Merge branch 'development' into development-doc-test0

Reviewed-on: fsfw/fsfw#756

.idea/cmake.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeSharedSettings">
-    <configurations>
-      <configuration PROFILE_NAME="Debug Test" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host" />
-    </configurations>
-  </component>
-</project>

CHANGELOG.md

@@ -22,16 +22,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
 - Small tweak for version getter
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
+- Important bugfix for `LocalPool::delete` function, where an overflow could possibly lead to UB.
 
 ## Added
 
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
-- `PusTmZcWriter` now exposes API to set message counter field.
+- New object ID for persistent TM store PUS 15
+- `EventManager`: Add function to print all listeners.
 
 ## Changed
 
-- HK generation is now countdown based.
 - Bump ETL version to 20.35.14
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
 - Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
@@ -40,7 +41,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
 - Assert that `FixedArrayList` is larger than 0 at compile time.
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
-- Health functions are virtual now.
+- `EventManager`: Queue depth is configurable now
+- `ActionHelper`: Allow execution of actions without additional data
 
 # [v6.0.0] 2023-02-10
 
@@ -116,8 +118,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
-- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
 - Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
 - `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.

CMakeLists.txt

@@ -72,7 +72,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.35.14
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.36.0
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -80,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
     CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.3.2
     CACHE STRING "Catch2 library exact version requirement")
 
 # Keep this off by default for now. See PR:

automation/Dockerfile

@@ -7,7 +7,9 @@ RUN apt-get --yes upgrade
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
 
-RUN python3 -m pip install sphinx breathe
+# This should also install Sphinx
+RUN python3 -m pip install -r docs/requirements.txt
+RUN python3 -m pip install breathe
 
 RUN git clone https://github.com/catchorg/Catch2.git && \
         cd Catch2 && \
@@ -26,4 +28,4 @@ RUN adduser --uid 114 jenkins
 
 #add documentation server to known hosts
 RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
-RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

automation/Jenkinsfile

@@ -87,38 +87,44 @@ pipeline {
         }
         stage('Documentation') {
             when {
-                branch 'development'
+              anyOf {
+                branch 'development';
+                branch pattern: 'development-doc*'
+              }
             }
             steps {
                 dir(DOCDDIR) {
                     sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                     sh 'make Sphinx'
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/development'
                     }
                 }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/coverage/development'
                     }
                 }
             }
         }
         stage('Master Documentation') {
             when {
-                branch 'master'
+              anyOf {
+                branch 'master';
+                branch pattern: 'master-doc*'
+              }
             }
             steps {
                 dir(DOCDDIR) {
                     sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                     sh 'make Sphinx'
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/master'
                     }
                 }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/coverage/master'
                     }
                 }
             }

docs/conf.py

@@ -21,6 +21,7 @@ project = "Flight Software Framework"
 copyright = "2021, Institute of Space Systems (IRS)"
 author = "Institute of Space Systems (IRS)"
 
+# TODO: Should try to read this from CMakeLists.txt automatically..
 # The full version, including alpha/beta/rc tags
 release = "5.0.0"
 
@@ -48,13 +49,10 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = "alabaster"
+html_theme = "sphinx_rtd_theme"
 
 html_theme_options = {
-    "extra_nav_links": {
-        "Impressum": "https://www.uni-stuttgart.de/impressum",
-        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
-    }
+    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
 }
 
 

docs/requirements.txt

@@ -0,0 +1 @@
+sphinx-rtd-theme==1.3.0

src/fsfw/cfdp.h

@@ -2,9 +2,7 @@
 #define FSFW_CFDP_H
 
 #include "cfdp/definitions.h"
-#include "cfdp/handler/DestHandler.h"
 #include "cfdp/handler/FaultHandlerBase.h"
-#include "cfdp/helpers.h"
 #include "cfdp/tlv/Lv.h"
 #include "cfdp/tlv/StringLv.h"
 #include "cfdp/tlv/Tlv.h"

src/fsfw/cfdp/VarLenFields.h

@@ -51,8 +51,9 @@ class VarLenField : public SerializeIF {
     return os;
   }
 #endif
-
  private:
+  using SerializeIF::deSerialize;  // we overloaded above, so this is needed to uncofuse the
+                                   // compiler
   ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/handler/CMakeLists.txt

@@ -1,2 +1 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
-                                        FaultHandlerBase.cpp UserBase.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE FaultHandlerBase.cpp UserBase.cpp)

