missing call added

Reviewed-on: fsfw/fsfw#612

CHANGELOG.md

@@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
+  compiler supports it
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
 - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
   and mode
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@@ -22,9 +25,42 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
+  creation call. It allows passing context information and an arbitrary user argument into
+  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+
+### HAL
+
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 
+### Time
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
+https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
+
+- `timeval` to `TimeOfDay_t`
+- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+- Moved the statics used by Clock in ClockCommon.cpp to this file
+- Better check for leap seconds
+- Added Unittests for Clock (only getter)
+
+### Power 
+
+- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
+  also specify a `ReturnValue_t` return type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
+  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
@@ -33,10 +69,47 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
+  can make good use of it and it usually makes the code faster and/or smaller.
+  After some more research:
+  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
+  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
+  because if an application linking against the FSFW does not use LTO, there can be compile
+  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
+  can be seen in the multiple CMake issues for it: 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
+  Easiest solution for now: Keep this option OFF by default.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
+- Added ETL dependency and improved library dependency management
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
+- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- New typedef for switcher type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- `Subsystem`: New API to add table and sequence entries
+
+## Fixed
+
+- TCP TMTC Server: `MutexGuard` was not created properly in
+  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
+- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
+  Is not currently used right now but might be used in the future
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
+- Move some CMake directives further up top so they are not ignored
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
+- Small bugfix in STM32 HAL for SPI
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
+- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
+  configuration fails, the function will exit prematurely with a dedicated error code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
 
 # [v4.0.0]
 

CMakeLists.txt

@@ -1,5 +1,15 @@
 cmake_minimum_required(VERSION 3.13)
 
+set(LIB_FSFW_NAME fsfw)
+project(${LIB_FSFW_NAME})
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 17)
+  message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
+endif()
+
 set(FSFW_VERSION 4)
 set(FSFW_SUBVERSION 0)
 set(FSFW_REVISION 0)
@@ -7,17 +17,48 @@ set(FSFW_REVISION 0)
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
-option(FSFW_GENERATE_SECTIONS
-    "Generate function and data sections. Required to remove unused code" ON
-)
-if(FSFW_GENERATE_SECTIONS)
-    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LIB_MAJOR_VERSION
+    20
+    CACHE STRING "ETL library major version requirement")
+set(FSFW_ETL_LIB_VERSION
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
+    CACHE STRING "ETL library exact version requirement")
+set(FSFW_ETL_LINK_TARGET etl::etl)
+
+set(FSFW_CATCH2_LIB_MAJOR_VERSION
+    3
+    CACHE STRING "Catch2 library major version requirement")
+set(FSFW_CATCH2_LIB_VERSION
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    CACHE STRING "Catch2 library exact version requirement")
+
+# Keep this off by default for now. See PR:
+# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
+# keeping this on by default is problematic
+option(
+  FSFW_ENABLE_IPO
+  "Enable interprocedural optimization or link-time optimization if available"
+  OFF)
+if(FSFW_ENABLE_IPO)
+  include(CheckIPOSupported)
+  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
+  if(NOT IPO_SUPPORTED)
+    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+  endif()
 endif()
 
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_GENERATE_SECTIONS
+       "Generate function and data sections. Required to remove unused code" ON)
+if(FSFW_GENERATE_SECTIONS)
+  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+endif()
+
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
-    option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
+  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
@@ -38,55 +79,96 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
-set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
-project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
+if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                TRUE)
+endif()
+
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "Building the FSFW unittests in addition to the static library")
-    # Check whether the user has already installed Catch2 first
-    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)
+  message(
+    STATUS "Building the FSFW unittests in addition to the static library")
+  # Check whether the user has already installed Catch2 first
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  # 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(
-            Catch2
-            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        v3.0.0-preview4
-        )
+    FetchContent_Declare(
+      Catch2
+      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
 
-        FetchContent_MakeAvailable(Catch2)
-        #fixes regression -preview4, to be confirmed in later releases
-        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-    endif()
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
+  endif()
 
-    set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)
 
-    project(${FSFW_TEST_TGT} CXX C)
-    add_executable(${FSFW_TEST_TGT})
+  project(${FSFW_TEST_TGT} CXX C)
+  add_executable(${FSFW_TEST_TGT})
+  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                  TRUE)
+  endif()
 
-    if(FSFW_TESTS_GEN_COV)
-        message(STATUS "Generating coverage data for the library")
-        message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
-        )
-        include(FetchContent)
-        FetchContent_Declare(
-            cmake-modules
-            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
-        )
-        FetchContent_MakeAvailable(cmake-modules)
-        set(CMAKE_BUILD_TYPE "Debug")
-        list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
-        include(CodeCoverage)
-    endif()
+  if(FSFW_TESTS_GEN_COV)
+    message(STATUS "Generating coverage data for the library")
+    message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
+                   "will be compiled with coverage data as well")
+    include(FetchContent)
+    FetchContent_Declare(
+      cmake-modules GIT_REPOSITORY https://github.com/bilke/cmake-modules.git)
+    FetchContent_MakeAvailable(cmake-modules)
+    set(CMAKE_BUILD_TYPE "Debug")
+    list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
+    include(CodeCoverage)
+  endif()
+endif()
+
+message(STATUS "Finding and/or providing ETL library")
+
+# Check whether the user has already installed ETL first
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_ETL_LIB_NAME}
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
+endif()
+
+# The documentation for FetchContent recommends declaring all the dependencies
+# before making them available. We make all declared dependency available here
+# after their declaration
+if(FSFW_FETCH_CONTENT_TARGETS)
+  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+  if(TARGET ${FSFW_ETL_LIB_NAME})
+    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
+  endif()
+  if(TARGET Catch2)
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+  endif()
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -94,65 +176,51 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-
-if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 11)
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 11)
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
-endif()
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(${LIB_FSFW_NAME}
+                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
-    set(FSFW_OSAL OS_FSFW)
+  message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+  set(FSFW_OSAL OS_FSFW)
 endif()
 
 if(NOT FSFW_OSAL)
-	message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
-	# Assume host OS and autodetermine from OS_FSFW
-	if(UNIX)
-		set(FSFW_OSAL  "linux" 
-			CACHE STRING 
-			"OS abstraction layer used in the FSFW"
-		)
-	elseif(WIN32)
-		set(FSFW_OSAL  "host" 
-			CACHE STRING "OS abstraction layer used in the FSFW"
-		)
-	endif()
+  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+  # Assume host OS and autodetermine from OS_FSFW
+  if(UNIX)
+    set(FSFW_OSAL
+        "linux"
+        CACHE STRING "OS abstraction layer used in the FSFW")
+  elseif(WIN32)
+    set(FSFW_OSAL
+        "host"
+        CACHE STRING "OS abstraction layer used in the FSFW")
+  endif()
 
 endif()
 
