default argument

Reviewed-on: #62

CHANGELOG.md

@@ -12,20 +12,31 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
-- GPIO HAL: Renamed entries of enumerations to avoid nameclashes with Windows defines.
-  `IN` and `OUT` in `Direction` changed to `DIR_IN` and `DIR_OUT`.
-  `CALLBACK` in `GpioTypes` changed to `TYPE_CALLBACK`
+- 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
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
-  datapools have been implemented
+  datapools have been implemented.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
 
 ## Additions
 
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
+- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
+  inside `fsfw/version.h`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 
 # [v4.0.0]
 

CMakeLists.txt

@@ -48,9 +48,10 @@ add_library(${LIB_FSFW_NAME})
 if(FSFW_BUILD_UNITTESTS)
     message(STATUS "Building the FSFW unittests in addition to the static library")
     # Check whether the user has already installed Catch2 first
-    find_package(Catch2 3)
+    find_package(Catch2 3 QUIET)
     # Not installed, so use FetchContent to download and provide Catch2
     if(NOT Catch2_FOUND)
+        message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
         include(FetchContent)
 
         FetchContent_Declare(

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -1,9 +1,6 @@
 #include "MgmLIS3MDLHandler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
 
 #include <cmath>
 

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

@@ -0,0 +1,27 @@
+#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
+#define FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
+
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+
+/**
+ * @brief   Additional abstraction layer for handling GPIOs.
+ *
+ * @author  J. Meier
+ */
+class Gpio {
+ public:
+  Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) {
+    if (gpioIF == nullptr) {
+      sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl;
+    }
+  }
+  ReturnValue_t pullHigh() { return gpioIF->pullHigh(gpioId); }
+  ReturnValue_t pullLow() { return gpioIF->pullLow(gpioId); }
+
+ private:
+  gpioId_t gpioId = gpio::NO_GPIO;
+  GpioIF* gpioIF = nullptr;
+};
+
+#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ */

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

@@ -148,16 +148,16 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
   /* Clear size bits */
   options->c_cflag &= ~CSIZE;
   switch (uartCookie->getBitsPerWord()) {
-    case 5:
+    case BitsPerWord::BITS_5:
       options->c_cflag |= CS5;
       break;
-    case 6:
+    case BitsPerWord::BITS_6:
       options->c_cflag |= CS6;
       break;
-    case 7:
+    case BitsPerWord::BITS_7:
       options->c_cflag |= CS7;
       break;
-    case 8:
+    case BitsPerWord::BITS_8:
       options->c_cflag |= CS8;
       break;
     default:
@@ -193,123 +193,123 @@ void UartComIF::setFixedOptions(struct termios* options) {
 
 void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
   switch (uartCookie->getBaudrate()) {
-    case 50:
+    case UartBaudRate::RATE_50:
       cfsetispeed(options, B50);
       cfsetospeed(options, B50);
       break;
-    case 75:
+    case UartBaudRate::RATE_75:
       cfsetispeed(options, B75);
       cfsetospeed(options, B75);
       break;
-    case 110:
+    case UartBaudRate::RATE_110:
       cfsetispeed(options, B110);
       cfsetospeed(options, B110);
       break;
-    case 134:
+    case UartBaudRate::RATE_134:
       cfsetispeed(options, B134);
       cfsetospeed(options, B134);
       break;
-    case 150:
+    case UartBaudRate::RATE_150:
       cfsetispeed(options, B150);
       cfsetospeed(options, B150);
       break;
-    case 200:
+    case UartBaudRate::RATE_200:
       cfsetispeed(options, B200);
       cfsetospeed(options, B200);
       break;
-    case 300:
+    case UartBaudRate::RATE_300:
       cfsetispeed(options, B300);
       cfsetospeed(options, B300);
       break;
-    case 600:
+    case UartBaudRate::RATE_600:
       cfsetispeed(options, B600);
       cfsetospeed(options, B600);
       break;
-    case 1200:
+    case UartBaudRate::RATE_1200:
       cfsetispeed(options, B1200);
       cfsetospeed(options, B1200);
       break;
-    case 1800:
+    case UartBaudRate::RATE_1800:
       cfsetispeed(options, B1800);
       cfsetospeed(options, B1800);
       break;
-    case 2400:
+    case UartBaudRate::RATE_2400:
       cfsetispeed(options, B2400);
       cfsetospeed(options, B2400);
       break;
-    case 4800:
+    case UartBaudRate::RATE_4800:
       cfsetispeed(options, B4800);
       cfsetospeed(options, B4800);
       break;
-    case 9600:
+    case UartBaudRate::RATE_9600:
       cfsetispeed(options, B9600);
       cfsetospeed(options, B9600);
       break;
-    case 19200:
+    case UartBaudRate::RATE_19200:
       cfsetispeed(options, B19200);
       cfsetospeed(options, B19200);
       break;
-    case 38400:
+    case UartBaudRate::RATE_38400:
       cfsetispeed(options, B38400);
       cfsetospeed(options, B38400);
       break;
-    case 57600:
+    case UartBaudRate::RATE_57600:
       cfsetispeed(options, B57600);
       cfsetospeed(options, B57600);
       break;
-    case 115200:
+    case UartBaudRate::RATE_115200:
       cfsetispeed(options, B115200);
       cfsetospeed(options, B115200);
       break;
-    case 230400:
+    case UartBaudRate::RATE_230400:
       cfsetispeed(options, B230400);
       cfsetospeed(options, B230400);
       break;
-    case 460800:
+    case UartBaudRate::RATE_460800:
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
       break;
-    case 500000:
+    case UartBaudRate::RATE_500000:
       cfsetispeed(options, B500000);
       cfsetospeed(options, B500000);
       break;
-    case 576000:
+    case UartBaudRate::RATE_576000:
       cfsetispeed(options, B576000);
       cfsetospeed(options, B576000);
       break;
-    case 921600:
+    case UartBaudRate::RATE_921600:
       cfsetispeed(options, B921600);
       cfsetospeed(options, B921600);
       break;
-    case 1000000:
+    case UartBaudRate::RATE_1000000:
       cfsetispeed(options, B1000000);
       cfsetospeed(options, B1000000);
       break;
-    case 1152000:
+    case UartBaudRate::RATE_1152000:
       cfsetispeed(options, B1152000);
       cfsetospeed(options, B1152000);
       break;
-    case 1500000:
+    case UartBaudRate::RATE_1500000:
       cfsetispeed(options, B1500000);
       cfsetospeed(options, B1500000);
       break;
-    case 2000000:
+    case UartBaudRate::RATE_2000000:
       cfsetispeed(options, B2000000);
       cfsetospeed(options, B2000000);
       break;
-    case 2500000:
+    case UartBaudRate::RATE_2500000:
       cfsetispeed(options, B2500000);
       cfsetospeed(options, B2500000);
       break;
-    case 3000000:
+    case UartBaudRate::RATE_3000000:
       cfsetispeed(options, B3000000);
       cfsetospeed(options, B3000000);
       break;
-    case 3500000:
+    case UartBaudRate::RATE_3500000:
       cfsetispeed(options, B3500000);
       cfsetospeed(options, B3500000);
       break;
-    case 4000000:
+    case UartBaudRate::RATE_4000000:
       cfsetispeed(options, B4000000);
       cfsetospeed(options, B4000000);
       break;

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

@@ -2,8 +2,8 @@
 
 #include <fsfw/serviceinterface.h>
 
-UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-                       uint32_t baudrate, size_t maxReplyLen)
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
+                       size_t maxReplyLen, UartModes uartMode)
     : handlerId(handlerId),
       deviceFile(deviceFile),
       uartMode(uartMode),
@@ -12,7 +12,7 @@ UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes
 
 UartCookie::~UartCookie() {}
 
-uint32_t UartCookie::getBaudrate() const { return baudrate; }
+UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
 
 size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
 
@@ -24,23 +24,9 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
 Parity UartCookie::getParity() const { return parity; }
 
-void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
-  switch (bitsPerWord_) {
-    case 5:
-    case 6:
-    case 7:
-    case 8:
-      break;
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
-#endif
-      return;
-  }
-  bitsPerWord = bitsPerWord_;
-}
+void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
 
-uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
+BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
 
 StopBits UartCookie::getStopBits() const { return stopBits; }
 

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

@@ -12,6 +12,41 @@ enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
 
 enum class UartModes { CANONICAL, NON_CANONICAL };
 
+enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
+
+enum class UartBaudRate {
+  RATE_50,
+  RATE_75,
+  RATE_110,
+  RATE_134,
+  RATE_150,
+  RATE_200,
+  RATE_300,
+  RATE_600,
+  RATE_1200,
+  RATE_1800,
+  RATE_2400,
+  RATE_4800,
+  RATE_9600,
+  RATE_19200,
+  RATE_38400,
+  RATE_57600,
+  RATE_115200,
+  RATE_230400,
+  RATE_460800,
+  RATE_500000,
+  RATE_576000,
+  RATE_921600,
+  RATE_1000000,
+  RATE_1152000,
+  RATE_1500000,
+  RATE_2000000,
+  RATE_2500000,
+  RATE_3000000,
+  RATE_3500000,
+  RATE_4000000
+};
+
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
  *          The constructor only requests for common options like the baudrate. Other options can
@@ -27,25 +62,23 @@ class UartCookie : public CookieIF {
    * @param uartMode      Specify the UART mode. The canonical mode should be used if the
    *                      messages are separated by a delimited character like '\n'. See the
    *                      termios documentation for more information
-   * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
-   *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
-   *                      38400, 57600, 115200, 230400, 460800
+   * @param baudrate      The baudrate to use for input and output.
    * @param maxReplyLen   The maximum size an object using this cookie expects
    * @details
    * Default configuration: No parity
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
-             size_t maxReplyLen);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
+             size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
 
   virtual ~UartCookie();
 
-  uint32_t getBaudrate() const;
+  UartBaudRate getBaudrate() const;
   size_t getMaxReplyLen() const;
   std::string getDeviceFile() const;
   Parity getParity() const;
-  uint8_t getBitsPerWord() const;
+  BitsPerWord getBitsPerWord() const;
   StopBits getStopBits() const;
   UartModes getUartMode() const;
   object_id_t getHandlerId() const;
@@ -76,7 +109,7 @@ class UartCookie : public CookieIF {
   /**
    * Function two set number of bits per UART frame.
    */
-  void setBitsPerWord(uint8_t bitsPerWord_);
+  void setBitsPerWord(BitsPerWord bitsPerWord_);
 
   /**
    * Function to specify the number of stopbits.
@@ -97,10 +130,10 @@ class UartCookie : public CookieIF {
   std::string deviceFile;
   const UartModes uartMode;
   bool flushInput = false;
-  uint32_t baudrate;
+  UartBaudRate baudrate;
   size_t maxReplyLen = 0;
   Parity parity = Parity::NONE;
-  uint8_t bitsPerWord = 8;
+  BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
   uint8_t readCycles = 1;
   StopBits stopBits = StopBits::ONE_STOP_BIT;
   bool replySizeFixed = true;

src/fsfw/CMakeLists.txt

@@ -1,3 +1,7 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    version.cpp
+)
+
 # Core
 
 add_subdirectory(action)

src/fsfw/FSFW.h.in

@@ -31,7 +31,7 @@
 #endif /* FSFW_VERBOSE_LEVEL */
 
 #ifndef FSFW_DISABLE_PRINTOUT
-#define FSFW_DISABLE_PRINTOUT 0
+#define FSFW_DISABLE_PRINTOUT               0
 #endif
 
 #ifndef FSFW_USE_REALTIME_FOR_LINUX

src/fsfw/FSFWVersion.h.in

@@ -2,8 +2,8 @@
 #define FSFW_VERSION_H_
 
 // Versioning is kept in project CMakeLists.txt file
-#define FSFW_VERSION @FSFW_VERSION@
-#define FSFW_SUBVERSION @FSFW_SUBVERSION@
-#define FSFW_REVISION @FSFW_REVISION@
+#define FSFW_VERSION_MAJOR @FSFW_VERSION@
+#define FSFW_VERSION_MINOR @FSFW_SUBVERSION@
+#define FSFW_VERSION_REVISION @FSFW_REVISION@
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/action/CommandActionHelper.h

@@ -16,8 +16,8 @@ class CommandActionHelper {
  public:
   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,
+                              const uint8_t* data = nullptr, uint32_t size = 0);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);

src/fsfw/container/HybridIterator.h

@@ -10,16 +10,24 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
   HybridIterator() {}
 
   HybridIterator(typename LinkedElement<T>::Iterator *iter)
-      : LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {}
+      : LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {
+    if(iter != nullptr) {
+      value = iter->value;
+    }
+  }
 
   HybridIterator(LinkedElement<T> *start)
-      : LinkedElement<T>::Iterator(start), value(start->value), linked(true) {}
+      : LinkedElement<T>::Iterator(start), linked(true) {
+    if(start != nullptr) {
+      value = start->value;
+    }
+  }
 
   HybridIterator(typename ArrayList<T, count_t>::Iterator start,
                  typename ArrayList<T, count_t>::Iterator end)
       : ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) {
     if (value == this->end) {
-      value = NULL;
+      value = nullptr;
     }
   }
 

src/fsfw/datapool/PoolEntry.cpp

@@ -7,24 +7,26 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
-    : length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
-  this->address = new T[this->length];
-  if (initValue.size() == 0) {
-    std::memset(this->address, 0, this->getByteSize());
-  } else {
-    std::copy(initValue.begin(), initValue.end(), this->address);
+PoolEntry<T>::PoolEntry(uint8_t len, bool setValid): length(len), valid(setValid) {
+  this->address = new T[this->length]();
+  std::memset(this->address, 0, this->getByteSize());
+}
+
+template <typename T>
+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());
   }
 }
 

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/datapoollocal/LocalPoolDataSetBase.h

@@ -162,6 +162,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
   object_id_t getCreatorObjectId();
 
   bool getReportingEnabled() const;
+  void setReportingEnabled(bool enabled);
 
   /**
    * Returns the current periodic HK generation interval this set
@@ -189,7 +190,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    * Used for periodic generation.
    */
   bool reportingEnabled = false;
-  void setReportingEnabled(bool enabled);
 
   void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
                                 uint8_t nonDiagIntervalFactor = 5);

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() {
 
 void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   doStartTransition(mode, submode);
-  if (modeHelper.isForced()) {
-    triggerEvent(FORCING_MODE, mode, submode);
-  } else {
-    triggerEvent(CHANGING_MODE, mode, submode);
-  }
+  triggerModeHelperEvents(mode, submode);
 }
 
 void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() {
   }
   HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
   if (healthState == HasHealthIF::NEEDS_RECOVERY) {
-    triggerEvent(TRYING_RECOVERY);
+    triggerEvent(TRYING_RECOVERY, iter->first, 0);
     recoveryState = RECOVERY_STARTED;
     recoveringDevice = iter;
+    // The user needs to take care of commanding the children off in commandChildren
     doStartTransition(targetMode, targetSubmode);
   } else {
     triggerEvent(CHILD_CHANGED_HEALTH);
@@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
 bool AssemblyBase::checkAndHandleRecovery() {
   switch (recoveryState) {
     case RECOVERY_STARTED:
+      // The recovery was already start in #handleChildrenChangedHealth and we just need
+      // to wait for an off time period.
+      // TODO: make time period configurable
       recoveryState = RECOVERY_WAIT;
       recoveryOffTimer.resetTimer();
       return true;
@@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
   modeHelper.setForced(true);
   sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
 }
+
+void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
+  if (modeHelper.isForced()) {
+    triggerEvent(FORCING_MODE, mode, submode);
+  } else {
+    triggerEvent(CHANGING_MODE, mode, submode);
+  }
+}

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,7 +12,8 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices.
+ * otherwise be needed for the handling of redundant devices. However, it can also be used to
+ * manage the mode keeping and recovery of non-redundant devices
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -26,11 +27,9 @@
  *
  * Important:
  *
- * The implementation must call registerChild(object_id_t child)
- * for all commanded children during initialization.
+ * The implementation must call #registerChild for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
- *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -47,9 +46,10 @@ class AssemblyBase : public SubsystemBase {
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination
-   * Can be done by setting #commandsOutstanding correctly,
-   * or using executeTable()
+   * Command children to reach [mode,submode] combination. Can be done by setting
+   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
+   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
+   * a recovery might be on-going and the device needs to be commanded to off first.
    * @param mode
    * @param submode
    * @return
@@ -162,6 +162,12 @@ class AssemblyBase : public SubsystemBase {
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
+  /**
+   * Calls #doStartTransition and triggers an informative event as well that the mode will
+   * change
+   * @param mode
+   * @param submode
+   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
   /**
@@ -190,7 +196,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  bool checkAndHandleRecovery();
+  virtual bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -198,6 +204,8 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
+
+  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -49,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
                         HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
-  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@@ -127,6 +124,18 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != RETURN_OK) {
     return result;
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance =
+        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
+  }
+
+  if (this->parent != objects::NO_OBJECT) {
+    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
+    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
+    if (modeIF != nullptr and healthIF != nullptr) {
+      setParentQueue(modeIF->getCommandQueue());
+    }
+  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -353,14 +362,12 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
-
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -411,7 +418,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
     DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
     size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
   // No need to check, as we may try to insert multiple times.
-  insertInCommandMap(deviceCommand);
+  insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
   if (hasDifferentReplyId) {
     return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
   } else {
@@ -438,11 +445,15 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   }
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand,
+                                                    bool useAlternativeReply,
+                                                    DeviceCommandId_t alternativeReplyId) {
   DeviceCommandInfo info;
   info.expectedReplies = 0;
   info.isExecuting = false;
   info.sendReplyTo = NO_COMMANDER;
+  info.useAlternativeReplyId = alternativeReplyId;
+  info.alternativeReplyId = alternativeReplyId;
   auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -452,12 +463,20 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
 }
 
 size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
-  DeviceReplyIter iter = deviceReplyMap.find(commandId);
-  if (iter != deviceReplyMap.end()) {
-    return iter->second.replyLen;
+  DeviceCommandId_t replyId = NO_COMMAND_ID;
+  DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
+  if (command->second.useAlternativeReplyId) {
+    replyId = command->second.alternativeReplyId;
   } else {
-    return 0;
+    replyId = commandId;
   }
+  DeviceReplyIter iter = deviceReplyMap.find(replyId);
+  if (iter != deviceReplyMap.end()) {
+    if (iter->second.delayCycles != 0) {
+      return iter->second.replyLen;
+    }
+  }
+  return 0;
 }
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
@@ -652,7 +671,9 @@ void DeviceHandlerBase::doGetWrite() {
 
     // We need to distinguish here, because a raw command never expects a reply.
     //(Could be done in eRIRM, but then child implementations need to be careful.
-    result = enableReplyInReplyMap(cookieInfo.pendingCommand);
+    DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
+    result = enableReplyInReplyMap(command, 1, command->second.useAlternativeReplyId,
+                                   command->second.alternativeReplyId);
   } else {
     // always generate a failure event, so that FDIR knows what's up
     triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, cookieInfo.pendingCommand->first);
@@ -1494,3 +1515,11 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
+
+void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
+
+void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
+
+void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
+  this->powerSwitcher = switcher;
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
+  void setCustomFdir(FailureIsolationBase *fdir);
+  void setParent(object_id_t parent);
+  void setPowerSwitcher(PowerSwitchIF *switcher);
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -478,7 +481,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @return - @c RETURN_OK when the command was successfully inserted,
    *         - @c RETURN_FAILED else.
    */
-  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
+  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
+                                   bool useAlternativeReply = false,
+                                   DeviceCommandId_t alternativeReplyId = 0);
 
   /**
    * Enables a periodic reply for a given command. It sets to delay cycles to the specified
@@ -757,6 +762,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     //! if this is != NO_COMMANDER, DHB was commanded externally and shall
     //! report everything to commander.
     MessageQueueId_t sendReplyTo;
+    bool useAlternativeReplyId;
+    DeviceCommandId_t alternativeReplyId;
   };
   using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo>;
   /**
@@ -824,6 +831,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
+  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;

src/fsfw/events/Event.h

@@ -7,8 +7,14 @@
 // could be moved to more suitable location
 #include <events/subsystemIdRanges.h>
 
-typedef uint16_t EventId_t;
-typedef uint8_t EventSeverity_t;
+using EventId_t = uint16_t;
+using EventSeverity_t = uint8_t;
+using UniqueEventId_t = uint8_t;
+
+namespace severity {
+enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
+
+}  // namespace severity
 