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -1,546 +0,0 @@
-#include "DestHandler.h"
-
-#include <etl/crc32.h>
-
-#include <utility>
-
-#include "fsfw/FSFW.h"
-#include "fsfw/cfdp/pdu/EofPduReader.h"
-#include "fsfw/cfdp/pdu/FileDataReader.h"
-#include "fsfw/cfdp/pdu/FinishedPduCreator.h"
-#include "fsfw/cfdp/pdu/PduHeaderReader.h"
-#include "fsfw/objectmanager.h"
-#include "fsfw/tmtcservices/TmTcMessage.h"
-
-using namespace returnvalue;
-
-cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
-    : tlvVec(params.maxTlvsInOnePdu),
-      userTlvVec(params.maxTlvsInOnePdu),
-      dp(std::move(params)),
-      fp(fsfwParams),
-      tp(params.maxFilenameLen) {
-  tp.pduConf.direction = cfdp::Direction::TOWARDS_SENDER;
-}
-
-const cfdp::DestHandler::FsmResult& cfdp::DestHandler::performStateMachine() {
-  ReturnValue_t result;
-  uint8_t errorIdx = 0;
-  fsmRes.resetOfIteration();
-  if (fsmRes.step == TransactionStep::IDLE) {
-    for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
-      if (infoIter->pduType == PduType::FILE_DIRECTIVE and
-          infoIter->directiveType == FileDirective::METADATA) {
-        result = handleMetadataPdu(*infoIter);
-        checkAndHandleError(result, errorIdx);
-        // Store data was deleted in PDU handler because a store guard is used
-        dp.packetListRef.erase(infoIter++);
-      } else {
-        infoIter++;
-      }
-    }
-    if (fsmRes.step == TransactionStep::IDLE) {
-      // To decrease the already high complexity of the software, all packets arriving before
-      // a metadata PDU are deleted.
-      for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
-        fp.tcStore->deleteData(infoIter->storeId);
-        infoIter++;
-      }
-      dp.packetListRef.clear();
-    }
-
-    if (fsmRes.step != TransactionStep::IDLE) {
-      fsmRes.callStatus = CallStatus::CALL_AGAIN;
-    }
-    return updateFsmRes(errorIdx);
-  }
-  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
-    if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
-      for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
-        if (infoIter->pduType == PduType::FILE_DATA) {
-          result = handleFileDataPdu(*infoIter);
-          checkAndHandleError(result, errorIdx);
-          // Store data was deleted in PDU handler because a store guard is used
-          dp.packetListRef.erase(infoIter++);
-        } else if (infoIter->pduType == PduType::FILE_DIRECTIVE and
-                   infoIter->directiveType == FileDirective::EOF_DIRECTIVE) {
-          // TODO: Support for check timer missing
-          result = handleEofPdu(*infoIter);
-          checkAndHandleError(result, errorIdx);
-          // Store data was deleted in PDU handler because a store guard is used
-          dp.packetListRef.erase(infoIter++);
-        } else {
-          infoIter++;
-        }
-      }
-    }
-    if (fsmRes.step == TransactionStep::TRANSFER_COMPLETION) {
-      result = handleTransferCompletion();
-      checkAndHandleError(result, errorIdx);
-    }
-    if (fsmRes.step == TransactionStep::SENDING_FINISHED_PDU) {
-      result = sendFinishedPdu();
-      checkAndHandleError(result, errorIdx);
-      finish();
-    }
-    return updateFsmRes(errorIdx);
-  }
-  if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
-    // TODO: Will be implemented at a later stage
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "CFDP state machine for acknowledged mode not implemented yet" << std::endl;
-#endif
-  }
-  return updateFsmRes(errorIdx);
-}
-
-ReturnValue_t cfdp::DestHandler::passPacket(PacketInfo packet) {
-  if (dp.packetListRef.full()) {
-    return FAILED;
-  }
-  dp.packetListRef.push_back(packet);
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::initialize() {
-  if (fp.tmStore == nullptr) {
-    fp.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-    if (fp.tmStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fp.tcStore == nullptr) {
-    fp.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-    if (fp.tcStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fp.msgQueue == nullptr) {
-    return FAILED;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
-  // Process metadata PDU
-  auto constAccessorPair = fp.tcStore->getData(info.storeId);
-  if (constAccessorPair.first != OK) {
-    // TODO: This is not a CFDP error. Event and/or warning?
-    return constAccessorPair.first;
-  }
-  cfdp::StringLv sourceFileName;
-  cfdp::StringLv destFileName;
-  MetadataInfo metadataInfo(tp.fileSize, sourceFileName, destFileName);
-  cfdp::Tlv* tlvArrayAsPtr = tlvVec.data();
-  metadataInfo.setOptionsArray(&tlvArrayAsPtr, std::nullopt, tlvVec.size());
-  MetadataPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(),
-                           metadataInfo);
-  ReturnValue_t result = reader.parseData();
-  // TODO: The standard does not really specify what happens if this kind of error happens
-  //       I think it might be a good idea to cache some sort of error code, which
-  //       is translated into a warning and/or event by an upper layer
-  if (result != OK) {
-    return handleMetadataParseError(result, constAccessorPair.second.data(),
-                                    constAccessorPair.second.size());
-  }
-  return startTransaction(reader, metadataInfo);
-}
-
-ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
-  // Process file data PDU
-  auto constAccessorPair = fp.tcStore->getData(info.storeId);
-  if (constAccessorPair.first != OK) {
-    // TODO: This is not a CFDP error. Event and/or warning?
-    return constAccessorPair.first;
-  }
-  cfdp::FileSize offset;
-  FileDataInfo fdInfo(offset);
-  FileDataReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), fdInfo);
-  ReturnValue_t result = reader.parseData();
-  if (result != OK) {
-    return result;
-  }
-  size_t fileSegmentLen = 0;
-  const uint8_t* fileData = fdInfo.getFileData(&fileSegmentLen);
-  FileOpParams fileOpParams(tp.destName.data(), fileSegmentLen);
-  fileOpParams.offset = offset.value();
-  if (dp.cfg.indicCfg.fileSegmentRecvIndicRequired) {
-    FileSegmentRecvdParams segParams;
-    segParams.offset = offset.value();
-    segParams.id = tp.transactionId;
-    segParams.length = fileSegmentLen;
-    segParams.recContState = fdInfo.getRecordContinuationState();
-    size_t segmentMetadatLen = 0;
-    auto* segMetadata = fdInfo.getSegmentMetadata(&segmentMetadatLen);
-    segParams.segmentMetadata = {segMetadata, segmentMetadatLen};
-    dp.user.fileSegmentRecvdIndication(segParams);
-  }
-  result = dp.user.vfs.writeToFile(fileOpParams, fileData);
-  if (result != returnvalue::OK) {
-    // TODO: Proper Error handling
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "cfdp::DestHandler: VFS file write error with code 0x" << std::hex << std::setw(2)
-               << result << std::endl;
-#endif
-    tp.vfsErrorCount++;
-    if (tp.vfsErrorCount < 3) {
-      // TODO: Provide execution step as parameter
-      fp.eventReporter->forwardEvent(events::FILESTORE_ERROR, static_cast<uint8_t>(fsmRes.step),
-                                     result);
-    }
-    return result;
-  } else {
-    tp.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
-    tp.vfsErrorCount = 0;
-  }
-  if (offset.value() + fileSegmentLen > tp.progress) {
-    tp.progress = offset.value() + fileSegmentLen;
-  }
-  return result;
-}
-
-ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PacketInfo& info) {
-  // Process EOF PDU
-  auto constAccessorPair = fp.tcStore->getData(info.storeId);
-  if (constAccessorPair.first != OK) {
-    // TODO: This is not a CFDP error. Event and/or warning?
-    return constAccessorPair.first;
-  }
-  EofInfo eofInfo(nullptr);
-  EofPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), eofInfo);
-  ReturnValue_t result = reader.parseData();
-  if (result != OK) {
-    return result;
-  }
-  // TODO: Error handling
-  if (eofInfo.getConditionCode() == ConditionCode::NO_ERROR) {
-    tp.crc = eofInfo.getChecksum();
-    uint64_t fileSizeFromEof = eofInfo.getFileSize().value();
-    // CFDP 4.6.1.2.9: Declare file size error if progress exceeds file size
-    if (fileSizeFromEof > tp.progress) {
-      // TODO: File size error
-    }
-    tp.fileSize.setFileSize(fileSizeFromEof, std::nullopt);
-  }
-  if (dp.cfg.indicCfg.eofRecvIndicRequired) {
-    dp.user.eofRecvIndication(getTransactionId());
-  }
-  if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
-    if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
-      fsmRes.step = TransactionStep::TRANSFER_COMPLETION;
-    } else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
-      fsmRes.step = TransactionStep::SENDING_ACK_PDU;
-    }
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t cfdp::DestHandler::handleMetadataParseError(ReturnValue_t result,
-                                                          const uint8_t* rawData, size_t maxSize) {
-  // TODO: try to extract destination ID for error
-  // TODO: Invalid metadata PDU.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Parsing Metadata PDU failed with code " << result << std::endl;
-#else
-#endif
-  PduHeaderReader headerReader(rawData, maxSize);
-  result = headerReader.parseData();
-  if (result != OK) {
-    // TODO: Now this really should not happen. Warning or error,
-    //       yield or cache appropriate returnvalue
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "Parsing Header failed" << std::endl;
-#else
-#endif
-    // TODO: Trigger appropriate event
-    return result;
-  }
-  cfdp::EntityId destId;
-  headerReader.getDestId(destId);
-  RemoteEntityCfg* remoteCfg;
-  if (not dp.remoteCfgTable.getRemoteCfg(destId, &remoteCfg)) {
-// TODO: No remote config for dest ID. I consider this a configuration error, which is not
-//       covered by the standard.
-//       Warning or error, yield or cache appropriate returnvalue
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "No remote config exists for destination ID" << std::endl;
-#else
-#endif
-    // TODO: Trigger appropriate event
-  }
-  // TODO: Appropriate returnvalue?
-  return returnvalue::FAILED;
-}
-
-ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, MetadataInfo& info) {
-  if (fsmRes.state != CfdpStates::IDLE) {
-    // According to standard, discard metadata PDU if we are busy
-    return OK;
-  }
-  ReturnValue_t result = OK;
-  size_t sourceNameSize = 0;
-
-  const uint8_t* sourceNamePtr = info.getSourceFileName().getValue(&sourceNameSize);
-  if (sourceNameSize + 1 > tp.sourceName.size()) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "source filename too large");
-    return FAILED;
-  }
-  std::memcpy(tp.sourceName.data(), sourceNamePtr, sourceNameSize);
-  tp.sourceName[sourceNameSize] = '\0';
-  size_t destNameSize = 0;
-  const uint8_t* destNamePtr = info.getDestFileName().getValue(&destNameSize);
-  if (destNameSize + 1 > tp.destName.size()) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "dest filename too large");
-    return FAILED;
-  }
-  std::memcpy(tp.destName.data(), destNamePtr, destNameSize);
-  tp.destName[destNameSize] = '\0';
-
-  // If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
-  // so there is no need to create a file or truncate an existing file
-  if (destNameSize > 0 and sourceNameSize > 0) {
-    FilesystemParams fparams(tp.destName.data());
-    // handling to allow only specifying target directory. Example:
-    // Source path /test/hello.txt, dest path /tmp -> dest path /tmp/hello.txt
-    if (dp.user.vfs.isDirectory(tp.destName.data())) {
-      result = tryBuildingAbsoluteDestName(destNameSize);
-      if (result != OK) {
-        return result;
-      }
-    }
-    if (dp.user.vfs.fileExists(fparams)) {
-      result = dp.user.vfs.truncateFile(fparams);
-      if (result != returnvalue::OK) {
-        fileErrorHandler(events::FILESTORE_ERROR, result, "file truncation error");
-        return FAILED;
-        // TODO: Relevant for filestore rejection error?
-      }
-    } else {
-      result = dp.user.vfs.createFile(fparams);
-      if (result != OK) {
-        fileErrorHandler(events::FILESTORE_ERROR, result, "file creation error");
-        return FAILED;
-        // TODO: Relevant for filestore rejection error?
-      }
-    }
-  }
-  EntityId sourceId;
-  reader.getSourceId(sourceId);
-  if (not dp.remoteCfgTable.getRemoteCfg(sourceId, &tp.remoteCfg)) {
-    // TODO: Warning, event etc.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler" << __func__
-                 << ": No remote configuration found for destination ID "
-                 << tp.pduConf.sourceId.getValue() << std::endl;
-#endif
-    return FAILED;
-  }
-  fsmRes.step = TransactionStep::TRANSACTION_START;
-  if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
-    fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
-  } else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
-    fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
-  }
-  tp.checksumType = info.getChecksumType();
-  tp.closureRequested = info.isClosureRequested();
-  reader.fillConfig(tp.pduConf);
-  tp.pduConf.direction = Direction::TOWARDS_SENDER;
-  tp.transactionId.entityId = tp.pduConf.sourceId;
-  tp.transactionId.seqNum = tp.pduConf.seqNum;
-  fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
-  MetadataRecvdParams params(tp.transactionId, tp.pduConf.sourceId);
-  params.fileSize = tp.fileSize.getSize();
-  params.destFileName = tp.destName.data();
-  params.sourceFileName = tp.sourceName.data();
-  params.msgsToUserArray = dynamic_cast<MessageToUserTlv*>(userTlvVec.data());
-  params.msgsToUserLen = info.getOptionsLen();
-  dp.user.metadataRecvdIndication(params);
-  return result;
-}
-
-cfdp::CfdpStates cfdp::DestHandler::getCfdpState() const { return fsmRes.state; }
-
-ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
-  ReturnValue_t result;
-  if (tp.checksumType != ChecksumType::NULL_CHECKSUM) {
-    result = checksumVerification();
-    if (result != OK) {
-      // TODO: Warning / error handling?
-    }
-  } else {
-    tp.conditionCode = ConditionCode::NO_ERROR;
-  }
-  result = noticeOfCompletion();
-  if (result != OK) {
-  }
-  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
-    if (tp.closureRequested) {
-      fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
-    } else {
-      finish();
-    }
-  } else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
-    fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::tryBuildingAbsoluteDestName(size_t destNameSize) {
-  char baseNameBuf[tp.destName.size()]{};
-  FilesystemParams fparamsSrc(tp.sourceName.data());
-  size_t baseNameLen = 0;
-  ReturnValue_t result =
-      dp.user.vfs.getBaseFilename(fparamsSrc, baseNameBuf, sizeof(baseNameBuf), baseNameLen);
-  if (result != returnvalue::OK or baseNameLen == 0) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "error retrieving source base name");
-    return FAILED;
-  }
-  // Destination name + slash + base name + null termination
-  if (destNameSize + 1 + baseNameLen + 1 > tp.destName.size()) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0,
-                     "dest filename too large after adding source base name");
-    return FAILED;
-  }
-  tp.destName[destNameSize++] = '/';
-  std::memcpy(tp.destName.data() + destNameSize, baseNameBuf, baseNameLen);
-  destNameSize += baseNameLen;
-  tp.destName[destNameSize++] = '\0';
-  return OK;
-}
-
-void cfdp::DestHandler::fileErrorHandler(Event event, ReturnValue_t result, const char* info) {
-  fp.eventReporter->forwardEvent(events::FILENAME_TOO_LARGE_ERROR,
-                                 static_cast<uint8_t>(fsmRes.step), result);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "cfdp::DestHandler: " << info << std::endl;
-#endif
-}
-
-void cfdp::DestHandler::finish() {
-  tp.reset();
-  dp.packetListRef.clear();
-  fsmRes.state = CfdpStates::IDLE;
-  fsmRes.step = TransactionStep::IDLE;
-}
-
-ReturnValue_t cfdp::DestHandler::checksumVerification() {
-  std::array<uint8_t, 1024> buf{};
-  // TODO: Checksum verification and notice of completion
-  etl::crc32 crcCalc;
-  uint64_t currentOffset = 0;
-  FileOpParams params(tp.destName.data(), tp.fileSize.value());
-  while (currentOffset < tp.fileSize.value()) {
-    uint64_t readLen;
-    if (currentOffset + buf.size() > tp.fileSize.value()) {
-      readLen = tp.fileSize.value() - currentOffset;
-    } else {
-      readLen = buf.size();
-    }
-    if (readLen > 0) {
-      params.offset = currentOffset;
-      params.size = readLen;
-      auto result = dp.user.vfs.readFromFile(params, buf.data(), buf.size());
-      if (result != OK) {
-        // TODO: I think this is a case for a filestore rejection, but it might sense to print
-        //       a warning or trigger an event because this should generally not happen
-        return FAILED;
-      }
-      crcCalc.add(buf.begin(), buf.begin() + readLen);
-    }
-    currentOffset += readLen;
-  }
-
-  uint32_t value = crcCalc.value();
-  if (value == tp.crc) {
-    tp.conditionCode = ConditionCode::NO_ERROR;
-    tp.deliveryCode = FileDeliveryCode::DATA_COMPLETE;
-  } else {
-    // TODO: Proper error handling
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "CRC check for file " << tp.destName.data() << " failed" << std::endl;
-#endif
-    tp.conditionCode = ConditionCode::FILE_CHECKSUM_FAILURE;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::noticeOfCompletion() {
-  if (dp.cfg.indicCfg.transactionFinishedIndicRequired) {
-    TransactionFinishedParams params(tp.transactionId, tp.conditionCode, tp.deliveryCode,
-                                     tp.deliveryStatus);
-    dp.user.transactionFinishedIndication(params);
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
-  FinishedInfo info(tp.conditionCode, tp.deliveryCode, tp.deliveryStatus);
-  FinishPduCreator finishedPdu(tp.pduConf, info);
-  store_address_t storeId;
-  uint8_t* dataPtr = nullptr;
-  ReturnValue_t result =
-      fp.tmStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
-  if (result != OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler:sendFinishedPdu: Getting store slot failed" << std::endl;
-#endif
-    fp.eventReporter->forwardEvent(events::STORE_ERROR, result, 0);
-    return result;
-  }
-  size_t serLen = 0;
-  result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
-  if (result != OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Serializing Finished PDU failed"
-                 << std::endl;
-#endif
-    fp.eventReporter->forwardEvent(events::SERIALIZATION_ERROR, result, 0);
-    return result;
-  }
-  TmTcMessage msg(storeId);
-  result = fp.msgQueue->sendMessage(fp.packetDest.getReportReceptionQueue(), &msg);
-  if (result != OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Sending PDU failed" << std::endl;
-#endif
-    fp.eventReporter->forwardEvent(events::MSG_QUEUE_ERROR, result, 0);
-    return result;
-  }
-  fsmRes.packetsSent++;
-  return OK;
-}
-
-cfdp::DestHandler::TransactionStep cfdp::DestHandler::getTransactionStep() const {
-  return fsmRes.step;
-}
-
-const cfdp::DestHandler::FsmResult& cfdp::DestHandler::updateFsmRes(uint8_t errors) {
-  fsmRes.errors = errors;
-  fsmRes.result = OK;
-  if (fsmRes.errors > 0) {
-    fsmRes.result = FAILED;
-  }
-  return fsmRes;
-}
-
-const cfdp::TransactionId& cfdp::DestHandler::getTransactionId() const { return tp.transactionId; }
-
-void cfdp::DestHandler::checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx) {
-  if (result != OK and errorIdx < 3) {
-    fsmRes.errorCodes[errorIdx] = result;
-    errorIdx++;
-  }
-}
-
-void cfdp::DestHandler::setMsgQueue(MessageQueueIF& queue) { fp.msgQueue = &queue; }
-
-void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
-  fp.eventReporter = &reporter;
-}
-
-const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const { return dp; }
-
-StorageManagerIF* cfdp::DestHandler::getTmStore() const { return fp.tmStore; }
-StorageManagerIF* cfdp::DestHandler::getTcStore() const { return fp.tcStore; }