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
-    set(FSFW_OS_NAME "Host")
-    set(FSFW_OSAL_HOST ON)
+  set(FSFW_OS_NAME "Host")
+  set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-    set(FSFW_OS_NAME "Linux")
-    set(FSFW_OSAL_LINUX ON)
+  set(FSFW_OS_NAME "Linux")
+  set(FSFW_OSAL_LINUX ON)
 elseif(FSFW_OSAL MATCHES freertos)
-    set(FSFW_OS_NAME "FreeRTOS")
-    set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_OS_NAME}
-    )
+  set(FSFW_OS_NAME "FreeRTOS")
+  set(FSFW_OSAL_FREERTOS ON)
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
 elseif(FSFW_OSAL STREQUAL rtems)
-    set(FSFW_OS_NAME "RTEMS")
-    set(FSFW_OSAL_RTEMS ON)
+  set(FSFW_OS_NAME "RTEMS")
+  set(FSFW_OSAL_RTEMS ON)
 else()
-    message(WARNING
-        "Invalid operating system for FSFW specified! Setting to host.."
-    )
-    set(FSFW_OS_NAME "Host")
-    set(OS_FSFW "host")
+  message(
+    WARNING "Invalid operating system for FSFW specified! Setting to host..")
+  set(FSFW_OS_NAME "Host")
+  set(OS_FSFW "host")
 endif()
 
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
@@ -163,205 +231,178 @@ message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 add_subdirectory(src)
 add_subdirectory(tests)
 if(FSFW_ADD_HAL)
-    add_subdirectory(hal)
+  add_subdirectory(hal)
 endif()
 add_subdirectory(contrib)
 if(FSFW_BUILD_DOCS)
-    add_subdirectory(docs)
+  add_subdirectory(docs)
 endif()
 
 if(FSFW_BUILD_UNITTESTS)
-    if(FSFW_TESTS_GEN_COV)
-        if(CMAKE_COMPILER_IS_GNUCXX)
-            include(CodeCoverage)
+  if(FSFW_TESTS_GEN_COV)
+    if(CMAKE_COMPILER_IS_GNUCXX)
+      include(CodeCoverage)
 
-            # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
-            )
+      # Remove quotes.
+      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
+                         "${COVERAGE_COMPILER_FLAGS}")
 
-            # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
+      # Add compile options manually, we don't want coverage for Catch2
+      target_compile_options(${FSFW_TEST_TGT}
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
+      target_compile_options(${LIB_FSFW_NAME}
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
 
-            # Exclude directories here
-            if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
-                    "--exclude-throw-branches"
-                    "--exclude-unreachable-branches"
-                )
-                set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
-                )
-            elseif(UNIX)
-                set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
-                )
-            endif()
+      # Exclude directories here
+      if(WIN32)
+        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
+                                  "--exclude-unreachable-branches")
+        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
+      elseif(UNIX)
+        set(COVERAGE_EXCLUDES
+            "/usr/include/*"
+            "/usr/bin/*"
+            "Catch2/*"
+            "/usr/local/include/*"
+            "*/fsfw_tests/*"
+            "*/catch2-src/*"
+            "*/fsfw_hal/*")
+      endif()
 
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            # Need to specify this as an interface, otherwise there will the compile issues
-            target_link_options(${LIB_FSFW_NAME} INTERFACE
-                -fprofile-arcs
-                -ftest-coverage
-            )
+      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
+                          -ftest-coverage)
+      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
+                          -ftest-coverage)
+      # Need to specify this as an interface, otherwise there will the compile
+      # issues
+      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
+                          -ftest-coverage)
 
-            if(WIN32)
-                setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
-            else()
-                setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
-            endif()
-        endif()
+      if(WIN32)
+        setup_target_for_coverage_gcovr_html(
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
+      else()
+        setup_target_for_coverage_lcov(
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
+      endif()
     endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+  endif()
+  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
+                                                 ${LIB_FSFW_NAME})
 endif()
 
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
-# If this is not given, we include the default configuration and emit a warning.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
+# this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
-    if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "Flight Software Framework configuration path not set!")
-        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
-    endif()
-    add_subdirectory(${DEF_CONF_PATH})
-    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
+  set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+  if(NOT FSFW_BUILD_DOCS)
+    message(WARNING "Flight Software Framework configuration path not set!")
+    message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+  endif()
+  add_subdirectory(${DEF_CONF_PATH})
+  set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
-# FSFW might be part of a possibly complicated folder structure, so we 
-# extract the absolute path of the fsfwconfig folder.
+# FSFW might be part of a possibly complicated folder structure, so we extract
+# the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
-	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
+  set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
-	)
+  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
+                         BASE_DIR ${CMAKE_SOURCE_DIR})
 endif()
 
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
-    if(IS_ABSOLUTE ${INCLUDE_PATH})
-        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-    else()
-        get_filename_component(CURR_ABS_INC_PATH
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
-    endif()
+  if(IS_ABSOLUTE ${INCLUDE_PATH})
+    set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+  else()
+    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
+                           ${CMAKE_SOURCE_DIR})
+  endif()
 
-    if(CMAKE_VERBOSE)
-        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-    endif()
+  if(CMAKE_VERBOSE)
+    message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+  endif()
 
-    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+  list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
 endforeach()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    if(NOT DEFINED FSFW_WARNING_FLAGS)
-	   set(FSFW_WARNING_FLAGS
-		  -Wall
-		  -Wextra
-		  -Wimplicit-fallthrough=1
-		  -Wno-unused-parameter
-		  -Wno-psabi
-          -Wduplicated-cond # check for duplicate conditions
-          -Wduplicated-branches # check for duplicate branches
-          -Wlogical-op # Search for bitwise operations instead of logical 
-          -Wnull-dereference # Search for NULL dereference
-          -Wundef # Warn if undefind marcos are used
-          -Wformat=2 # Format string problem detection
-          -Wformat-overflow=2 # Formatting issues in printf
-          -Wformat-truncation=2 # Formatting issues in printf
-          -Wformat-security # Search for dangerous printf operations
-          -Wstrict-overflow=3 # Warn if integer overflows might happen
-          -Warray-bounds=2 # Some array bounds violations will be found
-          -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-          -Wcast-qual # Warn if the constness is cast away
-          -Wstringop-overflow=4
-          # -Wstack-protector # Emits a few false positives for low level access
-          # -Wconversion # Creates many false positives
-          # -Warith-conversion # Use with Wconversion to find more implicit conversions
-          # -fanalyzer # Should be used to look through problems
-        )
-    endif()
+  if(NOT DEFINED FSFW_WARNING_FLAGS)
+    set(FSFW_WARNING_FLAGS
+        -Wall
+        -Wextra
+        -Wimplicit-fallthrough=1
+        -Wno-unused-parameter
+        -Wno-psabi
+        -Wduplicated-cond # check for duplicate conditions
+        -Wduplicated-branches # check for duplicate branches
+        -Wlogical-op # Search for bitwise operations instead of logical
+        -Wnull-dereference # Search for NULL dereference
+        -Wundef # Warn if undefind marcos are used
+        -Wformat=2 # Format string problem detection
+        -Wformat-overflow=2 # Formatting issues in printf
+        -Wformat-truncation=2 # Formatting issues in printf
+        -Wformat-security # Search for dangerous printf operations
+        -Wstrict-overflow=3 # Warn if integer overflows might happen
+        -Warray-bounds=2 # Some array bounds violations will be found
+        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+        -Wcast-qual # Warn if the constness is cast away
+        -Wstringop-overflow=4
+        # -Wstack-protector # Emits a few false positives for low level access
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
+        # be used to look through problems
+    )
+  endif()
 