 #define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id))
 
@@ -20,18 +26,11 @@ constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
 
 constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
 
-constexpr Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
+constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
                           EventSeverity_t eventSeverity) {
   return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
 }
 
 }  // namespace event
 
-namespace severity {
-static constexpr EventSeverity_t INFO = 1;
-static constexpr EventSeverity_t LOW = 2;
-static constexpr EventSeverity_t MEDIUM = 3;
-static constexpr EventSeverity_t HIGH = 4;
-}  // namespace severity
-
 #endif /* EVENTOBJECT_EVENT_H_ */

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -52,11 +52,12 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object"
-                 << "invalid." << std::endl;
-#endif
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
+      sif::error << "FailureIsolationBase::intialize: Parent object "
+                 << "invalid" << std::endl;
+      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
+#else
+      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
+      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return RETURN_FAILED;

src/fsfw/globalfunctions/CMakeLists.txt

@@ -1,13 +1,13 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		arrayprinter.cpp
-		AsciiConverter.cpp
-		CRC.cpp
-		DleEncoder.cpp
-		PeriodicOperationDivider.cpp
-		timevalOperations.cpp
-		Type.cpp
-		bitutility.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    arrayprinter.cpp
+    AsciiConverter.cpp
+    CRC.cpp
+    DleEncoder.cpp
+    DleParser.cpp
+    PeriodicOperationDivider.cpp
+    timevalOperations.cpp
+    Type.cpp
+    bitutility.cpp
 )
 
 add_subdirectory(math)

src/fsfw/globalfunctions/DleParser.cpp

@@ -0,0 +1,231 @@
+#include "DleParser.h"
+
+#include <fsfw/globalfunctions/DleEncoder.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <cstdio>
+
+DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
+                     BufPair decodedBuf, UserHandler handler, void* args)
+    : decodeRingBuf(decodeRingBuf),
+      decoder(decoder),
+      encodedBuf(encodedBuf),
+      decodedBuf(decodedBuf),
+      handler(handler),
+      ctx(args) {
+  if (handler == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
+#else
+    sif::printError("DleParser::DleParser: Invalid user handler\n");
+#endif
+  }
+}
+
+ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
+  if (data == nullptr or len == 0 or handler == nullptr) {
+    return RETURN_FAILED;
+  }
+  size_t copyIntoRingBufFromHere = 0;
+  size_t copyAmount = len;
+  size_t startIdx = 0;
+  ReturnValue_t result = RETURN_OK;
+  bool startFoundInThisPacket = false;
+  for (size_t idx = 0; idx < len; idx++) {
+    if (data[idx] == DleEncoder::STX_CHAR) {
+      if (not startFound and not startFoundInThisPacket) {
+        startIdx = idx;
+        copyIntoRingBufFromHere = idx;
+        copyAmount = len - idx;
+      } else {
+        // Maybe print warning, should not happen
+        decodeRingBuf.clear();
+        ErrorInfo info;
+        info.len = idx;
+        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
+        handler(ctx);
+        copyIntoRingBufFromHere = idx;
+        copyAmount = len - idx;
+      }
+      startFound = true;
+      startFoundInThisPacket = true;
+    } else if (data[idx] == DleEncoder::ETX_CHAR) {
+      if (startFoundInThisPacket) {
+        size_t readLen = 0;
+        size_t decodedLen = 0;
+        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
+                                decodedBuf.second, &decodedLen);
+        if (result == HasReturnvaluesIF::RETURN_OK) {
+          ctx.setType(ContextType::PACKET_FOUND);
+          ctx.decodedPacket.first = decodedBuf.first;
+          ctx.decodedPacket.second = decodedLen;
+          this->handler(ctx);
+        } else if (result == DleEncoder::STREAM_TOO_SHORT) {
+          ErrorInfo info;
+          info.res = result;
+          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+          handler(ctx);
+        } else {
+          ErrorInfo info;
+          info.res = result;
+          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+          handler(ctx);
+        }
+        decodeRingBuf.clear();
+        if ((idx + 1) < len) {
+          copyIntoRingBufFromHere = idx + 1;
+          copyAmount = len - idx - 1;
+        } else {
+          copyAmount = 0;
+        }
+      } else if (startFound) {
+        // ETX found but STX was found in another mini packet. Reconstruct the full packet
+        // to decode it
+        result = decodeRingBuf.writeData(data, idx + 1);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          ErrorInfo info;
+          info.res = result;
+          prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
+          handler(ctx);
+        }
+        size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
+        if (fullEncodedLen > encodedBuf.second) {
+          ErrorInfo info;
+          info.len = fullEncodedLen;
+          prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
+          handler(ctx);
+          decodeRingBuf.clear();
+        } else {
+          size_t decodedLen = 0;
+          size_t readLen = 0;
+          decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
+          result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
+                                  decodedBuf.second, &decodedLen);
+          if (result == HasReturnvaluesIF::RETURN_OK) {
+            if (this->handler != nullptr) {
+              ctx.setType(ContextType::PACKET_FOUND);
+              ctx.decodedPacket.first = decodedBuf.first;
+              ctx.decodedPacket.second = decodedLen;
+              this->handler(ctx);
+            }
+          } else if (result == DleEncoder::STREAM_TOO_SHORT) {
+            ErrorInfo info;
+            info.res = result;
+            prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+            handler(ctx);
+          } else {
+            ErrorInfo info;
+            info.res = result;
+            prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
+            handler(ctx);
+          }
+          decodeRingBuf.clear();
+          startFound = false;
+          startFoundInThisPacket = false;
+          if ((idx + 1) < len) {
+            copyIntoRingBufFromHere = idx + 1;
+            copyAmount = len - idx - 1;
+          } else {
+            copyAmount = 0;
+          }
+        }
+      } else {
+        // End data without preceeding STX
+        ErrorInfo info;
+        info.len = idx + 1;
+        prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
+        handler(ctx);
+        decodeRingBuf.clear();
+        if ((idx + 1) < len) {
+          copyIntoRingBufFromHere = idx + 1;
+          copyAmount = len - idx - 1;
+        } else {
+          copyAmount = 0;
+        }
+      }
+      startFoundInThisPacket = false;
+      startFound = false;
+    }
+  }
+  if (copyAmount > 0) {
+    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      ErrorInfo info;
+      info.res = result;
+      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
+      handler(ctx);
+    }
+  }
+  return RETURN_OK;
+}
+
+void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
+            << std::endl;
+#else
+  sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
+#endif
+#endif
+}
+
+void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
+  switch (err) {
+    case (ErrorTypes::NONE): {
+      errorPrinter("No error");
+      break;
+    }
+    case (ErrorTypes::DECODE_ERROR): {
+      errorPrinter("Decode Error");
+      break;
+    }
+    case (ErrorTypes::RING_BUF_ERROR): {
+      errorPrinter("Ring Buffer Error");
+      break;
+    }
+    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
+    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
+      char opt[64];
+      snprintf(opt, sizeof(opt), ": Too small for packet with length %d", ctx.len);
+      if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
+        errorPrinter("Encoded buf too small", opt);
+      } else {
+        errorPrinter("Decoding buf too small", opt);
+      }
+      break;
+    }
+    case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
+      errorPrinter("Consecutive STX chars detected");
+      break;
+    }
+    case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
+      errorPrinter("Consecutive ETX chars detected");
+      break;
+    }
+  }
+}
+
+void DleParser::errorPrinter(const char* str, const char* opt) {
+  if (opt == nullptr) {
+    opt = "";
+  }
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
+#else
+  sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
+#endif
+#endif
+}
+
+void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
+  ctx.setType(ContextType::ERROR);
+  ctx.error.first = err;
+  ctx.error.second = info;
+}
+
+void DleParser::reset() {
+  startFound = false;
+  decodeRingBuf.clear();
+}

src/fsfw/globalfunctions/DleParser.h

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

src/fsfw/globalfunctions/matching/MatchTree.h

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

src/fsfw/ipc/CMakeLists.txt

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

src/fsfw/ipc/MessageQueueBase.cpp

@@ -0,0 +1,64 @@
+#include "MessageQueueBase.h"
+
+MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest,
+    MqArgs* args): id(id) {
+  this->defaultDest = defaultDest;
+  if(args != nullptr) {
+    this->args = *args;
+  }
+}
+
+MessageQueueBase::~MessageQueueBase() {}
+
+ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
+  return sendToDefaultFrom(message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
+  if (this->last != MessageQueueIF::NO_QUEUE) {
+    return sendMessageFrom(this->last, message, this->getId());
+  } else {
+    return NO_REPLY_PARTNER;
+  }
+}
+
+ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
+                                           MessageQueueId_t* receivedFrom) {
+  ReturnValue_t status = this->receiveMessage(message);
+  *receivedFrom = this->last;
+  return status;
+}
+
+MessageQueueId_t MessageQueueBase::getLastPartner() const {
+  return last;
+}
+
+MessageQueueId_t MessageQueueBase::getId() const {
+  return id;
+}
+
+MqArgs& MessageQueueBase::getMqArgs() {
+  return args;
+}
+
+void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
+  this->defaultDest = defaultDestination;
+}
+
+MessageQueueId_t MessageQueueBase::getDefaultDestination() const {
+  return defaultDest;
+}
+
+bool MessageQueueBase::isDefaultDestinationSet() const {
+  return (defaultDest != NO_QUEUE);
+}
+
+ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                            bool ignoreFault) {
+  return sendMessageFrom(sendTo, message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueueBase::sendToDefaultFrom(MessageQueueMessageIF* message,
+                                                  MessageQueueId_t sentFrom, bool ignoreFault) {
+  return sendMessageFrom(defaultDest, message, sentFrom, ignoreFault);
+}

src/fsfw/ipc/MessageQueueBase.h

@@ -0,0 +1,41 @@
+#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
+#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
+
+#include <fsfw/ipc/definitions.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+
+class MessageQueueBase: public MessageQueueIF {
+public:
+  MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
+  virtual ~MessageQueueBase();
+
+  // Default implementations for MessageQueueIF where possible
+  virtual MessageQueueId_t getLastPartner() const override;
+  virtual MessageQueueId_t getId() const override;
+  virtual MqArgs& getMqArgs() override;
+  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+  virtual MessageQueueId_t getDefaultDestination() const override;
+  virtual bool isDefaultDestinationSet() const override;
+  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+      bool ignoreFault) override;
+  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+      MessageQueueId_t* receivedFrom) override;
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
+      MessageQueueId_t sentFrom, bool ignoreFault = false) override;
+
+  // OSAL specific, forward the abstract function
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
+  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
+protected:
+  MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
+  MqArgs args = {};
+};
+
+
+
+#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

src/fsfw/ipc/MessageQueueIF.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
+#include <fsfw/ipc/definitions.h>
 #include <cstdint>
 