src/fsfw/cfdp/handler/DestHandler.h

@@ -1,206 +0,0 @@
-#ifndef FSFW_CFDP_CFDPDESTHANDLER_H
-#define FSFW_CFDP_CFDPDESTHANDLER_H
-
-#include <etl/list.h>
-#include <etl/set.h>
-
-#include <optional>
-#include <utility>
-
-#include "RemoteConfigTableIF.h"
-#include "UserBase.h"
-#include "defs.h"
-#include "fsfw/cfdp/handler/mib.h"
-#include "fsfw/cfdp/pdu/MetadataPduReader.h"
-#include "fsfw/cfdp/pdu/PduConfig.h"
-#include "fsfw/container/DynamicFIFO.h"
-#include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/storagemanager/storeAddress.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-
-namespace cfdp {
-
-struct PacketInfo {
-  PacketInfo(PduType type, store_address_t storeId,
-             std::optional<FileDirective> directive = std::nullopt)
-      : pduType(type), directiveType(directive), storeId(storeId) {}
-
-  PduType pduType = PduType::FILE_DATA;
-  std::optional<FileDirective> directiveType = FileDirective::INVALID_DIRECTIVE;
-  store_address_t storeId = store_address_t::invalid();
-  PacketInfo() = default;
-};
-
-template <size_t SIZE>
-using LostSegmentsList = etl::set<etl::pair<uint64_t, uint64_t>, SIZE>;
-template <size_t SIZE>
-using PacketInfoList = etl::list<PacketInfo, SIZE>;
-using LostSegmentsListBase = etl::iset<etl::pair<uint64_t, uint64_t>>;
-using PacketInfoListBase = etl::ilist<PacketInfo>;
-
-struct DestHandlerParams {
-  DestHandlerParams(LocalEntityCfg cfg, UserBase& user, RemoteConfigTableIF& remoteCfgTable,
-                    PacketInfoListBase& packetList,
-                    // TODO: This container can potentially take tons of space. For a better
-                    //       memory efficient implementation, an additional abstraction could be
-                    //       be used so users can use uint32_t as the pair type
-                    LostSegmentsListBase& lostSegmentsContainer)
-      : cfg(std::move(cfg)),
-        user(user),
-        remoteCfgTable(remoteCfgTable),
-        packetListRef(packetList),
-        lostSegmentsContainer(lostSegmentsContainer) {}
-
-  LocalEntityCfg cfg;
-  UserBase& user;
-  RemoteConfigTableIF& remoteCfgTable;
-
-  PacketInfoListBase& packetListRef;
-  LostSegmentsListBase& lostSegmentsContainer;
-  uint8_t maxTlvsInOnePdu = 10;
-  size_t maxFilenameLen = 255;
-};
-
-struct FsfwParams {
-  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
-             EventReportingProxyIF* eventReporter, StorageManagerIF& tcStore,
-             StorageManagerIF& tmStore)
-      : FsfwParams(packetDest, msgQueue, eventReporter) {
-    this->tcStore = &tcStore;
-    this->tmStore = &tmStore;
-  }
-
-  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
-             EventReportingProxyIF* eventReporter)
-      : packetDest(packetDest), msgQueue(msgQueue), eventReporter(eventReporter) {}
-  AcceptsTelemetryIF& packetDest;
-  MessageQueueIF* msgQueue;
-  EventReportingProxyIF* eventReporter = nullptr;
-  StorageManagerIF* tcStore = nullptr;
-  StorageManagerIF* tmStore = nullptr;
-};
-
-enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
-
-class DestHandler {
- public:
-  enum class TransactionStep : uint8_t {
-    IDLE = 0,
-    TRANSACTION_START = 1,
-    RECEIVING_FILE_DATA_PDUS = 2,
-    SENDING_ACK_PDU = 3,
-    TRANSFER_COMPLETION = 4,
-    SENDING_FINISHED_PDU = 5
-  };
-
-  struct FsmResult {
-   public:
-    ReturnValue_t result = returnvalue::OK;
-    CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
-    TransactionStep step = TransactionStep::IDLE;
-    CfdpStates state = CfdpStates::IDLE;
-    uint32_t packetsSent = 0;
-    uint8_t errors = 0;
-    std::array<ReturnValue_t, 3> errorCodes = {};
-    void resetOfIteration() {
-      result = returnvalue::OK;
-      callStatus = CallStatus::CALL_AFTER_DELAY;
-      packetsSent = 0;
-      errors = 0;
-      errorCodes.fill(returnvalue::OK);
-    }
-  };
-  /**
-   * Will be returned if it is advisable to call the state machine operation call again
-   */
-  ReturnValue_t PARTIAL_SUCCESS = returnvalue::makeCode(0, 2);
-  ReturnValue_t FAILURE = returnvalue::makeCode(0, 3);
-  explicit DestHandler(DestHandlerParams handlerParams, FsfwParams fsfwParams);
-
-  /**
-   *
-   * @return
-   *  - @c returnvalue::OK  State machine OK for this execution cycle
-   *  - @c CALL_FSM_AGAIN   State machine should be called again.
-   */
-  const FsmResult& performStateMachine();
-  void setMsgQueue(MessageQueueIF& queue);
-  void setEventReporter(EventReportingProxyIF& reporter);
-
-  ReturnValue_t passPacket(PacketInfo packet);
-
-  ReturnValue_t initialize();
-
-  [[nodiscard]] CfdpStates getCfdpState() const;
-  [[nodiscard]] TransactionStep getTransactionStep() const;
-  [[nodiscard]] const TransactionId& getTransactionId() const;
-  [[nodiscard]] const DestHandlerParams& getDestHandlerParams() const;
-  [[nodiscard]] StorageManagerIF* getTcStore() const;
-  [[nodiscard]] StorageManagerIF* getTmStore() const;
-
- private:
-  struct TransactionParams {
-    // Initialize char vectors with length + 1 for 0 termination
-    explicit TransactionParams(size_t maxFileNameLen)
-        : sourceName(maxFileNameLen + 1), destName(maxFileNameLen + 1) {}
-
-    void reset() {
-      pduConf = PduConfig();
-      transactionId = TransactionId();
-      std::fill(sourceName.begin(), sourceName.end(), '\0');
-      std::fill(destName.begin(), destName.end(), '\0');
-      fileSize.setFileSize(0, false);
-      conditionCode = ConditionCode::NO_ERROR;
-      deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
-      deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
-      crc = 0;
-      progress = 0;
-      remoteCfg = nullptr;
-      closureRequested = false;
-      vfsErrorCount = 0;
-      checksumType = ChecksumType::NULL_CHECKSUM;
-    }
-
-    ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
-    bool closureRequested = false;
-    uint16_t vfsErrorCount = 0;
-    std::vector<char> sourceName;
-    std::vector<char> destName;
-    cfdp::FileSize fileSize;
-    TransactionId transactionId;
-    PduConfig pduConf;
-    ConditionCode conditionCode = ConditionCode::NO_ERROR;
-    FileDeliveryCode deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
-    FileDeliveryStatus deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
-    uint32_t crc = 0;
-    uint64_t progress = 0;
-    RemoteEntityCfg* remoteCfg = nullptr;
-  };
-
-  std::vector<cfdp::Tlv> tlvVec;
-  std::vector<cfdp::Tlv> userTlvVec;
-  DestHandlerParams dp;
-  FsfwParams fp;
-  TransactionParams tp;
-  FsmResult fsmRes;
-
-  ReturnValue_t startTransaction(MetadataPduReader& reader, MetadataInfo& info);
-  ReturnValue_t handleMetadataPdu(const PacketInfo& info);
-  ReturnValue_t handleFileDataPdu(const PacketInfo& info);
-  ReturnValue_t handleEofPdu(const PacketInfo& info);
-  ReturnValue_t handleMetadataParseError(ReturnValue_t result, const uint8_t* rawData,
-                                         size_t maxSize);
-  ReturnValue_t handleTransferCompletion();
-  ReturnValue_t tryBuildingAbsoluteDestName(size_t destNameSize);
-  ReturnValue_t sendFinishedPdu();
-  ReturnValue_t noticeOfCompletion();
-  ReturnValue_t checksumVerification();
-  void fileErrorHandler(Event event, ReturnValue_t result, const char* info);
-  const FsmResult& updateFsmRes(uint8_t errors);
-  void checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx);
-  void finish();
-};
-
-}  // namespace cfdp
-
-#endif  // FSFW_CFDP_CFDPDESTHANDLER_H

