type improvements and bugfixes

Reviewed-on: #19

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -9,12 +9,13 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels {
+enum Levels: uint8_t {
     LOW = 0,
-    HIGH = 1
+    HIGH = 1,
+    NONE = 99
 };
 
-enum Direction {
+enum Direction: uint8_t {
     IN = 0,
     OUT = 1
 };
@@ -24,15 +25,18 @@ enum GpioOperation {
     WRITE
 };
 
-enum GpioTypes {
+enum class GpioTypes {
     NONE,
-    GPIO_REGULAR,
+    GPIO_REGULAR_BY_CHIP,
+    GPIO_REGULAR_BY_LABEL,
+    GPIO_REGULAR_BY_LINE_NAME,
     CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
 
-using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
+using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+        void* args);
 
 }
 
@@ -56,7 +60,7 @@ public:
     GpioBase() = default;
 
     GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            int initValue):
+            gpio::Levels initValue):
             gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
 
     virtual~ GpioBase() {};
@@ -65,34 +69,90 @@ public:
     gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
     std::string consumer;
     gpio::Direction direction = gpio::Direction::IN;
-    int initValue = 0;
+    gpio::Levels initValue = gpio::Levels::NONE;
 };
 
-class GpiodRegular: public GpioBase {
+class GpiodRegularBase: public GpioBase {
 public:
-    GpiodRegular() :
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
+            gpio::Levels initValue, int lineNum):
-    }
+            GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
-    ;
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
-            chipname(chipname_), lineNum(lineNum_) {
     }
 
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
+    // line number will be configured at a later point for the open by line name configuration
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            chipname(chipname_), lineNum(lineNum_) {
+            gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
     }
-    std::string chipname;
+
     int lineNum = 0;
     struct gpiod_line* lineHandle = nullptr;
 };
 
+class GpiodRegularByChip: public GpiodRegularBase {
+public:
+    GpiodRegularByChip() :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, gpio::Levels initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    consumer_, direction_, initValue_, lineNum_),
+            chipname(chipname_){
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            chipname(chipname_) {
+    }
+
+    std::string chipname;
+};
+
+class GpiodRegularByLabel: public GpiodRegularBase {
+public:
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, gpio::Levels initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    direction_, initValue_, lineNum_),
+            label(label_) {
+    }
+
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            label(label_) {
+    }
+
+    std::string label;
+};
+
+/**
+ * @brief   Passing this GPIO configuration to the GPIO IF object will try to open the GPIO by its
+ *          line name. This line name can be set in the device tree and must be unique. Otherwise
+ *          the driver will open the first line with the given name.
+ */
+class GpiodRegularByLineName: public GpiodRegularBase {
+public:
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+            gpio::Levels initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+                    initValue_), lineName(lineName_) {
+    }
+
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
+                    gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
+    }
+
+    std::string lineName;
+};
+
 class GpioCallback: public GpioBase {
 public:
-    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
+    GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
             gpio::gpio_cb_t callback, void* callbackArgs):
             GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
             callback(callback), callbackArgs(callbackArgs) {}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -73,7 +73,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
     switch (internalState) {
     case(InternalState::STATE_NONE):
     case(InternalState::STATE_NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
+        return DeviceHandlerBase::NOTHING_TO_SEND;
     }
     case(InternalState::STATE_FIRST_CONTACT): {
         *id = MGMLIS3MDL::IDENTIFY_DEVICE;

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

@@ -1,8 +1,9 @@
-#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "LinuxLibgpioIF.h"
+
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <utility>
 #include <unistd.h>
@@ -20,7 +21,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
     ReturnValue_t result;
     if(gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
+        sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
         return RETURN_FAILED;
     }
 
@@ -45,16 +46,33 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     for(auto& gpioConfig: mapToAdd) {
-        switch(gpioConfig.second->gpioType) {
+        auto& gpioType = gpioConfig.second->gpioType;
+        switch(gpioType) {
         case(gpio::GpioTypes::NONE): {
             return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
-            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
             if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
-            configureRegularGpio(gpioConfig.first, regularGpio);
+            configureGpioByChip(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLabel(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLineName(gpioConfig.first, *regularGpio);
             break;
         }
         case(gpio::GpioTypes::CALLBACK): {
@@ -70,57 +88,88 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
+ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
-    std::string chipname;
+        GpiodRegularByLabel &gpioByLabel) {
+    std::string& label = gpioByLabel.label;
+    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
+                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+
+    }
+    std::string failOutput = "label: " + label;
+    return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+        GpiodRegularByChip &gpioByChip) {
+    std::string& chipname = gpioByChip.chipname;
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "chipname: " + chipname;
+    return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
+        GpiodRegularByLineName &gpioByLineName) {
+    std::string& lineName = gpioByLineName.lineName;
+    char chipname[MAX_CHIPNAME_LENGTH];
+    unsigned int lineOffset;
+
+    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+            &lineOffset);
+    if (result != LINE_FOUND) {
+        parseFindeLineResult(result, lineName);
+        return RETURN_FAILED;
+    }
+
+    gpioByLineName.lineNum = static_cast<int>(lineOffset);
+
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
+                << chipname << ". <Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "line name: " + lineName;
+    return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+        GpiodRegularBase& regularGpio, std::string failOutput) {
     unsigned int lineNum;
-    struct gpiod_chip *chip;
     gpio::Direction direction;
     std::string consumer;
     struct gpiod_line *lineHandle;
     int result = 0;
 
-    chipname = regularGpio->chipname;
+    lineNum = regularGpio.lineNum;
-    chip = gpiod_chip_open_by_name(chipname.c_str());
-    if (!chip) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
-                << chipname << ". Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
-    }
-
-    lineNum = regularGpio->lineNum;
     lineHandle = gpiod_chip_get_line(chip, lineNum);
     if (!lineHandle) {
-        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
-                ", chipname: " << chipname << std::endl;
+                ", " << failOutput << std::endl;
-        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
+        sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
         gpiod_chip_close(chip);
         return RETURN_FAILED;
     }
 
-    direction = regularGpio->direction;
+    direction = regularGpio.direction;
-    consumer = regularGpio->consumer;
+    consumer = regularGpio.consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
     case(gpio::OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                regularGpio->initValue);
+                regularGpio.initValue);
-        if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
-                    " from GPIO instance with ID: " << gpioId << std::endl;
-            gpiod_line_release(lineHandle);
-            return RETURN_FAILED;
-        }
         break;
     }
     case(gpio::IN): {
         result = gpiod_line_request_input(lineHandle, consumer.c_str());
-        if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
-                    << lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
-            gpiod_line_release(lineHandle);
-            return RETURN_FAILED;
-        }
         break;
     }
     default: {
@@ -129,12 +178,24 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
         return GPIO_INVALID_INSTANCE;
     }
 
+    if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
+                lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
+#else
+        sif::printError("LinuxLibgpioIF::configureRegularGpio: "
+                "Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
+#endif
+        gpiod_line_release(lineHandle);
+        return RETURN_FAILED;
+    }
+
     }
     /**
      * Write line handle to GPIO configuration instance so it can later be used to set or
      * read states of GPIOs.
      */
-    regularGpio->lineHandle = lineHandle;
+    regularGpio.lineHandle = lineHandle;
     return RETURN_OK;
 }
 
@@ -145,8 +206,15 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+    auto gpioType = gpioMapIter->second->gpioType;
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -154,7 +222,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
             return GPIO_INVALID_INSTANCE;
         }
         gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                1, gpioCallback->callbackArgs);
+                gpio::Levels::HIGH, gpioCallback->callbackArgs);
         return RETURN_OK;
     }
     return GPIO_TYPE_FAILURE;
@@ -163,12 +231,23 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     gpioMapIter = gpioMap.find(gpioId);
     if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
+#endif
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+    auto& gpioType = gpioMapIter->second->gpioType;
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::LOW);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -176,22 +255,23 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
             return GPIO_INVALID_INSTANCE;
         }
         gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                0, gpioCallback->callbackArgs);
+                gpio::Levels::LOW, gpioCallback->callbackArgs);
         return RETURN_OK;
     }
     return GPIO_TYPE_FAILURE;
 }
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        GpiodRegular* regularGpio, unsigned int logicLevel) {
+        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
-    if(regularGpio == nullptr) {
+    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
-        return GPIO_TYPE_FAILURE;
-    }
-
-    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
     if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
                 " to logic level " << logicLevel << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+                "logic level %d\n", gpioId, logicLevel);
+#endif
         return DRIVE_GPIO_FAILURE;
     }
 
@@ -201,22 +281,33 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
     gpioMapIter = gpioMap.find(gpioId);
     if (gpioMapIter == gpioMap.end()){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
+#endif
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+    auto gpioType = gpioMapIter->second->gpioType;
-        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
         *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
     }
     else {
-
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
+                gpio::Levels::NONE, gpioCallback->callbackArgs);
+        return RETURN_OK;
     }
-
-
     return RETURN_OK;
 }
 
@@ -225,13 +316,15 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     for(auto& gpioConfig: mapToAdd) {
         switch(gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
             if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
-            /* Check for conflicts and remove duplicates if necessary */
+            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
@@ -242,15 +335,22 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
             if(callbackGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
-            /* Check for conflicts and remove duplicates if necessary */
+            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
+            result = checkForConflictsById(gpioConfig.first,
+                    gpioConfig.second->gpioType, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
             break;
         }
         default: {
-
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
+                    << std::endl;
+#else
+            sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
+#endif
+            status = GPIO_TYPE_FAILURE;
         }
         }
     }
@@ -258,48 +358,86 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
 }
 
 
-ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
+ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
-        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
+        gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
-    /* Cross check with private map */
+    // Cross check with private map
     gpioMapIter = gpioMap.find(gpioIdToCheck);
     if(gpioMapIter != gpioMap.end()) {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
+        auto& gpioType = gpioMapIter->second->gpioType;
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+        bool eraseDuplicateDifferentType = false;
-                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+        switch(expectedType) {
-            mapToAdd.erase(gpioIdToCheck);
+        case(gpio::GpioTypes::NONE): {
-            return HasReturnvaluesIF::RETURN_OK;
+            break;
         }
-        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-        if(ownRegularGpio == nullptr) {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
-            return GPIO_TYPE_FAILURE;
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+                eraseDuplicateDifferentType = true;
+            }
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            if(gpioType != gpio::GpioTypes::CALLBACK) {
+                eraseDuplicateDifferentType = true;
+            }
+        }
+        }
+        if(eraseDuplicateDifferentType) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                    "different GPIO type " << gpioIdToCheck <<
+                    ". Removing duplicate from map to add" << std::endl;
+#else
+            sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                    "different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
+#endif
+            mapToAdd.erase(gpioIdToCheck);
+            return GPIO_DUPLICATE_DETECTED;
         }
 
-        /* Remove element from map to add because a entry for this GPIO
+        // Remove element from map to add because a entry for this GPIO already exists
-        already exists */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
-                << " detected. Duplicate will be removed from map to add." << std::endl;
+                "definition with ID " << gpioIdToCheck << " detected. " <<
+                "Duplicate will be removed from map to add" << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+                "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
+#endif
         mapToAdd.erase(gpioIdToCheck);
+        return GPIO_DUPLICATE_DETECTED;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
+void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
-        GpioCallback *callbackGpio, GpioMap& mapToAdd) {
+    switch (result) {
-    /* Cross check with private map */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    case LINE_NOT_EXISTS:
-    if(gpioMapIter != gpioMap.end()) {
+    case LINE_ERROR: {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                " does not exist" << std::endl;
-                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+        break;
-            mapToAdd.erase(gpioIdToCheck);
-            return HasReturnvaluesIF::RETURN_OK;
-        }
-
-        /* Remove element from map to add because a entry for this GPIO
-        already exists */
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
-                << " detected. Duplicate will be removed from map to add." << std::endl;
-        mapToAdd.erase(gpioIdToCheck);
     }
-    return HasReturnvaluesIF::RETURN_OK;
+    default: {
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                "with name " << lineName << std::endl;
+        break;
+    }
+#else
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+                "does not exist\n", lineName);
+        break;
+    }
+    default: {
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                "with name %s\n", lineName);
+        break;
+    }
+#endif
+    }
+
 }

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

@@ -1,18 +1,19 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
-#include "../../common/gpio/GpioIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
-#include <returnvalues/classIds.h>
+#include "fsfw_hal/common/gpio/GpioIF.h"
-#include <fsfw/objectmanager/SystemObject.h>
+#include "fsfw/objectmanager/SystemObject.h"
 
 class GpioCookie;
+class GpiodRegularIF;
 
 /**
- * @brief	This class implements the GpioIF for a linux based system. The
+ * @brief	This class implements the GpioIF for a linux based system.
- * 			implementation is based on the libgpiod lib which requires linux 4.8
+ * @details
- * 			or higher.
+ * This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
- * @note	The Petalinux SDK from Xilinx supports libgpiod since Petalinux
+ * @note
- * 			2019.1.
+ * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
  */
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
@@ -27,6 +28,8 @@ public:
             HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
     static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
             HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+    static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
 	LinuxLibgpioIF(object_id_t objectId);
 	virtual ~LinuxLibgpioIF();
@@ -37,7 +40,13 @@ public:
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
 private:
-	/* Holds the information and configuration of all used GPIOs */
+
+	static const size_t MAX_CHIPNAME_LENGTH = 11;
+	static const int LINE_NOT_EXISTS = 0;
+	static const int LINE_ERROR = -1;
+	static const int LINE_FOUND = 1;
+
+	// Holds the information and configuration of all used GPIOs
 	GpioUnorderedMap gpioMap;
 	GpioUnorderedMapIter gpioMapIter;
 
@@ -47,9 +56,15 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+	        gpio::Levels logicLevel);
 
-	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
+    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
+            GpiodRegularByLineName &gpioByLineName);
+    ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+            GpiodRegularBase& regularGpio, std::string failOutput);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -62,16 +77,15 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
 	        GpioMap& mapToAdd);
-    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
-            GpioMap& mapToAdd);
 
 	/**
 	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
 	 */
 	ReturnValue_t configureGpios(GpioMap& mapToAdd);
 
+	void parseFindeLineResult(int result, std::string& lineName);
 };
 
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    GpiodRegular* config = new GpiodRegular();
+    auto config = new GpiodRegularByChip();
     /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
     will not need this */
     config->chipname = "gpiochip0";

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

@@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
-                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                 "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@@ -197,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     if(gpioId != gpio::NO_GPIO) {
         result = spiMutex->lockMutex(timeoutType, timeoutMs);
         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;
+#else
+            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+#endif
+#endif
+            return result;
+        }
+        ReturnValue_t result = gpioComIF->pullLow(gpioId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
+#else
+            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
+#endif
 #endif
             return result;
         }
-        gpioComIF->pullLow(gpioId);
     }
 
     /* Execute transfer */
@@ -213,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
-#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+#if FSFW_HAL_SPI_WIRETAPPING == 1
         performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
     }
@@ -384,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
     int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
     }
 
     retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
     }
 }

src/fsfw/FSFW.h.in

@@ -16,6 +16,15 @@
 #cmakedefine FSFW_ADD_MONITORING
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
+// Can be used for low-level debugging of the SPI bus
+#ifndef FSFW_HAL_SPI_WIRETAPPING
+#define FSFW_HAL_SPI_WIRETAPPING            0
+#endif
+
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
 #define FSFW_HAL_L3GD20_GYRO_DEBUG          0
 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */

src/fsfw/devicehandlers/AssemblyBase.h

@@ -7,7 +7,7 @@
 
 /**
  * @brief   Base class to implement reconfiguration and failure handling for
- *          redundant devices by monitoring their modes health states.
+ *          redundant devices by monitoring their modes and health states.
  * @details
  * Documentation: Dissertation Baetz p.156, 157.
  *

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,9 +85,10 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return - @c RETURN_OK if data was sent successfull
+	 * @return
-	 * 		   - Everything else triggers falure event with
+	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
-	 * 		     returnvalue as parameter 1
+	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -334,8 +334,7 @@ protected:
      *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
      *       have been set.
      *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-     *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
+     *       be used if no reply is expected
-     *       to finish the command handling.
      *  - Anything else triggers an event with the return code as a parameter as well as a
      *    step reply failed with the return code
      */

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,7 +120,8 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/globalfunctions/PeriodicOperationDivider.cpp

@@ -2,43 +2,42 @@
 
 
 PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
-		bool resetAutomatically): resetAutomatically(resetAutomatically),
+        bool resetAutomatically): resetAutomatically(resetAutomatically),
-		counter(divider), divider(divider) {
+        counter(divider), divider(divider) {
 }
 
 bool PeriodicOperationDivider::checkAndIncrement() {
-	bool opNecessary = check();
+    counter++;
-	if(opNecessary) {
+    bool opNecessary = check();
-		if(resetAutomatically) {
+    if(opNecessary) {
-			counter = 0;
+        if(resetAutomatically) {
-		}
+            resetCounter();
-		return opNecessary;
+        }
-	}
+    }
-	counter ++;
+    return opNecessary;
-	return opNecessary;
 }
 
 bool PeriodicOperationDivider::check() {
-	if(counter >= divider) {
+    if(counter >= divider) {
-		return true;
+        return true;
-	}
+    }
-	return false;
+    return false;
 }
 
 
 
 void PeriodicOperationDivider::resetCounter() {
-	counter = 0;
+    counter = 0;
 }
 
 void PeriodicOperationDivider::setDivider(uint32_t newDivider) {
-	divider = newDivider;
+    divider = newDivider;
 }
 
 uint32_t PeriodicOperationDivider::getCounter() const {
-	return counter;
+    return counter;
 }
 
 uint32_t PeriodicOperationDivider::getDivider() const {
-	return divider;
+    return divider;
 }

src/fsfw/globalfunctions/PeriodicOperationDivider.h

@@ -13,51 +13,51 @@
  */
 class PeriodicOperationDivider {
 public:
-	/**
+    /**
-	 * Initialize with the desired divider and specify whether the internal
+     * Initialize with the desired divider and specify whether the internal
-	 * counter will be reset automatically.
+     * counter will be reset automatically.
-	 * @param divider
+     * @param divider
-	 * @param resetAutomatically
+     * @param resetAutomatically
-	 */
+     */
-	PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
+    PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
 
 
-	/**
+    /**
-	 * Check whether operation is necessary.
+     * Check whether operation is necessary.
-	 * If an operation is necessary and the class has been
+     * If an operation is necessary and the class has been
-	 * configured to be reset automatically, the counter will be reset.
+     * configured to be reset automatically, the counter will be reset.
-	 *
+     *
-	 * @return
+     * @return
-	 * -@c true if the counter is larger or equal to the divider
+     * -@c true if the counter is larger or equal to the divider
-	 * -@c false otherwise
+     * -@c false otherwise
-	 */
+     */
-	bool checkAndIncrement();
+    bool checkAndIncrement();
 
-	/**
+    /**
-	 * Checks whether an operation is necessary.
+     * Checks whether an operation is necessary.
-	 * This function will not increment the counter!
+     * This function will not increment the counter!
-	 * @return
+     * @return
-	 * -@c true if the counter is larger or equal to the divider
+     * -@c true if the counter is larger or equal to the divider
-	 * -@c false otherwise
+     * -@c false otherwise
-	 */
+     */
-	bool check();
+    bool check();
 
-	/**
+    /**
-	 * Can be used to reset the counter to 0 manually.
+     * Can be used to reset the counter to 0 manually.
-	 */
+     */
-	void resetCounter();
+    void resetCounter();
-	uint32_t getCounter() const;
+    uint32_t getCounter() const;
 
-	/**
+    /**
-	 * Can be used to set a new divider value.
+     * Can be used to set a new divider value.
-	 * @param newDivider
+     * @param newDivider
-	 */
+     */
-	void setDivider(uint32_t newDivider);
+    void setDivider(uint32_t newDivider);
-	uint32_t getDivider() const;
+    uint32_t getDivider() const;
 private:
-	bool resetAutomatically = true;
+    bool resetAutomatically = true;
-	uint32_t counter = 0;
+    uint32_t counter = 0;
-	uint32_t divider = 0;
+    uint32_t divider = 0;
 };
 
