommander() {
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}
 
 ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
   readCommandQueue();

unittests/osal/TestSemaphore.cpp

@@ -1,25 +1,21 @@
-
+#include <fsfw/osal/osal.h>
-#ifdef LINUX
-
-/*
 #include <fsfw/tasks/SemaphoreFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
-#include "catch.hpp"
+#include <catch2/catch_test_macros.hpp>
-#include "core/CatchDefinitions.h"
+
+// binary semaphores currently only supported on linux
+#ifdef FSFW_OSAL_LINUX
 
 TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
   // perform set-up here
-        SemaphoreIF* binSemaph = SemaphoreFactory::instance()->
+  SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore();
-                        createBinarySemaphore();
   REQUIRE(binSemaph != nullptr);
   SECTION("Simple Test") {
     // set-up is run for each section
     REQUIRE(binSemaph->getSemaphoreCounter() == 1);
-                REQUIRE(binSemaph->release() ==
+    REQUIRE(binSemaph->release() == static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
-                                static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
+    REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK);
-                REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) ==
-                                result::OK);
     {
       // not precise enough on linux.. should use clock instead..
       // Stopwatch stopwatch(false);
@@ -29,18 +25,14 @@ TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") {
       // CHECK(time == 5);
     }
     REQUIRE(binSemaph->getSemaphoreCounter() == 0);
-                REQUIRE(binSemaph->release() == result::OK);
+    REQUIRE(binSemaph->release() == returnvalue::OK);
   }
   SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
   // perform tear-down here
 }
 
-
 TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") {
-        SECTION("Simple Test") {
+  SECTION("Simple Test") {}
-
 }
-}
-*/
 
 #endif

unittests/testcfg/devices/logicalAddresses.h

@@ -7,7 +7,7 @@
 
 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {};
+enum LogicAddress : address_t {};
 }  // namespace addresses
 
 #endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */