Merge branch 'development' into mueller/refactor-logging-with-fmt

Reviewed-on: fsfw/fsfw#653

.gitignore

@@ -1,6 +1,14 @@
+# PyCharm and CLion
+/.idea/*
+!/.idea/runConfigurations
+!/.idea/cmake.xml
+!/.idea/codeStyles
+
+# Eclipse
 .cproject
 .project
 .settings
 .metadata
 
 /build*
+/cmake-build*

.idea/codeStyles/Project.xml

@@ -0,0 +1,14 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <clangFormatSettings>
+      <option name="ENABLED" value="true" />
+    </clangFormatSettings>
+    <codeStyleSettings language="CMake">
+      <indentOptions>
+        <option name="INDENT_SIZE" value="2" />
+        <option name="CONTINUATION_INDENT_SIZE" value="0" />
+        <option name="TAB_SIZE" value="2" />
+      </indentOptions>
+    </codeStyleSettings>
+  </code_scheme>
+</component>

.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

CHANGELOG.md

@@ -12,15 +12,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
+  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
 - 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
-- 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
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
@@ -42,6 +40,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   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
+- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
+  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
+
+### Task Module Refactoring
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
+
+**Refactoring general task code**
+
+- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
+  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
+
+**Refactor PeriodicTaskIF**
+
+- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
+  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
+  the operation code passed to `performOperation`. Updated API taking
+  an `ExecutableObjectIF` accordingly
+
+**Refactor FixedTimeslotTaskIF**
+
+- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
+
+**Refactor FixedSequenceSlot**
+
+- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
+- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
+  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
+  for the custom checker
+
+**Linux Task Module**
+
+- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
+  member of the class
 
 ### HAL
 
@@ -84,6 +117,13 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
+- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
+  This is also the new default constructor for scalar value with 0 as an initial value
+- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
+  whether it is running in CI/CD
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
+- Basic `clion` support: Update `.gitignore` and add some basic run configurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
 - 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.

CMakeLists.txt

@@ -67,13 +67,13 @@ endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LINK_TARGET etl::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
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
     CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)
 
 set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
@@ -82,6 +82,15 @@ set(FSFW_CATCH2_LIB_VERSION
     v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
     CACHE STRING "Catch2 library exact version requirement")
 
+set(FSFW_FMT_LIB_NAME fmt)
+set(FSFW_FMT_LINK_TARGET fmt::fmt)
+set(FSFW_FMT_LIB_MAJOR_VERSION
+    8
+    CACHE STRING "{fmt} library major version requirement")
+set(FSFW_FMT_LIB_VERSION
+    ${FSFW_FMT_LIB_MAJOR_VERSION}.1.1
+    CACHE STRING "{fmt} 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
@@ -103,10 +112,11 @@ if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS
+option(FSFW_BUILD_TESTS
        "Build unittest binary in addition to static library" OFF)
+option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
@@ -138,7 +148,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                 TRUE)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   message(
     STATUS
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
@@ -161,18 +171,17 @@ if(FSFW_BUILD_UNITTESTS)
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
-  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+  set(FSFW_CONFIG_PATH unittests/testcfg)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
-                 tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
+
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
     set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                   TRUE)
   endif()
-
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
     message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
@@ -182,7 +191,7 @@ if(FSFW_BUILD_UNITTESTS)
   endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
+message(STATUS "${MSG_PREFIX} Finding and/or etl (Embedded Template Library)")
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -202,6 +211,26 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
+message(STATUS "Finding and/or providing {fmt} formatting library")
+
+# Check whether the user has already installed ETL first
+find_package(fmt ${FSFW_FMT_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_FMT_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No {fmt} installation was found with find_package. Installing and providing "
+      "{fmt} with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_FMT_LIB_NAME}
+    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
+    GIT_TAG ${FSFW_FMT_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_FMT_LIB_NAME})
+endif()
+
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
@@ -211,7 +240,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
   endif()
   if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
+    # 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()
@@ -280,16 +309,15 @@ message(
 )
 
 add_subdirectory(src)
-add_subdirectory(tests)
-if(FSFW_ADD_HAL)
-  add_subdirectory(hal)
-endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_TESTS)
+  add_subdirectory(unittests)
+endif()
 if(FSFW_BUILD_DOCS)
   add_subdirectory(docs)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   if(FSFW_TESTS_GEN_COV)
     if(CMAKE_COMPILER_IS_GNUCXX)
       include(CodeCoverage)
@@ -445,9 +473,8 @@ target_include_directories(
 
 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 ${FSFW_ETL_LINK_TARGET}
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET} ${FSFW_FMT_LINK_TARGET})
-                                               ${FSFW_ADDITIONAL_LINK_LIBS})
 
 string(
   CONCAT
@@ -457,6 +484,13 @@ string(
     "Target OSAL: ${FSFW_OS_NAME}\n"
     "######################################################################\n")
 
+# The additional / is important to remove the last character from the path. Note
+# that it does not matter if the OS uses / or \, because we are only saving the
+# path size.
+string(LENGTH "${CMAKE_SOURCE_DIR}/" FSFW_SOURCE_PATH_SIZE)
+target_compile_definitions(
+  ${LIB_FSFW_NAME} PRIVATE "-DFSFW_SOURCE_PATH_SIZE=${FSFW_SOURCE_PATH_SIZE}")
+
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD

README.md

@@ -99,7 +99,7 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-   ```cmake
+   ```sh
    target_link_libraries(${YourProjectName} PRIVATE fsfw)
    ```
 
@@ -131,7 +131,7 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system
 
 ```sh
-mkdir build-Unittest && cd build-Unittest
+mkdir build-tests && cd build-tests
 cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
@@ -139,7 +139,7 @@ You can also use `-DFSFW_OSAL=linux` on Linux systems.
 