 

src/fsfw/memory/HasFileSystemIF.h

@@ -81,7 +81,7 @@ public:
 	 * @param args Any other arguments which an implementation might require
 	 * @return
 	 */
-	virtual ReturnValue_t deleteFile(const char* repositoryPath,
+	virtual ReturnValue_t removeFile(const char* repositoryPath,
 	        const char* filename, void* args = nullptr) = 0;
 
 	/**

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -1,8 +1,10 @@
-#include "fsfw/osal/common/TcpTmTcServer.h"
-#include "fsfw/osal/common/TcpTmTcBridge.h"
-#include "fsfw/osal/common/tcpipHelpers.h"
-
 #include "fsfw/platform.h"
+#include "fsfw/FSFW.h"
+
+#include "TcpTmTcServer.h"
+#include "TcpTmTcBridge.h"
+#include "tcpipHelpers.h"
+
 #include "fsfw/container/SharedRingBuffer.h"
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/ipc/MutexGuard.h"

src/fsfw/osal/linux/CMakeLists.txt

@@ -16,6 +16,7 @@ target_sources(${LIB_FSFW_NAME}
 		Timer.cpp
 		tcpipHelpers.cpp
 		unixUtility.cpp
+		CommandExecutor.cpp
 )
 
 find_package(Threads REQUIRED)

src/fsfw/osal/linux/CommandExecutor.cpp

@@ -0,0 +1,185 @@
+#include "CommandExecutor.h"
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+CommandExecutor::CommandExecutor(const size_t maxSize):
+readVec(maxSize) {
+    waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+    if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+
+    currentCmd = command;
+    this->blocking = blocking;
+    this->printOutput = printOutput;
+    if(state == States::IDLE) {
+        state = States::COMMAND_LOADED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+    if(state == States::IDLE) {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    else if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+    currentCmdFile = popen(currentCmd.c_str(), "r");
+    if(currentCmdFile == nullptr) {
+        lastError = errno;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(blocking) {
+        return executeBlocking();
+    }
+    else {
+        currentFd = fileno(currentCmdFile);
+        waiter.fd = currentFd;
+    }
+    state = States::PENDING;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+    if(state == States::PENDING) {
+        // Attempt to close process, irrespective of if it is running or not
+        if(currentCmdFile != nullptr) {
+            pclose(currentCmdFile);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+    if(lastError != 0) {
+        sif::error << funcName << " pclose failed with code " <<
+                lastError << ": " << strerror(lastError) << std::endl;
+    }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
+        DynamicFIFO<uint16_t>* sizesFifo) {
+    this->ringBuffer = ringBuffer;
+    this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& bytesRead) {
+    if(blocking) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    switch(state) {
+    case(States::IDLE):
+    case(States::COMMAND_LOADED): {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case(States::PENDING): {
+        break;
+    }
+    }
+
+    int result = poll(&waiter, 1, 0);
+    switch(result) {
+    case(0): {
+        return HasReturnvaluesIF::RETURN_OK;
+        break;
+    }
+    case(1): {
+        if (waiter.revents & POLLIN) {
+            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+            if(readBytes == 0) {
+                // Should not happen
+                sif::warning << "CommandExecutor::check: "
+                        "No bytes read after poll event.." << std::endl;
+                break;
+            }
+            else if(readBytes > 0) {
+                bytesRead = true;
+                if(printOutput) {
+                    // It is assumed the command output is line terminated
+                    sif::info << currentCmd << " | " << readVec.data();
+                }
+                if(ringBuffer != nullptr) {
+                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
+                            readVec.data()), readBytes);
+                }
+                if(sizesFifo != nullptr) {
+                    if(not sizesFifo->full()) {
+                        sizesFifo->insert(readBytes);
+                    }
+                }
+                return BYTES_READ;
+            }
+            else {
+                // Should also not happen
+                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
+                        strerror(errno) << std::endl;
+            }
+        }
+        else if(waiter.revents & POLLERR) {
+            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+            return COMMAND_ERROR;
+        }
+        else if(waiter.revents & POLLHUP) {
+            int result = pclose(currentCmdFile);
+            if(result != 0) {
+                lastError = result;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            state = States::IDLE;
+            currentCmdFile = nullptr;
+            currentFd = 0;
+            return EXECUTION_FINISHED;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+    CommandExecutor::close();
+    currentCmdFile = nullptr;
+    currentFd = 0;
+    state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+    return this->lastError;
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const {
+    return state;
+}
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+        std::string output(readVec.data());
+        if(printOutput) {
+            sif::info << currentCmd << " | " << output;
+        }
+        if(ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+        }
+        if(sizesFifo != nullptr) {
+            if(not sizesFifo->full()) {
+                sizesFifo->insert(output.size());
+            }
+        }
+    }
+    int result = pclose(currentCmdFile);
+    if(result != 0) {
+        lastError = result;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw/osal/linux/CommandExecutor.h