src/fsfw/cfdp/handler/SourceHandler.cpp

@@ -1 +0,0 @@
-#include "SourceHandler.h"

src/fsfw/cfdp/handler/SourceHandler.h

@@ -1,6 +0,0 @@
-#ifndef FSFW_CFDP_CFDPSOURCEHANDLER_H
-#define FSFW_CFDP_CFDPSOURCEHANDLER_H
-
-class SourceHandler {};
-
-#endif  // FSFW_CFDP_CFDPSOURCEHANDLER_H

src/fsfw/cfdp/handler/defs.h

@@ -5,18 +5,5 @@ namespace cfdp {
 
 enum class CfdpStates { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
 
-static constexpr uint8_t SSID = SUBSYSTEM_ID::CFDP;
-
-namespace events {
-
-static constexpr Event STORE_ERROR = event::makeEvent(SSID, 0, severity::LOW);
-static constexpr Event MSG_QUEUE_ERROR = event::makeEvent(SSID, 1, severity::LOW);
-static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
-static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
-//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
-static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
-
-}  // namespace events
-
-}  // namespace cfdp
+}
 #endif  // FSFW_CFDP_HANDLER_DEFS_H

src/fsfw/cfdp/tlv/EntityIdTlv.h

@@ -23,6 +23,8 @@ class EntityIdTlv : public TlvIF {
    */
   ReturnValue_t deSerialize(cfdp::Tlv& tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;  // we overloaded this function, so this is needed to unconfuse
+                                   // the compiler
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/tlv/FilestoreResponseTlv.h

@@ -29,6 +29,8 @@ class FilestoreResponseTlv : public cfdp::FilestoreTlvBase {
    */
   ReturnValue_t deSerialize(const cfdp::Tlv& tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;  // we overloaded this function, so this is needed to unconfuse
+                                   // the compiler
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 

src/fsfw/container/FixedMap.h

@@ -155,8 +155,8 @@ class FixedMap : public SerializeIF {
 
   uint32_t maxSize() const { return theMap.maxSize(); }
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const {
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          Endianness streamEndianness) const override {
     ReturnValue_t result =
         SerializeAdapter::serialize(&this->_size, buffer, size, maxSize, streamEndianness);
     uint32_t i = 0;
@@ -170,7 +170,7 @@ class FixedMap : public SerializeIF {
     return result;
   }
 
-  virtual size_t getSerializedSize() const {
+  size_t getSerializedSize() const override {
     uint32_t printSize = sizeof(_size);
     uint32_t i = 0;
 
@@ -182,8 +182,8 @@ class FixedMap : public SerializeIF {
     return printSize;
   }
 
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    Endianness streamEndianness) {
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            Endianness streamEndianness) override {
     ReturnValue_t result =
         SerializeAdapter::deSerialize(&this->_size, buffer, size, streamEndianness);
     if (this->_size > theMap.maxSize()) {

src/fsfw/controller/ControllerBase.cpp

@@ -4,31 +4,48 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/subsystem/SubsystemBase.h"
-#include "fsfw/subsystem/helper.h"
 
-ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
+                               size_t commandQueueDepth)
     : SystemObject(setObjectId),
+      parentId(parentId),
       mode(MODE_OFF),
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
 ReturnValue_t ControllerBase::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
+  ReturnValue_t result = SystemObject::initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-  result = healthHelper.initialize();
+
+  MessageQueueId_t parentQueue = 0;
+  if (parentId != objects::NO_OBJECT) {
+    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    if (parent == nullptr) {
+      return returnvalue::FAILED;
+    }
+    parentQueue = parent->getCommandQueue();
+
+    parent->registerChild(getObjectId());
+  }
+
+  result = healthHelper.initialize(parentQueue);
   if (result != returnvalue::OK) {
     return result;
   }
-  return SystemObject::initialize();
+
+  result = modeHelper.initialize(parentQueue);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  return returnvalue::OK;
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@@ -58,7 +75,7 @@ void ControllerBase::handleQueue() {
 
 void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
   changeHK(this->mode, this->submode, false);
-  triggerEvent(CHANGING_MODE, mode_, submode_);
+  triggerEvent(CHANGING_MODE, mode, submode);
   mode = mode_;
   submode = submode_;
   modeHelper.modeChanged(mode, submode);
@@ -101,13 +118,3 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
-
-const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
-
-const HasModesIF& ControllerBase::getModeIF() const { return *this; }
-
-ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
-
-ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}

src/fsfw/controller/ControllerBase.h

@@ -6,9 +6,6 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/modes/ModeHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
-#include "fsfw/subsystem/ModeTreeChildIF.h"
-#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -21,18 +18,13 @@
 class ControllerBase : public HasModesIF,
                        public HasHealthIF,
                        public ExecutableObjectIF,
-                       public ModeTreeChildIF,
-                       public ModeTreeConnectionIF,
                        public SystemObject {
  public:
   static const Mode_t MODE_NORMAL = 2;
 
-  ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3);
+  ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
 
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
   /** SystemObject override */
   ReturnValue_t initialize() override;
 
@@ -46,8 +38,6 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t performOperation(uint8_t opCode) override;
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
 
  protected:
   /**
@@ -66,6 +56,8 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override = 0;
 
+  const object_id_t parentId;
+
   Mode_t mode;
 
   Submode_t submode;

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -1,7 +1,8 @@
 #include "fsfw/controller/ExtendedControllerBase.h"
 
-ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth)
-    : ControllerBase(objectId, commandQueueDepth),
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
+                                               size_t commandQueueDepth)
+    : ControllerBase(objectId, parentId, commandQueueDepth),
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 

src/fsfw/controller/ExtendedControllerBase.h

@@ -17,7 +17,7 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasActionsIF,
                                public HasLocalDataPoolIF {
  public:
-  ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth = 3);
+  ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
   ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */

src/fsfw/coordinates/Sgp4Propagator.cpp

@@ -166,9 +166,9 @@ ReturnValue_t Sgp4Propagator::propagate(double* position, double* velocity, time
   timeval timeSinceEpoch = time - epoch;
   double minutesSinceEpoch = timeSinceEpoch.tv_sec / 60. + timeSinceEpoch.tv_usec / 60000000.;
 
-  double monthsSinceEpoch = minutesSinceEpoch / 60 / 24 / 30;
+  double yearsSinceEpoch = minutesSinceEpoch / 60 / 24 / 365;
 
-  if ((monthsSinceEpoch > 1) || (monthsSinceEpoch < -1)) {
+  if ((yearsSinceEpoch > 1) || (yearsSinceEpoch < -1)) {
     return TLE_TOO_OLD;
   }
 

src/fsfw/datapool/PoolDataSetBase.h

@@ -64,8 +64,8 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF {
    * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
    *      commit() in between
    */
-  virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                             uint32_t lockTimeout = 20) override;
+  ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+                     uint32_t lockTimeout = 20) override;
   /**
    * @brief	The commit call initializes writing back the registered variables.
    * @details
@@ -84,15 +84,15 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF {
    * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
    * 			  contains non write-only variables
    */
-  virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                               uint32_t lockTimeout = 20) override;
+  ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+                       uint32_t lockTimeout = 20) override;
 
   /**
    * Register the passed pool variable instance into the data set.
    * @param variable
    * @return
    */
-  virtual ReturnValue_t registerVariable(PoolVariableIF* variable) override;
+  ReturnValue_t registerVariable(PoolVariableIF* variable) override;
 
   /**
    * Provides the means to lock the underlying data structure to ensure

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -70,7 +70,8 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation() {
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(uint8_t nonDiagInvlFactor) {
+  setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
   return initializeHousekeepingPoolEntriesOnce();
 }
 
@@ -505,9 +506,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
       float newCollIntvl = 0;
       HousekeepingMessage::getCollectionIntervalModificationCommand(message, &newCollIntvl);
       if (command == HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
-        result = changeCollectionInterval(sid, newCollIntvl);
+        result = changeCollectionInterval(sid, newCollIntvl, true);
       } else {
-        result = changeCollectionInterval(sid, newCollIntvl);
+        result = changeCollectionInterval(sid, newCollIntvl, false);
       }
       break;
     }
@@ -569,10 +570,6 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != returnvalue::OK) {
-    if (result == WRONG_HK_PACKET_TYPE) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
-                          WRONG_HK_PACKET_TYPE);
-    }
     HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
   } else {
     HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@@ -660,6 +657,10 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(HousekeepingPacke
   return hkPacket.serialize(&dataPtr, serializedSize, maxSize, SerializeIF::Endianness::MACHINE);
 }
 
+void LocalDataPoolManager::setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor) {
+  this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
+}
+
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   sid_t sid = receiver.dataId.sid;
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
@@ -713,15 +714,15 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
 
   if ((LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and enable) or
       (not LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and not enable)) {
-    return returnvalue::OK;
+    return REPORTING_STATUS_UNCHANGED;
   }
 
   LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enable);
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
-                                                             float newCollectionInterval) {
+ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float newCollectionInterval,
+                                                             bool isDiagnostics) {
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",
@@ -729,6 +730,11 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
     return DATASET_NOT_FOUND;
   }
 
+  bool targetIsDiagnostics = LocalPoolDataSetAttorney::isDiagnostics(*dataSet);
+  if ((targetIsDiagnostics and not isDiagnostics) or (not targetIsDiagnostics and isDiagnostics)) {
+    return WRONG_HK_PACKET_TYPE;
+  }
+
   PeriodicHousekeepingHelper* periodicHelper =
       LocalPoolDataSetAttorney::getPeriodicHelper(*dataSet);
 
@@ -819,8 +825,6 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
       errorPrint = "Dataset not found";
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
-    } else if (error == WRONG_HK_PACKET_TYPE) {
-      errorPrint = "Wrong Packet Type";
     } else if (error == returnvalue::FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -102,7 +102,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * @param nonDiagInvlFactor
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation();
+  ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
 
   /**
    * @brief   This should be called in the periodic handler of the owner.
@@ -152,6 +152,17 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
 
+  /**
+   * Non-Diagnostics packets usually have a lower minimum sampling frequency
+   * than diagnostic packets.
+   * A factor can be specified to determine the minimum sampling frequency
+   * for non-diagnostic packets. The minimum sampling frequency of the
+   * diagnostics packets,which is usually jusst the period of the
+   * performOperation calls, is multiplied with that factor.
+   * @param factor
+   */
+  void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
+
   /**
    * @brief   The manager is also able to handle housekeeping messages.
    * @details
@@ -174,7 +185,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   ReturnValue_t generateHousekeepingPacket(sid_t sid, LocalPoolDataSetBase* dataSet,
                                            bool forDownlink,
                                            MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
-  ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval);
 