-    if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
-            "-ffunction-sections"
-            "-fdata-sections"
-        )
-    endif()
+  if(FSFW_GENERATE_SECTIONS)
+    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
+                                                    "-fdata-sections")
+  endif()
+
+  if(FSFW_REMOVE_UNUSED_CODE)
+    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
+  endif()
+
+  if(FSFW_WARNING_SHADOW_LOCAL_GCC)
+    list(APPEND WARNING_FLAGS "-Wshadow=local")
+  endif()
 
-    if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
-            "Wl,--gc-sections"
-        )
-    endif()
-  
-    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
-        list(APPEND WARNING_FLAGS "-Wshadow=local")
-    endif()
-	
 endif()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-	set(COMPILER_FLAGS "/permissive-")
+  set(COMPILER_FLAGS "/permissive-")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
+target_include_directories(
+  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 
-# Includes path required to compile FSFW itself as well
-# We assume that the fsfwconfig folder uses include relative to the project
-# root here!
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
+# Includes path required to compile FSFW itself as well We assume that the
+# fsfwconfig folder uses include relative to the project root here!
+target_include_directories(
+  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
-	${FSFW_WARNING_FLAGS}
-	${COMPILER_FLAGS}
-)
+target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
+                                                ${COMPILER_FLAGS})
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_ADDITIONAL_LINK_LIBS}
-)
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
 
-string(CONCAT POST_BUILD_COMMENT
+string(
+  CONCAT
+    POST_BUILD_COMMENT
     "######################################################################\n"
     "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
     "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
-)
+    "######################################################################\n")
 
 add_custom_command(
-   TARGET ${LIB_FSFW_NAME}
-   POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
-)
+  TARGET ${LIB_FSFW_NAME}
+  POST_BUILD
+  COMMENT ${POST_BUILD_COMMENT})

README.md

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

automation/Dockerfile

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

automation/Jenkinsfile

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

docs/getting_started.rst

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

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

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

hal/src/fsfw_hal/linux/CMakeLists.txt

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -2,8 +2,8 @@
 
 #include <fsfw/serviceinterface.h>
 
-UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-                       size_t maxReplyLen, UartModes uartMode)
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+                       UartBaudRate baudrate, size_t maxReplyLen)
     : handlerId(handlerId),
       deviceFile(deviceFile),
       uartMode(uartMode),

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

@@ -69,8 +69,8 @@ class UartCookie : public CookieIF {
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-             size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+             UartBaudRate baudrate, size_t maxReplyLen);
 
   virtual ~UartCookie();
 

hal/src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -21,7 +21,7 @@ using mspCb = void (*)(void);
 namespace spi {
 
 struct MspCfgBase {
-  MspCfgBase();
+  MspCfgBase() {}
   MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
              mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
       : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}

scripts/apply-clang-format.sh

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

scripts/auto-formatter.sh

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

src/fsfw/action/CommandActionHelper.h

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

src/fsfw/cfdp/CFDPHandler.cpp

@@ -12,9 +12,7 @@ object_id_t CFDPHandler::packetDestination = 0;
 
 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
   distributor = dist;
 }
 

src/fsfw/cfdp/pdu/HeaderSerializer.h

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

src/fsfw/container/FIFOBase.tpp

@@ -5,89 +5,88 @@
 #error Include FIFOBase.h before FIFOBase.tpp!
 #endif
 
-template<typename T>
-inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
-        maxCapacity(maxCapacity), values(values){};
+template <typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
+    : maxCapacity(maxCapacity), values(values){};
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
-    if (full()) {
-        return FULL;
-    } else {
-        values[writeIndex] = value;
-        writeIndex = next(writeIndex);
-        ++currentSize;
-        return HasReturnvaluesIF::RETURN_OK;
-    }
+  if (full()) {
+    return FULL;
+  } else {
+    values[writeIndex] = value;
+    writeIndex = next(writeIndex);
+    ++currentSize;
+    return HasReturnvaluesIF::RETURN_OK;
+  }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
-    if (empty()) {
-        return EMPTY;
-    } else {
-        if (value == nullptr){
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        *value = values[readIndex];
-        readIndex = next(readIndex);
-        --currentSize;
-        return HasReturnvaluesIF::RETURN_OK;
+  if (empty()) {
+    return EMPTY;
+  } else {
+    if (value == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+    *value = values[readIndex];
+    readIndex = next(readIndex);
+    --currentSize;
+    return HasReturnvaluesIF::RETURN_OK;
+  }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::peek(T* value) {
-    if(empty()) {
-        return EMPTY;
-    } else {
-        if (value == nullptr){
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        *value = values[readIndex];
-        return HasReturnvaluesIF::RETURN_OK;
+  if (empty()) {
+    return EMPTY;
+  } else {
+    if (value == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+    *value = values[readIndex];
+    return HasReturnvaluesIF::RETURN_OK;
+  }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::pop() {
-    T value;
-    return this->retrieve(&value);
+  T value;
+  return this->retrieve(&value);
 };
 
-template<typename T>
+template <typename T>
 inline bool FIFOBase<T>::empty() {
-    return (currentSize == 0);
+  return (currentSize == 0);
 };
 
-template<typename T>
+template <typename T>
 inline bool FIFOBase<T>::full() {
-    return (currentSize == maxCapacity);
+  return (currentSize == maxCapacity);
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::size() {
-    return currentSize;
+  return currentSize;
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::next(size_t current) {
-    ++current;
-    if (current == maxCapacity) {
-        current = 0;
-    }
-    return current;
+  ++current;
+  if (current == maxCapacity) {
+    current = 0;
+  }
+  return current;
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::getMaxCapacity() const {
-    return maxCapacity;
+  return maxCapacity;
 }
 
-
-template<typename T>
-inline void FIFOBase<T>::setContainer(T *data) {
-    this->values = data;
+template <typename T>
+inline void FIFOBase<T>::setContainer(T* data) {
+  this->values = data;
 }
 
