Merge branch 'mueller/ipc-pass-arbitrary-args-to-mq-eive' into mueller/master

- Generic code was duplicated across all OSALs.
  Is contained in generic base class now
- Remove duplicate documentation

CHANGELOG.md

@@ -22,6 +22,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- 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
 

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

@@ -1,12 +1,9 @@
 #include "MgmLIS3MDLHandler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),

hal/src/fsfw_hal/linux/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/datapool/PoolEntry.cpp

@@ -7,7 +7,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 template <typename T>
-PoolEntry<T>::PoolEntry(uint8_t len, bool setValid): length(len), valid(setValid) {
+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());
 }

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 +1,229 @@
+#include "DleParser.h"
+
+#include <fsfw/globalfunctions/DleEncoder.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+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/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/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

@@ -1,5 +1,4 @@
 #include "fsfw/timemanager/Clock.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <linux/sysinfo.h>
 #include <sys/sysinfo.h>
@@ -7,8 +6,10 @@
 #include <time.h>
 #include <unistd.h>
 
-#include <fstream>
 #include <cstring>
+#include <fstream>
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = NULL;
@@ -155,12 +156,11 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
   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;
+               << std::endl;
 #else
   sif::printWarning("Clock::%s: Failed with code %d: %s\n", func, errno, strerror(errno));
 #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 +59,14 @@ 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/PowerSwitcherComponent.cpp

@@ -3,9 +3,12 @@
 #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) {
+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();
 }
 
@@ -25,12 +28,12 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
       continue;
     }
   }
-  if(switcher.active()) {
+  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) {
+    } else if (currState == PowerSwitcher::SWITCH_IS_ON) {
       setMode(MODE_ON, 0);
     }
   }
@@ -39,19 +42,17 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
 
 ReturnValue_t PowerSwitcherComponent::initialize() {
   ReturnValue_t result = modeHelper.initialize();
-  if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = healthHelper.initialize();
-  if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return SystemObject::initialize();
 }
 
-MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const {
-  return queue->getId();
-}
+MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
 
 void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
   *mode = this->mode;
@@ -64,25 +65,25 @@ ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
 }
 
 ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
-    uint32_t *msToReachTheMode) {
+                                                       uint32_t *msToReachTheMode) {
   *msToReachTheMode = 5000;
-  if(mode != MODE_ON and mode != MODE_OFF) {
+  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) {
+  if (mode == MODE_OFF) {
     switcher.turnOff(true);
     switcher.doStateMachine();
-    if(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+    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) {
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
       setMode(MODE_ON, 0);
     }
   }
@@ -103,6 +104,4 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
   announceMode(false);
 }
 
-HasHealthIF::HealthState PowerSwitcherComponent::getHealth() {
-  return healthHelper.getHealth();
-}
+HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }

src/fsfw/power/PowerSwitcherComponent.h

@@ -6,8 +6,8 @@
 #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/power/definitions.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
 class PowerSwitchIF;
@@ -22,19 +22,17 @@ class PowerSwitchIF;
  * 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);
+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;
+ private:
+  MessageQueueIF *queue = nullptr;
   PowerSwitcher switcher;
 
   Mode_t mode = MODE_OFF;
@@ -52,7 +50,7 @@ private:
   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;
+                                 uint32_t *msToReachTheMode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void setToExternalControl() override;
   void announceMode(bool recursive) override;

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;

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

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

tests/src/fsfw_tests/unit/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()) {