   HasLocalDataPoolIF* getOwner();
 
@@ -338,6 +348,8 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
 
   void performPeriodicHkGeneration(HkReceiver& hkReceiver);
   ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
+  ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
+                                         bool isDiagnostics);
   ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
 
   void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -250,8 +250,9 @@ void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
 bool LocalPoolDataSetBase::getReportingEnabled() const { return reportingEnabled; }
 
 void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
-                                                    dur_millis_t minimumPeriodicInterval) {
-  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval);
+                                                    dur_millis_t minimumPeriodicInterval,
+                                                    uint8_t nonDiagIntervalFactor) {
+  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
 }
 
 void LocalPoolDataSetBase::setChanged(bool changed) { this->changed = changed; }

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

@@ -162,7 +162,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
   object_id_t getCreatorObjectId();
 
   bool getReportingEnabled() const;
-  void setReportingEnabled(bool enabled);
 
   /**
    * Returns the current periodic HK generation interval this set
@@ -190,8 +189,10 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    * Used for periodic generation.
    */
   bool reportingEnabled = false;
+  void setReportingEnabled(bool enabled);
 
-  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval);
+  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+                                uint8_t nonDiagIntervalFactor = 5);
 
   /**
    * If the valid state of a dataset is always relevant to the whole

src/fsfw/datapoollocal/LocalPoolVariable.h

@@ -87,9 +87,9 @@ class LocalPoolVariable : public LocalPoolObjectBase {
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override;
-  virtual size_t getSerializedSize() const override;
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    SerializeIF::Endianness streamEndianness) override;
+  size_t getSerializedSize() const override;
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            SerializeIF::Endianness streamEndianness) override;
 
   /**
    * @brief	This is a call to read the array's values

src/fsfw/datapoollocal/LocalPoolVector.h

@@ -98,11 +98,11 @@ class LocalPoolVector : public LocalPoolObjectBase {
   T& operator[](size_t i);
   const T& operator[](size_t i) const;
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
-                                  SerializeIF::Endianness streamEndiannes) const override;
-  virtual size_t getSerializedSize() const override;
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    SerializeIF::Endianness streamEndianness) override;
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
+                          SerializeIF::Endianness streamEndiannes) const override;
+  size_t getSerializedSize() const override;
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            SerializeIF::Endianness streamEndianness) override;
 
   /**
    * @brief	This is a call to read the array's values

src/fsfw/datapoollocal/internal/LocalPoolDataSetAttorney.h

@@ -12,8 +12,10 @@ class LocalPoolDataSetAttorney {
   static bool isDiagnostics(LocalPoolDataSetBase& set) { return set.isDiagnostics(); }
 
   static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
-                                       uint32_t minimumPeriodicIntervalMs) {
-    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs);
+                                       uint32_t minimumPeriodicIntervalMs,
+                                       uint8_t nonDiagIntervalFactor = 5) {
+    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
+                                 nonDiagIntervalFactor);
   }
 
   static void setReportingEnabled(LocalPoolDataSetBase& set, bool enabled) {

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/devicehandlers/AssemblyBase.h"
 
-AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
-    : SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
+AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth)
+    : SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
       internalState(STATE_NONE),
       recoveryState(RECOVERY_IDLE),
       recoveringDevice(childrenMap.end()),
@@ -26,7 +26,11 @@ void AssemblyBase::performChildOperation() {
 
 void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   doStartTransition(mode, submode);
-  triggerModeHelperEvents(mode, submode);
+  if (modeHelper.isForced()) {
+    triggerEvent(FORCING_MODE, mode, submode);
+  } else {
+    triggerEvent(CHANGING_MODE, mode, submode);
+  }
 }
 
 void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@@ -73,10 +77,9 @@ bool AssemblyBase::handleChildrenChangedHealth() {
   }
   HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
   if (healthState == HasHealthIF::NEEDS_RECOVERY) {
-    triggerEvent(TRYING_RECOVERY, iter->first, 0);
+    triggerEvent(TRYING_RECOVERY);
     recoveryState = RECOVERY_STARTED;
     recoveringDevice = iter;
-    // The user needs to take care of commanding the children off in commandChildren
     doStartTransition(targetMode, targetSubmode);
   } else {
     triggerEvent(CHILD_CHANGED_HEALTH);
@@ -225,9 +228,6 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
 bool AssemblyBase::checkAndHandleRecovery() {
   switch (recoveryState) {
     case RECOVERY_STARTED:
-      // The recovery was already start in #handleChildrenChangedHealth and we just need
-      // to wait for an off time period.
-      // TODO: make time period configurable
       recoveryState = RECOVERY_WAIT;
       recoveryOffTimer.resetTimer();
       return true;
@@ -266,11 +266,3 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
   modeHelper.setForced(true);
   sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
 }
-
-void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
-  if (modeHelper.isForced()) {
-    triggerEvent(FORCING_MODE, mode, submode);
-  } else {
-    triggerEvent(CHANGING_MODE, mode, submode);
-  }
-}

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,8 +12,7 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -27,9 +26,11 @@
  *
  * Important:
  *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -41,15 +42,14 @@ class AssemblyBase : public SubsystemBase {
   static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
 
-  AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
+  AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
   virtual ~AssemblyBase();
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
    * @param mode
    * @param submode
    * @return
@@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();
 
-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
   bool handleChildrenChanged();
 
   /**
@@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/ChildHandlerBase.cpp

@@ -3,12 +3,17 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-                                   CookieIF* cookie, HasModeTreeChildrenIF& parent,
-                                   FailureIsolationBase* customFdir, size_t cmdQueueSize)
+                                   CookieIF* cookie, object_id_t hkDestination,
+                                   uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+                                   object_id_t parent, FailureIsolationBase* customFdir,
+                                   size_t cmdQueueSize)
     : DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
                         (customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
-      parent(parent),
-      childHandlerFdir(setObjectId) {}
+      parentId(parent),
+      childHandlerFdir(setObjectId) {
+  this->setHkDestination(hkDestination);
+  this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
+}
 
 ChildHandlerBase::~ChildHandlerBase() {}
 
@@ -18,5 +23,21 @@ ReturnValue_t ChildHandlerBase::initialize() {
     return result;
   }
 
-  return DeviceHandlerBase::connectModeTreeParent(parent);
+  MessageQueueId_t parentQueue = 0;
+
+  if (parentId != objects::NO_OBJECT) {
+    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    if (parent == NULL) {
+      return returnvalue::FAILED;
+    }
+    parentQueue = parent->getCommandQueue();
+
+    parent->registerChild(getObjectId());
+  }
+
+  healthHelper.setParentQueue(parentQueue);
+
+  modeHelper.setParentQueue(parentQueue);
+
+  return returnvalue::OK;
 }

src/fsfw/devicehandlers/ChildHandlerBase.h

@@ -1,23 +1,22 @@
 #ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 #define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
-#include <fsfw/subsystem/HasModeTreeChildrenIF.h>
-
 #include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
 
 class ChildHandlerBase : public DeviceHandlerBase {
  public:
   ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie,
-                   HasModeTreeChildrenIF& parent, FailureIsolationBase* customFdir = nullptr,
-                   size_t cmdQueueSize = 20);
+                   object_id_t hkDestination, uint32_t thermalStatePoolId,
+                   uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
+                   FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 
   virtual ~ChildHandlerBase();
 
   virtual ReturnValue_t initialize();
 
  protected:
-  HasModeTreeChildrenIF& parent;
+  const uint32_t parentId;
   ChildHandlerFDIR childHandlerFdir;
 };
 

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -49,7 +49,6 @@ class DeviceCommunicationIF {
   // is this needed if there is no open/close call?
   static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
-  static constexpr ReturnValue_t BUSY = MAKE_RETURN_CODE(0x07);
 
   virtual ~DeviceCommunicationIF() {}
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,4 +1,4 @@
-#include "DeviceHandlerBase.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
@@ -13,7 +13,6 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
-#include "fsfw/subsystem/helper.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -24,6 +23,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
                                      CookieIF* comCookie, FailureIsolationBase* fdirInstance,
                                      size_t cmdQueueSize)
     : SystemObject(setObjectId),
+      mode(MODE_OFF),
+      submode(SUBMODE_NONE),
       wiretappingMode(OFF),
       storedRawData(StorageManagerIF::INVALID_ADDRESS),
       deviceCommunicationId(deviceCommunication),
@@ -38,13 +39,10 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       defaultFDIRUsed(fdirInstance == nullptr),
       switchOffWasReported(false),
       childTransitionDelay(5000),
-      mode(MODE_OFF),
-      submode(SUBMODE_NONE),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -52,13 +50,21 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", returnvalue::FAILED,
                         "Invalid cookie");
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
   this->hkDestination = hkDestination;
 }
 
-void DeviceHandlerBase::enableThermalModule(ThermalStateCfg cfg) { this->thermalStateCfg = cfg; }
+void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId,
+                                                      lp_id_t heaterRequestPoolId,
+                                                      uint32_t thermalSetId) {
+  thermalSet =
+      new DeviceHandlerThermalSet(this, thermalSetId, thermalStatePoolId, heaterRequestPoolId);
+}
 
 DeviceHandlerBase::~DeviceHandlerBase() {
   if (comCookie != nullptr) {
@@ -124,10 +130,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -222,11 +224,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   fillCommandAndReplyMap();
 
   if (thermalSet != nullptr) {
-    PoolReadGuard pg(thermalSet);
     // Set temperature target state to NON_OP.
-    if (pg.getReadResult() == returnvalue::OK) {
+    result = thermalSet->read();
+    if (result == returnvalue::OK) {
       thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       thermalSet->heaterRequest.setValid(true);
+      thermalSet->commit();
     }
   }
 