@@ -0,0 +1,134 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+class SimpleRingBuffer;
+template <typename T> class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+public:
+    enum class States {
+        IDLE,
+        COMMAND_LOADED,
+        PENDING
+    };
+
+    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+    //! [EXPORT] : [COMMENT] Execution of the current command has finished
+    static constexpr ReturnValue_t EXECUTION_FINISHED =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+    //! to load another command but a command is still pending
+    static constexpr ReturnValue_t COMMAND_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+    static constexpr ReturnValue_t BYTES_READ =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static constexpr ReturnValue_t COMMAND_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+    //! [EXPORT] : [COMMENT]
+    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+    /**
+     * Constructor. Is initialized with maximum size of internal buffer to read data from the
+     * executed process.
+     * @param maxSize
+     */
+    CommandExecutor(const size_t maxSize);
+
+    /**
+     * Load a new command which should be executed
+     * @param command
+     * @param blocking
+     * @param printOutput
+     * @return
+     */
+    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+    /**
+     * Execute the loaded command.
+     * @return
+     *  - In blocking mode, it will return RETURN_FAILED if
+     *    the result of the system call was not 0. The error value can be accessed using
+     *    getLastError
+     *  - In non-blocking mode, this call will start
+     *    the execution and then return RETURN_OK
+     */
+    ReturnValue_t execute();
+    /**
+     * Only used in non-blocking mode. Checks the currently running command.
+     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+     * @return
+     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+     *    check again after this
+     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+     *  - EXECUTION_FINISHED if the process was executed successfully
+     *  - COMMAND_ERROR internal poll error
+     */
+    ReturnValue_t check(bool& bytesRead);
+    /**
+     * Abort the current command. Should normally not be necessary, check can be used to find
+     * out whether command execution was successful
+     * @return RETURN_OK
+     */
+    ReturnValue_t close();
+
+    States getCurrentState() const;
+    int getLastError() const;
+    void printLastError(std::string funcName) const;
+
+    /**
+     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+     * read from the started process
+     * @param ringBuffer
+     * @param sizesFifo
+     */
+    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+    /**
+     * Reset the executor. This calls close internally and then reset the state machine so new
+     * commands can be loaded and executed
+     */
+    void reset();
+private:
+    std::string currentCmd;
+    bool blocking = true;
+    FILE* currentCmdFile = nullptr;
+    int currentFd = 0;
+    bool printOutput = true;
+    std::vector<char> readVec;
+    struct pollfd waiter {};
+    SimpleRingBuffer* ringBuffer = nullptr;
+    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+    States state = States::IDLE;
+    int lastError = 0;
+
+    ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to: " << sendTo << " sent from "
+            sif::warning << "mq_send to " << sendTo << " sent from "
-                    << sentFrom << "failed" << std::endl;
+                    << sentFrom << " failed" << std::endl;
 #else
-            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/osal/linux/Timer.cpp

@@ -27,6 +27,7 @@ int Timer::setTimer(uint32_t intervalMs) {
 	timer.it_value.tv_nsec = (intervalMs * 1000000) % (1000000000);
 	timer.it_interval.tv_sec = 0;
 	timer.it_interval.tv_nsec = 0;
+	set = true;
 	return timer_settime(timerId, 0, &timer, NULL);
 }
 
@@ -43,3 +44,14 @@ int Timer::getTimer(uint32_t* remainingTimeMs){
 
 	return status;
 }
+
+bool Timer::isSet() const {
+    return this->set;
+}
+
+void Timer::resetTimer() {
+    if(not this->set) {
+        set = false;
+    }
+    setTimer(0);
+}

src/fsfw/osal/linux/Timer.h

@@ -38,7 +38,11 @@ public:
 	 */
 	int getTimer(uint32_t* remainingTimeMs);
 
+	bool isSet() const;
+	void resetTimer();
+
 private:
+	bool set = true;
 	timer_t timerId;
 };
 

src/fsfw/pus/Service5EventReporting.cpp

@@ -41,8 +41,7 @@ ReturnValue_t Service5EventReporting::performService() {
 	    }
 	}
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::debug <<  "Service5EventReporting::generateEventReport:"
+	sif::warning <<  "Service5EventReporting::generateEventReport: Too many events" << std::endl;
-	        " Too many events" << std::endl;
 #endif
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -64,8 +63,11 @@ ReturnValue_t Service5EventReporting::generateEventReport(
 	        requestQueue->getDefaultDestination(),requestQueue->getId());
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::debug << "Service5EventReporting::generateEventReport:"
+		sif::warning << "Service5EventReporting::generateEventReport: "
-		        " Could not send TM packet" << std::endl;
+		        "Could not send TM packet" << std::endl;
+#else
+		sif::printWarning("Service5EventReporting::generateEventReport: "
+                "Could not send TM packet\n");
 #endif
 	}
 	return result;