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -44,8 +45,7 @@ class MessageQueueIF {
   virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
 
   /**
-   * @brief	This function reads available messages from the message queue
-   *          and returns the sender.
+   * @brief	This function reads available messages from the message queue and returns the sender.
    * @details
    * It works identically to the other receiveMessage call, but in addition
    * returns the sender's queue id.
@@ -78,19 +78,16 @@ class MessageQueueIF {
    */
   virtual ReturnValue_t flush(uint32_t* count) = 0;
   /**
-   * @brief	This method returns the message queue
-   *          id of the last communication partner.
+   * @brief	This method returns the message queue ID of the last communication partner.
    */
   virtual MessageQueueId_t getLastPartner() const = 0;
   /**
-   * @brief	This method returns the message queue
-   *          id of this class's message queue.
+   * @brief	This method returns the message queue ID  of this class's message queue.
    */
   virtual MessageQueueId_t getId() const = 0;
 
   /**
-   * @brief	With the sendMessage call, a queue message
-   *          is sent to a receiving queue.
+   * @brief	With the sendMessage call, a queue message is sent to a receiving queue.
    * @details
    * This method takes the message provided, adds the sentFrom information
    * and passes it on to the destination provided with an operating system
@@ -129,8 +126,7 @@ class MessageQueueIF {
                                     bool ignoreFault = false) = 0;
 
   /**
-   * @brief	The sendToDefaultFrom method sends a queue message
-   *          to the default destination.
+   * @brief	The sendToDefaultFrom method sends a queue message to the default destination.
    * @details
    * In all other aspects, it works identical to the sendMessage method.
    * @param message
@@ -164,6 +160,8 @@ class MessageQueueIF {
   virtual MessageQueueId_t getDefaultDestination() const = 0;
 
   virtual bool isDefaultDestinationSet() const = 0;
+
+  virtual MqArgs& getMqArgs() = 0;
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

src/fsfw/ipc/definitions.h

@@ -1,11 +1,13 @@
 #ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
 #define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+
 #include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
 
 struct MqArgs {
   MqArgs(){};
   MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
-  object_id_t objectId = 0;
+  object_id_t objectId = objects::NO_OBJECT;
   void* args = nullptr;
 };
 

src/fsfw/osal/freertos/MessageQueue.cpp

@@ -5,7 +5,8 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : maxMessageSize(maxMessageSize) {
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -15,10 +16,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
 #else
     sif::printError("MessageQueue::MessageQueue: Creation failed\n");
     sif::printError("Specified Message Depth: %d\n", messageDepth);
-    sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
+    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
 #endif
   }
-  QueueMapManager::instance()->addMessageQueue(handle, &queueId);
+  QueueMapManager::instance()->addMessageQueue(handle, &id);
 }
 
 MessageQueue::~MessageQueue() {
@@ -29,28 +30,6 @@ MessageQueue::~MessageQueue() {
 
 void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
@@ -72,27 +51,16 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  if (status == HasReturnvaluesIF::RETURN_OK) {
-    *receivedFrom = this->lastPartner;
-  }
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
   if (result == pdPASS) {
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     return HasReturnvaluesIF::RETURN_OK;
   } else {
     return MessageQueueIF::EMPTY;
   }
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   // TODO FreeRTOS does not support flushing partially
   // Is always successful
@@ -100,17 +68,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return queueId; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  defaultDestinationSet = true;
-  this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
-
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/freertos/MessageQueue.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
 #include "FreeRTOS.h"
 #include "TaskManagement.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
@@ -33,7 +34,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -75,40 +76,15 @@ class MessageQueue : public MessageQueueIF {
    */
   void switchSystemContext(CallContext callContext);
 
-  /** MessageQueueIF implementation */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false) override;
+  QueueHandle_t getNativeQueueHandle();
 
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
-
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false) override;
-
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-
   ReturnValue_t flush(uint32_t* count) override;
 
-  MessageQueueId_t getLastPartner() const override;
-
-  MessageQueueId_t getId() const override;
-
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-
-  MessageQueueId_t getDefaultDestination() const override;
-
-  bool isDefaultDestinationSet() const override;
-
-  QueueHandle_t getNativeQueueHandle();
-
  protected:
   /**
    * @brief 	Implementation to be called from any send Call within
@@ -138,12 +114,8 @@ class MessageQueue : public MessageQueueIF {
   static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
  private:
-  bool defaultDestinationSet = false;
   QueueHandle_t handle;
-  MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
 
-  MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
   const size_t maxMessageSize;
   //! Stores the current system context
   CallContext callContext = CallContext::TASK;

src/fsfw/osal/freertos/PeriodicTask.cpp

@@ -97,7 +97,11 @@ void PeriodicTask::taskFunctionality() {
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  if (newObject == nullptr) {
+  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"
@@ -105,8 +109,8 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  objectList.push_back(newObject);
-  newObject->setTaskIF(this);
+  objectList.push_back(object);
+  object->setTaskIF(this);
 
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/osal/freertos/PeriodicTask.h

@@ -63,6 +63,16 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    */
   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;

src/fsfw/osal/host/Clock.cpp

@@ -150,17 +150,14 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   time_tm.tm_hour = from->hour;
   time_tm.tm_min = from->minute;
   time_tm.tm_sec = from->second;
+  time_tm.tm_isdst = 0;
 
-  time_t seconds = mktime(&time_tm);
+  time_t seconds = timegm(&time_tm);
 
   to->tv_sec = seconds;
   to->tv_usec = from->usecond;
   // Fails in 2038..
   return HasReturnvaluesIF::RETURN_OK;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {

src/fsfw/osal/host/MessageQueue.cpp

@@ -9,9 +9,11 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : messageSize(maxMessageSize), messageDepth(messageDepth) {
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      messageSize(maxMessageSize),
+      messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
-  auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+  auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
   if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
@@ -23,42 +25,11 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
 
 MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return MessageQueueIF::NO_REPLY_PARTNER;
-  }
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  if (status == HasReturnvaluesIF::RETURN_OK) {
-    *receivedFrom = this->lastPartner;
-  }
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (messageQueue.empty()) {
     return MessageQueueIF::EMPTY;
@@ -68,12 +39,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
             message->getBuffer());
   messageQueue.pop();
   // The last partner is the first uint32_t field in the message
-  this->lastPartner = message->getSender();
+  this->last = message->getSender();
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   *count = messageQueue.size();
   // Clears the queue.
@@ -81,17 +50,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return mqId; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  defaultDestinationSet = true;
-  this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
-
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/host/MessageQueue.h

@@ -1,9 +1,7 @@
 #ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
 #define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
 
-#include <memory>
-#include <queue>
-
+#include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
@@ -11,6 +9,9 @@
 #include "fsfw/ipc/definitions.h"
 #include "fsfw/timemanager/Clock.h"
 
+#include <memory>
+#include <queue>
+
 /**
  * @brief		This class manages sending and receiving of
  * 				message queue messages.
@@ -34,7 +35,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -69,121 +70,12 @@ class MessageQueue : public MessageQueueIF {
    */
   virtual ~MessageQueue();
 
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender
-   * parent, but passes its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the
-   *  destination message queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter
-   * is not incremented if queue is full.
-   */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false) override;
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the
-   * sendToDefault call of the MessageQueueSender parent class and adds its
-   * queue id as "sentFrom" information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using
-   * the stored lastPartner information as destination. If there was no
-   * message received yet (i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
-
-  /**
-   * @brief	With the sendMessage call, a queue message is sent to a
-   * 			receiving queue.
-   * @details
-   * This method takes the message provided, adds the sentFrom information and
-   * passes it on to the destination provided with an operating system call.
-   *  The OS's return value is returned.
-   * @param sendTo	This parameter specifies the message queue id to send
-   * the message to.
-   * @param message	This is a pointer to a previously created message,
-   * which is sent.
-   * @param sentFrom	The sentFrom information can be set to inject the
-   * sender's queue id into the message. This variable is set to zero by
-   * default.
-   * @param ignoreFault If set to true, the internal software fault counter
-   * is not incremented if queue is full.
-   */
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
-
-  /**
-   * @brief	The sendToDefault method sends a queue message to the default
-   * 			destination.
-   * @details
-   * In all other aspects, it works identical to the sendMessage method.
-   * @param message	This is a pointer to a previously created message,
-   * which is sent.
-   * @param sentFrom	The sentFrom information can be set to inject the
-   * sender's queue id into the message. This variable is set to zero by
-   * default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false) override;
-
-  /**
-   * @brief	This function reads available messages from the message queue
-   * 			and returns the sender.
-   * @details
-   * It works identically to the other receiveMessage call, but in  addition
-   * returns the sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details
-   * If data is available it is stored in the passed message pointer.
-   * The message's original content is overwritten and the sendFrom
-   * information is stored in the lastPartner attribute. Else, the lastPartner
-   * information remains untouched, the message's content is cleared and the
-   * function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
   ReturnValue_t flush(uint32_t* count) override;
-  /**
-   * @brief	This method returns the message queue id of the last
-   * 			communication partner.
-   */
-  MessageQueueId_t getLastPartner() const override;
-  /**
-   * @brief	This method returns the message queue id of this class's
-   * 			message queue.
-   */
-  MessageQueueId_t getId() const override;
-
-  /**
-   * @brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-  /**
-   * @brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const override;
-
-  bool isDefaultDestinationSet() const override;
 
   ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout);
   ReturnValue_t unlockQueue();
@@ -213,23 +105,14 @@ class MessageQueue : public MessageQueueIF {
                                                    MessageQueueId_t sentFrom = NO_QUEUE,
                                                    bool ignoreFault = false);
 
-  // static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
-
  private:
   std::queue<std::vector<uint8_t>> messageQueue;
-  /**
-   * @brief	The class stores the queue id it got assigned.
-   * 			If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE;
   size_t messageSize = 0;
   size_t messageDepth = 0;
 
   MutexIF* queueLock;
 