@@ -350,6 +353,7 @@ void DeviceHandlerBase::doStateMachine() {
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(_MODE_POWER_DOWN);
+        callChildStatemachine();
         break;
       }
       ReturnValue_t switchState = getStateOfSwitches();
@@ -363,12 +367,13 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -376,7 +381,7 @@ void DeviceHandlerBase::doStateMachine() {
       }
       ReturnValue_t switchState = getStateOfSwitches();
       if ((switchState == PowerSwitchIF::SWITCH_OFF) || (switchState == NO_SWITCH)) {
-        setMode(MODE_OFF, SUBMODE_NONE);
+        setMode(_MODE_SWITCH_IS_OFF);
       }
     } break;
     case MODE_OFF:
@@ -389,6 +394,9 @@ void DeviceHandlerBase::doStateMachine() {
     case MODE_NORMAL:
     case MODE_ERROR_ON:
       break;
+    case _MODE_SWITCH_IS_OFF:
+      setMode(MODE_OFF, SUBMODE_NONE);
+      break;
     default:
       triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
       setMode(_MODE_POWER_DOWN, 0);
@@ -560,40 +568,25 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 }
 
 void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
-  /**
-   * handle transition from OFF to NORMAL by continuing towards normal when ON is reached
-   */
-  if (newMode == MODE_ON and continueToNormal) {
-    continueToNormal = false;
-    // TODO: Check whether the following two lines are okay to do so.
-    transitionSourceMode = MODE_ON;
-    transitionSourceSubMode = newSubmode;
-    mode = _MODE_TO_NORMAL;
-    return;
-  }
-
+  /* TODO: This will probably be done by the LocalDataPoolManager now */
+  // changeHK(mode, submode, false);
   submode = newSubmode;
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
-  if (newMode == MODE_OFF) {
-    disableCommandsAndReplies();
-  }
   if (!isTransitionalMode()) {
-    // clear this flag when a non-transitional Mode is reached to be safe
-    continueToNormal = false;
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
   Clock::getUptime(&timeoutStart);
 
   if (mode == MODE_OFF and thermalSet != nullptr) {
-    PoolReadGuard pg(thermalSet);
-    if (pg.getReadResult() == returnvalue::OK) {
+    ReturnValue_t result = thermalSet->read();
+    if (result == returnvalue::OK) {
       if (thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) {
         thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       }
-      thermalSet->heaterRequest.setValid(true);
+      thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
     }
   }
   /* TODO: This will probably be done by the LocalDataPoolManager now */
@@ -1066,7 +1059,8 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
   return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
 }
 
-// SHOULDDO: throw away DHB and write a new one:
+// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
+// way, throw away DHB and write a new one:
 //  - Include power and thermal completely, but more modular :-)
 //  - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
 //  - Modularization?
@@ -1078,12 +1072,13 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
   if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
     return TRANS_NOT_ALLOWED;
   }
+  if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
+    return TRANS_NOT_ALLOWED;
+  }
 
-  // Do not check thermal state for MODE_RAW
-  if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
-      (thermalSet != nullptr)) {
-    PoolReadGuard pg(thermalSet);
-    if (pg.getReadResult() == returnvalue::OK) {
+  if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
+    ReturnValue_t result = thermalSet->read();
+    if (result == returnvalue::OK) {
       if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
           (not ThermalComponentIF::isOperational(thermalSet->thermalState.value))) {
         triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE, thermalSet->thermalState.value);
@@ -1096,7 +1091,6 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
 }
 
 void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
-  continueToNormal = false;
   switch (commandedMode) {
     case MODE_ON:
       handleTransitionToOnMode(commandedMode, commandedSubmode);
@@ -1126,9 +1120,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
     case MODE_NORMAL:
       if (mode != MODE_OFF) {
         setTransition(MODE_NORMAL, commandedSubmode);
-      } else {  // mode is off
-        continueToNormal = true;
-        handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
+      } else {
+        replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
       }
       break;
   }
@@ -1144,10 +1137,11 @@ void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode, Submode_t
     childTransitionDelay = getTransitionDelayMs(_MODE_START_UP, MODE_ON);
     triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
     if (thermalSet != nullptr) {
-      PoolReadGuard pg(thermalSet);
-      if (pg.getReadResult() == returnvalue::OK) {
+      ReturnValue_t result = thermalSet->read();
+      if (result == returnvalue::OK) {
         if (thermalSet->heaterRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
           thermalSet->heaterRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
+          thermalSet->commit();
         }
       }
     }
@@ -1285,7 +1279,6 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
   if (iter->second.command != deviceCommandMap.end()) {
     MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
-    // This may fail, but we'll ignore the fault.
     if (queueId != NO_COMMANDER) {
       // This may fail, but we'll ignore the fault.
       actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
@@ -1464,17 +1457,15 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  if (thermalStateCfg.has_value()) {
-    localDataPoolMap.emplace(thermalStateCfg.value().thermalStatePoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>());
-    localDataPoolMap.emplace(thermalStateCfg.value().thermalRequestPoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>());
+  if (thermalSet != nullptr) {
+    localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
+                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
+    localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
+                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
   }
   return returnvalue::OK;
 }
@@ -1487,12 +1478,8 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   }
   this->poolManager.initializeAfterTaskCreation();
 
-  if (thermalStateCfg.has_value()) {
-    ThermalStateCfg& cfg = thermalStateCfg.value();
-    thermalSet = new DeviceHandlerThermalSet(this, cfg);
-  }
   if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
   }
   return returnvalue::OK;
 }
@@ -1579,52 +1566,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}
-
-Mode_t DeviceHandlerBase::getMode() { return mode; }
-
-Submode_t DeviceHandlerBase::getSubmode() { return submode; }
-
-void DeviceHandlerBase::disableCommandsAndReplies() {
-  for (auto& command : deviceCommandMap) {
-    if (command.second.isExecuting) {
-      command.second.isExecuting = false;
-    }
-  }
-  for (auto& reply : deviceReplyMap) {
-    if (!reply.second.periodic) {
-      if (reply.second.countdown != nullptr) {
-        reply.second.countdown->timeOut();
-      } else {
-        reply.second.delayCycles = 0;
-      }
-      reply.second.active = false;
-    }
-  }
-}
-
-ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}
-
-const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
-
-const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
-
-ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
-
-ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
-                                              ReturnValue_t result) {
-  auto commandIter = deviceCommandMap.find(action);
-  if (commandIter == deviceCommandMap.end()) {
-    return MessageQueueIF::NO_QUEUE;
-  }
-  commandIter->second.isExecuting = false;
-  actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
-  return returnvalue::OK;
-}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -2,7 +2,6 @@
 #define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include <map>
-#include <optional>
 
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
@@ -22,7 +21,6 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
-#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -85,8 +83,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                           public HasModesIF,
                           public HasHealthIF,
                           public HasActionsIF,
-                          public ModeTreeChildIF,
-                          public ModeTreeConnectionIF,
                           public ReceivesParameterMessagesIF,
                           public HasLocalDataPoolIF {
   friend void(Factory::setStaticFrameworkObjectIds)();
@@ -106,51 +102,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
-
-  /**
-   * extending the modes of DeviceHandler IF for internal state machine
-   */
-  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
-  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
-  //! This is a transitional state which can not be commanded. The device
-  //! handler performs all commands to get the device in a state ready to
-  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
-  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
-  //! This is a transitional state which can not be commanded.
-  //! The device handler performs all actions and commands to get the device
-  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
-  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-  //! transition if available.
-  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
-  //! It is possible to set the mode to _MODE_TO_ON to use the to on
-  //! transition if available.
-  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
-  //! transition if available.
-  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
-  //! transition if available.
-  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-  //! This is a transitional state which can not be commanded.
-  //! The device is shut down and ready to be switched off.
-  //! After the command to set the switch off has been sent,
-  //! the mode changes to @c _MODE_WAIT_OFF
-  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
-  //! This is a transitional state which can not be commanded. The device
-  //! will be switched on in this state. After the command to set the switch
-  //! on has been sent, the mode changes to @c _MODE_WAIT_ON.
-  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and the handler waits for it to be off.
-  //! When the switch is off, the mode changes to @c MODE_OFF.
-  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
-  //! This is a transitional state which can not be commanded. The switch
-  //! has been commanded on and the handler waits for it to be on.
-  //! When the switch is on, the mode changes to @c _MODE_TO_ON.
-  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -159,12 +110,13 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * The device handler will then take care of creating local pool entries
    * for the device thermal state and device heating request.
    * Custom local pool IDs can be assigned as well.
+   * @param thermalStatePoolId
+   * @param thermalRequestPoolId
    */
-  void enableThermalModule(ThermalStateCfg cfg);
-
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
+  void setThermalStateRequestPoolIds(
+      lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+      lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
+      uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
   /**
    * @brief   Helper function to ease device handler development.
    * This will instruct the transition to MODE_ON immediately
@@ -210,7 +162,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return returnvalue::OK for successful execution
    */
-  ReturnValue_t performOperation(uint8_t counter) override;
+  virtual ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -220,14 +172,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  ReturnValue_t initialize() override;
+  virtual ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
    *          This function will be called by the executing task.
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation() override;
+  virtual ReturnValue_t initializeAfterTaskCreation() override;
 
   /** Destructor. */
   virtual ~DeviceHandlerBase();
@@ -244,8 +196,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual object_id_t getObjectId() const override;
 
   /**
-   * This is a helper method for classes which are parent nodes in the mode tree.
-   * It registers the passed queue as the destination for mode and health messages.
    * @param parentQueueId
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
@@ -257,8 +207,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
   virtual void getMode(Mode_t *mode, Submode_t *submode);
-  virtual HealthState getHealth() override;
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  HealthState getHealth();
+  ReturnValue_t setHealth(HealthState health);
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
                                      const ParameterWrapper *newValues,
@@ -445,8 +395,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
   MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
-  ReturnValue_t finishAction(bool success, DeviceCommandId_t action, ReturnValue_t result);
-
   /**
    * Helper function to get pending command. This is useful for devices
    * like SPI sensors to identify the last sent command.
@@ -515,14 +463,14 @@ 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).
-   *    Please note that periodic replies are disabled by default. You can enable them with
-   *    #updatePeriodicReply
+   * 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
+   * #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
-   *    when expired
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c returnvalue::OK when the command was successfully inserted,
    *          - @c returnvalue::FAILED else.
    */
@@ -707,12 +655,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -742,18 +684,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   size_t rawPacketLen = 0;
 
   /**
-   * Get the current mode
-   *
-   * set via setMode()
+   * The mode the device handler is currently in.
+   * This should never be changed directly but only with setMode()
    */
-  Mode_t getMode();
-
+  Mode_t mode;
   /**
-   * Get the current Submode
-   *
-   * set via setMode()
+   * The submode the device handler is currently in.
+   * This should never be changed directly but only with setMode()
    */
-  Submode_t getSubmode();
+  Submode_t submode;
 
   /** This is the counter value from performOperation(). */
   uint8_t pstStep = 0;
@@ -834,18 +773,11 @@ 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.
-    //! For non-periodic replies without a command, this variable is unused.
-    //! A runtime value of 0 means there is no reply is currently expected.
+    //! The currently remaining cycles the handler should wait for a reply,
+    //! 0 means there is no reply 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
@@ -901,7 +833,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -922,8 +853,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   //! Object which may be the root cause of an identified fault.
   static object_id_t defaultFdirParentId;
 