 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generare the coverage data in this format,
+To build the unittests, run them and then generate the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 
 ```sh
@@ -188,7 +188,10 @@ and open the documentation conveniently. Try `helper.py -h for more information.
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `apply-clang-format.sh` helper script to format all source files consistently.
+can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
+````sh
+sudo pip install cmakelang
+````
 
 ## Index
 

automation/Dockerfile

@@ -12,3 +12,9 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
 	git checkout v3.0.0-preview5 && \
 	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
 	cmake --build build/ --target install
+
+RUN git clone https://github.com/ETLCPP/etl.git && \
+	cd etl && \
+	git checkout 20.28.0 && \
+	cmake -B build . && \
+	cmake --install build/

automation/Jenkinsfile

@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image 'fsfw-ci:d2'}
+        docker { image 'fsfw-ci:d3'}
     }
     stages {
         stage('Clean') {
@@ -14,7 +14,7 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                 }
             }
         }

hal/CMakeLists.txt

@@ -1,48 +0,0 @@
-cmake_minimum_required(VERSION 3.13)
-
-# Can also be changed by upper CMakeLists.txt file
-find_library(LIB_FSFW_NAME fsfw REQUIRED)
-
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
-# On by default for now because I did not have an issue including and compiling those files
-# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
-# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
-# but CMake is able to determine whether this library is installed with find_library.
-option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
-option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
-
-option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
-option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
-option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
-
-set(LINUX_HAL_PATH_NAME linux)
-set(STM32H7_PATH_NAME stm32h7)
-
-add_subdirectory(src)
-
-foreach(INCLUDE_PATH ${FSFW_HAL_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})
-    endif()
-
-    if(CMAKE_VERBOSE)
-        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-    endif()
-
-    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
-endforeach()
-
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_ADD_INC_PATHS_ABS}
-)
-
-target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_DEFINES}
-)
-
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_LINK_LIBS}
-)

hal/src/CMakeLists.txt

@@ -1,9 +0,0 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-add_subdirectory(fsfw_hal)

hal/src/fsfw_hal/linux/utility.cpp

@@ -1,23 +0,0 @@
-#include "fsfw_hal/linux/utility.h"
-
-#include <cerrno>
-#include <cstring>
-
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-void utility::handleIoctlError(const char* const customPrintout) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (customPrintout != nullptr) {
-    sif::warning << customPrintout << std::endl;
-  }
-  sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
-#else
-  if (customPrintout != nullptr) {
-    sif::printWarning("%s\n", customPrintout);
-  }
-  sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-}

misc/archive/ServiceInterfaceStream.h

@@ -57,10 +57,10 @@ class ServiceInterfaceStream : public std::ostream {
 // Forward declaration of interface streams. These should be instantiated in
 // main. They can then be used like std::cout or std::cerr.
 namespace sif {
-extern ServiceInterfaceStream debug;
+// extern ServiceInterfaceStream debug;
-extern ServiceInterfaceStream info;
+// extern ServiceInterfaceStream info;
-extern ServiceInterfaceStream warning;
+// extern ServiceInterfaceStream warning;
-extern ServiceInterfaceStream error;
+// extern ServiceInterfaceStream error;
 }  // namespace sif
 
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */

scripts/helper.py

@@ -48,6 +48,20 @@ def main():
         action="store_true",
         help="Run valgrind on generated test binary",
     )
+    parser.add_argument(
+        "-g",
+        "--generators",
+        default = "Ninja",
+        action="store",
+        help="CMake generators",
+    )
+    parser.add_argument(
+        "-w",
+        "--windows",
+        default=False,
+        action="store_true",
+        help="Run on windows",
+    )
 
     args = parser.parse_args()
     if args.all:
@@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
     if args.create:
         if os.path.exists(UNITTEST_FOLDER_NAME):
             shutil.rmtree(UNITTEST_FOLDER_NAME)
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:
         print(
             "No valid CMake tests build directory found. "
             "Trying to set up test build system"
         )
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 1:
         build_directory = build_dir_list[0]
@@ -147,10 +161,15 @@ def handle_tests_type(args, build_dir_list: list):
         os.chdir("..")
 
 
-def create_tests_build_cfg():
+def create_tests_build_cfg(args):
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    if args.windows:
+        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
+        -DGCOVR_PATH="py -m gcovr" ..'
+    else:
+        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
+    cmd_runner(cmake_cmd)
     os.chdir("..")
 
 

src/CMakeLists.txt

@@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
                            INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_subdirectory(fsfw)
+if(FSFW_ADD_HAL)
+  add_subdirectory(fsfw_hal)
+endif()
+
+add_subdirectory(fsfw_tests)

src/fsfw/action/ActionHelper.cpp

@@ -1,12 +1,12 @@
 #include "fsfw/action.h"
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
 
-ActionHelper::~ActionHelper() {}
+ActionHelper::~ActionHelper() = default;
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
   if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
@@ -28,13 +28,7 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
   }
 
   if (queueToUse == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
+    FSFW_LOGW("{}", "initialize: No queue set\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
-#else
-    sif::printWarning("ActionHelper::initialize: No queue set\n");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -59,7 +53,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -96,14 +90,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   size_t size = 0;
   ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{}", "reportData: Getting free element from IPC store failed\n");
-    sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "ActionHelper::reportData: Getting free element from IPC "
-        "store failed!\n");
-#endif
     return result;
   }
   result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
@@ -138,11 +125,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   store_address_t storeAddress;
   ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{}", "reportData: Adding data to IPC store failed\n");
-    sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
-#else
-    sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
-#endif
     return result;
   }
 

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *

src/fsfw/action/ActionMessage.cpp

@@ -2,9 +2,9 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-ActionMessage::ActionMessage() {}
+ActionMessage::ActionMessage() = default;
 
-ActionMessage::~ActionMessage() {}
+ActionMessage::~ActionMessage() = default;
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
                                store_address_t parameters) {
@@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
   switch (message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-      StorageManagerIF* ipcStore =
+      auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+      if (ipcStore != nullptr) {
-      if (ipcStore != NULL) {
         ipcStore->deleteData(getStoreId(message));
       }
       break;

src/fsfw/action/CommandActionHelper.cpp

@@ -2,14 +2,14 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
+    : owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
 
-CommandActionHelper::~CommandActionHelper() {}
+CommandActionHelper::~CommandActionHelper() = default;
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  SerializeIF *data) {
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -29,11 +29,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  const uint8_t *data, uint32_t size) {
-  //    if (commandCount != 0) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
+  if (receiver == nullptr) {
-  //    }
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -59,12 +56,12 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
 
 ReturnValue_t CommandActionHelper::initialize() {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (ipcStore == NULL) {
+  if (ipcStore == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   queueToUse = owner->getCommandQueuePtr();
-  if (queueToUse == NULL) {
+  if (queueToUse == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -104,7 +101,7 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
 uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-  const uint8_t *data = NULL;
+  const uint8_t *data = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/CommandActionHelper.h

@@ -14,14 +14,14 @@ class CommandActionHelper {
   friend class CommandsActionsIF;
 
  public:
-  CommandActionHelper(CommandsActionsIF* owner);
+  explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
                               uint32_t size);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);
-  uint8_t getCommandCount() const;
+  [[nodiscard]] uint8_t getCommandCount() const;
 
  private:
   CommandsActionsIF* owner;

src/fsfw/action/CommandsActionsIF.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "CommandActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.
@@ -21,7 +21,7 @@ class CommandsActionsIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
   static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
   static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-  virtual ~CommandsActionsIF() {}
+  virtual ~CommandsActionsIF() = default;
   virtual MessageQueueIF* getCommandQueuePtr() = 0;
 
  protected:

src/fsfw/action/HasActionsIF.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief
@@ -40,12 +40,12 @@ class HasActionsIF {
   static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
   static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
   static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-  virtual ~HasActionsIF() {}
+  virtual ~HasActionsIF() = default;
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
    */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently

src/fsfw/action/SimpleActionHelper.cpp

@@ -3,7 +3,7 @@
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
 
-SimpleActionHelper::~SimpleActionHelper() {}
+SimpleActionHelper::~SimpleActionHelper() = default;
 
 void SimpleActionHelper::step(ReturnValue_t result) {
   // STEP_OFFESET is subtracted to compensate for adding offset in base
@@ -38,7 +38,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
     ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
     queueToUse->sendMessage(commandedBy, &reply);
   }
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/SimpleActionHelper.h

@@ -11,15 +11,15 @@
 class SimpleActionHelper : public ActionHelper {
  public:
   SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-  virtual ~SimpleActionHelper();
+  ~SimpleActionHelper() override;
   void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   ReturnValue_t reportData(SerializeIF* data);
 
  protected:
   void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                        store_address_t dataAddress);
+                        store_address_t dataAddress) override;
-  virtual void resetHelper();
+  void resetHelper() override;
 
  private:
   bool isExecuting;
@@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
   uint8_t stepCount = 0;
 };
 
-#endif /* SIMPLEACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */

src/fsfw/cfdp/CFDPHandler.cpp

@@ -4,6 +4,7 @@
 #include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/storagemanager/storeAddress.h"
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 
@@ -28,13 +29,7 @@ ReturnValue_t CFDPHandler::initialize() {
 }
 
 ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
-#if FSFW_VERBOSE_LEVEL >= 1
+  FSFW_LOGDT("{}", "CFDPHandler::handleRequest\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "CFDPHandler::handleRequest" << std::endl;
-#else
-  sif::printDebug("CFDPHandler::handleRequest\n");
-#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif
 
   // TODO read out packet from store using storeId
 

src/fsfw/cfdp/pdu/EofPduDeserializer.cpp

@@ -50,17 +50,9 @@ ReturnValue_t EofPduDeserializer::parseData() {
   if (info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
     EntityIdTlv* tlvPtr = info.getFaultLoc();
     if (tlvPtr == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
+      FSFW_LOGW("{}",
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+                "parseData: Ca not deserialize fault location,"
-      sif::warning << "EofPduDeserializer::parseData: Ca not deserialize fault location,"
+                " given TLV pointer invalid\n");
-                      " given TLV pointer invalid"
-                   << std::endl;
-#else
-      sif::printWarning(
-          "EofPduDeserializer::parseData: Ca not deserialize fault location,"
-          " given TLV pointer invalid");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     result = tlvPtr->deSerialize(&bufPtr, &deserLen, endianness);

src/fsfw/cfdp/pdu/VarLenField.cpp

@@ -7,13 +7,7 @@
 cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
   ReturnValue_t result = this->setValue(width, value);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_DISABLE_PRINTOUT == 0
+    FSFW_LOGW("{}", "cfdp::VarLenField: Setting value failed\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::VarLenField: Setting value failed" << std::endl;
-#else
-    sif::printWarning("cfdp::VarLenField: Setting value failed\n");
-#endif
-#endif
   }
 }
 

src/fsfw/cfdp/tlv/FilestoreTlvBase.h

@@ -6,7 +6,7 @@
 #include <fsfw/cfdp/tlv/Tlv.h>
 #include <fsfw/cfdp/tlv/TlvIF.h>
 #include <fsfw/serialize/SerializeIF.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 #include <cstddef>
 #include <cstdint>
@@ -128,17 +128,7 @@ class FilestoreTlvBase : public TlvIF {
   }
 
   void secondFileNameMissing() const {
-#if FSFW_VERBOSE_LEVEL >= 1
+    FSFW_LOGWT("{}", "secondFileNameMissing: Second file name required but TLV pointer not set\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "FilestoreRequestTlv::deSerialize: Second file name required"
-                    " but TLV pointer not set"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "FilestoreRequestTlv::deSerialize: Second file name required"
-        " but TLV pointer not set\n");
-#endif
-#endif
   }
 
   FilestoreActionCode getActionCode() const { return actionCode; }

src/fsfw/controller/ControllerBase.cpp

@@ -26,7 +26,7 @@ ReturnValue_t ControllerBase::initialize() {
 
   MessageQueueId_t parentQueue = 0;
   if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
     if (parent == nullptr) {
       return RETURN_FAILED;
     }
@@ -52,7 +52,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
 
 void ControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = modeHelper.handleModeCommand(&command);
@@ -73,20 +73,20 @@ void ControllerBase::handleQueue() {
   }
 }
 
-void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
+void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
   changeHK(this->mode, this->submode, false);
   triggerEvent(CHANGING_MODE, mode, submode);
-  this->mode = mode;
+  mode = mode_;
-  this->submode = submode;
+  submode = submode_;
   modeHelper.modeChanged(mode, submode);
   modeChanged(mode, submode);
   announceMode(false);
   changeHK(this->mode, this->submode, true);
 }
 
-void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
+void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
-  *mode = this->mode;
+  *mode_ = this->mode;
-  *submode = this->submode;
+  *submode_ = this->submode;
 }
 
 void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
@@ -99,7 +99,7 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
   return RETURN_OK;
 }
 
-void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { return; }
+void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
 
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
@@ -115,6 +115,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
 HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
 void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 
-void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {}
+void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }

src/fsfw/controller/ControllerBase.h

@@ -24,21 +24,21 @@ class ControllerBase : public HasModesIF,
   static const Mode_t MODE_NORMAL = 2;
 
   ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ControllerBase();
+  ~ControllerBase() override;
 
   /** SystemObject override */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /** HasHealthIF overrides */
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
   /** ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual void setTaskIF(PeriodicTaskIF *task) override;
+  void setTaskIF(PeriodicTaskIF *task) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   /**
@@ -54,8 +54,8 @@ class ControllerBase : public HasModesIF,
    */
   virtual void performControlOperation() = 0;
 
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override = 0;
+                                 uint32_t *msToReachTheMode) override = 0;
 
   const object_id_t parentId;
 
@@ -80,10 +80,10 @@ class ControllerBase : public HasModesIF,
 
   /** Mode helpers */
   virtual void modeChanged(Mode_t mode, Submode_t submode);
-  virtual void startTransition(Mode_t mode, Submode_t submode) override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
-  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
+  void getMode(Mode_t *mode, Submode_t *submode) override;
-  virtual void setToExternalControl() override;
+  void setToExternalControl() override;
-  virtual void announceMode(bool recursive);
+  void announceMode(bool recursive) override;
   /** HK helpers */
   virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -6,7 +6,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 
-ExtendedControllerBase::~ExtendedControllerBase() {}
+ExtendedControllerBase::~ExtendedControllerBase() = default;
 
 ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
                                                     MessageQueueId_t commandedBy,
@@ -31,7 +31,7 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
 
 void ExtendedControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = actionHelper.handleActionMessage(&command);

src/fsfw/controller/ExtendedControllerBase.h

@@ -18,16 +18,16 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasLocalDataPoolIF {
  public:
   ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ExtendedControllerBase();
+  ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /* ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   LocalDataPoolManager poolManager;