-  bool defaultDestinationSet = false;
   MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

src/fsfw/osal/host/PeriodicTask.cpp

@@ -102,11 +102,15 @@ void PeriodicTask::taskFunctionality() {
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  if (newObject == nullptr) {
+  return addComponent(newObject);
+}
+
+ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
+  if (object == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  newObject->setTaskIF(this);
-  objectList.push_back(newObject);
+  object->setTaskIF(this);
+  objectList.push_back(object);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

src/fsfw/osal/host/PeriodicTask.h

@@ -59,6 +59,16 @@ class PeriodicTask : public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object);
 
+  /**
+   * Adds an object to the list of objects to be executed.
+   * The objects are executed in the order added.
+   * @param object pointer to the object to add.
+   * @return
+   *  -@c RETURN_OK on success
+   *  -@c RETURN_FAILED if the object could not be added.
+   */
+  ReturnValue_t addComponent(ExecutableObjectIF* object);
+
   uint32_t getPeriodMs() const;
 
   ReturnValue_t sleepFor(uint32_t ms);

src/fsfw/osal/linux/Clock.cpp

@@ -1,4 +1,5 @@
 #include "fsfw/timemanager/Clock.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <linux/sysinfo.h>
 #include <sys/sysinfo.h>
@@ -7,12 +8,13 @@
 #include <unistd.h>
 
 #include <fstream>
-
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include <cstring>
 
 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = NULL;
 
+void handleClockError(const char* func);
+
 uint32_t Clock::getTicksPerSecond(void) {
   uint32_t ticks = sysconf(_SC_CLK_TCK);
   return ticks;
@@ -27,7 +29,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
 
   int status = clock_settime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
-    // TODO errno
+    handleClockError("setClock");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -39,7 +41,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
   int status = clock_settime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
-    // TODO errno
+    handleClockError("setClock");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -49,6 +51,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   timespec timeUnix;
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
+    handleClockError("getClock_timeval");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   time->tv_sec = timeUnix.tv_sec;
@@ -140,8 +143,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   fromTm.tm_hour = from->hour;
   fromTm.tm_min = from->minute;
   fromTm.tm_sec = from->second;
+  fromTm.tm_isdst = 0;
 
-  to->tv_sec = mktime(&fromTm);
+  to->tv_sec = timegm(&fromTm);
   to->tv_usec = from->usecond;
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -150,3 +154,15 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
   *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
   return HasReturnvaluesIF::RETURN_OK;
 }
+
+
+void handleClockError(const char* func) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Clock::" << func << ": Failed with code " << errno << ": " << strerror(errno)
+      << std::endl;
+#else
+  sif::printWarning("Clock::%s: Failed with code %d: %s\n", func, errno, strerror(errno));
+#endif
+#endif
+}

src/fsfw/osal/linux/MessageQueue.cpp

@@ -12,12 +12,9 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : id(MessageQueueIF::NO_QUEUE),
-      lastPartner(MessageQueueIF::NO_QUEUE),
-      defaultDestination(MessageQueueIF::NO_QUEUE),
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
       maxMessageSize(maxMessageSize) {
   mq_attr attributes;
-  this->id = 0;
   // Set attributes
   attributes.mq_curmsgs = 0;
   attributes.mq_maxmsg = messageDepth;
@@ -37,9 +34,6 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
     // Successful mq_open call
     this->id = tempId;
   }
-  if (args != nullptr) {
-    this->mqArgs = *args;
-  }
 }
 
 MessageQueue::~MessageQueue() {
@@ -53,30 +47,6 @@ MessageQueue::~MessageQueue() {
   }
 }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), false);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != 0) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  *receivedFrom = this->lastPartner;
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -99,7 +69,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()),
                           message->getMaximumMessageSize(), &messagePriority);
   if (status > 0) {
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -167,8 +137,6 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   }
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   mq_attr attrib;
   int status = mq_getattr(id, &attrib);
@@ -215,26 +183,11 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return this->id; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  this->defaultDestination = defaultDestination;
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
-
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,

src/fsfw/osal/linux/MessageQueue.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 #define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
 #include <mqueue.h>
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
@@ -26,7 +27,7 @@
  * makes use of the operating system calls provided.
  *	@ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -45,103 +46,23 @@ class MessageQueue : public MessageQueueIF {
   MessageQueue(uint32_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
                MqArgs* args = nullptr);
+
+  /** Copying message queues forbidden */
+  MessageQueue(const MessageQueue&) = delete;
+  MessageQueue& operator=(const MessageQueue&) = delete;
+
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
-   * its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the destination message
-   * queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
-   * queue is full.
-   */
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                    bool ignoreFault = false);
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
-   * information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using the stored
-   * 			lastParnter information as destination. If there was no message received yet
-   * 			(i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  /**
-   * @brief	This function reads available messages from the message queue and returns the
-   * sender.
-   * @details	It works identically to the other receiveMessage call, but in addition returns the
-   * 			sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details	If data is available it is stored in the passed message pointer. The message's
-   * 			original content is overwritten and the sendFrom information is stored in
-   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
-   * content is cleared and the function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
-  ReturnValue_t flush(uint32_t* count);
-  /**
-   * @brief	This method returns the message queue id of the last communication partner.
-   */
-  MessageQueueId_t getLastPartner() const;
-  /**
-   * @brief	This method returns the message queue id of this class's message queue.
-   */
-  MessageQueueId_t getId() const;
-  /**
-   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-   * \param sendTo	This parameter specifies the message queue id to send the message to.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
-   * internal software fault counter is not incremented if queue is full.
-   */
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false);
-  /**
-   * \brief	The sendToDefault method sends a queue message to the default destination.
-   * \details	In all other aspects, it works identical to the sendMessage method.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false);
-  /**
-   * \brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination);
-  /**
-   * \brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const;
-
-  bool isDefaultDestinationSet() const;
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+  ReturnValue_t flush(uint32_t* count) override;
+  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom,
+                                        bool ignoreFault = false) override;
 
  protected:
   /**
@@ -160,33 +81,10 @@ class MessageQueue : public MessageQueueIF {
                                                    bool ignoreFault = false);
 
  private:
-  /**
-   * @brief	The class stores the queue id it got assigned from the operating system in this
-   * attribute. If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t id;
-  /**
-   * @brief	In this attribute, the queue id of the last communication partner is stored
-   * 			to allow for replying.
-   */
-  MessageQueueId_t lastPartner;
-  /**
-   * @brief	The message queue's name -a user specific information for the operating system-  is
-   * 			generated automatically with the help of this static counter.
-   */
-  /**
-   * \brief	This attribute stores a default destination to send messages to.
-   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
-   * 			be set in the constructor or by a setter call to setDefaultDestination.
-   */
-  MessageQueueId_t defaultDestination;
-
   /**
    * The name of the message queue, stored for unlinking
    */
-  char name[16];
-
-  MqArgs mqArgs = {};
+  char name[16] = {};
 
   static uint16_t queueCounter;
   const size_t maxMessageSize;

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -28,7 +28,11 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 
 ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  if (newObject == nullptr) {
+  return addComponent(newObject);
+}
+
+ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
+  if (object == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
                << " it implements ExecutableObjectIF!" << std::endl;
@@ -39,8 +43,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  objectList.push_back(newObject);
-  newObject->setTaskIF(this);
+  objectList.push_back(object);
+  object->setTaskIF(this);
 
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -42,6 +42,14 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object) override;
 
+  /**
+   * Adds an object to the list of objects to be executed.
+   * The objects are executed in the order added.
+   * @param object pointer to the object to add.
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+   */
+  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
+
   uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;

src/fsfw/osal/rtems/MessageQueue.cpp

@@ -7,7 +7,8 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
-    : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =
       rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id));
@@ -16,43 +17,19 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs
     sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec
                << " failed with status:" << (uint32_t)status << std::endl;
 #endif
-    this->id = 0;
+    this->id = MessageQueueIF::NO_QUEUE;
   }
 }
 
 MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != 0) {
-    return sendMessage(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  *receivedFrom = this->lastPartner;
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   size_t size = 0;
   rtems_status_code status =
       rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1);
   if (status == RTEMS_SUCCESSFUL) {
     message->setMessageSize(size);
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -65,19 +42,11 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   return convertReturnCode(status);
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   rtems_status_code status = rtems_message_queue_flush(id, count);
   return convertReturnCode(status);
 }
 
-MessageQueueId_t MessageQueue::getId() const { return this->id; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  this->defaultDestination = defaultDestination;
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   message->setSender(sentFrom);
@@ -103,15 +72,6 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
   return returnCode;
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
-
 ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) {
   switch (inValue) {
     case RTEMS_SUCCESSFUL:

src/fsfw/osal/rtems/MessageQueue.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
 #include "RtemsBasic.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
@@ -20,7 +21,7 @@
  *as well as sending and receiving messages, the class makes use of the operating system calls
  *provided. \ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
  public:
   /**
    * @brief	The constructor initializes and configures the message queue.
@@ -37,130 +38,24 @@ class MessageQueue : public MessageQueueIF {
   MessageQueue(size_t message_depth = 3,
                size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
                MqArgs* args = nullptr);
+
+  /** Copying message queues forbidden */
+  MessageQueue(const MessageQueue&) = delete;
+  MessageQueue& operator=(const MessageQueue&) = delete;
+
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
-   * its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the destination message
-   * queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
-   * queue is full.
-   */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false);
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
-   * information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using the stored
-   * 			lastParnter information as destination. If there was no message received yet
-   * 			(i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  /**
-   * @brief	This function reads available messages from the message queue and returns the
-   * sender.
-   * @details	It works identically to the other receiveMessage call, but in addition returns the
-   * 			sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details	If data is available it is stored in the passed message pointer. The message's
-   * 			original content is overwritten and the sendFrom information is stored in
-   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
-   * content is cleared and the function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
-  ReturnValue_t flush(uint32_t* count);
-  /**
-   * @brief	This method returns the message queue id of the last communication partner.
-   */
-  MessageQueueId_t getLastPartner() const;
-  /**
-   * @brief	This method returns the message queue id of this class's message queue.
-   */
-  MessageQueueId_t getId() const;
-  /**
-   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-   * \details	This method takes the message provided, adds the sentFrom information and passes
-   * 			it on to the destination provided with an operating system call. The OS's
-   * return value is returned.
-   * \param sendTo	This parameter specifies the message queue id to send the message to.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
-   * internal software fault counter is not incremented if queue is full.
-   */
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
+  ReturnValue_t flush(uint32_t* count) override;
+  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
-                                        bool ignoreFault = false);
-  /**
-   * \brief	The sendToDefault method sends a queue message to the default destination.
-   * \details	In all other aspects, it works identical to the sendMessage method.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false);
-  /**
-   * \brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination);
-  /**
-   * \brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const;
-
-  bool isDefaultDestinationSet() const;
+                                        bool ignoreFault = false) override;
 