 #endif

src/fsfw/container/FixedArrayList.h

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

src/fsfw/container/FixedOrderedMultimap.tpp

@@ -1,109 +1,109 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 
-
-template<typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
-    if (_size == theMap.maxSize()) {
-        return MAP_FULL;
-    }
-    size_t position = findNicePlace(key);
-    memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
-            (_size - position) * sizeof(std::pair<key_t,T>));
-    theMap[position].first = key;
-    theMap[position].second = value;
-    ++_size;
-    if (storedValue != nullptr) {
-        *storedValue = Iterator(&theMap[position]);
-    }
-    return HasReturnvaluesIF::RETURN_OK;
+template <typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
+                                                                         Iterator *storedValue) {
+  if (_size == theMap.maxSize()) {
+    return MAP_FULL;
+  }
+  size_t position = findNicePlace(key);
+  memmove(static_cast<void *>(&theMap[position + 1]), static_cast<void *>(&theMap[position]),
+          (_size - position) * sizeof(std::pair<key_t, T>));
+  theMap[position].first = key;
+  theMap[position].second = value;
+  ++_size;
+  if (storedValue != nullptr) {
+    *storedValue = Iterator(&theMap[position]);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
-    return insert(pair.first, pair.second);
+  return insert(pair.first, pair.second);
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
-    ReturnValue_t result = KEY_DOES_NOT_EXIST;
-    if (findFirstIndex(key) < _size) {
-        result = HasReturnvaluesIF::RETURN_OK;
-    }
-    return result;
+  ReturnValue_t result = KEY_DOES_NOT_EXIST;
+  if (findFirstIndex(key) < _size) {
+    result = HasReturnvaluesIF::RETURN_OK;
+  }
+  return result;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
-    size_t i;
-    if ((i = findFirstIndex((*iter).value->first)) >= _size) {
-        return KEY_DOES_NOT_EXIST;
-    }
-    removeFromPosition(i);
-    if (*iter != begin()) {
-        (*iter)--;
-    } else {
-        *iter = begin();
-    }
-    return HasReturnvaluesIF::RETURN_OK;
+  size_t i;
+  if ((i = findFirstIndex((*iter).value->first)) >= _size) {
+    return KEY_DOES_NOT_EXIST;
+  }
+  removeFromPosition(i);
+  if (*iter != begin()) {
+    (*iter)--;
+  } else {
+    *iter = begin();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
-    size_t i;
-    if ((i = findFirstIndex(key)) >= _size) {
-        return KEY_DOES_NOT_EXIST;
-    }
-    do {
-        removeFromPosition(i);
-        i = findFirstIndex(key, i);
-    } while (i < _size);
-    return HasReturnvaluesIF::RETURN_OK;
+  size_t i;
+  if ((i = findFirstIndex(key)) >= _size) {
+    return KEY_DOES_NOT_EXIST;
+  }
+  do {
+    removeFromPosition(i);
+    i = findFirstIndex(key, i);
+  } while (i < _size);
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
-    ReturnValue_t result = exists(key);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    *value = &theMap[findFirstIndex(key)].second;
-    return HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = exists(key);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  *value = &theMap[findFirstIndex(key)].second;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
-inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
-    if (startAt >= _size) {
-        return startAt + 1;
+template <typename key_t, typename T, typename KEY_COMPARE>
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
+                                                                          size_t startAt) const {
+  if (startAt >= _size) {
+    return startAt + 1;
+  }
+  size_t i = startAt;
+  for (i = startAt; i < _size; ++i) {
+    if (theMap[i].first == key) {
+      return i;
     }
-    size_t i = startAt;
-    for (i = startAt; i < _size; ++i) {
-        if (theMap[i].first == key) {
-            return i;
-        }
-    }
-    return i;
+  }
+  return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
-    size_t i = 0;
-    for (i = 0; i < _size; ++i) {
-        if (myComp(key, theMap[i].first)) {
-            return i;
-        }
+  size_t i = 0;
+  for (i = 0; i < _size; ++i) {
+    if (myComp(key, theMap[i].first)) {
+      return i;
     }
-    return i;
+  }
+  return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
-    if (_size <= position) {
-        return;
-    }
-    memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
-            (_size - position - 1) * sizeof(std::pair<key_t,T>));
-    --_size;
+  if (_size <= position) {
+    return;
+  }
+  memmove(static_cast<void *>(&theMap[position]), static_cast<void *>(&theMap[position + 1]),
+          (_size - position - 1) * sizeof(std::pair<key_t, T>));
+  --_size;
 }
 
-
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

src/fsfw/container/HybridIterator.h

@@ -10,15 +10,14 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
   HybridIterator() {}
 
   HybridIterator(typename LinkedElement<T>::Iterator *iter)
-      : LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {
-    if(iter != nullptr) {
+      : LinkedElement<T>::Iterator(*iter), linked(true) {
+    if (iter != nullptr) {
       value = iter->value;
     }
   }
 
-  HybridIterator(LinkedElement<T> *start)
-      : LinkedElement<T>::Iterator(start), linked(true) {
-    if(start != nullptr) {
+  HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
+    if (start != nullptr) {
       value = start->value;
     }
   }

src/fsfw/controller/ControllerBase.cpp

@@ -13,9 +13,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/controller/ControllerBase.h

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

src/fsfw/datapool/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    PoolDataSetBase.cpp
-    PoolEntry.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	PoolDataSetBase.cpp
+	PoolEntry.cpp
 )

src/fsfw/datapool/PoolDataSetBase.h

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

src/fsfw/datapool/PoolEntry.cpp

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

src/fsfw/datapool/PoolEntry.h

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

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -787,6 +787,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   // Serialize set packet into store.
   size_t size = 0;
   result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeId);
+    return result;
+  }
   if (expectedSize != size) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
@@ -801,7 +805,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
     HousekeepingMessage::setHkStuctureReportReply(&reply, sid, storeId);
   }
 
-  hkQueue->reply(&reply);
+  result = hkQueue->reply(&reply);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeId);
+  }
   return result;
 }
 

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

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

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

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

src/fsfw/datapoollocal/LocalPoolObjectBase.h

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

src/fsfw/datapoollocal/LocalPoolVariable.tpp

@@ -5,205 +5,189 @@
 #error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
 #endif
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
-        lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+template <typename T>
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+template <typename T>
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
+template <typename T>
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet,
+                                               pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
+                          setReadWriteMode) {}
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
-                dataSet, setReadWriteMode){}
-
-
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::read(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    if(hkManager == nullptr) {
-        return readWithoutLock();
-    }
-    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
-    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    result = readWithoutLock();
-    mutex->unlockMutex();
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
+                                                uint32_t timeoutMs) {
+  if (hkManager == nullptr) {
+    return readWithoutLock();
+  }
+  MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
+  }
+  result = readWithoutLock();
+  mutex->unlockMutex();
+  return result;
 }
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_WRITE) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
+  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
 
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
-        object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
-                false, ownerObjectId, localPoolId);
-        return result;
-    }
-
-    this->value = *(poolEntry->getDataPtr());
-    this->valid = poolEntry->getValid();
-    return RETURN_OK;
-}
-
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    this->setValid(setValid);
-    return commit(timeoutType, timeoutMs);
-}
-
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    if(hkManager == nullptr) {
-        return commitWithoutLock();
-    }
-    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
-    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    result = commitWithoutLock();
-    mutex->unlockMutex();
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
+    object_id_t ownerObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
     return result;
+  }
+
+  this->value = *(poolEntry->getDataPtr());
+  this->valid = poolEntry->getValid();
+  return RETURN_OK;
 }
 
-template<typename T>
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
+                                                  uint32_t timeoutMs) {
+  this->setValid(setValid);
+  return commit(timeoutType, timeoutMs);
+}
+
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
+                                                  uint32_t timeoutMs) {
+  if (hkManager == nullptr) {
+    return commitWithoutLock();
+  }
+  MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = commitWithoutLock();
+  mutex->unlockMutex();
+  return result;
+}
+
+template <typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_READ) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
+  if (readWriteMode == pool_rwm_t::VAR_READ) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
 