@@ -39,32 +39,32 @@ class ExtendedControllerBase : public ControllerBase,
    * @param message
    * @return
    */
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
 
   /**
    * Periodic helper from ControllerBase, implemented by child class.
    */
-  virtual void performControlOperation() = 0;
+  void performControlOperation() override = 0;
 
   /* Handle the four messages mentioned above */
   void handleQueue() override;
 
   /* HasActionsIF overrides */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) override;
+                              const uint8_t* data, size_t size) override;
 
   /* HasLocalDatapoolIF overrides */
-  virtual LocalDataPoolManager* getHkManagerHandle() override;
+  LocalDataPoolManager* getHkManagerHandle() override;
-  virtual object_id_t getObjectId() const override;
+  [[nodiscard]] object_id_t getObjectId() const override;
-  virtual uint32_t getPeriodicOperationFrequency() const override;
+  [[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
 
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override = 0;
+                                        LocalDataPoolManager& poolManager) override = 0;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
 
   // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override = 0;
+                                 uint32_t* msToReachTheMode) override = 0;
 };
 
 #endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

src/fsfw/datalinklayer/Clcw.cpp

@@ -1,6 +1,6 @@
 #include "fsfw/datalinklayer/Clcw.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 Clcw::Clcw() {
   content.raw = 0;

src/fsfw/datalinklayer/DataLinkLayer.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/datalinklayer/DataLinkLayer.h"
 
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
                              uint8_t set_start_sequence_length, uint16_t set_scid)

src/fsfw/datalinklayer/MapPacketExtraction.cpp

@@ -4,7 +4,7 @@
 
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/tmtcpacket/SpacePacketBase.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"

src/fsfw/datalinklayer/TcTransferFrame.cpp

@@ -1,6 +1,6 @@
 #include "fsfw/datalinklayer/TcTransferFrame.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 TcTransferFrame::TcTransferFrame() { frame = nullptr; }
 

src/fsfw/datalinklayer/TcTransferFrameLocal.cpp

@@ -3,7 +3,7 @@
 #include <cstring>
 
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uint16_t scid,
                                            uint8_t vcId, uint8_t sequenceNumber,

src/fsfw/datalinklayer/VirtualChannelReception.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/datalinklayer/VirtualChannelReception.h"
 
 #include "fsfw/datalinklayer/BCFrame.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 VirtualChannelReception::VirtualChannelReception(uint8_t setChannelId,
                                                  uint8_t setSlidingWindowWidth)

src/fsfw/datapool/PoolDataSetBase.cpp

@@ -3,7 +3,7 @@
 #include <cstring>
 
 #include "fsfw/datapool/ReadCommitIFAttorney.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
                                  const size_t maxFillCount)
@@ -17,27 +17,15 @@ ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF* variable) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (state != States::STATE_SET_UNINITIALISED) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("{}", "registerVariable: Call made in wrong position\n");
-    sif::error << "DataSet::registerVariable: Call made in wrong position." << std::endl;
-#else
-    sif::printError("DataSet::registerVariable: Call made in wrong position.");
-#endif
     return DataSetIF::DATA_SET_UNINITIALISED;
   }
   if (variable == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("{}", "registerVariable: Pool variable is nullptr\n");
-    sif::error << "DataSet::registerVariable: Pool variable is nullptr." << std::endl;
-#else
-    sif::printError("DataSet::registerVariable: Pool variable is nullptr.\n");
-#endif
     return DataSetIF::POOL_VAR_NULL;
   }
   if (fillCount >= maxFillCount) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("{}", "registerVariable: DataSet is full\n");
-    sif::error << "DataSet::registerVariable: DataSet is full." << std::endl;
-#else
-    sif::printError("DataSet::registerVariable: DataSet is full.\n");
-#endif
     return DataSetIF::DATA_SET_FULL;
   }
   registeredVariables[fillCount] = variable;
@@ -59,15 +47,7 @@ ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType, uint32_t l
     state = States::STATE_SET_WAS_READ;
     unlockDataPool();
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{}", "read: Call made in wrong position. commit call might be missing\n");
-    sif::warning << "PoolDataSetBase::read: Call made in wrong position. Don't forget to "
-                    "commit member datasets!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "PoolDataSetBase::read: Call made in wrong position. Don't forget to "
-        "commit member datasets!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
     result = SET_WAS_ALREADY_READ;
   }
 

src/fsfw/datapool/PoolEntry.cpp

@@ -4,27 +4,29 @@
 #include <cstring>
 
 #include "fsfw/globalfunctions/arrayprinter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
+PoolEntry<T>::PoolEntry(uint8_t len, bool setValid) : length(len), valid(setValid) {
-    : length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
+  this->address = new T[this->length]();
-  this->address = new T[this->length];
+  std::memset(this->address, 0, this->getByteSize());
-  if (initValue.size() == 0) {
+}
-    std::memset(this->address, 0, this->getByteSize());
+
-  } else {
+template <typename T>
-    std::copy(initValue.begin(), initValue.end(), this->address);
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValues, bool setValid)
+    : length(static_cast<uint8_t>(initValues.size())), valid(setValid) {
+  this->address = new T[this->length]();
+  if (initValues.size() > 0) {
+    std::copy(initValues.begin(), initValues.end(), this->address);
   }
 }
 
 template <typename T>
-PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
+PoolEntry<T>::PoolEntry(const T* initValue, uint8_t setLength, bool setValid)
     : length(setLength), valid(setValid) {
-  this->address = new T[this->length];
+  this->address = new T[this->length]();
   if (initValue != nullptr) {
     std::memcpy(this->address, initValue, this->getByteSize());
-  } else {
-    std::memset(this->address, 0, this->getByteSize());
   }
 }
 
@@ -68,13 +70,7 @@ void PoolEntry<T>::print() {
   } else {
     validString = "Invalid";
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGI("PoolEntry Info. Validity {}\n", validString);
-  sif::info << "PoolEntry information." << std::endl;
-  sif::info << "PoolEntry validity: " << validString << std::endl;
-#else
-  sif::printInfo("PoolEntry information.\n");
-  sif::printInfo("PoolEntry validity: %s\n", validString);
-#endif
   arrayprinter::print(reinterpret_cast<uint8_t*>(address), getByteSize());
 }
 

src/fsfw/datapool/PoolEntry.h

@@ -33,6 +33,9 @@ class PoolEntry : public PoolEntryIF {
                 "instead! The ECSS standard defines a boolean as a one bit "
                 "field. Therefore it is preferred to store a boolean as an "
                 "uint8_t");
+
+  PoolEntry(uint8_t len = 1, bool setValid = false);
+
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
    * 			potential initialization values are copied to that space.
@@ -49,7 +52,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
+  PoolEntry(std::initializer_list<T> initValue, bool setValid = false);
 
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
@@ -62,7 +65,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
+  PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
 
   //! Explicitely deleted copy ctor, copying is not allowed.
   PoolEntry(const PoolEntry&) = delete;

src/fsfw/datapool/PoolReadGuard.h

@@ -1,10 +1,9 @@
 #ifndef FSFW_DATAPOOL_POOLREADHELPER_H_
 #define FSFW_DATAPOOL_POOLREADHELPER_H_
 
-#include <FSFWConfig.h>
-
-#include "../serviceinterface/ServiceInterface.h"
 #include "ReadCommitIF.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
 
 /**
  * @brief 	Helper class to read data sets or pool variables
@@ -18,13 +17,7 @@ class PoolReadGuard {
     if (readObject != nullptr) {
       readResult = readObject->read(timeoutType, mutexTimeout);
       if (readResult != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL == 1
+        FSFW_LOGW("{}", "ctor: Read failed\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "PoolReadHelper: Read failed!" << std::endl;
-#else
-        sif::printError("PoolReadHelper: Read failed!\n");
-#endif /* FSFW_PRINT_VERBOSITY_LEVEL == 1 */
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
       }
     }
   }

src/fsfw/datapoollocal/HasLocalDataPoolIF.h

@@ -6,8 +6,8 @@
 #include "../datapool/PoolEntryIF.h"
 #include "../housekeeping/HousekeepingMessage.h"
 #include "../ipc/MessageQueueSenderIF.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "LocalDataPoolManager.h"
+#include "fsfw/serviceinterface.h"
 #include "localPoolDefinitions.h"
 
 class AccessPoolManagerIF;
@@ -166,15 +166,7 @@ class HasLocalDataPoolIF {
    * @return
    */
   virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("{}", "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. Returning nullptr\n");
-    sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. "
-                    "Returning nullptr!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "HasLocalDataPoolIF::getPoolObjectHandle: "
-        "Not overriden. Returning nullptr!\n");
-#endif
     return nullptr;
   }
 };

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -3,6 +3,7 @@
 #include <array>
 #include <cmath>
 
+#include "fsfw/FSFW.h"
 #include "fsfw/datapoollocal.h"
 #include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
 #include "fsfw/housekeeping/HousekeepingSetPacket.h"
@@ -21,15 +22,15 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQue
                                            bool appendValidityBuffer)
     : appendValidityBuffer(appendValidityBuffer) {
   if (owner == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "LocalDataPoolManager",
+    printWarningOrError(sif::LogLevel::WARNING, "ctor", HasReturnvaluesIF::RETURN_FAILED,
-                        HasReturnvaluesIF::RETURN_FAILED, "Invalid supplied owner");
+                        "Invalid supplied owner");
     return;
   }
   this->owner = owner;
   mutex = MutexFactory::instance()->createMutex();
   if (mutex == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "LocalDataPoolManager",
+    printWarningOrError(sif::LogLevel::ERROR, "ctor", HasReturnvaluesIF::RETURN_FAILED,
-                        HasReturnvaluesIF::RETURN_FAILED, "Could not create mutex");
+                        "Could not create mutex");
   }
 
   hkQueue = queueToUse;
@@ -44,25 +45,25 @@ LocalDataPoolManager::~LocalDataPoolManager() {
 ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   if (queueToUse == nullptr) {
     /* Error, all destinations invalid */
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
   }
   hkQueue = queueToUse;
 
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (ipcStore == nullptr) {
     /* Error, all destinations invalid */
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", HasReturnvaluesIF::RETURN_FAILED,
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", HasReturnvaluesIF::RETURN_FAILED,
                         "Could not set IPC store.");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   if (defaultHkDestination != objects::NO_OBJECT) {
-    AcceptsHkPacketsIF* hkPacketReceiver =
+    auto* hkPacketReceiver =
         ObjectManager::instance()->get<AcceptsHkPacketsIF>(defaultHkDestination);
     if (hkPacketReceiver != nullptr) {
       hkDestinationId = hkPacketReceiver->getHkQueue();
     } else {
-      printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
+      printWarningOrError(sif::LogLevel::ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
       return QUEUE_OR_DESTINATION_INVALID;
     }
   }
@@ -84,7 +85,7 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
     return result;
   }
 
-  printWarningOrError(sif::OutputTypes::OUT_WARNING, "initializeHousekeepingPoolEntriesOnce",
+  printWarningOrError(sif::LogLevel::WARNING, "initializeHousekeepingPoolEntriesOnce",
                       HasReturnvaluesIF::RETURN_FAILED, "The map should only be initialized once");
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -150,8 +151,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
     LocalPoolObjectBase* poolObj =
         HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner, receiver.dataId.localPoolId);
     if (poolObj == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationUpdate",
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationUpdate", POOLOBJECT_NOT_FOUND);
-                          POOLOBJECT_NOT_FOUND);
       return POOLOBJECT_NOT_FOUND;
     }
     if (poolObj->hasChanged()) {
@@ -170,8 +170,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
     LocalPoolDataSetBase* dataSet =
         HasLocalDpIFManagerAttorney::getDataSetHandle(owner, receiver.dataId.sid);
     if (dataSet == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationUpdate",
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationUpdate", DATASET_NOT_FOUND);
-                          DATASET_NOT_FOUND);
       return DATASET_NOT_FOUND;
     }
     if (dataSet->hasChanged()) {
@@ -199,7 +198,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     LocalPoolObjectBase* poolObj =
         HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner, receiver.dataId.localPoolId);
     if (poolObj == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationSnapshot",
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationSnapshot",
                           POOLOBJECT_NOT_FOUND);
       return POOLOBJECT_NOT_FOUND;
     }
@@ -235,8 +234,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     LocalPoolDataSetBase* dataSet =
         HasLocalDpIFManagerAttorney::getDataSetHandle(owner, receiver.dataId.sid);
     if (dataSet == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationSnapshot",
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationSnapshot", DATASET_NOT_FOUND);
-                          DATASET_NOT_FOUND);
       return DATASET_NOT_FOUND;
     }
 
@@ -245,9 +243,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     }
 
     /* Prepare and send update snapshot */
-    timeval now;
+    timeval now{};
     Clock::getClock_timeval(&now);
-    CCSDSTime::CDS_short cds;
+    CCSDSTime::CDS_short cds{};
     CCSDSTime::convertToCcsds(&cds, &now);
     HousekeepingSnapshot updatePacket(
         reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@@ -342,7 +340,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool e
   AcceptsHkPacketsIF* hkReceiverObject =
       ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
   if (hkReceiverObject == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
+    printWarningOrError(sif::LogLevel::WARNING, "subscribeForPeriodicPacket",
                         QUEUE_OR_DESTINATION_INVALID);
     return QUEUE_OR_DESTINATION_INVALID;
   }
@@ -368,10 +366,9 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool e
 ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool isDiagnostics,
                                                              bool reportingEnabled,
                                                              object_id_t packetDestination) {
-  AcceptsHkPacketsIF* hkReceiverObject =
+  auto* hkReceiverObject = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
-      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
   if (hkReceiverObject == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
+    printWarningOrError(sif::LogLevel::WARNING, "subscribeForPeriodicPacket",
                         QUEUE_OR_DESTINATION_INVALID);
     return QUEUE_OR_DESTINATION_INVALID;
   }
@@ -524,8 +521,7 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
     case (HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
       LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
       if (dataSet == nullptr) {
-        printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
+        printWarningOrError(sif::LogLevel::WARNING, "handleHousekeepingMessage", DATASET_NOT_FOUND);
-                            DATASET_NOT_FOUND);
         return DATASET_NOT_FOUND;
       }
       if (command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT and
@@ -588,8 +584,7 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 ReturnValue_t LocalDataPoolManager::printPoolEntry(lp_id_t localPoolId) {
   auto poolIter = localPoolMap.find(localPoolId);
   if (poolIter == localPoolMap.end()) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "printPoolEntry",
+    printWarningOrError(sif::LogLevel::WARNING, "printPoolEntry", localpool::POOL_ENTRY_NOT_FOUND);
-                        localpool::POOL_ENTRY_NOT_FOUND);
     return localpool::POOL_ENTRY_NOT_FOUND;
   }
   poolIter->second->print();
@@ -606,8 +601,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
                                                                MessageQueueId_t destination) {
   if (dataSet == nullptr) {
     /* Configuration error. */
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
+    printWarningOrError(sif::LogLevel::WARNING, "generateHousekeepingPacket", DATASET_NOT_FOUND);
-                        DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -630,14 +624,14 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 
   if (hkQueue == nullptr) {
     /* Error, no queue available to send packet with. */
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
+    printWarningOrError(sif::LogLevel::WARNING, "generateHousekeepingPacket",
                         QUEUE_OR_DESTINATION_INVALID);
     return QUEUE_OR_DESTINATION_INVALID;
   }
   if (destination == MessageQueueIF::NO_QUEUE) {
     if (hkDestinationId == MessageQueueIF::NO_QUEUE) {
       /* Error, all destinations invalid */
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
+      printWarningOrError(sif::LogLevel::WARNING, "generateHousekeepingPacket",
                           QUEUE_OR_DESTINATION_INVALID);
     }
     destination = hkDestinationId;
@@ -671,8 +665,7 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   sid_t sid = receiver.dataId.sid;
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "performPeriodicHkGeneration",
+    printWarningOrError(sif::LogLevel::WARNING, "performPeriodicHkGeneration", DATASET_NOT_FOUND);
-                        DATASET_NOT_FOUND);
     return;
   }
 
@@ -695,11 +688,7 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   ReturnValue_t result = generateHousekeepingPacket(sid, dataSet, true);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("performPeriodicHkOperation: HK generation failed\n");
-    sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
-#else
-    sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
-#endif
   }
 }
 
@@ -707,8 +696,7 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
                                                              bool isDiagnostics) {
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "togglePeriodicGeneration",
+    printWarningOrError(sif::LogLevel::WARNING, "togglePeriodicGeneration", DATASET_NOT_FOUND);
-                        DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -730,8 +718,7 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float ne