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -33,8 +33,8 @@ ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
 	if(tcDataLen < sizeof(object_id_t)) {
 		return CommandingServiceBase::INVALID_TC;
 	}
-	SerializeAdapter::deSerialize(objectId, &tcData,
+	// Can't fail, size was checked before
-			&tcDataLen, SerializeIF::Endianness::BIG);
+	SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
 
 	return checkInterfaceAndAcquireMessageQueue(id,objectId);
 }

src/fsfw/returnvalues/FwClassIds.h

@@ -72,10 +72,12 @@ enum: uint8_t {
     PUS_SERVICE_3, //PUS3
     PUS_SERVICE_9, //PUS9
     FILE_SYSTEM, //FILS
+    LINUX_OSAL, //UXOS
     HAL_SPI, //HSPI
     HAL_UART, //HURT
     HAL_I2C, //HI2C
     HAL_GPIO, //HGIO
+    FIXED_SLOT_TASK_IF, //FTIF
     MGM_LIS3MDL, //MGMLIS3
     MGM_RM3100, //MGMRM3100
     FW_CLASS_ID_COUNT // [EXPORT] : [END]

src/fsfw/returnvalues/HasReturnvaluesIF.h

@@ -22,9 +22,9 @@ public:
 	 * @param number
 	 * @return
 	 */
-	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
+	static constexpr ReturnValue_t makeReturnCode(uint8_t classId,
 			uint8_t number) {
-	    return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
+	    return (static_cast<ReturnValue_t>(classId) << 8) + number;
 	}
 };
 

src/fsfw/subsystem/SubsystemBase.h

@@ -62,7 +62,8 @@ protected:
 	struct ChildInfo {
 		MessageQueueId_t commandQueue;
 		Mode_t mode;
-		Submode_t submode;bool healthChanged;
+		Submode_t submode;
+		bool healthChanged;
 	};
 
 	Mode_t mode;

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -1,4 +1,5 @@
 #include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include <cstdlib>
 
@@ -92,10 +93,9 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
 ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "FixedSlotSequence::checkSequence:"
+		sif::warning << "FixedSlotSequence::checkSequence: Slot list is empty!" << std::endl;
-				<< " Slot list is empty!" << std::endl;
 #endif
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
 	}
 
 	if(customCheckFunction != nullptr) {

src/fsfw/tasks/FixedSlotSequence.h

@@ -2,7 +2,7 @@
 #define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
 
 #include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObject.h"
+#include "fsfw/objectmanager/SystemObject.h"
 
 #include <set>
 
@@ -136,6 +136,7 @@ public:
 	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
 	 * @return
+	 *  - SLOT_LIST_EMPTY if the slot list is empty
 	 */
 	ReturnValue_t checkSequence() const;
 
@@ -147,6 +148,7 @@ public:
 	 * The general check will be continued for now if the custom check function
 	 * fails but a diagnostic debug output will be given.
 	 * @param customCheckFunction
+	 *
 	 */
 	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
 

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -2,7 +2,8 @@
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
 #include "PeriodicTaskIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
 
 /**
  * @brief Following the same principle as the base class IF.
@@ -12,6 +13,8 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
 
+	static constexpr ReturnValue_t SLOT_LIST_EMPTY = HasReturnvaluesIF::makeReturnCode(
+	        CLASS_ID::FIXED_SLOT_TASK_IF, 0);
 	/**
 	 * Add an object with a slot time and the execution step to the task.
 	 * The execution step will be passed to the object (e.g. as an operation

src/fsfw/tasks/Typedef.h

@@ -1,5 +1,8 @@
-#ifndef FRAMEWORK_TASKS_TYPEDEF_H_
+#ifndef FSFW_TASKS_TYPEDEF_H_
-#define FRAMEWORK_TASKS_TYPEDEF_H_
+#define FSFW_TASKS_TYPEDEF_H_
+
+#include <cstdint>
+#include <cstddef>
 
 typedef const char* TaskName;
 typedef uint32_t TaskPriority;
@@ -7,4 +10,4 @@ typedef size_t TaskStackSize;
 typedef double TaskPeriod;
 typedef void (*TaskDeadlineMissedFunction)();
 
-#endif /* FRAMEWORK_TASKS_TYPEDEF_H_ */
+#endif /* FSFW_TASKS_TYPEDEF_H_ */

src/fsfw/tmtcpacket/SpacePacketBase.cpp

@@ -3,8 +3,8 @@
 
 #include <cstring>
 
-SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
+SpacePacketBase::SpacePacketBase(const uint8_t* setAddress) {
-	this->data = (SpacePacketPointer*) set_address;
+	this->data = reinterpret_cast<SpacePacketPointer*>(const_cast<uint8_t*>(setAddress));
 }
 
 SpacePacketBase::~SpacePacketBase() {
@@ -15,10 +15,21 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
 	return (this->data->header.packet_id_h & 0b11100000) >> 5;
 }
 
-void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
+ReturnValue_t SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
 		bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
+    if(data == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpacePacketBase::initSpacePacketHeader: Data pointer is invalid"
+                << std::endl;
+#else
+        sif::printWarning("SpacePacketBase::initSpacePacketHeader: Data pointer is invalid!\n");
+#endif
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 	//reset header to zero:
-	memset(data,0, sizeof(this->data->header) );
+	memset(data, 0, sizeof(this->data->header) );
 	//Set TC/TM bit.
 	data->header.packet_id_h = ((isTelecommand? 1 : 0)) << 4;
 	//Set secondaryHeader bit
@@ -27,7 +38,7 @@ void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
 	//Always initialize as standalone packets.
 	data->header.sequence_control_h = 0b11000000;
 	setPacketSequenceCount(sequenceCount);
-
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 bool SpacePacketBase::isTelecommand( void ) {
@@ -54,6 +65,11 @@ void SpacePacketBase::setAPID( uint16_t new_apid ) {
 	this->data->header.packet_id_l = ( new_apid & 0x00FF );
 }
 