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
-        object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
-                false, ownerObjectId, localPoolId);
-        return result;
-    }
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
+    object_id_t ownerObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
+    return result;
+  }
 
-    *(poolEntry->getDataPtr()) = this->value;
-    poolEntry->setValid(this->valid);
-    return RETURN_OK;
+  *(poolEntry->getDataPtr()) = this->value;
+  poolEntry->setValid(this->valid);
+  return RETURN_OK;
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
-        size_t* size, const size_t max_size,
-        SerializeIF::Endianness streamEndianness) const {
-    return SerializeAdapter::serialize(&value,
-            buffer, size ,max_size, streamEndianness);
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::serialize(
+    uint8_t** buffer, size_t* size, const size_t max_size,
+    SerializeIF::Endianness streamEndianness) const {
+  return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
 }
 
-template<typename T>
+template <typename T>
 inline size_t LocalPoolVariable<T>::getSerializedSize() const {
-    return SerializeAdapter::getSerializedSize(&value);
+  return SerializeAdapter::getSerializedSize(&value);
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
-        size_t* size, SerializeIF::Endianness streamEndianness) {
-    return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
+                                                       SerializeIF::Endianness streamEndianness) {
+  return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-template<typename T>
-inline std::ostream& operator<< (std::ostream &out,
-        const LocalPoolVariable<T> &var) {
-    out << var.value;
-    return out;
+template <typename T>
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
+  out << var.value;
+  return out;
 }
 #endif
 
-template<typename T>
+template <typename T>
 inline LocalPoolVariable<T>::operator T() const {
-    return value;
+  return value;
 }
 
-template<typename T>
-inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
-        const T& newValue) {
-    value = newValue;
-    return *this;
+template <typename T>
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
+  value = newValue;
+  return *this;
 }
 
-template<typename T>
-inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
-        const LocalPoolVariable<T>& newPoolVariable) {
-    value = newPoolVariable.value;
-    return *this;
+template <typename T>
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(
+    const LocalPoolVariable<T>& newPoolVariable) {
+  value = newPoolVariable.value;
+  return *this;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator ==(
-        const LocalPoolVariable<T> &other) const {
-    return this->value == other.value;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
+  return this->value == other.value;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
-    return this->value == other;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator==(const T& other) const {
+  return this->value == other;
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator !=(
-        const LocalPoolVariable<T> &other) const {
-    return not (*this == other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
+  return not(*this == other);
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
-    return not (*this == other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator!=(const T& other) const {
+  return not(*this == other);
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator <(
-        const LocalPoolVariable<T> &other) const {
-    return this->value < other.value;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
+  return this->value < other.value;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator <(const T &other) const {
-    return this->value < other;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator<(const T& other) const {
+  return this->value < other;
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator >(
-        const LocalPoolVariable<T> &other) const {
-    return not (*this < other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
+  return not(*this < other);
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator >(const T &other) const {
-    return not (*this < other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator>(const T& other) const {
+  return not(*this < other);
 }
 
 #endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

src/fsfw/datapoollocal/LocalPoolVector.tpp

@@ -5,174 +5,172 @@
 #error Include LocalPoolVector.h before LocalPoolVector.tpp!
 #endif
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
-        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
-        pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+                                                       DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
+                                                       DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
-                dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
+                          setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-    return readWithoutLock();
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
+                                                          uint32_t timeoutMs) {
+  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+  return readWithoutLock();
 }
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_WRITE) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
+  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
 
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    memset(this->value, 0, vectorSize * sizeof(T));
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  memset(this->value, 0, vectorSize * sizeof(T));
 
-    if(result != RETURN_OK) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
-                localPoolId);
-        return result;
-    }
-    std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
-    this->valid = poolEntry->getValid();
-    return RETURN_OK;
+  if (result != RETURN_OK) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
+    return result;
+  }
+  std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
+  this->valid = poolEntry->getValid();
+  return RETURN_OK;
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    this->setValid(valid);
-    return commit(timeoutType, timeoutMs);
+                                                            MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
+  this->setValid(valid);
+  return commit(timeoutType, timeoutMs);
 }
 
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-    return commitWithoutLock();
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
+  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+  return commitWithoutLock();
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_READ) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
-                localPoolId);
-        return result;
-    }
-    std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
-    poolEntry->setValid(this->valid);
-    return RETURN_OK;
-}
-
-template<typename T, uint16_t vectorSize>
-inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
-    if(i < vectorSize) {
-        return value[i];
-    }
-    // If this happens, I have to set some value. I consider this
-    // a configuration error, but I wont exit here.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
-#else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
-            " last value!\n");
-#endif
-    return value[vectorSize - 1];
-}
-
-template<typename T, uint16_t vectorSize>
-inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
-    if(i < vectorSize) {
-        return value[i];
-    }
-    // If this happens, I have to set some value. I consider this
-    // a configuration error, but I wont exit here.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
-#else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
-            " last value!\n");
-#endif
-    return value[vectorSize - 1];
-}
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
-        size_t* size, size_t maxSize,
-        SerializeIF::Endianness streamEndianness) const {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-    for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-                maxSize, streamEndianness);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-            break;
-        }
-    }
+  if (readWriteMode == pool_rwm_t::VAR_READ) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
     return result;
+  }
+  std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
+  poolEntry->setValid(this->valid);
+  return RETURN_OK;
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
+inline T& LocalPoolVector<T, vectorSize>::operator[](size_t i) {
+  if (i < vectorSize) {
+    return value[i];
+  }
+  // If this happens, I have to set some value. I consider this
+  // a configuration error, but I wont exit here.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
+                  " last value!"
+               << std::endl;
+#else
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
+      " last value!\n");
+#endif
+  return value[vectorSize - 1];
+}
+
+template <typename T, uint16_t vectorSize>
+inline const T& LocalPoolVector<T, vectorSize>::operator[](size_t i) const {
+  if (i < vectorSize) {
+    return value[i];
+  }
+  // If this happens, I have to set some value. I consider this
+  // a configuration error, but I wont exit here.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
+                  " last value!"
+               << std::endl;
+#else
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
+      " last value!\n");
+#endif
+  return value[vectorSize - 1];
+}
+
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
+    uint8_t** buffer, size_t* size, size_t maxSize,
+    SerializeIF::Endianness streamEndianness) const {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+  for (uint16_t i = 0; i < vectorSize; i++) {
+    result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      break;
+    }
+  }
+  return result;
+}
+
+template <typename T, uint16_t vectorSize>
 inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
-    return vectorSize * SerializeAdapter::getSerializedSize(value);
+  return vectorSize * SerializeAdapter::getSerializedSize(value);
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
-        const uint8_t** buffer, size_t* size,
-        SerializeIF::Endianness streamEndianness) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-    for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-                streamEndianness);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-            break;
-        }
+    const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+  for (uint16_t i = 0; i < vectorSize; i++) {
+    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      break;
     }
-    return result;
+  }
+  return result;
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-template<typename T, uint16_t vectorSize>
-inline std::ostream& operator<< (std::ostream &out,
-        const LocalPoolVector<T, vectorSize> &var) {
-    out << "Vector: [";
-    for(int i = 0;i < vectorSize; i++) {
-        out << var.value[i];
-        if(i < vectorSize - 1) {
-            out << ", ";
-        }
+template <typename T, uint16_t vectorSize>
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
+  out << "Vector: [";
+  for (int i = 0; i < vectorSize; i++) {
+    out << var.value[i];
+    if (i < vectorSize - 1) {
+      out << ", ";
     }
-    out << "]";
-    return out;
+  }
+  out << "]";
+  return out;
 }
 #endif
 

src/fsfw/devicehandlers/AssemblyBase.cpp

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

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,8 +12,7 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -27,9 +26,11 @@
  *
  * Important:
  *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -46,14 +47,13 @@ class AssemblyBase : public SubsystemBase {
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
    * @param mode
    * @param submode
    * @return
-   *    - @c RETURN_OK if OK
+   *    - @c RETURN_OK if ok
    *    - @c NEED_SECOND_STEP if children need to be commanded again
    */
   virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
@@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();
 
