might make sense

CHANGELOG.md

@@ -12,9 +12,6 @@ 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
@@ -25,6 +22,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 - Major update for version handling, using `git describe` to fetch version information with git.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
   - Place `Version` class outside of `fsfw` namespace. It is generic
@@ -43,39 +42,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-
+- Clock: 
-### HAL
+  - `timeval` to `TimeOfDay_t`
-
+  - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
-- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  - Moved the statics used by Clock in ClockCommon.cpp to this file
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+  - Better check for leap seconds
-- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  - Added Unittests for Clock (only getter)
-  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
 
@@ -85,52 +57,15 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
-- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
-  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
 - 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
-
-## HAL
-
-- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
-- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
-- SPI: Getter functions for SPI speed and mode.
-- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
 
 ## 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

CMakeLists.txt

@@ -2,13 +2,6 @@ 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(${CMAKE_CXX_STANDARD} LESS 17)
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
-endif()
-
 set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
@@ -18,12 +11,11 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
 set(MSG_PREFIX "fsfw |")
 
-set(FSFW_ETL_LIB_NAME etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
-  "ETL library major version requirement"
+    "ETL library major version requirement"
 )
 set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
-  "ETL library exact version requirement"
+    "ETL library exact version requirement"
 )
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -34,28 +26,19 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
     "Catch2 library exact version requirement"
 )
 
-# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+set(FSFW_ETL_LIB_NAME etl)
-# 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_GENERATE_SECTIONS
-  "Generate function and data sections. Required to remove unused code" ON
+    "Generate function and data sections. Required to remove unused code" ON
 )
 if(FSFW_GENERATE_SECTIONS)
-  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+    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)
@@ -82,10 +65,6 @@ set(FSFW_DUMMY_TGT fsfw-dummy)
 
 add_library(${LIB_FSFW_NAME})
 
-if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
-endif()
-
 set(FSFW_GIT_VER_HANDLING_OK FALSE)
 # Version handling
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
@@ -142,9 +121,6 @@ if(FSFW_BUILD_UNITTESTS)
 
     project(${FSFW_TEST_TGT} CXX C)
     add_executable(${FSFW_TEST_TGT})
-    if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-      set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
-    endif()
 
     if(FSFW_TESTS_GEN_COV)
         message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
@@ -202,6 +178,13 @@ target_include_directories(${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(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++11 support")
+endif()
+
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
     message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -32,8 +32,6 @@ ReturnValue_t CommandExecutor::execute() {
   } else if (state == States::PENDING) {
     return COMMAND_PENDING;
   }
-  // Reset data in read vector
-  std::memset(readVec.data(), 0, readVec.size());
   currentCmdFile = popen(currentCmd.c_str(), "r");
   if (currentCmdFile == nullptr) {
     lastError = errno;
@@ -207,5 +205,3 @@ ReturnValue_t CommandExecutor::executeBlocking() {
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
-
-const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -109,8 +109,6 @@ class CommandExecutor {
    */
   void reset();
 
-  const std::vector<char>& getReadVector() const;
-
  private:
   std::string currentCmd;
   bool blocking = true;

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface.h"
 
-UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                              std::string diagnosticPrefix)
     : fileDescriptor(fileDescriptor) {
   if (fileDescriptor == nullptr) {

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -15,7 +15,7 @@ class UnixFileGuard {
 
   static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
 
-  UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                 std::string diagnosticPrefix = "");
 
   virtual ~UnixFileGuard();

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

@@ -15,8 +15,8 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/utility.h"
 
-SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
-    : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
+    : SystemObject(objectId), gpioComIF(gpioComIF) {
   if (gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
   }
 
-  csMutex = MutexFactory::instance()->createMutex();
+  spiMutex = MutexFactory::instance()->createMutex();
 }
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
@@ -85,7 +85,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
   spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
 
   int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+                           "SpiComIF::initializeInterface");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
@@ -173,6 +174,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
                                                     size_t sendLen) {
   address_t spiAddress = spiCookie->getSpiAddress();
   auto iter = spiDeviceMap.find(spiAddress);
+  std::memset(iter->second.replyBuffer.data(), 0, sendLen);
   if (iter != spiDeviceMap.end()) {
     spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
   }
@@ -181,7 +183,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   int retval = 0;
   /* Prepare transfer */
   int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  std::string device = spiCookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
@@ -197,7 +200,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 
   /* Pull SPI CS low. For now, no support for active high given  */
   if (gpioId != gpio::NO_GPIO) {
-    result = csMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -208,7 +211,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
       return result;
     }
-    updateLinePolarity(fileDescriptor);
     ReturnValue_t result = gpioComIF->pullLow(gpioId);
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -220,8 +222,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
       return result;
     }
-  } else {
-    updateLinePolarity(fileDescriptor);
   }
 