                                                              bool isDiagnostics) {
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",
+    printWarningOrError(sif::LogLevel::WARNING, "changeCollectionInterval", DATASET_NOT_FOUND);
-                        DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -756,8 +743,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   /* Get and check dataset first. */
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "performPeriodicHkGeneration",
+    printWarningOrError(sif::LogLevel::WARNING, "performPeriodicHkGeneration", DATASET_NOT_FOUND);
-                        DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -778,7 +764,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   store_address_t storeId;
   ReturnValue_t result = ipcStore->getFreeElement(&storeId, expectedSize, &storePtr);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "generateSetStructurePacket",
+    printWarningOrError(sif::LogLevel::ERROR, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
                         "Could not get free element from IPC store.");
     return result;
@@ -792,7 +778,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
     return result;
   }
   if (expectedSize != size) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
+    printWarningOrError(sif::LogLevel::WARNING, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
                         "Expected size is not equal to serialized size");
   }
@@ -825,9 +811,8 @@ MutexIF* LocalDataPoolManager::getLocalPoolMutex() { return this->mutex; }
 
 object_id_t LocalDataPoolManager::getCreatorObjectId() const { return owner->getObjectId(); }
 
-void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
+void LocalDataPoolManager::printWarningOrError(sif::LogLevel outputType, const char* functionName,
-                                               const char* functionName, ReturnValue_t error,
+                                               ReturnValue_t error, const char* errorPrint) {
-                                               const char* errorPrint) {
 #if FSFW_VERBOSE_LEVEL >= 1
   if (errorPrint == nullptr) {
     if (error == DATASET_NOT_FOUND) {
@@ -835,7 +820,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
     } else if (error == HasReturnvaluesIF::RETURN_FAILED) {
-      if (outputType == sif::OutputTypes::OUT_WARNING) {
+      if (outputType == sif::LogLevel::WARNING) {
         errorPrint = "Generic Warning";
       } else {
         errorPrint = "Generic error";
@@ -855,24 +840,10 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
     objectId = owner->getObjectId();
   }
 
-  if (outputType == sif::OutputTypes::OUT_WARNING) {
+  if (outputType == sif::LogLevel::WARNING) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{} | Object ID {} | {}\n", functionName, objectId, errorPrint);
-    sif::warning << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << std::setw(8)
+  } else if (outputType == sif::LogLevel::ERROR) {
-                 << std::setfill('0') << std::hex << objectId << " | " << errorPrint << std::dec
+    FSFW_LOGET("{} | Object ID {} | {}\n", functionName, objectId, errorPrint);
-                 << std::setfill(' ') << std::endl;
-#else
-    sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", functionName, objectId,
-                      errorPrint);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-  } else if (outputType == sif::OutputTypes::OUT_ERROR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << std::setw(8)
-               << std::setfill('0') << std::hex << objectId << " | " << errorPrint << std::dec
-               << std::setfill(' ') << std::endl;
-#else
-    sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", functionName, objectId,
-                    errorPrint);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
   }
 #endif /* #if FSFW_VERBOSE_LEVEL >= 1 */
 }

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -16,7 +16,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/ipc/MutexIF.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 namespace Factory {
 void setStaticFrameworkObjectIds();
@@ -375,7 +375,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver, ReturnValue_t& status);
   ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket, store_address_t& storeId);
 
-  void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
+  void printWarningOrError(sif::LogLevel outputType, const char* functionName,
                            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
                            const char* errorPrint = nullptr);
 };
@@ -389,14 +389,13 @@ inline ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 
   auto poolIter = localPoolMap.find(localPoolId);
   if (poolIter == localPoolMap.end()) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
+    printWarningOrError(sif::LogLevel::WARNING, "fetchPoolEntry", localpool::POOL_ENTRY_NOT_FOUND);
-                        localpool::POOL_ENTRY_NOT_FOUND);
     return localpool::POOL_ENTRY_NOT_FOUND;
   }
 
   *poolEntry = dynamic_cast<PoolEntry<T>*>(poolIter->second);
   if (*poolEntry == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
+    printWarningOrError(sif::LogLevel::WARNING, "fetchPoolEntry",
                         localpool::POOL_ENTRY_TYPE_CONFLICT);
     return localpool::POOL_ENTRY_TYPE_CONFLICT;
   }

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -7,7 +7,7 @@
 #include "fsfw/housekeeping/PeriodicHousekeepingHelper.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/HasLocalDpIFUserAttorney.h"
 
 LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, uint32_t setId,
@@ -16,14 +16,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, uint32_t
     : PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
   if (hkOwner == nullptr) {
     // Configuration error.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("{}", "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner invalid\n");
-    sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
-               << "invalid!" << std::endl;
-#else
-    sif::printError(
-        "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
-        "invalid!\n\r");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
     return;
   }
   AccessPoolManagerIF *accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
@@ -186,14 +179,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t **buffer, size
     auto result =
         SerializeAdapter::serialize(&currentPoolId, buffer, size, maxSize, streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGW("{}", "serializeLocalPoolIds: Serialization error\n");
-      sif::warning << "LocalPoolDataSetBase::serializeLocalPoolIds: "
-                   << "Serialization error!" << std::endl;
-#else
-      sif::printWarning(
-          "LocalPoolDataSetBase::serializeLocalPoolIds: "
-          "Serialization error!\n\r");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
       return result;
     }
   }

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -4,22 +4,17 @@
 #include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/HasLocalDpIFUserAttorney.h"
 
 LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
                                          DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
     : localPoolId(poolId), readWriteMode(setReadWriteMode) {
   if (poolId == PoolVariableIF::NO_PARAMETER) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{}", "ctor: Invalid pool ID, has NO_PARAMETER value\n");
-    sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-                 << "which is the NO_PARAMETER value!" << std::endl;
-#endif
   }
   if (hkOwner == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("{}", "ctor: Supplied pool owner is a invalid\n");
-    sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
-               << "owner is a invalid!" << std::endl;
-#endif
     return;
   }
   AccessPoolManagerIF* poolManAccessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
@@ -34,28 +29,14 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
                                          pool_rwm_t setReadWriteMode)
     : localPoolId(poolId), readWriteMode(setReadWriteMode) {
   if (poolId == PoolVariableIF::NO_PARAMETER) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{}", "ctor: Invalid pool ID, has NO_PARAMETER value\n");
-    sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-                    "which is the NO_PARAMETER value!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-        "which is the NO_PARAMETER value!\n");
-#endif
   }
-  HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
+  auto* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
   if (hkOwner == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT(
-    sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
+        "ctor: The supplied pool owner {:#010x} did not implement the correct interface "
-               << std::dec << " did not implement the correct interface "
+        "HasLocalDataPoolIF\n",
-               << "HasLocalDataPoolIF" << std::endl;
-#else
-    sif::printError(
-        "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
-        "interface HasLocalDataPoolIF\n",
         poolOwner);
-#endif
     return;
   }
 
@@ -89,7 +70,6 @@ void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
 
 void LocalPoolObjectBase::reportReadCommitError(const char* variableType, ReturnValue_t error,
                                                 bool read, object_id_t objectId, lp_id_t lpId) {
-#if FSFW_DISABLE_PRINTOUT == 0
   const char* variablePrintout = variableType;
   if (variablePrintout == nullptr) {
     variablePrintout = "Unknown Type";
@@ -114,13 +94,6 @@ void LocalPoolObjectBase::reportReadCommitError(const char* variableType, Return
     errMsg = "Unknown error code";
   }
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGW("{}: {} call | {} | Owner: {:#010x} | LPID: \n", variablePrintout, type, errMsg,
-  sif::warning << variablePrintout << ": " << type << " call | " << errMsg << " | Owner: 0x"
+            objectId, lpId);
-               << std::hex << std::setw(8) << std::setfill('0') << objectId << std::dec
-               << " LPID: " << lpId << std::endl;
-#else
-  sif::printWarning("%s: %s call | %s | Owner: 0x%08x LPID: %lu\n", variablePrintout, type, errMsg,
-                    objectId, lpId);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 }

src/fsfw/datapoollocal/LocalPoolVariable.h

@@ -5,11 +5,11 @@
 #include "../datapool/PoolVariableIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "AccessLocalPoolF.h"
 #include "HasLocalDataPoolIF.h"
 #include "LocalDataPoolManager.h"
 #include "LocalPoolObjectBase.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/LocalDpManagerAttorney.h"
 
 /**

src/fsfw/datapoollocal/LocalPoolVector.h

@@ -6,8 +6,8 @@
 #include "../datapool/PoolVariableIF.h"
 #include "../datapoollocal/LocalDataPoolManager.h"
 #include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "LocalPoolObjectBase.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/LocalDpManagerAttorney.h"
 
 /**

src/fsfw/datapoollocal/LocalPoolVector.tpp

@@ -5,172 +5,162 @@
 #error Include LocalPoolVector.h before LocalPoolVector.tpp!
 #endif
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
-                                                       DataSetIF* dataSet,
+        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
-                                                       pool_rwm_t setReadWriteMode)
+        pool_rwm_t setReadWriteMode):
-    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
-                                                       DataSetIF* dataSet,
+        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-                                                       pool_rwm_t setReadWriteMode)
+        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
-    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
-                                                       pool_rwm_t setReadWriteMode)
+        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
+        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
-                          setReadWriteMode) {}
+                dataSet, setReadWriteMode) {}
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
-                                                          uint32_t timeoutMs) {
+        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-  return readWithoutLock();
+    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();
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
+        reportReadCommitError("LocalPoolVector",
-                          targetObjectId, localPoolId);
+                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
-    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+                localPoolId);
-  }
+        return PoolVariableIF::INVALID_READ_WRITE_MODE;
+    }
 
-  PoolEntry<T>* poolEntry = nullptr;
+    PoolEntry<T>* poolEntry = nullptr;
-  ReturnValue_t result =
+    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+            &poolEntry);
-  memset(this->value, 0, vectorSize * sizeof(T));
+    memset(this->value, 0, vectorSize * sizeof(T));
 
-  if (result != RETURN_OK) {
+    if(result != RETURN_OK) {
-    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
+        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
-    return result;
+                localPoolId);
-  }
+        return result;
-  std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
+    }
-  this->valid = poolEntry->getValid();
+    std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
-  return RETURN_OK;
+    this->valid = poolEntry->getValid();
+    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,
+        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-                                                            uint32_t timeoutMs) {
+    this->setValid(valid);
-  this->setValid(valid);
+    return commit(timeoutType, timeoutMs);
-  return commit(timeoutType, timeoutMs);
 }
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
-                                                            uint32_t timeoutMs) {
+        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-  return commitWithoutLock();
+    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();
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
+        reportReadCommitError("LocalPoolVector",
-                          targetObjectId, localPoolId);
+                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
-    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+                localPoolId);
-  }
+        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-  PoolEntry<T>* poolEntry = nullptr;
+    }
-  ReturnValue_t result =
+    PoolEntry<T>* poolEntry = nullptr;
-      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-  if (result != RETURN_OK) {
+            &poolEntry);
-    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    if(result != RETURN_OK) {
-    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
+        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
+                localPoolId);
+        return result;
+    }
+    std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
+    poolEntry->setValid(this->valid);
+    return RETURN_OK;
+}
+
+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.
+    FSFW_LOGW("LocalPoolVector: Invalid index. Setting or returning last value\n");
+    return value[vectorSize - 1];
+}
+
+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.
+    FSFW_LOGW("LocalPoolVector: Invalid index. Setting or returning last value\n");
+    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,
+        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);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            break;
+        }
+    }
     return result;
-  }
-  std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
-  poolEntry->setValid(this->valid);
-  return RETURN_OK;
 }
 
-template <typename T, uint16_t 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;
-#else
-  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) {
-    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;
-#else
-  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,
-    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);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      break;
-    }
-  }
-  return result;
-}
-
-template <typename T, uint16_t vectorSize>
 inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
-  return vectorSize * SerializeAdapter::getSerializedSize(value);
+    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,
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+        SerializeIF::Endianness streamEndianness) {
-  for (uint16_t i = 0; i < vectorSize; i++) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
+    for (uint16_t i = 0; i < vectorSize; i++) {
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-      break;
+                streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            break;
+        }
     }
-  }
+    return result;
-  return result;
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
-inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
+inline std::ostream& operator<< (std::ostream &out,
-  out << "Vector: [";
+        const LocalPoolVector<T, vectorSize> &var) {
-  for (int i = 0; i < vectorSize; i++) {
+    out << "Vector: [";
-    out << var.value[i];
+    for(int i = 0;i < vectorSize; i++) {
-    if (i < vectorSize - 1) {
+        out << var.value[i];
-      out << ", ";
+        if(i < vectorSize - 1) {
+            out << ", ";
+        }
     }
-  }
+    out << "]";
-  out << "]";
+    return out;
-  return out;
 }
 #endif
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
@@ -45,16 +45,16 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
   if (comCookie == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
+    printWarningOrError(sif::LogLevel::ERROR, "DeviceHandlerBase", HasReturnvaluesIF::RETURN_FAILED,
-                        HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
+                        "Invalid cookie");
   }
   if (this->fdirInstance == nullptr) {
     this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
   }
 }
 
-void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
+void DeviceHandlerBase::setHkDestination(object_id_t hkDestination_) {
-  this->hkDestination = hkDestination;
+  this->hkDestination = hkDestination_;
 }
 
 void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId,
@@ -65,7 +65,9 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-  delete comCookie;
+  if (comCookie != nullptr) {
+    delete comCookie;
+  }
   if (defaultFDIRUsed) {
     delete fdirInstance;
   }
@@ -130,42 +132,34 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
   if (communicationInterface == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
-                        ObjectManagerIF::CHILD_INIT_FAILED, "Passed communication IF invalid");
+                        "Passed communication IF invalid");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   result = communicationInterface->initializeInterface(comCookie);
   if (result != RETURN_OK) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
-                        ObjectManagerIF::CHILD_INIT_FAILED, "ComIF initialization failed");
+                        "ComIF initialization failed");