-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
   bool handleChildrenChanged();
 
   /**
@@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -39,9 +39,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -49,6 +48,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
                         HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@@ -124,18 +126,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != RETURN_OK) {
     return result;
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
-
-  if (this->parent != objects::NO_OBJECT) {
-    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
-    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
-    if (modeIF != nullptr and healthIF != nullptr) {
-      setParentQueue(modeIF->getCommandQueue());
-    }
-  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -362,12 +352,14 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -1407,8 +1399,6 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1431,7 +1421,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -1515,11 +1505,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -103,9 +103,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setParent(object_id_t parent);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -166,7 +163,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return RETURN_OK for successful execution
    */
-  virtual ReturnValue_t performOperation(uint8_t counter);
+  virtual ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -176,7 +173,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  virtual ReturnValue_t initialize();
+  virtual ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
@@ -652,12 +649,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -831,7 +822,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -1068,11 +1058,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param parameter1	Optional parameter 1
    * @param parameter2	Optional parameter 2
    */
-  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
   /**
    * Same as triggerEvent, but for forwarding if object is used as proxy.
    */
-  virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
+  virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+                            uint32_t parameter2 = 0) const override;
 
   /**
    * Checks if current mode is transitional mode.

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -29,7 +29,6 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
     case HasModesIF::OBJECT_IN_INVALID_MODE:
-    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       handleRecovery(event->getEvent());

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -109,7 +109,6 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 

src/fsfw/devicehandlers/HealthDevice.cpp

@@ -8,9 +8,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/events/EventManager.cpp

@@ -18,9 +18,8 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 EventManager::~EventManager() {
@@ -47,20 +46,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
-                   << result << std::setfill(' ') << std::endl;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
     }
   }
   unlockMutex();
@@ -201,19 +189,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -42,7 +42,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -9,9 +9,8 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -52,12 +51,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid" << std::endl;
-      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#else
-      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
-      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
+      sif::error << "FailureIsolationBase::intialize: Parent object"
+                 << "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return RETURN_FAILED;

src/fsfw/fdir/FailureIsolationBase.h

@@ -14,12 +14,13 @@ class FailureIsolationBase : public HasReturnvaluesIF,
                              public HasParametersIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
-  //! FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
-  //! FDIR turns off device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
+  static const Event FDIR_CHANGED_STATE =
+      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
+                                      //!< (oldState) to par1 (newState).
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
+      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
+      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.
 
   FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                        uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);

src/fsfw/globalfunctions/CMakeLists.txt

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

src/fsfw/globalfunctions/DleParser.cpp

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

src/fsfw/globalfunctions/DleParser.h

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

src/fsfw/globalfunctions/matching/MatchTree.h

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

src/fsfw/globalfunctions/matching/RangeMatcher.h

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

src/fsfw/health/HasHealthIF.h

@@ -23,15 +23,19 @@ class HasHealthIF {
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  //! Assembly overwrites health information of children to keep satellite alive.
-  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
-  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-  //! Recovery is ongoing. Comes twice during recovery.
-  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-  //! Recovery was completed. Not necessarily successful. No parameters.
-  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
+  static const Event OVERWRITING_HEALTH =
+      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+                                     //!< satellite alive.
+  static const Event TRYING_RECOVERY =
+      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+                                         //!< power-cycle). No parameters.
+  static const Event RECOVERY_STEP =
+      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(
+      12,
+      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
+
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,13 +7,11 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
+      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@@ -38,14 +36,15 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-                 << newStoreHits << std::endl;
+                 << "occured!" << std::endl;
+      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+      sif::debug << "TM errors: " << newTmHits << std::endl;
+      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug(
-          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-          "| %lu\n",
-          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
-          static_cast<unsigned int>(newStoreHits));
+      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }

src/fsfw/ipc/MessageQueueBase.cpp

@@ -1,9 +1,9 @@
 #include "MessageQueueBase.h"
 
-MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest,
-    MqArgs* args): id(id) {
+MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* args)
+    : id(id) {
   this->defaultDest = defaultDest;
-  if(args != nullptr) {
+  if (args != nullptr) {
     this->args = *args;
   }
 }
@@ -23,35 +23,25 @@ ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
 }
 
 ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
+                                               MessageQueueId_t* receivedFrom) {
   ReturnValue_t status = this->receiveMessage(message);
   *receivedFrom = this->last;
   return status;
 }
 
-MessageQueueId_t MessageQueueBase::getLastPartner() const {
-  return last;
-}
+MessageQueueId_t MessageQueueBase::getLastPartner() const { return last; }
 
-MessageQueueId_t MessageQueueBase::getId() const {
-  return id;
-}
+MessageQueueId_t MessageQueueBase::getId() const { return id; }
 
-MqArgs& MessageQueueBase::getMqArgs() {
-  return args;
-}
+MqArgs& MessageQueueBase::getMqArgs() { return args; }
 
 void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
   this->defaultDest = defaultDestination;
 }
 
-MessageQueueId_t MessageQueueBase::getDefaultDestination() const {
-  return defaultDest;
-}
+MessageQueueId_t MessageQueueBase::getDefaultDestination() const { return defaultDest; }
 
-bool MessageQueueBase::isDefaultDestinationSet() const {
-  return (defaultDest != NO_QUEUE);
-}
+bool MessageQueueBase::isDefaultDestinationSet() const { return (defaultDest != NO_QUEUE); }
 
 ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             bool ignoreFault) {

src/fsfw/ipc/MessageQueueBase.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
 #define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
 
-#include <fsfw/ipc/definitions.h>
 #include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/ipc/definitions.h>
 
-class MessageQueueBase: public MessageQueueIF {
-public:
+class MessageQueueBase : public MessageQueueIF {
+ public:
   MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
   virtual ~MessageQueueBase();
 
@@ -17,25 +17,24 @@ public:
   virtual MessageQueueId_t getDefaultDestination() const override;
   virtual bool isDefaultDestinationSet() const override;
   virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-      bool ignoreFault) override;
+                                    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;
+                                       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:
+
+ 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