-  std::optional<ThermalStateCfg> thermalStateCfg;
-
   /**
    * @brief   Send a reply to a received device handler command.
    *
@@ -944,8 +873,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
    *
    * If the transition is complete, the mode should be set to the target mode,
-   * which can be deduced from the current mode (which is
-   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
+   * which can be deduced from the current mode which is
+   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
    *
    * The intended target submode is already set.
    * The origin submode can be read in subModeFrom.
@@ -1012,9 +941,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   LocalDataPoolManager *getHkManagerHandle() override;
 
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
-
   /**
    * Returns the delay cycle count of a reply.
    * A count != 0 indicates that the command is already executed.
@@ -1194,22 +1120,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t doSendReadHook();
 
-  /**
-   * Send a RMAP getRead command.
-   *
-   * The size of the getRead command is #maxDeviceReplyLen.
-   * This is always executed, independently from the current mode.
-   */
-  virtual void doSendRead(void);
-  /**
-   * Check the getRead reply and the contained data.
-   *
-   * If data was received scanForReply() and, if successful, handleReply()
-   * are called. If the current mode is @c MODE_RAW, the received packet
-   * is sent to the commanding object via commandQueue.
-   */
-  virtual void doGetRead();
-
  private:
   /**
    * State a cookie is in.
@@ -1260,18 +1170,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   uint32_t childTransitionDelay;
 
-  /**
-   * The mode the device handler is currently in.
-   * This should not be changed directly but only with setMode()
-   */
-  Mode_t mode;
-
-  /**
-   * The submode the device handler is currently in.
-   * This should not be changed directly but only with setMode()
-   */
-  Submode_t submode;
-
   /**
    * @brief   The mode the current transition originated from
    *
@@ -1289,15 +1187,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   Submode_t transitionSourceSubMode;
 
-  /**
-   * used to make the state machine continue from ON to NOMAL when
-   * a Device is commanded to NORMAL in OFF mode
-   *
-   * set in startTransition()
-   * evaluated in setMode() to continue to NORMAL when ON is reached
-   */
-  bool continueToNormal;
-
   /**
    * read the command queue
    */
@@ -1366,6 +1255,21 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * - if the action was successful, the reply timout counter is initialized
    */
   void doGetWrite(void);
+  /**
+   * Send a RMAP getRead command.
+   *
+   * The size of the getRead command is #maxDeviceReplyLen.
+   * This is always executed, independently from the current mode.
+   */
+  void doSendRead(void);
+  /**
+   * Check the getRead reply and the contained data.
+   *
+   * If data was received scanForReply() and, if successful, handleReply()
+   * are called. If the current mode is @c MODE_RAW, the received packet
+   * is sent to the commanding object via commandQueue.
+   */
+  void doGetRead(void);
 
   /**
    * @brief Resets replies which use a timeout to detect missed replies.
@@ -1419,11 +1323,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = returnvalue::FAILED,
                            const char *errorPrint = nullptr);
-
-  /**
-   * @brief Disables all commands and replies when device is set to MODE_OFF
-   */
-  void disableCommandsAndReplies();
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -10,9 +10,8 @@
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
-                                                             uint8_t eventQueueDepth)
-    : FailureIsolationBase(owner, parent, eventQueueDepth),
+DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent)
+    : FailureIsolationBase(owner, parent),
       strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES, DEFAULT_STRANGE_REPLIES_TIME_MS,
                         parameterDomainBase++),
       missedReplyCount(DEFAULT_MAX_MISSED_REPLY_COUNT, DEFAULT_MISSED_REPLY_TIME_MS,
@@ -30,7 +29,6 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
     case HasModesIF::OBJECT_IN_INVALID_MODE:
-    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       handleRecovery(event->getEvent());

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.h

@@ -13,8 +13,7 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
   friend class Heater;
 
  public:
-  DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
-                                uint8_t eventQueueDepth = 10);
+  DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent);
   ~DeviceHandlerFailureIsolation();
   ReturnValue_t initialize();
   void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -24,6 +24,9 @@ class DeviceHandlerIF {
   static const DeviceCommandId_t RAW_COMMAND_ID = -1;
   static const DeviceCommandId_t NO_COMMAND_ID = -2;
 
+  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
+  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+
   using dh_heater_request_t = uint8_t;
   using dh_thermal_state_t = int8_t;
 
@@ -51,6 +54,47 @@ class DeviceHandlerIF {
   //! device still is powered. In this mode, only a mode change to @c MODE_OFF
   //! can be commanded, which tries to switch off the device again.
   static const Mode_t MODE_ERROR_ON = 4;
+  //! This is a transitional state which can not be commanded. The device
+  //! handler performs all commands to get the device in a state ready to
+  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
+  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+  //! This is a transitional state which can not be commanded.
+  //! The device handler performs all actions and commands to get the device
+  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
+  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+  //! transition if available.
+  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+  //! It is possible to set the mode to _MODE_TO_ON to use the to on
+  //! transition if available.
+  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+  //! transition if available.
+  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+  //! transition if available.
+  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+  //! This is a transitional state which can not be commanded.
+  //! The device is shut down and ready to be switched off.
+  //! After the command to set the switch off has been sent,
+  //! the mode changes to @c MODE_WAIT_OFF
+  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+  //! This is a transitional state which can not be commanded. The device
+  //! will be switched on in this state. After the command to set the switch
+  //! on has been sent, the mode changes to @c MODE_WAIT_ON.
+  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and the handler waits for it to be off.
+  //! When the switch is off, the mode changes to @c MODE_OFF.
+  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+  //! This is a transitional state which can not be commanded. The switch
+  //! has been commanded on and the handler waits for it to be on.
+  //! When the switch is on, the mode changes to @c MODE_TO_ON.
+  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and is off now. This state is only to do an RMAP
+  //! cycle once more where the doSendRead() function will set the mode to
+  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
   static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
@@ -65,7 +109,6 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
@@ -136,10 +179,4 @@ class DeviceHandlerIF {
   virtual MessageQueueId_t getCommandQueue() const = 0;
 };
 
-struct ThermalStateCfg {
-  lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID;
-  lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID;
-  uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID;
-};
-
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

src/fsfw/devicehandlers/DeviceHandlerThermalSet.h

@@ -7,21 +7,27 @@
 
 class DeviceHandlerThermalSet : public StaticLocalDataSet<2> {
  public:
-  DeviceHandlerThermalSet(HasLocalDataPoolIF* hkOwner, ThermalStateCfg cfg)
-      : DeviceHandlerThermalSet(hkOwner->getObjectId(), cfg) {}
+  DeviceHandlerThermalSet(
+      HasLocalDataPoolIF* hkOwner, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+      lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+      lp_id_t heaterRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
+      : DeviceHandlerThermalSet(hkOwner->getObjectId(), setId, thermalStateId, heaterRequestId) {}
 
-  DeviceHandlerThermalSet(object_id_t deviceHandler, ThermalStateCfg cfg)
-      : StaticLocalDataSet(sid_t(deviceHandler, cfg.thermalSetId)),
-        thermalStatePoolId(cfg.thermalStatePoolId),
-        heaterRequestPoolId(cfg.thermalRequestPoolId) {}
+  DeviceHandlerThermalSet(
+      object_id_t deviceHandler, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+      lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+      lp_id_t thermalStateRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
+      : StaticLocalDataSet(sid_t(deviceHandler, setId)),
+        thermalStatePoolId(thermalStateId),
+        heaterRequestPoolId(thermalStateRequestId) {}
 
   const lp_id_t thermalStatePoolId;
   const lp_id_t heaterRequestPoolId;
 
   lp_var_t<DeviceHandlerIF::dh_thermal_state_t> thermalState =
-      lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(sid.objectId, thermalStatePoolId, this);
+      lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(thermalStatePoolId, sid.objectId, this);
   lp_var_t<DeviceHandlerIF::dh_heater_request_t> heaterRequest =
-      lp_var_t<DeviceHandlerIF::dh_heater_request_t>(sid.objectId, heaterRequestPoolId, this);
+      lp_var_t<DeviceHandlerIF::dh_heater_request_t>(heaterRequestPoolId, sid.objectId, this);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_ */

src/fsfw/devicehandlers/DeviceTmReportingWrapper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 #define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 
-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/serialize/SerializeIF.h"
+#include "../action/HasActionsIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../serialize/SerializeIF.h"
 
 class DeviceTmReportingWrapper : public SerializeIF {
  public:

src/fsfw/devicehandlers/HealthDevice.cpp

@@ -8,9 +8,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
@@ -29,10 +27,11 @@ ReturnValue_t HealthDevice::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (parentQueue != MessageQueueIF::NO_QUEUE) {
+  if (parentQueue != 0) {
     return healthHelper.initialize(parentQueue);
+  } else {
+    return healthHelper.initialize();
   }
-  return healthHelper.initialize();
 }
 
 MessageQueueId_t HealthDevice::getCommandQueue() const { return commandQueue->getId(); }

src/fsfw/devicehandlers/HealthDevice.h

@@ -29,8 +29,10 @@ class HealthDevice : public SystemObject, public ExecutableObjectIF, public HasH
  protected:
   HealthState lastHealth;
 
-  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t parentQueue;
   MessageQueueIF* commandQueue;
+
+ public:
   HealthHelper healthHelper;
 };
 

src/fsfw/events/EventManager.cpp

@@ -55,9 +55,8 @@ void EventManager::notifyListeners(EventMessage* message) {
       if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " for event 0x" << std::setw(4)
-                   << message->getEventId() << " failed with result 0x" << std::setw(4) << result
-                   << std::setfill(' ') << std::endl;
+                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
+                   << result << std::setfill(' ') << std::endl;
 #else
         sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
                         listener.first, result);

src/fsfw/events/EventManager.h

@@ -21,8 +21,6 @@ extern const char* translateEvents(Event event);
 
 class EventManager : public EventManagerIF, public ExecutableObjectIF, public SystemObject {
  public:
-  static const uint16_t DEFAULT_MAX_EVENTS_PER_CYCLE = 80;
-
   EventManager(object_id_t setObjectId, uint32_t eventQueueDepth);
   virtual ~EventManager();
 

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -9,9 +9,8 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -62,12 +61,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid" << std::endl;
-      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#else
-      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
-      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
+      sif::error << "FailureIsolationBase::intialize: Parent object"
+                 << "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return returnvalue::FAILED;

src/fsfw/fdir/FailureIsolationBase.h

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

src/fsfw/fdir/FaultCounter.cpp

@@ -68,7 +68,7 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
       parameterWrapper->set(faultCount);
       break;
     case ParameterIds::TIMEOUT:
-      parameterWrapper->set(timer.getTimeoutMs());
+      parameterWrapper->set(timer.timeout);
       break;
     default:
       return INVALID_IDENTIFIER_ID;

src/fsfw/filesystem/HasFileSystemIF.h

@@ -40,7 +40,6 @@ class HasFileSystemIF {
   //! [EXPORT] : P1: Can be file system specific error code
   static constexpr ReturnValue_t GENERIC_FILE_ERROR = MAKE_RETURN_CODE(0);
   static constexpr ReturnValue_t GENERIC_DIR_ERROR = MAKE_RETURN_CODE(1);
-  static constexpr ReturnValue_t FILESYSTEM_INACTIVE = MAKE_RETURN_CODE(2);
   static constexpr ReturnValue_t GENERIC_RENAME_ERROR = MAKE_RETURN_CODE(3);
 