   /* Execute transfer */
@@ -251,7 +251,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 
   if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
@@ -279,8 +279,9 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  std::string device = spiCookie->getSpiDevice();
   int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
@@ -294,7 +295,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 
   gpioId_t gpioId = spiCookie->getChipSelectPin();
   if (gpioId != gpio::NO_GPIO) {
-    result = csMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
@@ -317,7 +318,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 
   if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
@@ -353,7 +354,7 @@ MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeout
   if (timeoutMs != nullptr) {
     *timeoutMs = this->timeoutMs;
   }
-  return csMutex;
+  return spiMutex;
 }
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
@@ -401,33 +402,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
-}
+  // This updates the SPI clock default polarity. Only setting the mode does not update
-
+  // the line state, which can be an issue on mode switches because the clock line will
-void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
+  // switch the state after the chip select is pulled low
-  uint8_t tmpMode = 0;
-  int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
-  }
-  mode = static_cast<spi::SpiModes>(tmpMode);
-
-  retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
-  }
-}
-
-const std::string& SpiComIF::getSpiDev() const { return dev; }
-
-void SpiComIF::updateLinePolarity(int spiFd) {
   clockUpdateTransfer.len = 0;
-  int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
   }
 }
-
-void SpiComIF::setMutexParams(MutexIF::TimeoutType timeoutType_, uint32_t timeoutMs_) {
-  timeoutType = timeoutType_;
-  timeoutMs = timeoutMs_;
-}

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

@@ -22,19 +22,17 @@ class SpiCookie;
  */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  public:
-  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
+  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(CLASS_ID, 0);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
   /* Full duplex (ioctl) transfer failure */
   static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
   /* Half duplex (read/write) transfer failure */
   static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
 
-  SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
+  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
   ReturnValue_t initializeInterface(CookieIF* cookie) override;
   ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@@ -47,7 +45,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    *          the chip select must be driven from outside of the com if.
    */
   MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
-  void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
 
   /**
    * Perform a regular send operation using Linux iotcl. This is public so it can be used
@@ -62,20 +59,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 
   GpioIF* getGpioInterface();
   void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
-
-  /**
-   * This updates the SPI clock default polarity. Only setting the mode does not update
-   * the line state, which can be an issue on mode switches because the clock line will
-   * switch the state after the chip select is pulled low.
-   *
-   * It is recommended to call this function after #setSpiSpeedAndMode and after locking the
-   * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
-   * @param spiFd
-   */
-  void updateLinePolarity(int spiFd);
-
-  const std::string& getSpiDev() const;
   void performSpiWiretapping(SpiCookie* spiCookie);
 
   ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@@ -87,14 +70,10 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   GpioIF* gpioComIF = nullptr;
-  std::string dev = "";
+
-  /**
+  MutexIF* spiMutex = nullptr;
-   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
-   * pulled high
-   */
-  MutexIF* csMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-  uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
+  uint32_t timeoutMs = 20;
   spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

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

@@ -1,25 +1,26 @@
 #include "SpiCookie.h"
 
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {}
+
+SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
                      spi::SpiModes spiMode, uint32_t spiSpeed)
-    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
-                nullptr, nullptr) {}
 
-SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-                     uint32_t spiSpeed)
-    : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
-
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
-                     spi::SpiModes spiMode, uint32_t spiSpeed,
-                     spi::send_callback_function_t callback, void* args)
-    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                callback, args) {}
-
-SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
                      const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
                      spi::send_callback_function_t callback, void* args)
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, callback, args) {}
+
+SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
+                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
     : spiAddress(spiAddress),
       chipSelectPin(chipSelect),
+      spiDevice(spiDev),
       comIfMode(comIfMode),
       maxSize(maxSize),
       spiMode(spiMode),
@@ -49,6 +50,8 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
 
 address_t SpiCookie::getSpiAddress() const { return spiAddress; }
 
+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
+
 void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
 
 void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }

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

@@ -29,22 +29,23 @@ class SpiCookie : public CookieIF {
    * @param spiDev
    * @param maxSize
    */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
-            uint32_t spiSpeed);
+            spi::SpiModes spiMode, uint32_t spiSpeed);
 