@@ -2,6 +2,7 @@
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
 #include <fsfw/ipc/definitions.h>
+
 #include <cstdint>
 
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -45,7 +46,8 @@ class MessageQueueIF {
   virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
 
   /**
-   * @brief	This function reads available messages from the message queue and returns the sender.
+   * @brief	This function reads available messages from the message queue and returns the
+   * sender.
    * @details
    * It works identically to the other receiveMessage call, but in addition
    * returns the sender's queue id.

src/fsfw/modes/HasModesIF.h

@@ -19,33 +19,32 @@ class HasModesIF {
   static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  //! An object announces changing the mode. p1: target mode. p2: target submode
-  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
-  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
-  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
+  static const Event CHANGING_MODE =
+      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
+                                      //!< p2: target submode
+  static const Event MODE_INFO = MAKE_EVENT(
+      1,
+      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
   static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
   static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
   static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
-  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
-  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
-  //! p1: target mode. p2: target submode
-  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
-  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
-  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
+  static const Event OBJECT_IN_INVALID_MODE =
+      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
+                                     //!< mode it should never be in.
+  static const Event FORCING_MODE = MAKE_EVENT(
+      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
+                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+  static const Event MODE_CMD_REJECTED =
+      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
+                                     //!< called object id, Par2: return code.
 
-  //! The device is powered and ready to perform operations. In this mode, no commands are
-  //! sent by the device handler itself, but direct commands van be commanded and will be
-  //! interpreted
-  static constexpr Mode_t MODE_ON = 1;
-  //! The device is powered off. The only command accepted in this mode is a mode change to on.
-  static constexpr Mode_t MODE_OFF = 0;
-
-  static constexpr Mode_t MODE_INVALID = -1;
-  static constexpr Mode_t MODE_UNDEFINED = -2;
-
-  //! To avoid checks against magic number "0".
-  static const Submode_t SUBMODE_NONE = 0;
+  static const Mode_t MODE_ON =
+      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
+          //!< sent by the device handler itself, but direct commands van be commanded and will be
+          //!< interpreted
+  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
+                                     //!< this mode is a mode change to on.
+  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/monitoring/MonitoringMessageContent.h

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

src/fsfw/objectmanager/ObjectManager.cpp

@@ -95,16 +95,13 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-      sif::printError(
-          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
-          it.first);
-#endif
+                 << std::setfill('0') << var
+                 << " failed to "
+                    "initialize with code 0x"
+                 << result << std::dec << std::setfill(' ') << std::endl;
 #endif
       errorCount++;
     }

src/fsfw/objectmanager/SystemObject.h

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

src/fsfw/osal/common/TcpTmTcServer.cpp

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

src/fsfw/osal/common/TcpTmTcServer.h

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

src/fsfw/osal/common/UdpTcPollingTask.cpp

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

src/fsfw/osal/common/UdpTcPollingTask.h

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

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -20,13 +20,13 @@
 const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             std::string udpServerPort, object_id_t tmStoreId,
+                             const std::string &udpServerPort_, object_id_t tmStoreId,
                              object_id_t tcStoreId)
     : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
-  if (udpServerPort == "") {
-    this->udpServerPort = DEFAULT_SERVER_PORT;
+  if (udpServerPort_.empty()) {
+    udpServerPort = DEFAULT_SERVER_PORT;
   } else {
-    this->udpServerPort = udpServerPort;
+    udpServerPort = udpServerPort_;
   }
 
   mutex = MutexFactory::instance()->createMutex();
@@ -117,8 +117,8 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
   tcpip::printAddress(&clientAddress);
 #endif
 
-  int bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
-                         &clientAddress, clientAddressLen);
+  ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
+                             &clientAddress, clientAddressLen);
   if (bytesSent == SOCKET_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;
@@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) {
   clientAddressLen = sizeof(clientAddress);
 }
 
-void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) {
-  this->timeoutType = timeoutType;
-  this->mutexTimeoutMs = timeoutMs;
+void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) {
+  timeoutType = timeoutType_;
+  mutexTimeoutMs = timeoutMs;
 }

src/fsfw/osal/common/UdpTmTcBridge.h

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

src/fsfw/osal/freertos/Clock.cpp

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

src/fsfw/osal/freertos/MessageQueue.h

@@ -2,6 +2,7 @@
 #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
 #include <fsfw/ipc/MessageQueueBase.h>
+
 #include "FreeRTOS.h"
 #include "TaskManagement.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"

src/fsfw/osal/host/CMakeLists.txt

@@ -1,24 +1,27 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Clock.cpp
-		FixedTimeslotTask.cpp
-		MessageQueue.cpp
-		Mutex.cpp
-		MutexFactory.cpp
-		PeriodicTask.cpp
-		QueueFactory.cpp
-		QueueMapManager.cpp
-		SemaphoreFactory.cpp
-		TaskFactory.cpp
-		taskHelpers.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE
+  Clock.cpp
+  FixedTimeslotTask.cpp
+  MessageQueue.cpp
+  Mutex.cpp
+  MutexFactory.cpp
+  PeriodicTask.cpp
+  QueueFactory.cpp
+  QueueMapManager.cpp
+  SemaphoreFactory.cpp
+  TaskFactory.cpp
+  taskHelpers.cpp
 )
 
 if(UNIX)
-	find_package(Threads REQUIRED)
-	
-	target_link_libraries(${LIB_FSFW_NAME} 
-	PRIVATE
-		rt
-		${CMAKE_THREAD_LIBS_INIT}
-	)
+  find_package(Threads REQUIRED)
+
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_THREAD_LIBS_INIT}
+  )
+  if(NOT APPLE)
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+      rt
+      )
+  endif()
+
 endif()

src/fsfw/osal/host/Clock.cpp

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

src/fsfw/osal/host/MessageQueue.h

@@ -1,17 +1,17 @@
 #ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
 #define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
 
-#include "fsfw/ipc/MessageQueueBase.h"
+#include <memory>
+#include <queue>
+
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
+#include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MutexIF.h"
 #include "fsfw/ipc/definitions.h"
 #include "fsfw/timemanager/Clock.h"
 
-#include <memory>
-#include <queue>
-
 /**
  * @brief		This class manages sending and receiving of
  * 				message queue messages.