     return result;
   }
 
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (IPCStore == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
-                        ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up");
+                        "IPC Store not set up");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   if (rawDataReceiverId != objects::NO_OBJECT) {
-    AcceptsDeviceResponsesIF* rawReceiver =
+    auto* rawReceiver = ObjectManager::instance()->get<AcceptsDeviceResponsesIF>(rawDataReceiverId);
-        ObjectManager::instance()->get<AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
     if (rawReceiver == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
+      printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
-                          ObjectManagerIF::CHILD_INIT_FAILED,
                           "Raw receiver object ID set but no valid object found.");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGE("{}",
-      sif::error << "Make sure the raw receiver object is set up properly"
+                "Make sure the raw receiver object is set up properly "
-                    " and implements AcceptsDeviceResponsesIF"
+                "and implements AcceptsDeviceResponsesIF");
-                 << std::endl;
-#else
-      sif::printError(
-          "Make sure the raw receiver object is set up "
-          "properly and implements AcceptsDeviceResponsesIF\n");
-#endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
     defaultRawReceiver = rawReceiver->getDeviceQueue();
@@ -174,17 +168,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (powerSwitcherId != objects::NO_OBJECT) {
     powerSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitcherId);
     if (powerSwitcher == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
+      printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
-                          ObjectManagerIF::CHILD_INIT_FAILED,
                           "Power switcher set but no valid object found.");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGE("{}",
-      sif::error << "Make sure the power switcher object is set up "
+                "Make sure the power switcher object is set up "
-                 << "properly and implements PowerSwitchIF" << std::endl;
+                "properly and implements PowerSwitchIF\n");
-#else
-      sif::printError(
-          "Make sure the power switcher object is set up "
-          "properly and implements PowerSwitchIF\n");
-#endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
   }
@@ -233,17 +221,26 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
+  bool timedOut = false;
   for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
-    if (replyPair.second.delayCycles != 0) {
+    if (replyPair.second.countdown != nullptr && replyPair.second.active) {
+      if (replyPair.second.countdown->hasTimedOut()) {
+        resetTimeoutControlledReply(&replyPair.second);
+        timedOut = true;
+      }
+    }
+    if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
       replyPair.second.delayCycles--;
       if (replyPair.second.delayCycles == 0) {
-        if (replyPair.second.periodic) {
+        resetDelayCyclesControlledReply(&replyPair.second);
-          replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
+        timedOut = true;
-        }
-        replyToReply(replyPair.first, replyPair.second, TIMEOUT);
-        missedReply(replyPair.first);
       }
     }
+    if (timedOut) {
+      replyToReply(replyPair.first, replyPair.second, TIMEOUT);
+      missedReply(replyPair.first);
+      timedOut = false;
+    }
   }
 }
 
@@ -317,8 +314,7 @@ void DeviceHandlerBase::doStateMachine() {
         sprintf(printout, "Transition timeout (%lu) occured !",
                 static_cast<unsigned long>(childTransitionDelay));
         /* Common configuration error for development, so print it */
-        printWarningOrError(sif::OutputTypes::OUT_WARNING, "doStateMachine", RETURN_FAILED,
+        printWarningOrError(sif::LogLevel::WARNING, "doStateMachine", RETURN_FAILED, printout);
-                            printout);
 #endif
         triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0);
         setMode(transitionSourceMode, transitionSourceSubMode);
@@ -359,7 +355,6 @@ void DeviceHandlerBase::doStateMachine() {
         setMode(MODE_OFF);
         break;
       }
-
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -408,20 +403,22 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
     DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
-    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
+    Countdown* countdown) {
   // No need to check, as we may try to insert multiple times.
   insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
   if (hasDifferentReplyId) {
-    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
+    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
   } else {
-    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
+    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
+                            countdown);
   }
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
                                                   uint16_t maxDelayCycles,
                                                   LocalPoolDataSetBase* dataSet, size_t replyLen,
-                                                  bool periodic) {
+                                                  bool periodic, Countdown* countdown) {
   DeviceReplyInfo info;
   info.maxDelayCycles = maxDelayCycles;
   info.periodic = periodic;
@@ -429,6 +426,7 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   info.replyLen = replyLen;
   info.dataSet = dataSet;
   info.command = deviceCommandMap.end();
+  info.countdown = countdown;
   auto resultPair = deviceReplyMap.emplace(replyId, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -464,7 +462,8 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
   }
   DeviceReplyIter iter = deviceReplyMap.find(replyId);
   if (iter != deviceReplyMap.end()) {
-    if (iter->second.delayCycles != 0) {
+    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
+        (iter->second.active && iter->second.countdown != nullptr)) {
       return iter->second.replyLen;
     }
   }
@@ -500,9 +499,19 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
       return COMMAND_NOT_SUPPORTED;
     }
     if (enable) {
-      info->delayCycles = info->maxDelayCycles;
+      info->active = true;
+      if (info->countdown != nullptr) {
+        info->delayCycles = info->maxDelayCycles;
+      } else {
+        info->countdown->resetTimer();
+      }
     } else {
-      info->delayCycles = 0;
+      info->active = false;
+      if (info->countdown != nullptr) {
+        info->delayCycles = 0;
+      } else {
+        info->countdown->timeOut();
+      }
     }
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -610,8 +619,8 @@ void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceRepl
   }
   DeviceCommandInfo* info = &replyInfo.command->second;
   if (info == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "replyToReply",
+    printWarningOrError(sif::LogLevel::ERROR, "replyToReply", HasReturnvaluesIF::RETURN_FAILED,
-                        HasReturnvaluesIF::RETURN_FAILED, "Command pointer not found");
+                        "Command pointer not found");
     return;
   }
 
@@ -752,7 +761,7 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData, size_t receivedD
       case RETURN_OK:
         handleReply(receivedData, foundId, foundLen);
         if (foundLen == 0) {
-          printWarningOrError(sif::OutputTypes::OUT_WARNING, "parseReply",
+          printWarningOrError(sif::LogLevel::WARNING, "parseReply",
                               ObjectManagerIF::CHILD_INIT_FAILED,
                               "Found length is one, parsing might be stuck");
         }
@@ -764,14 +773,12 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData, size_t receivedD
           triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
         }
         if (foundLen == 0) {
-          printWarningOrError(sif::OutputTypes::OUT_ERROR, "parseReply",
+          printWarningOrError(sif::LogLevel::ERROR, "parseReply",
                               ObjectManagerIF::CHILD_INIT_FAILED,
                               "Power switcher set but no valid object found.");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+          FSFW_LOGW("{}",
-          sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+                    "DeviceHandlerBase::parseReply: foundLen is 0! "
-                          " Packet parsing will be stuck."
+                    "Packet parsing will be stuck\n");
-                       << std::endl;
-#endif
         }
         break;
       }
@@ -808,17 +815,18 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
 
   DeviceReplyInfo* info = &(iter->second);
 
-  if (info->delayCycles != 0) {
+  if ((info->delayCycles != 0 && info->countdown == nullptr) ||
+      (info->active && info->countdown != nullptr)) {
     result = interpretDeviceReply(foundId, receivedData);
 
     if (result == IGNORE_REPLY_DATA) {
       return;
     }
 
-    if (info->periodic) {
+    if (info->active && info->countdown != nullptr) {
-      info->delayCycles = info->maxDelayCycles;
+      resetTimeoutControlledReply(info);
-    } else {
+    } else if (info->delayCycles != 0) {
-      info->delayCycles = 0;
+      resetDelayCyclesControlledReply(info);
     }
 
     if (result != RETURN_OK) {
@@ -837,6 +845,24 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
   }
 }
 
+void DeviceHandlerBase::resetTimeoutControlledReply(DeviceReplyInfo* info) {
+  if (info->periodic) {
+    info->countdown->resetTimer();
+  } else {
+    info->active = false;
+    info->countdown->timeOut();
+  }
+}
+
+void DeviceHandlerBase::resetDelayCyclesControlledReply(DeviceReplyInfo* info) {
+  if (info->periodic) {
+    info->delayCycles = info->maxDelayCycles;
+  } else {
+    info->delayCycles = 0;
+    info->active = false;
+  }
+}
+
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
                                                 size_t* len) {
   size_t lenTmp;
@@ -959,9 +985,15 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
   }
   if (iter != deviceReplyMap.end()) {
     DeviceReplyInfo* info = &(iter->second);
+    // If a countdown has been set, the delay cycles will be ignored and the reply times out
+    // as soon as the countdown has expired
     info->delayCycles = info->maxDelayCycles;
     info->command = command;
     command->second.expectedReplies = expectedReplies;
+    if (info->countdown != nullptr) {
+      info->countdown->resetTimer();
+    }
+    info->active = true;
     return RETURN_OK;
   } else {
     return NO_REPLY_EXPECTED;
@@ -1196,7 +1228,8 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 bool DeviceHandlerBase::isAwaitingReply() {
   std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
   for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
-    if (iter->second.delayCycles != 0) {
+    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
+        (iter->second.active && iter->second.countdown != nullptr)) {
       return true;
     }
   }
@@ -1286,7 +1319,7 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
   return result;
 }
 
-void DeviceHandlerBase::buildInternalCommand(void) {
+void DeviceHandlerBase::buildInternalCommand() {
   /* Neither raw nor direct could build a command */
   ReturnValue_t result = NOTHING_TO_SEND;
   DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
@@ -1294,7 +1327,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
     result = buildNormalDeviceCommand(&deviceCommandId);
     if (result == BUSY) {
       /* So we can track misconfigurations */
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
+      printWarningOrError(sif::LogLevel::WARNING, "buildInternalCommand",
                           HasReturnvaluesIF::RETURN_FAILED, "Busy.");
       /* No need to report this */
       result = NOTHING_TO_SEND;
@@ -1312,14 +1345,14 @@ void DeviceHandlerBase::buildInternalCommand(void) {
     return;
   }
   if (result == RETURN_OK) {
-    DeviceCommandMap::iterator iter = deviceCommandMap.find(deviceCommandId);
+    auto iter = deviceCommandMap.find(deviceCommandId);
     if (iter == deviceCommandMap.end()) {
 #if FSFW_VERBOSE_LEVEL >= 1
       char output[36];
       sprintf(output, "Command 0x%08x unknown", static_cast<unsigned int>(deviceCommandId));
       // so we can track misconfigurations
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
+      printWarningOrError(sif::LogLevel::WARNING, "buildInternalCommand", COMMAND_NOT_SUPPORTED,
-                          COMMAND_NOT_SUPPORTED, output);
+                          output);
 #endif
       result = COMMAND_NOT_SUPPORTED;
     } else if (iter->second.isExecuting) {
@@ -1327,7 +1360,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
       char output[36];
       sprintf(output, "Command 0x%08x is executing", static_cast<unsigned int>(deviceCommandId));
       // so we can track misconfigurations
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
+      printWarningOrError(sif::LogLevel::WARNING, "buildInternalCommand",
                           HasReturnvaluesIF::RETURN_FAILED, output);
 #endif
       // this is an internal command, no need to report a failure here,
@@ -1348,9 +1381,16 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 ReturnValue_t DeviceHandlerBase::buildChildRawCommand() { return NOTHING_TO_SEND; }
 
 uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand) {
-  DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
+  auto iter = deviceReplyMap.find(deviceCommand);
   if (iter == deviceReplyMap.end()) {
     return 0;
+  } else if (iter->second.countdown != nullptr) {
+    // fake a useful return value for legacy code
+    if (iter->second.active) {
+      return 1;
+    } else {
+      return 0;
+    }
   }
   return iter->second.delayCycles;
 }
@@ -1456,13 +1496,13 @@ void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   }
 }
 
-void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const char* functionName,
+void DeviceHandlerBase::printWarningOrError(sif::LogLevel errorType, const char* functionName,
                                             ReturnValue_t errorCode, const char* errorPrint) {
   if (errorPrint == nullptr) {
     if (errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
       errorPrint = "Initialization error";
     } else if (errorCode == HasReturnvaluesIF::RETURN_FAILED) {
-      if (errorType == sif::OutputTypes::OUT_WARNING) {
+      if (errorType == sif::LogLevel::WARNING) {
         errorPrint = "Generic Warning";
       } else {
         errorPrint = "Generic Error";
@@ -1475,24 +1515,12 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const ch
     functionName = "unknown function";
   }
 
-  if (errorType == sif::OutputTypes::OUT_WARNING) {
+  if (errorType == sif::LogLevel::WARNING) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{} | Object ID {:#010x} | {}", functionName, SystemObject::getObjectId(),
-    sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID 0x" << std::hex
+               errorPrint);
-                 << std::setw(8) << std::setfill('0') << this->getObjectId() << " | " << errorPrint
+  } else if (errorType == sif::LogLevel::ERROR) {
-                 << std::dec << std::setfill(' ') << std::endl;
+    FSFW_LOGET("{} | Object ID {:#010x} | {}", functionName, SystemObject::getObjectId(),
-#else
+               errorPrint);
-    sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", functionName,
-                      this->getObjectId(), errorPrint);
-#endif
-  } else if (errorType == sif::OutputTypes::OUT_ERROR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DeviceHandlerBase::" << functionName << ": Object ID 0x" << std::hex
-               << std::setw(8) << std::setfill('0') << this->getObjectId() << " | " << errorPrint
-               << std::dec << std::setfill(' ') << std::endl;
-#else
-    sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", functionName,
-                    this->getObjectId(), errorPrint);
-#endif
   }
 }
 

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -19,8 +19,7 @@
 #include "fsfw/parameters/ParameterHelper.h"
 #include "fsfw/power/PowerSwitchIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
-#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -448,6 +447,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
+   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
@@ -455,7 +457,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                                            LocalPoolDataSetBase *replyDataSet = nullptr,
                                            size_t replyLen = 0, bool periodic = false,
                                            bool hasDifferentReplyId = false,
-                                           DeviceCommandId_t replyId = 0);
+                                           DeviceCommandId_t replyId = 0,
+                                           Countdown *countdown = nullptr);
   /**
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
@@ -465,12 +468,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
+   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
   ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
                                  LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
-                                 bool periodic = false);
+                                 bool periodic = false, Countdown *countdown = nullptr);
 
   /**
    * @brief   A simple command to add a command to the commandList.
@@ -783,6 +789,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     LocalPoolDataSetBase *dataSet = nullptr;
     //! The command that expects this reply.
     DeviceCommandMap::iterator command;
+    //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
+    //! is also possible specify a countdown
+    Countdown *countdown = nullptr;
+    //! will be set to true when reply is enabled
+    bool active = false;
   };
 
   using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@@ -1244,6 +1255,17 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   void doGetRead(void);
 
+  /**
+   * @brief Resets replies which use a timeout to detect missed replies.
+   */
+  void resetTimeoutControlledReply(DeviceReplyInfo *info);
+
+  /**
+   * @brief Resets replies which use a number of maximum delay cycles to detect
+   *        missed replies.
+   */
+  void resetDelayCyclesControlledReply(DeviceReplyInfo *info);
+
   /**
    * Retrive data from the #IPCStore.
    *
@@ -1282,7 +1304,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param errorCode
    * @param errorPrint
    */
-  void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
+  void printWarningOrError(sif::LogLevel errorType, const char *functionName,
                            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
                            const char *errorPrint = nullptr);
 };

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -5,7 +5,7 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/power/Fuse.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
@@ -163,15 +163,10 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
 ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
   ReturnValue_t result = FailureIsolationBase::initialize();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("{}", "initialize: Could not initialize FailureIsolationBase\n");