  private:
-  /**
-   * @brief	The class stores the queue id it got assigned from the operating system in this
-   * attribute. If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t id;
-  /**
-   * @brief	In this attribute, the queue id of the last communication partner is stored
-   * 			to allow for replying.
-   */
-  MessageQueueId_t lastPartner;
-  /**
-   * @brief	The message queue's name -a user specific information for the operating system-  is
-   * 			generated automatically with the help of this static counter.
-   */
-  /**
-   * \brief	This attribute stores a default destination to send messages to.
-   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
-   * 			be set in the constructor or by a setter call to setDefaultDestination.
-   */
-  MessageQueueId_t defaultDestination;
-
   /**
    * \brief	This attribute stores a reference to the internal error reporter for reporting full
    * queues. \details	In the event of a full destination queue, the reporter will be notified. The

src/fsfw/osal/rtems/PeriodicTask.cpp

@@ -68,11 +68,15 @@ void PeriodicTask::taskFunctionality() {
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  if (newObject == nullptr) {
+  return addComponent(newObject);
+}
+
+ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
+  if (object == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  objectList.push_back(newObject);
-  newObject->setTaskIF(this);
+  objectList.push_back(object);
+  object->setTaskIF(this);
 
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/osal/rtems/PeriodicTask.h

@@ -59,6 +59,15 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object) override;
 
+/**
+   * Adds an object to the list of objects to be executed.
+   * The objects are executed in the order added.
+   * @param object pointer to the object to add.
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+   */
+  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
+
+
   uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;

src/fsfw/power/CMakeLists.txt

@@ -1,7 +1,8 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Fuse.cpp
-		PowerComponent.cpp
-		PowerSensor.cpp
-		PowerSwitcher.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    Fuse.cpp
+    PowerComponent.cpp
+    PowerSensor.cpp
+    PowerSwitcher.cpp
+    DummyPowerSwitcher.cpp
+    PowerSwitcherComponent.cpp
 )

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -0,0 +1,46 @@
+#include "DummyPowerSwitcher.h"
+
+DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
+                                       size_t numberOfFuses, uint32_t switchDelayMs)
+    : SystemObject(objectId),
+      switcherList(numberOfSwitches),
+      fuseList(numberOfFuses),
+      switchDelayMs(switchDelayMs) {}
+
+void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
+  this->switcherList = switcherList;
+}
+
+void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
+  this->fuseList = fuseList;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (switchNr < switcherList.capacity()) {
+    switcherList[switchNr] = onOff;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
+  if (fuseNr < fuseList.capacity()) {
+    fuseList[fuseNr] = FUSE_ON;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
+  if (switchNr < switcherList.capacity()) {
+    return switcherList[switchNr];
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
+  if (fuseNr < fuseList.capacity()) {
+    return fuseList[fuseNr];
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return switchDelayMs; }

src/fsfw/power/DummyPowerSwitcher.h

@@ -0,0 +1,31 @@
+#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+
+#include <cstddef>
+#include <vector>
+
+#include "PowerSwitchIF.h"
+#include "definitions.h"
+#include "fsfw/objectmanager/SystemObject.h"
+
+class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
+ public:
+  DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
+                     uint32_t switchDelayMs = 5000);
+
+  void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
+  void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
+
+  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  virtual uint32_t getSwitchDelayMs(void) const override;
+
+ private:
+  std::vector<ReturnValue_t> switcherList;
+  std::vector<ReturnValue_t> fuseList;
+  uint32_t switchDelayMs = 5000;
+};
+
+#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */

src/fsfw/power/PowerSwitchIF.h

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

src/fsfw/power/PowerSwitcher.cpp

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

src/fsfw/power/PowerSwitcher.h

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

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -0,0 +1,108 @@
+#include "PowerSwitcherComponent.h"
+
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/power/PowerSwitchIF.h>
+
+PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t pwrSwitch)
+  : SystemObject(objectId), switcher(pwrSwitcher, pwrSwitch), modeHelper(this),
+    healthHelper(this, objectId) {
+  queue = QueueFactory::instance()->createMessageQueue();
+}
+
+ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
+  ReturnValue_t result;
+  CommandMessage command;
+
+  for (result = queue->receiveMessage(&command); result == RETURN_OK;
+       result = queue->receiveMessage(&command)) {
+    result = healthHelper.handleHealthCommand(&command);
+    if (result == RETURN_OK) {
+      continue;
+    }
+
+    result = modeHelper.handleModeCommand(&command);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  }
+  if(switcher.active()) {
+    switcher.doStateMachine();
+    auto currState = switcher.getState();
+    if (currState == PowerSwitcher::SWITCH_IS_OFF) {
+      setMode(MODE_OFF, 0);
+    } else if(currState == PowerSwitcher::SWITCH_IS_ON) {
+      setMode(MODE_ON, 0);
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherComponent::initialize() {
+  ReturnValue_t result = modeHelper.initialize();
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = healthHelper.initialize();
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return SystemObject::initialize();
+}
+
+MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const {
+  return queue->getId();
+}
+
+void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
+  *mode = this->mode;
+  *submode = this->submode;
+}
+
+ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
+  healthHelper.setHealth(health);
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
+    uint32_t *msToReachTheMode) {
+  *msToReachTheMode = 5000;
+  if(mode != MODE_ON and mode != MODE_OFF) {
+    return TRANS_NOT_ALLOWED;
+  }
+  return RETURN_OK;
+}
+
+void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) {
+  if(mode == MODE_OFF) {
+    switcher.turnOff(true);
+    switcher.doStateMachine();
+    if(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      setMode(MODE_OFF, 0);
+    }
+  } else if (mode == MODE_ON) {
+    switcher.turnOn(true);
+    switcher.doStateMachine();
+    if(switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      setMode(MODE_ON, 0);
+    }
+  }
+}
+
+void PowerSwitcherComponent::setToExternalControl() {
+  healthHelper.setHealth(HasHealthIF::EXTERNAL_CONTROL);
+}
+
+void PowerSwitcherComponent::announceMode(bool recursive) {
+  triggerEvent(MODE_INFO, mode, submode);
+}
+
+void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
+  this->mode = newMode;
+  this->submode = newSubmode;
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}
+
+HasHealthIF::HealthState PowerSwitcherComponent::getHealth() {
+  return healthHelper.getHealth();
+}

src/fsfw/power/PowerSwitcherComponent.h

@@ -0,0 +1,64 @@
+#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
+#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
+
+#include <fsfw/health/HasHealthIF.h>
+#include <fsfw/health/HealthHelper.h>
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/modes/ModeHelper.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/power/definitions.h>
+#include <fsfw/power/PowerSwitcher.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+class PowerSwitchIF;
+
+/**
+ * @brief Allows to create an power switch object with its own mode and health
+ * @details
+ * This basic component allows to create an object which is solely responsible for managing a
+ * switch. It also has a mode and a health by implementing the respective interface components
+ * which allows integrating this component into a system mode tree.
+ *
+ * Commanding this component to MODE_OFF will cause the switcher to turn the switch off while
+ * commanding in to MODE_ON will cause the switcher to turn the switch on.
+ */
+class PowerSwitcherComponent:
+    public SystemObject,
+    public HasReturnvaluesIF,
+    public ExecutableObjectIF,
+    public HasModesIF,
+    public HasHealthIF {
+public:
+  PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+      power::Switch_t pwrSwitch);
+
+private:
+
+  MessageQueueIF* queue = nullptr;
+  PowerSwitcher switcher;
+
+  Mode_t mode = MODE_OFF;
+  Submode_t submode = 0;
+
+  ModeHelper modeHelper;
+  HealthHelper healthHelper;
+
+  void setMode(Mode_t newMode, Submode_t newSubmode);
+
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+
+  ReturnValue_t initialize() override;
+
+  MessageQueueId_t getCommandQueue() const override;
+  void getMode(Mode_t *mode, Submode_t *submode) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                         uint32_t *msToReachTheMode) override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void setToExternalControl() override;
+  void announceMode(bool recursive) override;
+
+  ReturnValue_t setHealth(HealthState health) override;
+  HasHealthIF::HealthState getHealth() override;
+};
+
+#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/power/definitions.h

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

src/fsfw/pus/Service3Housekeeping.cpp

@@ -214,11 +214,11 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << "!" << std::endl;
+                   << "reply command " << command << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu!\n",
+          "reply command %hu\n",
           command);
 #endif
       return CommandingServiceBase::INVALID_REPLY;

src/fsfw/subsystem/Subsystem.cpp

@@ -30,11 +30,11 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
     return FALLBACK_SEQUENCE_DOES_NOT_EXIST;
   }
 
-  if (iter.value == NULL) {
+  if (iter.value ==nullptr) {
     return NO_TARGET_TABLE;
   }
 
-  for (; iter.value != NULL; ++iter) {
+  for (; iter.value != nullptr; ++iter) {
     if (!existsModeTable(iter->getTableId())) {
       return TABLE_DOES_NOT_EXIST;
     } else {
@@ -66,13 +66,18 @@ HybridIterator<ModeListEntry> Subsystem::getCurrentTable() {
 void Subsystem::performChildOperation() {
   if (isInTransition) {
     if (commandsOutstanding <= 0) {  // all children of the current table were commanded and replied
-      if (currentSequenceIterator.value == NULL) {  // we're through with this sequence
+      if (currentSequenceIterator.value == nullptr) {  // we're through with this sequence
         if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
           setMode(targetMode, targetSubmode);
           isInTransition = false;
           return;
         } else {
-          transitionFailed(TARGET_TABLE_NOT_REACHED, getSequence(targetMode)->getTableId());
+          Mode_t tableId = 0;
+          auto seq = getSequence(targetMode);
+          if(seq.value != nullptr) {
+             tableId = seq->getTableId();
+          }
+          transitionFailed(TARGET_TABLE_NOT_REACHED, tableId);
           return;
         }
       }
@@ -248,10 +253,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
     case ModeSequenceMessage::READ_TABLE: {
       ReturnValue_t result;
       Mode_t table = ModeSequenceMessage::getSequenceId(message);
-      EntryPointer *entry = NULL;
+      EntryPointer *entry = nullptr;
       result = modeTables.find(table, &entry);
-      if (result != RETURN_OK) {
+      if (result != RETURN_OK or entry == nullptr) {
         replyToCommand(result, 0);
+        if(entry == nullptr) {
+          return result;
+        }
       }
 