   /**
    * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
    * slave select or if CS logic is performed with decoders.
    */
-  SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode,
+  SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
-            uint32_t spiSpeed);
+            spi::SpiModes spiMode, uint32_t spiSpeed);
 
   /**
    * Use the callback mode of the SPI communication interface. The user can pass the callback
    * function here or by using the setter function #setCallbackMode
    */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
-            uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
+            spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
+            void* args);
 
   /**
    * Get the callback function
@@ -54,6 +55,7 @@ class SpiCookie : public CookieIF {
   void getCallback(spi::send_callback_function_t* callback, void** args);
 
   address_t getSpiAddress() const;
+  std::string getSpiDevice() const;
   gpioId_t getChipSelectPin() const;
   size_t getMaxBufferSize() const;
 
@@ -152,11 +154,12 @@ class SpiCookie : public CookieIF {
    * @param args
    */
   SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            std::string spiDev, 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;
 

src/fsfw/container/FixedArrayList.h

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

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1401,7 +1401,8 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
   DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
   if (iter == deviceReplyMap.end()) {
     return 0;
-  } else if (iter->second.countdown != nullptr) {
+  }
+  else if (iter->second.countdown != nullptr) {
     return 0;
   }
   return iter->second.delayCycles;

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -467,14 +467,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
    * @param maxDelayCycles The maximum number of delay cycles the reply waits
-   *    until it times out.
+   * until it times out.
    * @param periodic	Indicates if the command is periodic (i.e. it is sent
-   *    by the device repeatedly without request) or not. Default is aperiodic (0).
+   * by the device repeatedly without request) or not. Default is aperiodic (0).
-   *    Please note that periodic replies are disabled by default. You can enable them with
+   * Please note that periodic replies are disabled by default. You can enable them with
-   *    #updatePeriodicReply
+   * #updatePeriodicReply
    * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *    to provide a pointer to a Countdown object which will signal the timeout
+   *                  to provide a pointer to a Countdown object which will signal the timeout
-   *    when expired
+   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
@@ -783,18 +783,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * This is used to keep track of pending replies.
    */
   struct DeviceReplyInfo {
-    //! For Command-Reply combinations:
     //! The maximum number of cycles the handler should wait for a reply
     //! to this command.
-    //!
-    //! Reply Only:
-    //! For periodic replies, this variable will be the number of delay cycles between the replies.
-    //! For the non-periodic variant, this variable is not used as there is no meaningful
-    //! definition for delay
     uint16_t maxDelayCycles;
-    //! This variable will be set to #maxDelayCycles if a reply is expected.
+    //! The currently remaining cycles the handler should wait for a reply,
-    //! For non-periodic replies without a command, this variable is unused.
+    //! 0 means there is no reply expected
-    //! A runtime value of 0 means there is no reply is currently expected.
     uint16_t delayCycles;
     size_t replyLen = 0;  //!< Expected size of the reply.
     //! if this is !=0, the delayCycles will not be reset to 0 but to
@@ -808,7 +801,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     DeviceCommandMap::iterator command;
     //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
     //! is also possible specify a countdown
-    Countdown *countdown = nullptr;
+    Countdown* countdown = nullptr;
     //! will be set to true when reply is enabled
     bool active = false;
   };
@@ -1276,13 +1269,13 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /**
    * @brief Handles disabling of replies which use a timeout to detect missed replies.
    */
-  void disableTimeoutControlledReply(DeviceReplyInfo *info);
+  void disableTimeoutControlledReply(DeviceReplyInfo* info);
 
   /**
    * @brief Handles disabling of replies which use a number of maximum delay cycles to detect
    *        missed replies.
    */
-  void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
+  void disableDelayCyclesControlledReply(DeviceReplyInfo* info);
 
   /**
    * Retrive data from the #IPCStore.

src/fsfw/health/HasHealthIF.h

@@ -16,15 +16,10 @@ class HasHealthIF {
   };
 
   static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY =
+  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
+  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
-  static constexpr ReturnValue_t INVALID_HEALTH_STATE =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
-  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
-  //! P1: New Health, P2: Old Health
   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);

src/fsfw/osal/common/TcpTmTcServer.cpp

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

@@ -17,7 +17,6 @@
 #endif
 
 #include <string>
-#include <utility>
 #include <vector>
 
 class TcpTmTcBridge;
@@ -45,7 +44,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   struct TcpConfig {
    public:
-    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
+    TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
 