+void SpacePacketBase::setSequenceFlags( uint8_t sequenceflags ) {
+    this->data->header.sequence_control_h &= 0x3F;
+    this->data->header.sequence_control_h |= sequenceflags << 6;
+}
+
 uint16_t SpacePacketBase::getPacketSequenceControl( void ) {
 	return ( (this->data->header.sequence_control_h) << 8 )
 		+ this->data->header.sequence_control_l;

src/fsfw/tmtcpacket/SpacePacketBase.h

@@ -2,6 +2,8 @@
 #define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
 
 #include "ccsds_header.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
 #include <cstddef>
 
 /**
@@ -82,7 +84,7 @@ public:
 	 */
 	bool isTelecommand( void );
 
-	void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
+	ReturnValue_t initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
 	        uint16_t apid, uint16_t sequenceCount = 0);
 	/**
 	 * The CCSDS header provides a secondary header flag (the fifth-highest bit),
@@ -109,6 +111,13 @@ public:
 	 * 			ignored.
 	 */
 	void setAPID( uint16_t setAPID );
+
+	/**
+     * Sets the sequence flags of a packet, which are bit 17 and 18 in the space packet header.
+     * @param   The sequence flags to set
+     */
+    void setSequenceFlags( uint8_t sequenceflags );
+
 	/**
 	 * Returns the CCSDS packet sequence control field, which are the third and
 	 * the fourth byte of the CCSDS primary header.

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

@@ -53,11 +53,14 @@ uint8_t* TmPacketPusC::getPacketTimeRaw() const{
 
 }
 
-void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
+ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
         uint8_t subservice, uint16_t packetSubcounter, uint16_t destinationId,
         uint8_t timeRefField) {
     //Set primary header:
-    initSpacePacketHeader(false, true, apid);
+    ReturnValue_t result = initSpacePacketHeader(false, true, apid);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
     //Set data Field Header:
     //First, set to zero.
     memset(&tmData->dataField, 0, sizeof(tmData->dataField));
@@ -76,6 +79,7 @@ void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
         timeStamper->addTimeStamp(tmData->dataField.time,
                 sizeof(tmData->dataField.time));
     }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void TmPacketPusC::setSourceDataSize(uint16_t size) {

src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.h

@@ -100,7 +100,7 @@ protected:
      * @param subservice PUS Subservice
      * @param packetSubcounter Additional subcounter used.
      */
-    void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
+    ReturnValue_t initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
             uint16_t packetSubcounter, uint16_t destinationId = 0, uint8_t timeRefField = 0);
 
     /**

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

@@ -43,27 +43,55 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
         return;
     }
     size_t sourceDataSize = 0;
-    if (content != NULL) {
+    if (content != nullptr) {
         sourceDataSize += content->getSerializedSize();
     }
-    if (header != NULL) {
+    if (header != nullptr) {
         sourceDataSize += header->getSerializedSize();
     }
-    uint8_t *p_data = NULL;
+    uint8_t *pData = nullptr;
-    ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+    size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
-            (getPacketMinimumSize() + sourceDataSize), &p_data);
+    ReturnValue_t returnValue = store->getFreeElement(&storeAddress, sizeToReserve, &pData);
     if (returnValue != store->RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+        switch(returnValue) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        case(StorageManagerIF::DATA_STORAGE_FULL): {
+            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
+                    "size " << sizeToReserve << std::endl;
+            break;
+        }
+        case(StorageManagerIF::DATA_TOO_LARGE): {
+            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Data with size " <<
+                    sizeToReserve << " too large" <<  std::endl;
+            break;
+        }
+#else
+        case(StorageManagerIF::DATA_STORAGE_FULL): {
+            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
+                    "size %d\n", sizeToReserve);
+            break;
+        }
+        case(StorageManagerIF::DATA_TOO_LARGE): {
+            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Data with size "
+                    "%d too large\n", sizeToReserve);
+            break;
+        }
+#endif
+#endif
+        }
         TmPacketStoredBase::checkAndReportLostTm();
+        return;
     }
-    setData(p_data);
+    setData(pData);
     initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
     uint8_t *putDataHere = getSourceData();
     size_t size = 0;
-    if (header != NULL) {
+    if (header != nullptr) {
         header->serialize(&putDataHere, &size, sourceDataSize,
                 SerializeIF::Endianness::BIG);
     }
-    if (content != NULL) {
+    if (content != nullptr) {
         content->serialize(&putDataHere, &size, sourceDataSize,
                 SerializeIF::Endianness::BIG);
     }

src/fsfw/tmtcservices/TmTcBridge.h

@@ -19,7 +19,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
 public:
 	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
 	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
+	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
 
 	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
 	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;