       SerializeIF *elements[2];

src/fsfw/subsystem/Subsystem.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
 #define FSFW_SUBSYSTEM_SUBSYSTEM_H_
 
-#include <FSFWConfig.h>
+#include "fsfw/FSFW.h"
 
 #include "../container/FixedArrayList.h"
 #include "../container/FixedMap.h"
@@ -12,8 +12,12 @@
 #include "modes/ModeDefinitions.h"
 
 /**
- * @brief   TODO: documentation missing
+ * @brief   This class extends the SubsystemBase to perform the management of mode tables
+ *          and mode sequences
  * @details
+ * This class is able to use mode tables and sequences to command all its children into the
+ * right mode. Fallback sequences can be used to handle failed transitions or have a fallback
+ * in case a component can't keep its current mode.
  */
 class Subsystem : public SubsystemBase, public HasModeSequenceIF {
  public:

src/fsfw/subsystem/SubsystemBase.h

@@ -15,7 +15,14 @@
 
 /**
  * @defgroup subsystems Subsystem Objects
- * Contains all Subsystem and Assemblies
+ * All Subsystem and Assemblies can derive from this class. It contains helper classes to
+ * perform mode and health handling, which allows OBSW developers to build a mode tree for
+ * the whole satellite.
+ *
+ * Aside from setting up a mode tree and being able to executing mode tables, this class does not
+ * provide an implementation on what to do with the features. To build a mode tree, helper classes
+ * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
+ * class.
  */
 class SubsystemBase : public SystemObject,
                       public HasModesIF,
@@ -96,6 +103,7 @@ class SubsystemBase : public SystemObject,
                                        Submode_t targetSubmode);
 
   /**
+   * This function takes care of sending all according mode commands specified inside a mode table.
    * We need to know the target Submode, as children are able to inherit the submode
    * Still, we have a default for all child implementations which do not use submode inheritance
    */
@@ -123,11 +131,11 @@ class SubsystemBase : public SystemObject,
   virtual void performChildOperation() = 0;
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) = 0;
+                                         uint32_t *msToReachTheMode) override = 0;
 
-  virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
+  virtual void startTransition(Mode_t mode, Submode_t submode) override = 0;
 
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
 
   virtual void setToExternalControl();
 

src/fsfw/tasks/PeriodicTaskIF.h

@@ -26,21 +26,25 @@ class PeriodicTaskIF {
   virtual ReturnValue_t startTask() = 0;
 
   /**
-   * Add a component (object) to a periodic task. The pointer to the
-   * task can be set optionally
+   * Add a component (object) to a periodic task.
    * @param object
-   * Add an object to the task. The most important case is to add an
-   * executable object with a function which will be called regularly
-   * (see ExecutableObjectIF)
-   * @param setTaskIF
-   * Can be used to specify whether the task object pointer is passed
-   * to the component.
+   * Add an object to the task. The object needs to implement ExecutableObjectIF
    * @return
    */
   virtual ReturnValue_t addComponent(object_id_t object) {
     return HasReturnvaluesIF::RETURN_FAILED;
   };
 
+  /**
+   * Add an object to a periodic task.
+   * @param object
+   * Add an object to the task.
+   * @return
+   */
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  };
+
   virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 
   virtual uint32_t getPeriodMs() const = 0;

src/fsfw/timemanager/CCSDSTime.cpp

@@ -557,6 +557,35 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t
   return RETURN_OK;
 }
 
+ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short* from) {
+  if (to == nullptr or from == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
+  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
+    return INVALID_TIME_FORMAT;
+  }
+  days -= DAYS_CCSDS_TO_UNIX_EPOCH;
+  to->tv_sec = days * SECONDS_PER_DAY;
+  uint32_t msDay =
+      (from->msDay_hh << 24) + (from->msDay_h << 16) + (from->msDay_l << 8) + from->msDay_ll;
+  to->tv_sec += (msDay / 1000);
+  to->tv_usec = (msDay % 1000) * 1000;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime::CDS_short* from) {
+  if (to == nullptr or from == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  timeval tempTimeval;
+  ReturnValue_t result = convertFromCDS(&tempTimeval, from);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval);
+}
+
 ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from,
                                         size_t* foundLength, size_t maxLength) {
   uint32_t secs = 0;

src/fsfw/timemanager/CCSDSTime.h

@@ -180,6 +180,8 @@ class CCSDSTime : public HasReturnvaluesIF {
 
   static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from, size_t *foundLength,
                                       size_t maxLength);
+  static ReturnValue_t convertFromCDS(timeval *to, const CCSDSTime::CDS_short *from);
+  static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to, const CCSDSTime::CDS_short *from);
 
   static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to, uint8_t const *from,
                                       size_t *foundLength, size_t maxLength);

src/fsfw/timemanager/Countdown.cpp

@@ -1,6 +1,8 @@
 #include "fsfw/timemanager/Countdown.h"
 
-Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {}
+Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
+  setTimeout(initialTimeout);
+}
 
 Countdown::~Countdown() {}
 

src/fsfw/tmtcpacket/SpacePacket.h

@@ -25,7 +25,7 @@ class SpacePacket : public SpacePacketBase {
    * @param apid Sets the packet's APID field. The default value describes an idle packet.
    * @param sequenceCount ets the packet's Source Sequence Count field.
    */
-  SpacePacket(uint16_t packetDataLength, bool isTelecommand = false,
+  SpacePacket(uint16_t packetDataLength = PACKET_MAX_SIZE, bool isTelecommand = false,
               uint16_t apid = APID_IDLE_PACKET, uint16_t sequenceCount = 0);
   /**
    * The class's default destructor.

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -19,6 +19,19 @@ class SourceSequenceCounter {
   void reset(uint16_t toValue = 0) {
     sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
   }
+  SourceSequenceCounter& operator++(int) {
+    this->increment();
+    return *this;
+  }
+  SourceSequenceCounter& operator--(int) {
+    this->decrement();
+    return *this;
+  }
+  SourceSequenceCounter& operator=(const uint16_t& newCount) {
+    sequenceCount = newCount;
+    return *this;
+  }
+  operator uint16_t() { return this->get(); }
 };
 
 #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */

src/fsfw/version.cpp

@@ -0,0 +1,23 @@
+#include "version.h"
+
+#include <cstdio>
+
+#include "fsfw/FSFWVersion.h"
+
+#ifdef major
+#undef major
+#endif
+
+#ifdef minor
+#undef minor
+#endif
+
+const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
+                                          FSFW_VERSION_REVISION};
+
+fsfw::Version::Version(uint32_t major, uint32_t minor, uint32_t revision)
+    : major(major), minor(minor), revision(revision) {}
+
+void fsfw::Version::getVersion(char* str, size_t maxLen) const {
+  snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
+}

src/fsfw/version.h

@@ -0,0 +1,64 @@
+#ifndef FSFW_SRC_FSFW_VERSION_H_
+#define FSFW_SRC_FSFW_VERSION_H_
+
+#include "fsfw/FSFW.h"
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#include <iostream>
+#endif
+#include <cstdint>
+
+namespace fsfw {
+
+class Version {
+ public:
+  Version(uint32_t major, uint32_t minor, uint32_t revision);
+  uint32_t major = 0;
+  uint32_t minor = 0;
+  uint32_t revision = 0;
+
+  friend bool operator==(const Version& v1, const Version& v2) {
+    return (v1.major == v2.major and v1.minor == v2.minor and v1.revision == v2.revision);
+  }
+
+  friend bool operator!=(const Version& v1, const Version& v2) { return not(v1 == v2); }
+
+  friend bool operator<(const Version& v1, const Version& v2) {
+    return ((v1.major < v2.major) or (v1.major == v2.major and v1.minor < v2.minor) or
+            (v1.major == v2.major and v1.minor == v2.minor and v1.revision < v2.revision));
+  }
+
+  friend bool operator>(const Version& v1, const Version& v2) {
+    return not(v1 < v2) and not(v1 == v2);
+  }
+
+  friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); }
+
+  friend bool operator>=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 > v2)); }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  /**
+   * Print format to given ostream using format "major.minor.revision"
+   * @param os
+   * @param v
+   * @return
+   */
+  friend std::ostream& operator<<(std::ostream& os, const Version& v) {
+    os << v.major << "." << v.minor << "." << v.revision;
+    return os;
+  }
+#endif
+
+  /**
+   * Get version as format "major.minor.revision"
+   * @param str
+   * @param maxLen
+   */
+  void getVersion(char* str, size_t maxLen) const;
+};
+
+extern const fsfw::Version FSFW_VERSION;
+
+}  // namespace fsfw
+
+#endif /* FSFW_SRC_FSFW_VERSION_H_ */

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -2,14 +2,13 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
     CatchDefinitions.cpp
     CatchFactory.cpp
     printChar.cpp
+    version.cpp
 )
 
-# if(FSFW_CUSTOM_UNITTEST_RUNNER)
-    target_sources(${FSFW_TEST_TGT} PRIVATE
-        CatchRunner.cpp
-        CatchSetup.cpp
-    )
-# endif()
+target_sources(${FSFW_TEST_TGT} PRIVATE
+    CatchRunner.cpp
+    CatchSetup.cpp
+)
 
 add_subdirectory(testcfg)
 add_subdirectory(action)

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

@@ -1,6 +1,7 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
 #include <fsfw/ipc/CommandMessageCleaner.h>
 #include <fsfw/objectmanager/ObjectManager.h>
@@ -20,8 +21,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
   REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
   REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK);
 
-  MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle();
-  REQUIRE(mqMock != nullptr);
+  MessageQueueMockBase* poolOwnerMock = poolOwner->getMockQueueHandle();
+  REQUIRE(poolOwnerMock != nullptr);
+
+  // MessageQueueIF* hkCommander = QueueFactory::instance()->createMessageQueue();
   CommandMessage messageSent;
   uint8_t messagesSent = 0;
 