     /**
      * Passed to the recv call
@@ -85,7 +84,7 @@ 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);
-  ~TcpTmTcServer() override;
+  virtual ~TcpTmTcServer();
 
   void enableWiretapping(bool enable);
 
@@ -98,10 +97,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
 
   ReturnValue_t initialize() override;
-  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  [[nodiscard]] const std::string& getTcpPort() const;
+  std::string getTcpPort() const;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -116,7 +115,7 @@ 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/freertos/FixedTimeslotTask.cpp

@@ -47,7 +47,7 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
+               << std::endl;
 #endif
   }
 }

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -14,8 +14,6 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t st
 
 FixedTimeslotTask::~FixedTimeslotTask() {}
 
-bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); }
-
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
   FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
@@ -52,7 +50,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); }
+ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
 
 void FixedTimeslotTask::taskFunctionality() {
   // Like FreeRTOS pthreads are running as soon as they are created
@@ -90,7 +88,7 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
+               << std::endl;
 #endif
   }
 }

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -24,18 +24,15 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
   FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
   virtual ~FixedTimeslotTask();
 
-  ReturnValue_t startTask() override;
+  virtual ReturnValue_t startTask();
 
-  ReturnValue_t sleepFor(uint32_t ms) override;
+  virtual ReturnValue_t sleepFor(uint32_t ms);
 
-  uint32_t getPeriodMs() const override;
+  virtual uint32_t getPeriodMs() const;
 
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+  virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
-                        int8_t executionStep) override;
 
-  ReturnValue_t checkSequence() override;
+  virtual ReturnValue_t checkSequence() const;
-
-  bool isEmpty() const override;
 
   /**
    * This static function can be used as #deadlineMissedFunc.

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -26,12 +26,12 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject, opCode);
+  return addComponent(newObject);
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
+ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
   if (object == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
@@ -43,7 +43,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  objectList.emplace(object, opCode);
+  objectList.push_back(object);
   object->setTaskIF(this);
 
   return HasReturnvaluesIF::RETURN_OK;
@@ -54,9 +54,6 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 }
 
 ReturnValue_t PeriodicPosixTask::startTask(void) {
-  if (isEmpty()) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
   started = true;
   PosixThread::createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
@@ -67,13 +64,15 @@ void PeriodicPosixTask::taskFunctionality(void) {
     suspend();
   }
 
-  initObjsAfterTaskCreation();
+  for (auto const& object : objectList) {
+    object->initializeAfterTaskCreation();
+  }
 
   uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
   // The task's "infinite" inner loop is entered.
   while (1) {
-    for (auto const& objOpCodePair : objectList) {
+    for (auto const& object : objectList) {
-      objOpCodePair.first->performOperation(objOpCodePair.second);
+      object->performOperation();
     }
 
     if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
@@ -85,25 +84,3 @@ void PeriodicPosixTask::taskFunctionality(void) {
 }
 
 uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
-
-bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); }
-
-ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() {
-  std::multiset<ExecutableObjectIF*> uniqueObjects;
-  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
-  uint32_t count = 0;
-  for (const auto& obj : objectList) {
-    // Ensure that each unique object is initialized once.
-    if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
-      ReturnValue_t result = obj.first->initializeAfterTaskCreation();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        count++;
-        status = result;
-      }
-      uniqueObjects.emplace(obj.first);
-    }
-  }
-  if (count > 0) {
-  }
-  return status;
-}

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 
-#include <set>
+#include <vector>
 
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/ExecutableObjectIF.h"
@@ -40,7 +40,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * @param object Id of the object to add.
    * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
+  ReturnValue_t addComponent(object_id_t object) override;
 