-    sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
-                  " initialize FailureIsolationBase."
-               << std::endl;
-#endif
     return result;
   }
-  ConfirmsFailuresIF* power =
+  auto* power = ObjectManager::instance()->get<ConfirmsFailuresIF>(powerConfirmationId);
-      ObjectManager::instance()->get<ConfirmsFailuresIF>(powerConfirmationId);
   if (power != nullptr) {
     powerConfirmation = power->getEventReceptionQueue();
   }
@@ -244,10 +239,7 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(EventMessage* ev
 
   if (owner == nullptr) {
     // Configuration error.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("isFdirInActionOrAreWeFaulty: Owner not set\n");
-    sif::error << "DeviceHandlerFailureIsolation::"
-               << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
-#endif
     return false;
   }
 

src/fsfw/events/EventManager.cpp

@@ -88,6 +88,11 @@ ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener, Eve
   return result;
 }
 
+ReturnValue_t EventManager::unsubscribeFromAllEvents(MessageQueueId_t listener,
+                                                     object_id_t object) {
+  return unsubscribeFromEventRange(listener, 0, 0, true, object);
+}
+
 ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom,
                                                       EventId_t idTo, bool idInverted,
                                                       object_id_t reporterFrom,
@@ -119,17 +124,17 @@ void EventManager::printEvent(EventMessage* message) {
   switch (message->getSeverity()) {
     case severity::INFO: {
 #if FSFW_DEBUG_INFO == 1
-      printUtility(sif::OutputTypes::OUT_INFO, message);
+      printUtility(sif::LogLevel::INFO, message);
 #endif /* DEBUG_INFO_EVENT == 1 */
       break;
     }
     default:
-      printUtility(sif::OutputTypes::OUT_DEBUG, message);
+      printUtility(sif::LogLevel::DEBUG, message);
       break;
   }
 }
 
-void EventManager::printUtility(sif::OutputTypes printType, EventMessage* message) {
+void EventManager::printUtility(sif::LogLevel printType, EventMessage* message) {
   const char* string = 0;
   if (printType == sif::OutputTypes::OUT_INFO) {
     string = translateObject(message->getReporter());

src/fsfw/events/EventManager.h

@@ -6,12 +6,12 @@
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexIF.h"
 #include "../objectmanager/SystemObject.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "../storagemanager/LocalPool.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "EventManagerIF.h"
 #include "FSFWConfig.h"
 #include "eventmatching/EventMatchTree.h"
+#include "fsfw/serviceinterface.h"
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 // forward declaration, should be implemented by mission
@@ -37,6 +37,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                       EventId_t idTo = 0, bool idInverted = false,
                                       object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                       bool reporterInverted = false);
+  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                           EventId_t idTo = 0, bool idInverted = false,
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
@@ -63,7 +64,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
   void printEvent(EventMessage* message);
-  void printUtility(sif::OutputTypes printType, EventMessage* message);
+  void printUtility(sif::LogLevel printType, EventMessage* message);
 #endif
 
   void lockMutex();

src/fsfw/events/EventManagerIF.h

@@ -4,9 +4,9 @@
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManager.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "EventMessage.h"
 #include "eventmatching/eventmatching.h"
+#include "fsfw/serviceinterface.h"
 
 class EventManagerIF {
  public:
@@ -20,6 +20,7 @@ class EventManagerIF {
                                          bool forwardAllButSelected = false) = 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;
   virtual ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                               EventId_t idTo = 0, bool idInverted = false,
                                               object_id_t reporterFrom = 0,
@@ -39,19 +40,9 @@ class EventManagerIF {
 
   static void triggerEvent(EventMessage* message, MessageQueueId_t sentFrom = 0) {
     if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
-      EventManagerIF* eventmanager =
+      auto* eventmanager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-          ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
       if (eventmanager == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
+        FSFW_LOGW("{}", "EventManagerIF::triggerEvent: EventManager invalid or not found\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "EventManagerIF::triggerEvent: EventManager invalid or not found!"
-                     << std::endl;
-#else
-        sif::printWarning(
-            "EventManagerIF::triggerEvent: "
-            "EventManager invalid or not found!");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
         return;
       }
       eventmanagerQueue = eventmanager->getEventReportQueue();

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -14,17 +14,23 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "FailureIsolationBase::~FailureIsolationBase: Event Manager has not"
+                  " been initialized!"
+               << std::endl;
+#endif
+    return;
+  }
+  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 
 ReturnValue_t FailureIsolationBase::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("{}", "initialize: Event Manager has not been initialized\n");
-    sif::error << "FailureIsolationBase::initialize: Event Manager has not"
-                  " been initialized!"
-               << std::endl;
-#endif
     return RETURN_FAILED;
   }
   ReturnValue_t result = manager->registerListener(eventQueue->getId());
@@ -38,27 +44,20 @@ ReturnValue_t FailureIsolationBase::initialize() {
     }
     owner = ObjectManager::instance()->get<HasHealthIF>(ownerId);
     if (owner == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGE(
-      sif::error << "FailureIsolationBase::intialize: Owner object "
+          "FailureIsolationBase::intialize: Owner object {:#010x} invalid. "
-                    "invalid. Make sure it implements HasHealthIF"
+          "Does it implement HasHealthIF?\n",
-                 << std::endl;
+          ownerId);
-#endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
   }
   if (faultTreeParent != objects::NO_OBJECT) {
-    ConfirmsFailuresIF* parentIF =
+    auto* parentIF = ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
-        ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGW(
-      sif::error << "FailureIsolationBase::intialize: Parent object"
+          "intialize: Parent object {:#010x} invalid. Does it implement ConfirmsFailuresIF?\n",
-                 << "invalid." << std::endl;
+          faultTreeParent);
-#endif
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
-#endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
-      return RETURN_FAILED;
     }
     eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue());
   }

src/fsfw/fdir/FaultCounter.cpp

@@ -60,14 +60,14 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
     return INVALID_DOMAIN_ID;
   }
 
-  switch (uniqueId) {
+  switch (static_cast<ParameterIds>(uniqueId)) {
-    case 0:
+    case ParameterIds::FAILURE_THRESHOLD:
       parameterWrapper->set(failureThreshold);
       break;
-    case 1:
+    case ParameterIds::FAULT_COUNT:
       parameterWrapper->set(faultCount);
       break;
-    case 2:
+    case ParameterIds::TIMEOUT:
       parameterWrapper->set(timer.timeout);
       break;
     default:

src/fsfw/fdir/FaultCounter.h

@@ -6,6 +6,8 @@
 
 class FaultCounter : public HasParametersIF {
  public:
+  enum class ParameterIds { FAILURE_THRESHOLD, FAULT_COUNT, TIMEOUT };
+
   FaultCounter();
   FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
                uint8_t setParameterDomain = 0);
@@ -25,7 +27,8 @@ class FaultCounter : public HasParametersIF {
 
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
-                                     const ParameterWrapper *newValues, uint16_t startAtIndex);
+                                     const ParameterWrapper *newValues = nullptr,
+                                     uint16_t startAtIndex = 0);
 
   void setParameterDomain(uint8_t domain);
 

src/fsfw/globalfunctions/arrayprinter.cpp

@@ -3,31 +3,16 @@
 #include <bitset>
 #include <cmath>
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool printInfo,
                          size_t maxCharPerLine) {
   if (size == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGI("{}", "Size is zero, nothing to print\n");
-    sif::info << "Size is zero, nothing to print" << std::endl;
-#else
-    sif::printInfo("Size is zero, nothing to print\n");
-#endif
     return;
   }
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGI("Printing data with size {}:\n", size);
-  if (printInfo) {
-    sif::info << "Printing data with size " << size << ": " << std::endl;
-  }
-#else
-#if FSFW_NO_C99_IO == 1
-  sif::printInfo("Printing data with size %lu: \n", static_cast<unsigned long>(size));
-#else
-  sif::printInfo("Printing data with size %zu: \n", size);
-#endif /* FSFW_NO_C99_IO == 1 */
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-
   if (type == OutputType::HEX) {
     arrayprinter::printHex(data, size, maxCharPerLine);
   } else if (type == OutputType::DEC) {
@@ -38,99 +23,99 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool
 }
 
 void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerLine) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  //#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (sif::info.crAdditionEnabled()) {
+  //  if (sif::info.crAdditionEnabled()) {
-    std::cout << "\r" << std::endl;
+  //    std::cout << "\r" << std::endl;
-  }
+  //  }
-
+  //
-  std::cout << "hex [" << std::setfill('0') << std::hex;
+  //  std::cout << "hex [" << std::setfill('0') << std::hex;
-  for (size_t i = 0; i < size; i++) {
+  //  for (size_t i = 0; i < size; i++) {
-    std::cout << std::setw(2) << static_cast<int>(data[i]);
+  //    std::cout << std::setw(2) << static_cast<int>(data[i]);
-    if (i < size - 1) {
+  //    if (i < size - 1) {
-      std::cout << ",";
+  //      std::cout << ",";
-      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
+  //      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
-        std::cout << std::endl;
+  //        std::cout << std::endl;
-      }
+  //      }
-    }
+  //    }
-  }
+  //  }
-  std::cout << std::dec << std::setfill(' ');
+  //  std::cout << std::dec << std::setfill(' ');
-  std::cout << "]" << std::endl;
+  //  std::cout << "]" << std::endl;
-#else
+  //#else
-  // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
+  //  // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
-  // plus line break plus small safety margin.
+  //  // plus line break plus small safety margin.
-  char printBuffer[(size + 1) * 7 + 1] = {};
+  //  char printBuffer[(size + 1) * 7 + 1] = {};
-  size_t currentPos = 0;
+  //  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
+  //  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
+  //    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 7) {
+  //    if (sizeof(printBuffer) - currentPos <= 7) {
-      break;
+  //      break;
-    }
+  //    }
-
+  //
-    currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
+  //    currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
-    if (i < size - 1) {
+  //    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
+  //      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
+  //      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
+  //        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
+  //      }
-    }
+  //    }
-  }
+  //  }
-#if FSFW_DISABLE_PRINTOUT == 0
+  //#if FSFW_DISABLE_PRINTOUT == 0
-  printf("hex [%s]\n", printBuffer);
+  //  printf("hex [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
+  //#endif /* FSFW_DISABLE_PRINTOUT == 0 */
-#endif
+  //#endif
 }
 
 void arrayprinter::printDec(const uint8_t *data, size_t size, size_t maxCharPerLine) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  //#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (sif::info.crAdditionEnabled()) {
+  //  if (sif::info.crAdditionEnabled()) {
-    std::cout << "\r" << std::endl;
+  //    std::cout << "\r" << std::endl;
-  }
+  //  }
-
+  //
-  std::cout << "dec [" << std::dec;
+  //  std::cout << "dec [" << std::dec;
-  for (size_t i = 0; i < size; i++) {
+  //  for (size_t i = 0; i < size; i++) {
-    std::cout << static_cast<int>(data[i]);
+  //    std::cout << static_cast<int>(data[i]);
-    if (i < size - 1) {
+  //    if (i < size - 1) {
-      std::cout << ",";
+  //      std::cout << ",";
-      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
+  //      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
-        std::cout << std::endl;
+  //        std::cout << std::endl;
-      }
+  //      }
-    }
+  //    }
-  }
+  //  }
-  std::cout << "]" << std::endl;
+  //  std::cout << "]" << std::endl;
-#else
+  //#else
-  // General format: 32,243,-12 so it is number of chars times 4
+  //  // General format: 32,243,-12 so it is number of chars times 4
-  // plus line break plus small safety margin.
+  //  // plus line break plus small safety margin.
-  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
+  //  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
-  char printBuffer[size * 4 + 1 + expectedLines] = {};
+  //  char printBuffer[size * 4 + 1 + expectedLines] = {};
-  size_t currentPos = 0;
+  //  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
+  //  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
+  //    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 4) {
+  //    if (sizeof(printBuffer) - currentPos <= 4) {
-      break;
+  //      break;
-    }
+  //    }
-
+  //
-    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
+  //    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
-    if (i < size - 1) {
+  //    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
+  //      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
+  //      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
+  //        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
+  //      }
-    }
+  //    }
-  }
+  //  }
-#if FSFW_DISABLE_PRINTOUT == 0
+  //#if FSFW_DISABLE_PRINTOUT == 0
-  printf("dec [%s]\n", printBuffer);
+  //  printf("dec [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
+  //#endif /* FSFW_DISABLE_PRINTOUT == 0 */
-#endif
+  //#endif
 }
 
 void arrayprinter::printBin(const uint8_t *data, size_t size) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  //#if FSFW_CPP_OSTREAM_ENABLED == 1
-  for (size_t i = 0; i < size; i++) {
+  //  for (size_t i = 0; i < size; i++) {
-    sif::info << "Byte " << i + 1 << ": 0b" << std::bitset<8>(data[i]) << std::endl;
+  //    sif::info << "Byte " << i + 1 << ": 0b" << std::bitset<8>(data[i]) << std::endl;
-  }
+  //  }
-#else
+  //#else
-  for (size_t i = 0; i < size; i++) {
+  //  for (size_t i = 0; i < size; i++) {
-    sif::printInfo("Byte %d: 0b" BYTE_TO_BINARY_PATTERN "\n", i + 1, BYTE_TO_BINARY(data[i]));
+  //    sif::printInfo("Byte %d: 0b" BYTE_TO_BINARY_PATTERN "\n", i + 1, BYTE_TO_BINARY(data[i]));
-  }
+  //  }
-#endif
+  //#endif
 }

src/fsfw/health/HealthHelper.cpp

@@ -1,11 +1,11 @@
 #include "fsfw/health/HealthHelper.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
     : objectId(objectId), owner(owner) {}
 
-HealthHelper::~HealthHelper() {}
+HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
 
 ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
   switch (message->getCommand()) {
@@ -35,20 +35,12 @@ ReturnValue_t HealthHelper::initialize() {
   eventSender = ObjectManager::instance()->get<EventReportingProxyIF>(objectId);
 
   if (healthTable == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("{}", "initialize: Health table object needs to be created in factory\n");
-    sif::error << "HealthHelper::initialize: Health table object needs"
-                  "to be created in factory."
-               << std::endl;
-#endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   if (eventSender == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("{}", "initialize: Owner has to implement ReportingProxyIF\n");
-    sif::error << "HealthHelper::initialize: Owner has to implement "
-                  "ReportingProxyIF."
-               << std::endl;
-#endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
@@ -77,9 +69,7 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
   HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO, health, oldHealth);
   if (MessageQueueSenderIF::sendMessage(parentQueue, &information, owner->getCommandQueue()) !=
       HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("informParent: Object ID {:#010x} | Sending health reply failed\n", objectId);
-    sif::debug << "HealthHelper::informParent: sending health reply failed." << std::endl;
-#endif
   }
 }
 
@@ -96,10 +86,7 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
   }
   if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply, owner->getCommandQueue()) !=
       HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("handleSetHealthCommand: Object ID {:#010x} | Sending health reply failed\n",
-    sif::debug << "HealthHelper::handleHealthCommand: sending health "
+               objectId);
-                  "reply failed."
-               << std::endl;
-#endif
   }
 }

src/fsfw/health/HealthTable.cpp

@@ -3,6 +3,7 @@
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serviceinterface.h"
 
 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
   mutex = MutexFactory::instance()->createMutex();
@@ -27,6 +28,15 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t HealthTable::removeObject(object_id_t object) {
+  mapIterator = healthMap.find(object);
+  if (mapIterator == healthMap.end()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  healthMap.erase(mapIterator);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) {
   MutexGuard(mutex, timeoutType, mutexTimeoutMs);
   HealthMap::iterator iter = healthMap.find(object);
@@ -68,13 +78,7 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
   ReturnValue_t result =
       SerializeAdapter::serialize(&count, &pointer, &size, maxSize, SerializeIF::Endianness::BIG);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+    FSFW_LOGW("{}", "printAll: Serialization of health table failed\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl;
-#else
-    sif::printWarning("HealthTable::printAll: Serialization of health table failed\n");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return;
   }
   for (const auto& health : healthMap) {

src/fsfw/health/HealthTable.h

@@ -17,6 +17,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
   /** HealthTableIF overrides */
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
+  ReturnValue_t removeObject(object_id_t object) override;
   virtual size_t getPrintSize() override;
   virtual void printAll(uint8_t* pointer, size_t maxSize) override;
 

src/fsfw/health/HealthTableIF.h

@@ -14,6 +14,8 @@ class HealthTableIF : public ManagesHealthIF {
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
+  virtual ReturnValue_t removeObject(object_id_t objectId) = 0;