@@ -40,9 +43,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     /* Now the update message should be generated. */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent() == true);
+    REQUIRE(poolOwnerMock->wasMessageSent() == true);
 
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
@@ -52,9 +55,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
@@ -62,15 +65,15 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 2);
     /* first message sent should be the update notification, considering
     the internal list is a vector checked in insertion order. */
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
     /* Clear message to avoid memory leak, our mock won't do it for us (yet) */
     CommandMessageCleaner::clearCommandMessage(&messageSent);
@@ -93,16 +96,14 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
 
     /* Store current time, we are going to check the (approximate) time equality later */
-    CCSDSTime::CDS_short timeCdsNow;
     timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::convertToCcsds(&timeCdsNow, &now);
 
     /* Trigger generation of snapshot */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     /* Check that snapshot was generated */
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_SET));
     /* Now we deserialize the snapshot into a new dataset instance */
@@ -131,13 +132,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(newSet.localPoolUint16Vec.value[2] == 42932);
 
     /* Now we check that both times are equal */
-    CHECK(cdsShort.pField == timeCdsNow.pField);
-    CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
-    CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
-    CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
-    CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
-    CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
-    CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
+    timeval timeFromHK;
+    auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    timeval difference = timeFromHK - now;
+    CHECK(timevalOperations::toDouble(difference) < 1.0);
   }
 
   SECTION("VariableSnapshotTest") {
@@ -158,22 +157,19 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     }
 
     poolVar->setChanged(true);
-
     /* Store current time, we are going to check the (approximate) time equality later */
     CCSDSTime::CDS_short timeCdsNow;
     timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::convertToCcsds(&timeCdsNow, &now);
-
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update snapshot was sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
 
     /* Should have been reset. */
     CHECK(poolVar->hasChanged() == false);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE));
     /* Now we deserialize the snapshot into a new dataset instance */
@@ -193,13 +189,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(varCopy.value == 25);
 
     /* Now we check that both times are equal */
-    CHECK(cdsShort.pField == timeCdsNow.pField);
-    CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
-    CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
-    CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
-    CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
-    CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
-    CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
+    timeval timeFromHK;
+    auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    timeval difference = timeFromHK - now;
+    CHECK(timevalOperations::toDouble(difference) < 1.0);
   }
 
   SECTION("VariableNotificationTest") {
@@ -217,11 +211,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update notification was sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
     /* Should have been reset. */
     CHECK(poolVar->hasChanged() == false);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
     /* Now subscribe for the dataset update (HK and update) again with subscription interface */
@@ -233,26 +227,26 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now two messages should be sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 2);
-    mqMock->clearMessages(true);
+    poolOwnerMock->clearMessages(true);
 
     poolOwner->dataset.setChanged(true);
     poolVar->setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now three messages should be sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 3);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
     CommandMessageCleaner::clearCommandMessage(&messageSent);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
   }
 
   SECTION("PeriodicHKAndMessaging") {
@@ -263,38 +257,38 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now HK packet should be sent as message immediately. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid);
     REQUIRE(setHandle != nullptr);
     CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, setHandle, false) ==
           retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     CHECK(setHandle->getReportingEnabled() == true);
     CommandMessage hkCmd;
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == false);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == true);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == false);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   false);
@@ -302,23 +296,23 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     /* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the
     resulting collection interval should be 1.0 second */
     CHECK(poolOwner->dataset.getCollectionInterval() == 1.0);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     /* Now HK packet should be sent as message. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid);
     sid_t sidToCheck;
@@ -334,62 +328,62 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
     /* We still expect a failure message being sent */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid);
     gp_id_t gpidToCheck;
@@ -415,5 +409,5 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
   /* we need to reset the subscription list because the pool owner
   is a global object. */
   CHECK(poolOwner->reset() == retval::CATCH_OK);
-  mqMock->clearMessages(true);
+  poolOwnerMock->clearMessages(true);
 }

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

@@ -4,16 +4,18 @@
 #include <cstring>
 #include <queue>
 
+#include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw_tests/unit/CatchDefinitions.h"
 
-class MessageQueueMockBase : public MessageQueueIF {
+class MessageQueueMockBase : public MessageQueueBase {
  public:
-  MessageQueueId_t myQueueId = tconst::testQueueId;
+  MessageQueueMockBase()
+   : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
+
   uint8_t messageSentCounter = 0;
-  bool defaultDestSet = false;
   bool messageSent = false;
 
   bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) {
@@ -38,53 +40,30 @@ class MessageQueueMockBase : public MessageQueueIF {
     return receiveMessage(&message);
   }
 
-  virtual ReturnValue_t reply(MessageQueueMessageIF* message) {
-    return sendMessage(myQueueId, message);
-  };
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                                       MessageQueueId_t* receivedFrom) {
-    return receiveMessage(message);
-  }
-
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override {
     if (messagesSentQueue.empty()) {
       return MessageQueueIF::EMPTY;
     }
-
+    this->last = message->getSender();
     std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(),
                 message->getMessageSize());
     messagesSentQueue.pop();
     return HasReturnvaluesIF::RETURN_OK;
   }
   virtual ReturnValue_t flush(uint32_t* count) { return HasReturnvaluesIF::RETURN_OK; }
-  virtual MessageQueueId_t getLastPartner() const { return myQueueId; }
-  virtual MessageQueueId_t getId() const { return myQueueId; }
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false) {
-    return sendMessage(sendTo, message);
-  }
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-                                          bool ignoreFault = false) {
-    return sendMessage(myQueueId, message);
-  }
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) {
-    return sendMessage(myQueueId, message);
-  }
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                    bool ignoreFault = false) override {
+                                        MessageQueueId_t sentFrom,
+                                        bool ignoreFault = false) override {
     messageSent = true;
     messageSentCounter++;
     MessageQueueMessage& messageRef = *(dynamic_cast<MessageQueueMessage*>(message));
     messagesSentQueue.push(messageRef);
     return HasReturnvaluesIF::RETURN_OK;
   }
-  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
-    myQueueId = defaultDestination;
-    defaultDestSet = true;
-  }
 
-  virtual MessageQueueId_t getDefaultDestination() const { return myQueueId; }
-  virtual bool isDefaultDestinationSet() const { return defaultDestSet; }
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override {
+    return sendMessageFrom(MessageQueueIF::NO_QUEUE, message, this->getId(), false);
+  }
 
   void clearMessages(bool clearCommandMessages = true) {
     while (not messagesSentQueue.empty()) {

tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/timemanager/CCSDSTime.h>
 
 #include <array>
@@ -89,4 +90,43 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
     REQUIRE(timeTo.second == 59);
     REQUIRE(timeTo.usecond == Catch::Approx(123000));
   }
+
+  SECTION("CDS Conversions") {
+    // Preperation
+    Clock::TimeOfDay_t time;
+    time.year = 2020;
+    time.month = 2;
+    time.day = 29;
+    time.hour = 13;
+    time.minute = 24;
+    time.second = 45;
+    time.usecond = 123456;
+    timeval timeAsTimeval;
+    auto result = Clock::convertTimeOfDayToTimeval(&time, &timeAsTimeval);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(timeAsTimeval.tv_sec == 1582982685);
+    CHECK(timeAsTimeval.tv_usec == 123456);
+
+    // Conversion to CDS Short
+    CCSDSTime::CDS_short cdsTime;
+    result = CCSDSTime::convertToCcsds(&cdsTime, &timeAsTimeval);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    // Days in CCSDS Epoch 22704 (0x58B0)
+    CHECK(cdsTime.dayMSB == 0x58);
+    CHECK(cdsTime.dayLSB == 0xB0);
+    // MS of day 48285123.456 (floored here)
+    CHECK(cdsTime.msDay_hh == 0x2);
+    CHECK(cdsTime.msDay_h == 0xE0);
+    CHECK(cdsTime.msDay_l == 0xC5);
+    CHECK(cdsTime.msDay_ll == 0xC3);
+
+    // Conversion back to timeval
+    timeval timeReturnAsTimeval;
+    result = CCSDSTime::convertFromCDS(&timeReturnAsTimeval, &cdsTime);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    // micro seconds precision is lost
+    timeval difference = timeAsTimeval - timeReturnAsTimeval;
+    CHECK(difference.tv_usec == 456);
+    CHECK(difference.tv_sec == 0);
+  }
 }

tests/src/fsfw_tests/unit/version.cpp

@@ -0,0 +1,92 @@
+
+#include "fsfw/version.h"
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw_tests/unit/CatchDefinitions.h"
+
+TEST_CASE("Version API Tests", "[TestVersionAPI]") {
+  // Check that major version is non-zero
+  REQUIRE(fsfw::FSFW_VERSION.major > 0);
+  uint32_t fsfwMajor = fsfw::FSFW_VERSION.major;
+  REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION);
+  fsfw::Version v1 = fsfw::Version(1, 1, 1);
+  fsfw::Version v2 = fsfw::Version(1, 1, 1);
+  REQUIRE(v1 == v2);
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(v1 <= v2);
+  REQUIRE(v1 >= v2);
+  v1.revision -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 >= v2));
+  REQUIRE(v1 < v2);
+  REQUIRE(v1 <= v2);
+  v1.revision += 1;
+  v1.minor -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 < v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 >= v2));
+  v1.minor += 1;
+  v1.major -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 < v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 >= v2));
+  v1.major += 1;
+  REQUIRE(v1 == v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not(v1 != v2));
+  REQUIRE(not(v1 > v2));
+  REQUIRE(not(v1 < v2));
+  v1.major += 1;
+  v1.minor -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 > v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 <= v2));
+  v1.major -= 1;
+  v1.minor += 2;
+  v1.revision -= 1;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 > v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 <= v2));
+  v1.minor -= 1;
+  v1.revision += 2;
+  REQUIRE(v1 != v2);
+  REQUIRE(v1 > v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not(v1 == v2));
+  REQUIRE(not(v1 < v2));
+  REQUIRE(not(v1 <= v2));
+  v1.revision -= 1;
+  REQUIRE(v1 == v2);
+  REQUIRE(v1 <= v2);
+  REQUIRE(v1 >= v2);
+  REQUIRE(not(v1 != v2));
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "v" << fsfw::FSFW_VERSION << std::endl;
+#endif
+  char verString[10] = {};
+  fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString));
+#if FSFW_DISABLE_PRINTOUT == 0
+  printf("v%s\n", verString);
+#endif
+}