   /**
    * Adds an object to the list of objects to be executed.
@@ -48,20 +48,14 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * @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, uint8_t opCode) override;
+  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
 
   uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
-  ReturnValue_t initObjsAfterTaskCreation();
-
-  bool isEmpty() const override;
-
  private:
-  //! Typedef for the List of objects. Will contain the objects to execute and their respective
+  typedef std::vector<ExecutableObjectIF*> ObjectList;  //!< Typedef for the List of objects.
-  //! op codes
-  using ObjectList = std::multiset<std::pair<ExecutableObjectIF*, uint8_t>>;
   /**
    * @brief	This attribute holds a list of objects to be executed.
    */

src/fsfw/osal/rtems/FixedTimeslotTask.cpp

@@ -51,7 +51,7 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
+               << std::endl;
 #endif
   }
 }

src/fsfw/power/DummyPowerSwitcher.cpp

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

src/fsfw/power/DummyPowerSwitcher.h

@@ -8,17 +8,10 @@
 #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,
-                     bool registerGlobally = true, uint32_t switchDelayMs = 5000);
+                     uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
   void setInitialFusesList(std::vector<ReturnValue_t> switcherList);

src/fsfw/power/PowerSwitcher.h

@@ -18,8 +18,7 @@ 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, power::Switch_t setSwitch1,
+  PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
-                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/pus/CService201HealthCommanding.cpp

@@ -13,6 +13,8 @@ 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):
@@ -41,8 +43,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
 }
 
 ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+    MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
-  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+  HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
   if (destination == nullptr) {
     return CommandingServiceBase::INVALID_OBJECT;
   }
@@ -75,10 +77,6 @@ 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;
 }
@@ -97,10 +95,10 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 }
 
 // Not used for now, health state already reported by event
-[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
+ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
-    const CommandMessage *reply) {
+  prepareHealthSetReply(reply);
-  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+  uint8_t 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 "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "../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);
-  ~CService201HealthCommanding() override = default;
+  virtual ~CService201HealthCommanding();
 
  protected:
   /* CSB abstract function implementations */
@@ -38,10 +38,12 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             bool *isStep) override;
 
  private:
-  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
+  ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
-                                                            const object_id_t *objectId);
+                                        size_t tcDataLen);
+  ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
+                                                     object_id_t *objectId);
 
-  [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+  ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 
   enum Subservice {
     //! [EXPORT] : [TC] Set health of target object

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -164,5 +164,3 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
 void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
   this->customCheckFunction = customCheckFunction;
 }
-
-bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }

src/fsfw/tasks/FixedSlotSequence.h

@@ -159,8 +159,6 @@ class FixedSlotSequence {
    */
   ReturnValue_t intializeSequenceAfterTaskCreation() const;
 
-  bool isEmpty() const;
-
  protected:
   /**
    * @brief	This list contains all PollingSlot objects, defining order and

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -30,7 +30,7 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
    * Check whether the sequence is valid and perform all other required
    * initialization steps which are needed after task creation
    */
-  virtual ReturnValue_t checkSequence() = 0;
+  virtual ReturnValue_t checkSequence() const = 0;
 };
 
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

src/fsfw/tasks/PeriodicTaskIF.h

@@ -31,7 +31,7 @@ class PeriodicTaskIF {
    * Add an object to the task. The object needs to implement ExecutableObjectIF
    * @return
    */
-  virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
+  virtual ReturnValue_t addComponent(object_id_t object) {
     return HasReturnvaluesIF::RETURN_FAILED;
   };
 
@@ -41,15 +41,13 @@ class PeriodicTaskIF {
    * Add an object to the task.
    * @return
    */
-  virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
     return HasReturnvaluesIF::RETURN_FAILED;
   };
 
   virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 
   virtual uint32_t getPeriodMs() const = 0;
-
-  virtual bool isEmpty() const = 0;
 };
 
 #endif /* PERIODICTASKIF_H_ */

src/fsfw/timemanager/Countdown.cpp

@@ -3,7 +3,8 @@
 Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
   if (startImmediately) {
     setTimeout(initialTimeout);
-  } else {
+  }
+  else {
     timeout = initialTimeout;
   }
 }

src/fsfw/tmtcservices/CommandingServiceBase.h

@@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
    * @param objectId Target object ID
    * @return
    * - @c RETURN_OK to generate a verification start message
-   * - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
+   * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
    *      verification message.
    * - @c Anything else rejects the packets and generates a start failure
    *      verification.