+
   virtual size_t getPrintSize() = 0;
   virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
@@ -34,18 +34,8 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
 #if FSFW_VERBOSE_LEVEL >= 1
   if (diagnosticPrintout) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGW("performOperation: Errors occured\nQueue {} | TM {} | Store {}\n", newQueueHits,
-      sif::debug << "InternalErrorReporter::performOperation: Errors "
+                newTmHits, newStoreHits);
-                 << "occured!" << std::endl;
-      sif::debug << "Queue errors: " << newQueueHits << std::endl;
-      sif::debug << "TM errors: " << newTmHits << std::endl;
-      sif::debug << "Store errors: " << newStoreHits << std::endl;
-#else
-      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
-      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
-      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
-      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
-#endif
     }
   }
 #endif

src/fsfw/ipc/MessageQueueMessage.cpp

@@ -3,7 +3,7 @@
 #include <cstring>
 
 #include "fsfw/globalfunctions/arrayprinter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()) {
   memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
@@ -15,11 +15,7 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
     memcpy(this->getData(), data, size);
     this->messageSize = this->HEADER_SIZE + size;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("{}", "ctor: Passed size larger than maximum allowed size! Setting content to 0\n");
-    sif::warning << "MessageQueueMessage: Passed size larger than maximum"
-                    "allowed size! Setting content to 0"
-                 << std::endl;
-#endif
     memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
     this->messageSize = this->HEADER_SIZE;
   }

src/fsfw/ipc/MutexGuard.h

@@ -1,8 +1,10 @@
 #ifndef FRAMEWORK_IPC_MUTEXGUARD_H_
 #define FRAMEWORK_IPC_MUTEXGUARD_H_
 
-#include "../serviceinterface/ServiceInterface.h"
+#include <fmt/core.h>
-#include "MutexFactory.h"
+
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/serviceinterface.h"
 
 class MutexGuard {
  public:
@@ -10,35 +12,17 @@ class MutexGuard {
              uint32_t timeoutMs = 0)
       : internalMutex(mutex) {
     if (mutex == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
+      // It's tricky to use the error functions defined in the service interface
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      // because those functions require the mutex guard themselves
-      sif::error << "MutexGuard: Passed mutex is invalid!" << std::endl;
+      fmt::print("ERROR | Passed mutex is invalid\n");
-#else
-      sif::printError("MutexGuard: Passed mutex is invalid!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
       return;
     }
     result = mutex->lockMutex(timeoutType, timeoutMs);
-#if FSFW_VERBOSE_LEVEL >= 1
     if (result == MutexIF::MUTEX_TIMEOUT) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      fmt::print("ERROR | Lock of mutex failed with timeout of {} milliseconds\n", timeoutMs);
-      sif::error << "MutexGuard: Lock of mutex failed with timeout of " << timeoutMs
-                 << " milliseconds!" << std::endl;
-#else
-      sif::printError("MutexGuard: Lock of mutex failed with timeout of %lu milliseconds\n",
-                      timeoutMs);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-
     } else if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      fmt::print("ERROR | Lock of Mutex failed with code {}\n", result);
-      sif::error << "MutexGuard: Lock of Mutex failed with code " << result << std::endl;
-#else
-      sif::printError("MutexGuard: Lock of Mutex failed with code %d\n", result);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
     }
-#else
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
   }
 
   ReturnValue_t getLockResult() const { return result; }

src/fsfw/memory/MemoryHelper.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/memory/MemoryMessage.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/EndianConverter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue)
     : workOnThis(workOnThis),
@@ -17,9 +17,7 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
   lastSender = message->getSender();
   lastCommand = message->getCommand();
   if (busy) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("{}", "MemoryHelper: Busy\n");
-    sif::debug << "MemHelper: Busy!" << std::endl;
-#endif
   }
   switch (lastCommand) {
     case MemoryMessage::CMD_MEMORY_DUMP:

src/fsfw/modes/ModeHelper.cpp

@@ -2,7 +2,7 @@
 
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/modes/HasModesIF.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 ModeHelper::ModeHelper(HasModesIF* owner)
     : commandedMode(HasModesIF::MODE_OFF),

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -7,10 +7,10 @@
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../serialize/SerializeElement.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "../timemanager/TimeStamperIF.h"
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
+#include "fsfw/serviceinterface.h"
 #include "monitoringConf.h"
 
 namespace Factory {
@@ -81,11 +81,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
     if (timeStamper == nullptr) {
       timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
       if (timeStamper == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        FSFW_LOGET("{}", "checkAndSetStamper: Stamper not found\n");
-        sif::error << "MonitoringReportContent::checkAndSetStamper: "
-                      "Stamper not found!"
-                   << std::endl;
-#endif
         return false;
       }
     }

src/fsfw/objectmanager/ObjectManager.cpp

@@ -1,6 +1,6 @@
-#include "fsfw/objectmanager/ObjectManager.h"
+#include "ObjectManager.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 #include <iomanip>
@@ -36,17 +36,10 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
     // sif::debug << "ObjectManager::insert: Object " << std::hex
     //            << (int)id << std::dec << " inserted." << std::endl;
 #endif
-    return this->RETURN_OK;
+    return ObjectManager::RETURN_OK;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("ObjectManager::insert: Object ID {:#010x} is already in use\nTerminating program\n",
-    sif::error << "ObjectManager::insert: Object ID " << std::hex << static_cast<uint32_t>(id)
+               static_cast<uint32_t>(id));
-               << std::dec << " is already in use!" << std::endl;
-    sif::error << "Terminating program" << std::endl;
-#else
-    sif::printError("ObjectManager::insert: Object ID 0x%08x is already in use!\n",
-                    static_cast<unsigned int>(id));
-    sif::printError("Terminating program");
-#endif
     // This is very severe and difficult to handle in other places.
     std::exit(INSERTION_FAILED);
   }
@@ -61,10 +54,7 @@ ReturnValue_t ObjectManager::remove(object_id_t id) {
 #endif
     return RETURN_OK;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("removeObject: Requested object {:#010x} not found\n", id);
-    sif::error << "ObjectManager::removeObject: Requested object " << std::hex << (int)id
-               << std::dec << " not found." << std::endl;
-#endif
     return NOT_FOUND;
   }
 }
@@ -79,64 +69,44 @@ SystemObjectIF* ObjectManager::getSystemObject(object_id_t id) {
 }
 
 void ObjectManager::initialize() {
-  if (objectFactoryFunction == nullptr) {
+  if (objectFactoryFunction != nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    objectFactoryFunction(factoryArgs);
-    sif::error << "ObjectManager::initialize: Passed produceObjects "
-                  "functions is nullptr!"
-               << std::endl;
-#else
-    sif::printError("ObjectManager::initialize: Passed produceObjects functions is nullptr!\n");
-#endif
-    return;
   }
-  objectFactoryFunction(factoryArgs);
   ReturnValue_t result = RETURN_FAILED;
   uint32_t errorCount = 0;
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
       object_id_t var = it.first;
-      sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
+      FSFW_LOGWT("initialize: Object {:#010x} failed to initialize with code {:#06x}\n", var,
-                 << std::setfill('0') << var
+                 result);
-                 << " failed to "
-                    "initialize with code 0x"
-                 << result << std::dec << std::setfill(' ') << std::endl;
-#endif
       errorCount++;
     }
   }
   if (errorCount > 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("{}", "initialize: Counted failed initializations\n");
-    sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
-               << " failed initializations." << std::endl;
-#endif
   }
   // Init was successful. Now check successful interconnections.
   errorCount = 0;
   for (auto const& it : objectList) {
     result = it.second->checkObjectConnections();
     if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGE("initialize: Object {:#010x} connection check failed with code {:#06x}\n", it.first,
-      sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex << (int)it.first
+                result);
-                 << " connection check failed with code 0x" << result << std::dec << std::endl;
-#endif
       errorCount++;
     }
   }
   if (errorCount > 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("{}", "ObjectManager::ObjectManager: Counted {} failed connection checks\n",
-    sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
+              errorCount);
-               << " failed connection checks." << std::endl;
-#endif
   }
 }
 
 void ObjectManager::printList() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "ObjectManager: Object List contains:" << std::endl;
+  sif::info("ObjectManager: Object List contains:\n");
   for (auto const& it : objectList) {
-    sif::debug << std::hex << it.first << " | " << it.second << std::endl;
+    sif::info("{:#010x} | {:#010x}\n", it.first, fmt::ptr(it.second));
   }
 #endif
 }

src/fsfw/objectmanager/ObjectManagerIF.h

@@ -2,9 +2,9 @@
 #define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "SystemObjectIF.h"
 #include "frameworkObjects.h"
+#include "fsfw/serviceinterface.h"
 
 /**
  * @brief	This class provides an interface to the global object manager.

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/common/TcpTmTcBridge.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 
@@ -21,17 +21,13 @@ TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, ob
     : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
   mutex = MutexFactory::instance()->createMutex();
   // Connection is always up, TM is requested by connecting to server and receiving packets
-  registerCommConnect();
+  TmTcBridge::registerCommConnect();
 }
 
 ReturnValue_t TcpTmTcBridge::initialize() {
   ReturnValue_t result = TmTcBridge::initialize();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("TcpTmTcBridge::initialize: TmTcBridge initialization failed\n");
-    sif::error << "TcpTmTcBridge::initialize: TmTcBridge initialization failed!" << std::endl;
-#else
-    sif::printError("TcpTmTcBridge::initialize: TmTcBridge initialization failed!\n");
-#endif
     return result;
   }
 

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcservices/SpacePacketParser.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
@@ -56,11 +56,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
   }
   tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
   if (tcStore == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("TcpTmTcServer::initialize: TC store uninitialized\n");
-    sif::error << "TcpTmTcServer::initialize: TC store uninitialized!" << std::endl;
-#else
-    sif::printError("TcpTmTcServer::initialize: TC store uninitialized!\n");
-#endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
@@ -205,11 +201,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 
 ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t packetSize) {
   if (wiretappingEnabled) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGI("Received TC:\n");
-    sif::info << "Received TC:" << std::endl;
-#else
-    sif::printInfo("Received TC:\n");
-#endif
     arrayprinter::print(spacePacket, packetSize);
   }
 
@@ -219,17 +211,7 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
   store_address_t storeId;
   ReturnValue_t result = tcStore->addData(&storeId, spacePacket, packetSize);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+    FSFW_LOGWT("handleTcReception: Data storage with packet size {} failed\n", packetSize);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TcpTmTcServer::handleServerOperation: Data storage with packet size"
-                 << packetSize << " failed" << std::endl;
-#else
-    sif::printWarning(
-        "TcpTmTcServer::handleServerOperation: Data storage with packet size %d "
-        "failed\n",
-        packetSize);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return result;
   }
 
@@ -237,17 +219,7 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
 
   result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+    FSFW_LOGWT("handleTcReception: Sending message to queue failed\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TcpTmTcServer::handleServerOperation: "
-                    " Sending message to queue failed"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "TcpTmTcServer::handleServerOperation: "
-        " Sending message to queue failed\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     tcStore->deleteData(storeId);
   }
   return result;
@@ -277,11 +249,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
       return result;
     }
     if (wiretappingEnabled) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGI("Sending TM:");
-      sif::info << "Sending TM:" << std::endl;
-#else
-      sif::printInfo("Sending TM:\n");
-#endif
       arrayprinter::print(storeAccessor.data(), storeAccessor.size());
     }
     ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
@@ -306,31 +274,14 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   size_t readAmount = availableReadData;
   lastRingBufferSize = availableReadData;
   if (readAmount >= ringBuffer.getMaxSize()) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     // Possible configuration error, too much data or/and data coming in too fast,
     // requiring larger buffers
-    sif::warning << "TcpTmTcServer::handleServerOperation: Ring buffer reached "
+    FSFW_LOGWT("handleTcRingBufferData: Ring buffer reached fill count\n");
-                 << "fill count" << std::endl;
-#else
-    sif::printWarning(
-        "TcpTmTcServer::handleServerOperation: Ring buffer reached "
-        "fill count");
-#endif
-#endif
   }
   if (readAmount >= receptionBuffer.size()) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     // Possible configuration error, too much data or/and data coming in too fast,
     // requiring larger buffers
-    sif::warning << "TcpTmTcServer::handleServerOperation: "
+    FSFW_LOGWT("handleTcRingBufferData: Reception buffer too small\n");
-                    "Reception buffer too small "
-                 << std::endl;
-#else
-    sif::printWarning("TcpTmTcServer::handleServerOperation: Reception buffer too small\n");
-#endif
-#endif
     readAmount = receptionBuffer.size();
   }
   ringBuffer.readData(receptionBuffer.data(), readAmount, true);

src/fsfw/osal/common/UdpTcPollingTask.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/common/tcpipHelpers.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 #include <winsock2.h>
@@ -51,9 +51,7 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
                  receptionFlags, &senderAddress, &senderAddressSize);
     if (bytesReceived == SOCKET_ERROR) {
       /* Handle error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+      FSFW_LOGW("performOperation: Reception error\n");
-      sif::error << "UdpTcPollingTask::performOperation: Reception error." << std::endl;
-#endif
       tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
       continue;
     }
@@ -81,12 +79,7 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 
   ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+    FSFW_LOGWT("handleSuccessfullTcRead: Data storage failed. Packet size {}\n", bytesRead);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UdpTcPollingTask::transferPusToSoftwareBus: Data storage failed." << std::endl;
-    sif::warning << "Packet size: " << bytesRead << std::endl;
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -94,13 +87,7 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 
   result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+    FSFW_LOGWT("handleSuccessfullTcRead: Sending message to queue failed\n");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: "
-                    " Sending message to queue failed"
-                 << std::endl;
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     tcStore->deleteData(storeId);
   }
   return result;
@@ -109,17 +96,13 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 ReturnValue_t UdpTcPollingTask::initialize() {
   tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
   if (tcStore == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("initialize: TC store uninitialized\n");
-    sif::error << "UdpTcPollingTask::initialize: TC store uninitialized!" << std::endl;
-#endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   tmtcBridge = ObjectManager::instance()->get<UdpTmTcBridge>(tmtcBridgeId);
   if (tmtcBridge == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("initialize: Invalid TMTC bridge object\n");
-    sif::error << "UdpTcPollingTask::initialize: Invalid TMTC bridge object!" << std::endl;
-#endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
@@ -158,11 +141,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
   tval = timevalOperations::toTimeval(timeoutSeconds);
   int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
   if (result == -1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGW("setTimeout: Setting receive timeout failed with {} | {}", errno, strerror(errno));
-    sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
-                  "receive timeout failed with "
-               << strerror(errno) << std::endl;
-#endif
   }
 #endif
 }

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/common/tcpipHelpers.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
@@ -36,13 +36,11 @@ UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
 ReturnValue_t UdpTmTcBridge::initialize() {
   ReturnValue_t result = TmTcBridge::initialize();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGE("initialize: TmTcBridge initialization failed\n");
-    sif::error << "UdpTmTcBridge::initialize: TmTcBridge initialization failed!" << std::endl;
-#endif
     return result;
   }
 
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
   /* Initiates Winsock DLL. */
   WSAData wsaData;
   WORD wVersionRequested = MAKEWORD(2, 2);
@@ -120,9 +118,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
   ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
                              &clientAddress, clientAddressLen);
   if (bytesSent == SOCKET_ERROR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGWT("sendTm: Send operation failed\n");
-    sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;
-#endif
     tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
   }
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1

src/fsfw/osal/common/tcpipCommon.cpp

@@ -1,7 +1,9 @@