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,29 +1,29 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
-    Clock.cpp
-    BinarySemaphore.cpp
-    CountingSemaphore.cpp
-    FixedTimeslotTask.cpp
-    InternalErrorCodes.cpp
-    MessageQueue.cpp
-    Mutex.cpp
-    MutexFactory.cpp
-    PeriodicPosixTask.cpp
-    PosixThread.cpp
-    QueueFactory.cpp
-    SemaphoreFactory.cpp
-    TaskFactory.cpp
-    tcpipHelpers.cpp
-    unixUtility.cpp
-)
+  Clock.cpp
+  BinarySemaphore.cpp
+  CountingSemaphore.cpp
+  FixedTimeslotTask.cpp
+  InternalErrorCodes.cpp
+  MessageQueue.cpp
+  Mutex.cpp
+  MutexFactory.cpp
+  PeriodicPosixTask.cpp
+  PosixThread.cpp
+  QueueFactory.cpp
+  SemaphoreFactory.cpp
+  TaskFactory.cpp
+  tcpipHelpers.cpp
+  unixUtility.cpp
+  )
 
 find_package(Threads REQUIRED)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_THREAD_LIBS_INIT}
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC
+  ${CMAKE_THREAD_LIBS_INIT}
+  )
+
+if(NOT APPLE)
+  target_link_libraries(${LIB_FSFW_NAME} PUBLIC
     rt
-)
-
-target_link_libraries(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_THREAD_LIBS_INIT}
-)
-
+  )
+endif()

src/fsfw/osal/linux/Clock.cpp

@@ -1,5 +1,4 @@
 #include "fsfw/timemanager/Clock.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <linux/sysinfo.h>
 #include <sys/sysinfo.h>
@@ -8,12 +7,9 @@
 #include <unistd.h>
 
 #include <fstream>
-#include <cstring>
 
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
-
-void handleClockError(const char* func);
+#include "fsfw/ipc/MutexGuard.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 uint32_t Clock::getTicksPerSecond(void) {
   uint32_t ticks = sysconf(_SC_CLK_TCK);
@@ -29,7 +25,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
 
   int status = clock_settime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
-    handleClockError("setClock");
+    // TODO errno
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -41,7 +37,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
   int status = clock_settime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
-    handleClockError("setClock");
+    // TODO errno
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -51,7 +47,6 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   timespec timeUnix;
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
-    handleClockError("getClock_timeval");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   time->tv_sec = timeUnix.tv_sec;
@@ -120,7 +115,13 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
     // TODO errno
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-
+  ReturnValue_t result = checkOrCreateClockMutex();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  MutexGuard helper(timeMutex);
+  // gmtime writes its output in a global buffer which is not Thread Safe
+  // Therefore we have to use a Mutex here
   struct tm* timeInfo;
   timeInfo = gmtime(&timeUnix.tv_sec);
   time->year = timeInfo->tm_year + 1900;
@@ -154,15 +155,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
   *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
   return HasReturnvaluesIF::RETURN_OK;
 }
-
-
-void handleClockError(const char* func) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::" << func << ": Failed with code " << errno << ": " << strerror(errno)
-      << std::endl;
-#else
-  sif::printWarning("Clock::%s: Failed with code %d: %s\n", func, errno, strerror(errno));
-#endif
-#endif
-}

src/fsfw/osal/linux/MessageQueue.h

@@ -61,8 +61,7 @@ class MessageQueue : public 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;
+                                MessageQueueId_t sentFrom, bool ignoreFault = false) override;
 
  protected:
   /**

src/fsfw/osal/rtems/Clock.cpp

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

src/fsfw/osal/rtems/MessageQueue.h

@@ -2,6 +2,7 @@
 #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
 #include <fsfw/ipc/MessageQueueBase.h>
+
 #include "RtemsBasic.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
@@ -52,8 +53,8 @@ class MessageQueue : public MessageQueueBase {
   // 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) override;
+                                MessageQueueId_t sentFrom = NO_QUEUE,
+                                bool ignoreFault = false) override;
 
  private:
   /**

src/fsfw/osal/rtems/PeriodicTask.h

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

src/fsfw/parameters/HasParametersIF.h

@@ -66,7 +66,7 @@ class HasParametersIF {
    * @param newValues
    * @param startAtIndex Linear index, runs left to right, top to bottom for
    * matrix indexes.
-   * @return RETURN_OK if parameter is valid and a set function of the parameter wrapper was called.
+   * @return
    */
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                                      ParameterWrapper *parameterWrapper,

src/fsfw/parameters/ParameterWrapper.cpp

@@ -211,13 +211,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (data == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or "
-                    "data pointer not set"
-                 << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
 #else
-    sif::printWarning(
-        "ParameterWrapper::copyFrom: Called on read-only variable "
-        "or data pointer not set\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return READONLY;
@@ -226,9 +222,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (from->readonlyData == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Source not set\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return SOURCE_NOT_SET;
@@ -237,9 +233,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (type != from->type) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return DATATYPE_MISSMATCH;
@@ -249,9 +245,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (rows == 0 or columns == 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return COLUMN_OR_ROWS_ZERO;

src/fsfw/power/CMakeLists.txt

@@ -4,5 +4,4 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
     PowerSensor.cpp
     PowerSwitcher.cpp
     DummyPowerSwitcher.cpp
-    PowerSwitcherComponent.cpp
 )

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -1,8 +1,9 @@
 #include "DummyPowerSwitcher.h"
 
 DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
-                                       size_t numberOfFuses, uint32_t switchDelayMs)
-    : SystemObject(objectId),
+                                       size_t numberOfFuses, bool registerGlobally,
+                                       uint32_t switchDelayMs)
+    : SystemObject(objectId, registerGlobally),
       switcherList(numberOfSwitches),
       fuseList(numberOfFuses),
       switchDelayMs(switchDelayMs) {}

src/fsfw/power/DummyPowerSwitcher.h

@@ -8,10 +8,17 @@
 #include "definitions.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
+/**
+ * @brief   This component can be used to simulate a power switcher like a
+ *          Power Control Distribution Unit (PCDU)
+ * @details
+ * The dummy switcher will simply cache the commanded fuse and switch states and return them
+ * in the according switch getter functions. In that sense, it simulates an ideal PCDU.
+ */
 class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
  public:
   DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
-                     uint32_t switchDelayMs = 5000);
+                     bool registerGlobally = true, uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
   void setInitialFusesList(std::vector<ReturnValue_t> switcherList);

src/fsfw/power/Fuse.h

@@ -54,7 +54,7 @@ class Fuse : public SystemObject,
 
   ReturnValue_t check();
   uint8_t getFuseId() const;
-  ReturnValue_t initialize();
+  ReturnValue_t initialize() override;
   DeviceList devices;
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override;

src/fsfw/power/PowerSensor.cpp

@@ -15,9 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue =
+      QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitcher.h

@@ -18,7 +18,8 @@ class PowerSwitcher : public HasReturnvaluesIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
   static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
   static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-  PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                power::Switch_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
   void turnOn(bool checkCurrentState = true);
   void turnOff(bool checkCurrentState = true);

src/fsfw/power/PowerSwitcherComponent.cpp

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

src/fsfw/power/PowerSwitcherComponent.h

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

src/fsfw/pus/CService201HealthCommanding.cpp

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

src/fsfw/pus/CService201HealthCommanding.h

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

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -16,9 +16,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
       apid(apid),
       serviceId(serviceId),
       targetDestination(targetDestination) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {

src/fsfw/pus/Service3Housekeeping.cpp

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

src/fsfw/pus/Service3Housekeeping.h

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

src/fsfw/pus/Service5EventReporting.cpp

@@ -12,9 +12,7 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
                                                uint32_t messageQueueDepth)
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -38,6 +36,9 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -86,7 +87,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
+  if (manager == NULL) {
     return RETURN_FAILED;
   }
   // register Service 5 as listener for events

src/fsfw/pus/Service5EventReporting.h

@@ -41,7 +41,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
+                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
   virtual ~Service5EventReporting();
 
   /***