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -5,10 +5,10 @@
 
 class SourceSequenceCounter {
  private:
-  uint16_t sequenceCount = 0;
+  uint16_t sequenceCount;
 
  public:
-  SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
+  SourceSequenceCounter() : sequenceCount(0) {}
   void increment() {
     sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
   }
@@ -31,7 +31,6 @@ class SourceSequenceCounter {
     sequenceCount = newCount;
     return *this;
   }
-
   operator uint16_t() { return this->get(); }
 };
 

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -11,10 +11,7 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
 )
 
 add_subdirectory(testcfg)
-add_subdirectory(mocks)
-
 add_subdirectory(action)
-add_subdirectory(power)
 add_subdirectory(container)
 add_subdirectory(osal)
 add_subdirectory(serialize)

tests/src/fsfw_tests/unit/mocks/CMakeLists.txt

@@ -1,3 +0,0 @@
-target_sources(${FSFW_TEST_TGT} PRIVATE
-	PowerSwitcherMock.cpp
-)

tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp

@@ -1,77 +0,0 @@
-#include "PowerSwitcherMock.h"
-
-static uint32_t SWITCH_REQUEST_UPDATE_VALUE = 0;
-
-PowerSwitcherMock::PowerSwitcherMock() {}
-
-ReturnValue_t PowerSwitcherMock::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
-  if (switchMap.count(switchNr) == 0) {
-    switchMap.emplace(switchNr, SwitchInfo(switchNr, onOff));
-  } else {
-    SwitchInfo& info = switchMap.at(switchNr);
-    info.currentState = onOff;
-    if (onOff == PowerSwitchIF::SWITCH_ON) {
-      info.timesCalledOn++;
-    } else {
-      info.timesCalledOff++;
-    }
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t PowerSwitcherMock::sendFuseOnCommand(uint8_t fuseNr) {
-  if (fuseMap.count(fuseNr) == 0) {
-    fuseMap.emplace(fuseNr, FuseInfo(fuseNr));
-  } else {
-    FuseInfo& info = fuseMap.at(fuseNr);
-    info.timesCalled++;
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t PowerSwitcherMock::getSwitchState(power::Switch_t switchNr) const {
-  if (switchMap.count(switchNr) == 1) {
-    auto& info = switchMap.at(switchNr);
-    SWITCH_REQUEST_UPDATE_VALUE++;
-    return info.currentState;
-  }
-  return RETURN_FAILED;
-}
-
-ReturnValue_t PowerSwitcherMock::getFuseState(uint8_t fuseNr) const {
-  if (fuseMap.count(fuseNr) == 1) {
-    return FUSE_ON;
-  } else {
-    return FUSE_OFF;
-  }
-  return RETURN_FAILED;
-}
-
-uint32_t PowerSwitcherMock::getSwitchDelayMs(void) const { return 5000; }
-
-SwitchInfo::SwitchInfo() : switcher(0) {}
-
-SwitchInfo::SwitchInfo(power::Switch_t switcher, ReturnValue_t initState)
-    : switcher(switcher), currentState(initState) {}
-
-FuseInfo::FuseInfo(uint8_t fuse) : fuse(fuse) {}
-
-void PowerSwitcherMock::getSwitchInfo(power::Switch_t switcher, SwitchInfo& info) {
-  if (switchMap.count(switcher) == 1) {
-    info = switchMap.at(switcher);
-  }
-}
-
-void PowerSwitcherMock::getFuseInfo(uint8_t fuse, FuseInfo& info) {
-  if (fuseMap.count(fuse) == 1) {
-    info = fuseMap.at(fuse);
-  }
-}
-
-uint32_t PowerSwitcherMock::getAmountSwitchStatWasRequested() {
-  return SWITCH_REQUEST_UPDATE_VALUE;
-}
-
-void PowerSwitcherMock::initSwitch(power::Switch_t switchNr) {
-  switchMap.emplace(switchNr, SwitchInfo(switchNr, PowerSwitchIF::SWITCH_OFF));
-}

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

@@ -1,52 +0,0 @@
-#ifndef FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
-#define FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
-
-#include <fsfw/power/PowerSwitchIF.h>
-
-#include <map>
-#include <utility>
-
-struct SwitchInfo {
- public:
-  SwitchInfo();
-  SwitchInfo(power::Switch_t switcher, ReturnValue_t initState);
-
-  power::Switch_t switcher;
-  ReturnValue_t currentState = PowerSwitchIF::SWITCH_OFF;
-  uint32_t timesCalledOn = 0;
-  uint32_t timesCalledOff = 0;
-  uint32_t timesStatusRequested = 0;
-};
-
-struct FuseInfo {
- public:
-  FuseInfo(uint8_t fuse);
-  uint8_t fuse;
-  uint32_t timesCalled = 0;
-};
-
-class PowerSwitcherMock : public PowerSwitchIF {
- public:
-  PowerSwitcherMock();
-
-  ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
-  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
-  ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
-  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
-  uint32_t getSwitchDelayMs(void) const override;
-
-  void getSwitchInfo(power::Switch_t switcher, SwitchInfo& info);
-  void getFuseInfo(uint8_t fuse, FuseInfo& info);
-
-  uint32_t getAmountSwitchStatWasRequested();
-
-  void initSwitch(power::Switch_t switchNr);
-
- private:
-  using SwitchOnOffPair = std::pair<power::Switch_t, ReturnValue_t>;
-  using FuseOnOffPair = std::pair<uint8_t, ReturnValue_t>;
-  std::map<power::Switch_t, SwitchInfo> switchMap;
-  std::map<uint8_t, FuseInfo> fuseMap;
-};
-
-#endif /* FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_ */