 #include "fsfw/osal/common/tcpipCommon.h"
 
+#include <cerrno>
+
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
@@ -48,28 +50,20 @@ void tcpip::printAddress(struct sockaddr *addr) {
   const char *stringPtr = NULL;
   switch (addr->sa_family) {
     case AF_INET: {
-      struct sockaddr_in *addrIn = reinterpret_cast<struct sockaddr_in *>(addr);
+      auto *addrIn = reinterpret_cast<struct sockaddr_in *>(addr);
       stringPtr = inet_ntop(AF_INET, &(addrIn->sin_addr), ipAddress, INET_ADDRSTRLEN);
       break;
     }
     case AF_INET6: {
-      struct sockaddr_in6 *addrIn = reinterpret_cast<struct sockaddr_in6 *>(addr);
+      auto *addrIn = reinterpret_cast<struct sockaddr_in6 *>(addr);
       stringPtr = inet_ntop(AF_INET6, &(addrIn->sin6_addr), ipAddress, INET6_ADDRSTRLEN);
       break;
     }
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  if (stringPtr == nullptr) {
-  if (stringPtr == NULL) {
+    FSFW_LOGDT("Could not convert IP address to text representation, error code {} | {}", errno,
-    sif::debug << "Could not convert IP address to text representation, error code " << errno
+               strerror(errno));
-               << std::endl;
   } else {
-    sif::debug << "IP Address Sender: " << ipAddress << std::endl;
+    FSFW_LOGDT("IP Address Sender {}\n", ipAddress);
   }
-#else
-  if (stringPtr == NULL) {
-    sif::printDebug("Could not convert IP address to text representation, error code %d\n", errno);
-  } else {
-    sif::printDebug("IP Address Sender: %s\n", ipAddress);
-  }
-#endif
 }

src/fsfw/osal/freertos/BinSemaphUsingTask.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/osal/freertos/BinSemaphUsingTask.h"
 
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8
 

src/fsfw/osal/freertos/BinarySemaphore.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/osal/freertos/BinarySemaphore.h"
 
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 BinarySemaphore::BinarySemaphore() {
   handle = xSemaphoreCreateBinary();

src/fsfw/osal/freertos/CountingSemaphUsingTask.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/osal/freertos/CountingSemaphUsingTask.h"
 
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8
 

src/fsfw/osal/freertos/CountingSemaphore.cpp

@@ -2,7 +2,7 @@
 
 #include "FreeRTOS.h"
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "semphr.h"
 
 // Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -1,27 +1,22 @@
 #include "fsfw/osal/freertos/FixedTimeslotTask.h"
+#include "fsfw/serviceinterface.h"
 
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
 FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-                                     TaskStackSize setStack, TaskPeriod overallPeriod,
+                                     TaskStackSize setStack, TaskPeriod period,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(nullptr), pst(overallPeriod * 1000) {
+    : FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
-  // All additional attributes are applied to the object.
-  this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
 
-FixedTimeslotTask::~FixedTimeslotTask() {}
+FixedTimeslotTask::~FixedTimeslotTask() = default;
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as FixedTimeslotTask. The Task object is
   // global, so it is found from any place.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -32,26 +27,18 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
              << std::endl;
+#else
+  sif::printDebug("Polling task returned from taskFunctionality\n");
 #endif
 }
 
-void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
-               << std::endl;
-#endif
-  }
-}
-
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
 
@@ -63,31 +50,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-                                         int8_t executionStep) {
-  ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (handler != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   // A local iterator for the Polling Sequence Table is created to find the
   // start time for the first entry.
-  auto slotListIter = pst.current;
+  auto slotListIter = pollingSeqTable.current;
 
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -108,10 +76,10 @@ void FixedTimeslotTask::taskFunctionality() {
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     // The component for this slot is executed and the next one is chosen.
-    this->pst.executeAndAdvance();
+    this->pollingSeqTable.executeAndAdvance();
-    if (not pst.slotFollowsImmediately()) {
+    if (not pollingSeqTable.slotFollowsImmediately()) {
       // Get the interval till execution of the next slot.
-      intervalMs = this->pst.getIntervalToPreviousSlotMs();
+      intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
       interval = pdMS_TO_TICKS(intervalMs);
 
 #if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@@ -132,8 +100,8 @@ void FixedTimeslotTask::taskFunctionality() {
 }
 
 void FixedTimeslotTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }
 

src/fsfw/osal/freertos/FixedTimeslotTask.h

@@ -4,11 +4,11 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/tasks/FixedSlotSequence.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in mind that you need to call before vTaskStartScheduler()!
@@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * @return Pointer to the newly created task.
    */
   FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
-                    TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
+                    TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
 
   /**
    * @brief	The destructor of the class.
@@ -32,26 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * initialization for the PST and the device handlers. This is done by
    * calling the PST's destructor.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
-  /**
-   * This static function can be used as #deadlineMissedFunc.
-   * It counts missedDeadlines and prints the number of missed deadlines
-   * every 10th time.
-   */
-  static void missedDeadlineCounter();
-  /**
-   * A helper variable to count missed deadlines.
-   */
-  static uint32_t deadlineMissedCount;
-
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                        int8_t executionStep) override;
-
-  uint32_t getPeriodMs() const override;
-
-  ReturnValue_t checkSequence() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -61,17 +44,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
   bool started;
   TaskHandle_t handle;
 
-  FixedSlotSequence pst;
-
-  /**
-   * @brief	This attribute holds a function pointer that is executed when
-   *          a deadline was missed.
-   * @details
-   * Another function may be announced to determine the actions to perform
-   * when a deadline was missed. Currently, only one function for missing
-   * any deadline is allowed. If not used, it shall be declared NULL.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the entry point for a new task.
    * @details
@@ -88,7 +60,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };

src/fsfw/osal/freertos/FreeRTOSTaskIF.h

@@ -6,11 +6,11 @@
 
 class FreeRTOSTaskIF {
  public:
-  virtual ~FreeRTOSTaskIF() {}
+  virtual ~FreeRTOSTaskIF() = default;
   virtual TaskHandle_t getTaskHandle() = 0;
 
  protected:
-  bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
+  static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
     /* Check whether deadline was missed while also taking overflows
      * into account. Drawing this on paper with a timeline helps to understand
      * it. */

src/fsfw/osal/freertos/MessageQueue.cpp

@@ -2,7 +2,7 @@
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/freertos/QueueMapManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
@@ -14,9 +14,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
     sif::error << "Specified Message Depth: " << messageDepth << std::endl;
     sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
 #else
-    sif::printError("MessageQueue::MessageQueue: Creation failed\n");
+    // TODO: FMTLOG
-    sif::printError("Specified Message Depth: %d\n", messageDepth);
+//    sif::printError("MessageQueue::MessageQueue: Creation failed\n");
-    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
+//    sif::printError("Specified Message Depth: %d\n", messageDepth);
+//    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
 #endif
   }
   QueueMapManager::instance()->addMessageQueue(handle, &id);

src/fsfw/osal/freertos/Mutex.cpp

@@ -1,6 +1,6 @@
 #include "fsfw/osal/freertos/Mutex.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 Mutex::Mutex() {
   handle = xSemaphoreCreateMutex();

src/fsfw/osal/freertos/PeriodicTask.cpp

@@ -1,31 +1,32 @@
 #include "fsfw/osal/freertos/PeriodicTask.h"
 
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), handle(nullptr) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
   if (status != pdPASS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+    sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: "
-                  "Status: "
                << status << std::endl;
+#else
+    sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n",
+                    status);
 #endif
   }
 }
 
-PeriodicTask::~PeriodicTask(void) {
+// Do not delete objects, we were responsible for ptrs only.
-  // Do not delete objects, we were responsible for ptrs only.
+PeriodicTask::~PeriodicTask() = default;
-}
 
 void PeriodicTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as PeriodicTask. The Task object is
   // global, so it is found from any place.
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -36,7 +37,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
@@ -62,13 +63,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicTask::taskFunctionality() {
+[[noreturn]] void PeriodicTask::taskFunctionality() {
   TickType_t xLastWakeTime;
   const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 
-  for (auto const& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
   /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to
@@ -77,8 +76,8 @@ void PeriodicTask::taskFunctionality() {
   xLastWakeTime = xTaskGetTickCount();
   /* Enter the loop that defines the task behavior. */
   for (;;) {
-    for (auto const& object : objectList) {
+    for (auto const& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
 
 #if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
   }
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-                  "it implement ExecutableObjectIF"
-               << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
 
 void PeriodicTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }

src/fsfw/osal/freertos/PeriodicTask.h

@@ -6,8 +6,8 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
 class ExecutableObjectIF;
@@ -17,7 +17,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
+class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  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 Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -83,28 +62,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
   bool started;
   TaskHandle_t handle;
 
-  //! Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-  /**
-   * @brief	The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed so each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details
@@ -125,7 +82,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * the next period.
    * On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };

src/fsfw/osal/freertos/QueueMapManager.cpp

@@ -30,9 +30,10 @@ ReturnValue_t QueueMapManager::addMessageQueue(QueueHandle_t queue, MessageQueue
                   "inside the map!"
                << std::endl;
 #else
-    sif::printError(
+    // TODO: FMTLOG
-        "QueueMapManager::addMessageQueue This ID is already "
+//    sif::printError(
-        "inside the map!\n");
+//        "QueueMapManager::addMessageQueue This ID is already "
+//        "inside the map!\n");
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -51,8 +52,9 @@ QueueHandle_t QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId)
     sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId
                  << " does not exists in the map!" << std::endl;
 #else
-    sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
+    // TODO: FMTLOG
-                      messageQueueId);
+//    sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
+//                      messageQueueId);
 #endif
   }
   return nullptr;

src/fsfw/osal/freertos/SemaphoreFactory.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/osal/freertos/BinarySemaphore.h"
 #include "fsfw/osal/freertos/CountingSemaphUsingTask.h"
 #include "fsfw/osal/freertos/CountingSemaphore.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 

src/fsfw/osal/host/Clock.cpp

@@ -4,7 +4,7 @@
 
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if defined(PLATFORM_WIN)
 #include <sysinfoapi.h>
@@ -14,36 +14,24 @@
 
 using SystemClock = std::chrono::system_clock;
 
-uint32_t Clock::getTicksPerSecond(void) {
+uint32_t Clock::getTicksPerSecond() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGW("getTicksPerSecond: Not implemented for host OSAL\n");
-  sif::warning << "Clock::getTicksPerSecond: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::getTicksPerSecond: Not implemented for host OSAL\n");
-#endif
   /* To avoid division by zero */
   return 1;
 }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  /* I don't know why someone would need to set a clock which is probably perfectly fine on a
+  // I don't know why someone would need to set a clock which is probably perfectly fine on a
-  host system with internet access so this is not implemented for now. */
+  // host system with internet access so this is not implemented for now.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGI("Clock::setClock: Not implemented for host OSAL\n");
-  sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
+  return HasReturnvaluesIF::RETURN_FAILED;
-#else
-  sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::setClock(const timeval* time) {
-  /* I don't know why someone would need to set a clock which is probably perfectly fine on a
+  // I don't know why someone would need to set a clock which is probably perfectly fine on a
-  host system with internet access so this is not implemented for now. */
+  // host system with internet access so this is not implemented for now.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGI("Clock::setClock: Not implemented for host OSAL\n");
-  sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
+  return HasReturnvaluesIF::RETURN_FAILED;
-#else
-  sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getClock_timeval(timeval* time) {

src/fsfw/osal/host/FixedTimeslotTask.cpp

@@ -3,13 +3,11 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/osal/host/FixedTimeslotTask.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 #if defined(PLATFORM_WIN)
@@ -22,12 +20,8 @@
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
                                      TaskStackSize setStack, TaskPeriod setPeriod,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false),
+    : FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
-      pollingSeqTable(setPeriod * 1000),
-      taskName(name),
-      period(setPeriod),
-      deadlineMissedFunc(setDeadlineMissedFunc) {
   // It is propably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
@@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-FixedTimeslotTask::~FixedTimeslotTask(void) {
+FixedTimeslotTask::~FixedTimeslotTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -58,11 +52,7 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
   }
 
   this->taskFunctionality();
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+  FSFW_LOGET("taskEntryPoint: Returned from taskFunctionality\n");
-  sif::debug << "FixedTimeslotTask::taskEntryPoint: "
-                "Returned from taskFunctionality."
-             << std::endl;
-#endif
 }
 
 ReturnValue_t FixedTimeslotTask::startTask() {
@@ -81,7 +71,9 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // A local iterator for the Polling Sequence Table is created to
   // find the start time for the first entry.
@@ -106,37 +98,15 @@ void FixedTimeslotTask::taskFunctionality() {
       // we need to wait before executing the current slot
       // this gives us the time to wait:
       interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
-      delayForInterval(&currentStartTime, interval);
+      if (not delayForInterval(&currentStartTime, interval)) {
-      // TODO deadline missed check
+        if (dlmFunc != nullptr) {
+          dlmFunc();
+        }
+      }
     }
   }
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << "0x" << componentId
-             << "not found, "
-                "not adding it to PST.."
-             << std::dec << std::endl;
-#else
-  sif::printError("Component 0x%08x not found, not adding it to PST..\n",
-                  static_cast<unsigned int>(componentId));
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
-
 bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -6,10 +6,10 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "../../tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  * @details
  * @ingroup task_handling
  */
-class FixedTimeslotTask : public FixedTimeslotTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * @brief   Standard constructor of the class.
@@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * @brief   Currently, the executed object's lifetime is not coupled with
    *          the task object's lifetime, so the destructor is empty.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
   /**
    * @brief   The method to start the task.
@@ -48,56 +48,22 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    *          The address of the task object is passed as an argument
    *          to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
 
-  /**
+  ReturnValue_t sleepFor(uint32_t ms) override;
-   * Add timeslot to the polling sequence table.
-   * @param componentId
-   * @param slotTimeMs
-   * @param executionStep
-   * @return
-   */
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
-
-  ReturnValue_t checkSequence() const override;
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   using chron_ms = std::chrono::milliseconds;
 
   bool started;
-  //!< Typedef for the List of objects.
+
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  //! Polling sequence table which contains the object to execute
-  //! and information like the timeslots and the passed execution step.
-  FixedSlotSequence pollingSeqTable;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
-   * @brief   The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
 
-  /**
-   * @brief   The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief   This is the function executed in the new task's context.
    * @details
@@ -117,9 +83,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/host/MessageQueue.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/host/QueueMapManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
@@ -15,11 +15,7 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
   queueLock = MutexFactory::instance()->createMutex();
   auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    FSFW_LOGET("ctor: Could not be created\n");
-    sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
-#else
-    sif::printError("MessageQueue::MessageQueue: Could not be created\n");
-#endif
   }
 }