tests/src/fsfw_tests/unit/power/CMakeLists.txt

@@ -1,3 +0,0 @@
-target_sources(${FSFW_TEST_TGT} PRIVATE
-    testPowerSwitcher.cpp
-)

tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp

@@ -1,71 +0,0 @@
-#include <fsfw/power/DummyPowerSwitcher.h>
-#include <fsfw/power/PowerSwitcher.h>
-#include <fsfw_tests/unit/mocks/PowerSwitcherMock.h>
-
-#include <catch2/catch_test_macros.hpp>
-
-#include "objects/systemObjectList.h"
-
-TEST_CASE("Power Switcher", "[power-switcher]") {
-  PowerSwitcherMock mock;
-  PowerSwitcher switcher(&mock, 1);
-  DummyPowerSwitcher dummySwitcher(objects::DUMMY_POWER_SWITCHER, 5, 5, false);
-  PowerSwitcher switcherUsingDummy(&dummySwitcher, 1);
-  SwitchInfo switchInfo;
-  mock.initSwitch(1);
-
-  SECTION("Basic Tests") {
-    REQUIRE(switcher.getFirstSwitch() == 1);
-    REQUIRE(switcher.getSecondSwitch() == power::NO_SWITCH);
-    // Default start state
-    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
-    switcher.turnOn(true);
-    REQUIRE(mock.getAmountSwitchStatWasRequested() == 1);
-    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_ON);
-    REQUIRE(switcher.checkSwitchState() == PowerSwitcher::IN_POWER_TRANSITION);
-    REQUIRE(switcher.active());
-    switcher.doStateMachine();
-    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_ON);
-    mock.getSwitchInfo(1, switchInfo);
-    REQUIRE(switchInfo.timesCalledOn == 1);
-    REQUIRE(not switcher.active());
-    REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
-    REQUIRE(switcher.checkSwitchState() == HasReturnvaluesIF::RETURN_OK);
-    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
-    switcher.turnOff(false);
-    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
-    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
-    REQUIRE(switcher.active());
-    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
-    switcher.doStateMachine();
-    mock.getSwitchInfo(1, switchInfo);
-    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
-    REQUIRE(switchInfo.timesCalledOn == 1);
-    REQUIRE(switchInfo.timesCalledOff == 1);
-    REQUIRE(not switcher.active());
-    REQUIRE(mock.getAmountSwitchStatWasRequested() == 4);
-  }
-
-  SECTION("Dummy Test") {
-    // Same tests, but we can't really check the dummy
-    REQUIRE(switcherUsingDummy.getFirstSwitch() == 1);
-    REQUIRE(switcherUsingDummy.getSecondSwitch() == power::NO_SWITCH);
-    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
-    switcherUsingDummy.turnOn(true);
-    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_ON);
-    REQUIRE(switcherUsingDummy.active());
-    switcherUsingDummy.doStateMachine();
-    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_ON);
-    REQUIRE(not switcherUsingDummy.active());
-
-    switcherUsingDummy.turnOff(false);
-    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
-    REQUIRE(switcherUsingDummy.active());
-    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
-    switcherUsingDummy.doStateMachine();
-    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
-    REQUIRE(not switcherUsingDummy.active());
-  }
-
-  SECTION("More Dummy Tests") {}
-}

tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h

@@ -21,9 +21,8 @@ enum sourceObjects : uint32_t {
   HK_RECEIVER_MOCK = 22,
   TEST_LOCAL_POOL_OWNER_BASE = 25,
 
-  SHARED_SET_ID = 26,
+  SHARED_SET_ID = 26
 
-  DUMMY_POWER_SWITCHER = 27
 };
 }