   //! [EXPORT] : File system is currently busy
@@ -74,12 +73,6 @@ class HasFileSystemIF {
     return MessageQueueIF::NO_QUEUE;
   }
 
-  // Get the base filename without the full directory path
-  virtual ReturnValue_t getBaseFilename(FilesystemParams params, char* nameBuf, size_t maxLen,
-                                        size_t& baseNameLen) = 0;
-
-  virtual bool isDirectory(const char* path) = 0;
-
   virtual bool fileExists(FilesystemParams params) = 0;
 
   /**

src/fsfw/globalfunctions/DleParser.h

@@ -18,11 +18,8 @@
  */
 class DleParser {
  public:
-  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
-  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
-
   using BufPair = std::pair<uint8_t*, size_t>;
 
   enum class ContextType { NONE, PACKET_FOUND, ERROR };

src/fsfw/globalfunctions/Type.h

@@ -44,13 +44,13 @@ class Type : public SerializeIF {
 
   static ActualType_t getActualType(uint8_t ptc, uint8_t pfc);
 
-  virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                  Endianness streamEndianness) const override;
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) const override;
 
-  virtual size_t getSerializedSize() const override;
+  size_t getSerializedSize() const override;
 
-  virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                                    Endianness streamEndianness) override;
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override;
 
  private:
   ActualType_t actualType;

src/fsfw/globalfunctions/math/VectorOperations.h

@@ -53,9 +53,8 @@ class VectorOperations {
     mulScalar(vector, 1 / norm(vector, size), normalizedVector, size);
   }
 
-  static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
-    T max = vector[size - 1];
-    uint8_t foundIndex = size - 1;
+  static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = 0) {
+    T max = -1;
 
     for (; size > 0; size--) {
       T abs = vector[size - 1];
@@ -65,35 +64,24 @@ class VectorOperations {
       if (abs > max) {
         max = abs;
         if (index != 0) {
-          foundIndex = size - 1;
+          *index = size - 1;
         }
       }
     }
-
-    if (index != nullptr) {
-      *index = foundIndex;
-    }
-
     return max;
   }
 
-  static T maxValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
-    T max = vector[size - 1];
-    uint8_t foundIndex = size - 1;
+  static T maxValue(const T *vector, uint8_t size, uint8_t *index = 0) {
+    T max = -1;
 
     for (; size > 0; size--) {
       if (vector[size - 1] > max) {
         max = vector[size - 1];
         if (index != 0) {
-          foundIndex = size - 1;
+          *index = size - 1;
         }
       }
     }
-
-    if (index != nullptr) {
-      *index = foundIndex;
-    }
-
     return max;
   }
 

src/fsfw/housekeeping/HousekeepingSnapshot.h

@@ -54,8 +54,8 @@ class HousekeepingSnapshot : public SerializeIF {
   HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize, LocalPoolObjectBase* dataSetPtr)
       : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr){};
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const {
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          Endianness streamEndianness) const {
     if (timeStamp != nullptr) {
       /* Endianness will always be MACHINE, so we can simply use memcpy
       here. */
@@ -70,15 +70,15 @@ class HousekeepingSnapshot : public SerializeIF {
     return updateData->serialize(buffer, size, maxSize, streamEndianness);
   }
 
-  virtual size_t getSerializedSize() const {
+  size_t getSerializedSize() const {
     if (updateData == nullptr) {
       return 0;
     }
     return timeStampSize + updateData->getSerializedSize();
   }
 
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    SerializeIF::Endianness streamEndianness) override {
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            SerializeIF::Endianness streamEndianness) override {
     if (*size < timeStampSize) {
       return SerializeIF::STREAM_TOO_SHORT;
     }

src/fsfw/housekeeping/PeriodicHousekeepingHelper.cpp

@@ -3,37 +3,85 @@
 #include <cmath>
 
 #include "fsfw/datapoollocal/LocalPoolDataSetBase.h"
-#include "fsfw/serviceinterface.h"
 
 PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner)
     : owner(owner) {}
 
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
-                                            dur_millis_t minimumPeriodicInterval) {
+                                            dur_millis_t minimumPeriodicInterval,
+                                            uint8_t nonDiagIntervalFactor) {
   this->minimumPeriodicInterval = minimumPeriodicInterval;
-  changeCollectionInterval(collectionInterval);
+  this->nonDiagIntervalFactor = nonDiagIntervalFactor;
+  collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
+  /* This will cause a checkOpNecessary call to be true immediately. I think it's okay
+      if a HK packet is generated immediately instead of waiting one generation cycle. */
+  internalTickCounter = collectionIntervalTicks;
 }
 
 float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() const {
-  return collectionInterval;
+  return intervalTicksToSeconds(collectionIntervalTicks);
 }
 
 bool PeriodicHousekeepingHelper::checkOpNecessary() {
-  if (hkGenerationCd.hasTimedOut()) {
-    hkGenerationCd.resetTimer();
+  if (internalTickCounter >= collectionIntervalTicks) {
+    internalTickCounter = 1;
     return true;
   }
+  internalTickCounter++;
   return false;
 }
 
-void PeriodicHousekeepingHelper::changeCollectionInterval(float newIntervalSeconds) {
-  uint32_t intervalMs = newIntervalSeconds * 1000;
-  if (newIntervalSeconds <= 0) {
-    intervalMs = minimumPeriodicInterval;
-    newIntervalSeconds = static_cast<float>(minimumPeriodicInterval) / 1000.0;
+uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
+    float collectionIntervalSeconds) {
+  if (owner == nullptr) {
+    return 0;
+  }
+  bool isDiagnostics = owner->isDiagnostics();
+
+  /* Avoid division by zero */
+  if (minimumPeriodicInterval == 0) {
+    if (isDiagnostics) {
+      /* Perform operation each cycle */
+      return 1;
+    } else {
+      return nonDiagIntervalFactor;
+    }
+  } else {
+    dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
+    uint32_t divisor = minimumPeriodicInterval;
+    if (not isDiagnostics) {
+      /* We need to multiply the divisor because non-diagnostics only
+      allow a multiple of the minimum periodic interval */
+      divisor *= nonDiagIntervalFactor;
+    }
+    uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
+    if (not isDiagnostics) {
+      /* Now we need to multiply the calculated ticks with the factor as as well
+      because the minimum tick count to generate a non-diagnostic is the factor itself.
+
+      Example calculation for non-diagnostic with
+      0.4 second interval and 0.2 second task interval.
+      Resultant tick count of 5 is equal to operation each second.
+
+      Examle calculation for non-diagnostic with  2.0 second interval and 0.2 second
+      task interval.
+      Resultant tick count of 10 is equal to operatin every 2 seconds.
+
+      Example calculation for diagnostic with 0.4 second interval and 0.3
+      second task interval. Resulting tick count of 2 is equal to operation
+      every 0.6 seconds. */
+      ticks *= nonDiagIntervalFactor;
+    }
+    return ticks;
   }
-  collectionInterval = newIntervalSeconds;
-  hkGenerationCd.setTimeout(intervalMs);
-  // We want an immediate HK packet at the start, so time out the generation CD immediately.
-  hkGenerationCd.timeOut();
+}
+
+float PeriodicHousekeepingHelper::intervalTicksToSeconds(uint32_t collectionInterval) const {
+  /* Number of ticks times the minimum interval is in milliseconds, so we divide by 1000 to get
+  the value in seconds */
+  return static_cast<float>(collectionInterval * minimumPeriodicInterval / 1000.0);
+}
+
+void PeriodicHousekeepingHelper::changeCollectionInterval(float newIntervalSeconds) {
+  collectionIntervalTicks = intervalSecondsToIntervalTicks(newIntervalSeconds);
 }

src/fsfw/housekeeping/PeriodicHousekeepingHelper.h

@@ -4,7 +4,6 @@
 #include <cstdint>
 
 #include "fsfw/timemanager/Clock.h"
-#include "fsfw/timemanager/Countdown.h"
 
 class LocalPoolDataSetBase;
 
@@ -12,7 +11,8 @@ class PeriodicHousekeepingHelper {
  public:
   PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
 
-  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval);
+  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+                  uint8_t nonDiagIntervalFactor);
 
   void changeCollectionInterval(float newInterval);
   float getCollectionIntervalInSeconds() const;
@@ -20,10 +20,14 @@ class PeriodicHousekeepingHelper {
 
  private:
   LocalPoolDataSetBase* owner = nullptr;
-  Countdown hkGenerationCd;
-  float collectionInterval = 0.0;
+  uint8_t nonDiagIntervalFactor = 0;
+
+  uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
+  float intervalTicksToSeconds(uint32_t collectionInterval) const;
 
   dur_millis_t minimumPeriodicInterval = 0;
+  uint32_t internalTickCounter = 1;
+  uint32_t collectionIntervalTicks = 0;
 };
 
 #endif /* FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_ */

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -5,19 +5,13 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
-                                             bool enableSetByDefault, float generationFrequency)
+InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
       poolManager(this, commandQueue),
-      enableSetByDefault(enableSetByDefault),
-      generationFrequency(generationFrequency),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() {
@@ -45,14 +39,15 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-                 << newStoreHits << std::endl;
+                 << "occured!" << std::endl;
+      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+      sif::debug << "TM errors: " << newTmHits << std::endl;
+      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug(
-          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-          "| %lu\n",
-          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
-          static_cast<unsigned int>(newStoreHits));
+      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }
@@ -137,8 +132,9 @@ ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(internalErrorSid, enableSetByDefault, generationFrequency));
+  poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
+      internalErrorSid, false,
+      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
   internalErrorDataset.setValidity(true, true);
   return returnvalue::OK;
 }

src/fsfw/internalerror/InternalErrorReporter.h

@@ -21,8 +21,7 @@ class InternalErrorReporter : public SystemObject,
                               public InternalErrorReporterIF,
                               public HasLocalDataPoolIF {
  public:
-  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
-                        bool enableSetByDefault, float generationFrequency);
+  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth = 5);
 
   /**
    * Enable diagnostic printout. Please note that this feature will
@@ -64,8 +63,6 @@ class InternalErrorReporter : public SystemObject,
   MutexIF* mutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
-  bool enableSetByDefault;
-  float generationFrequency;
 
   sid_t internalErrorSid;
   InternalErrorDataset internalErrorDataset;

src/fsfw/ipc/CommandMessageIF.h

@@ -34,7 +34,7 @@ class CommandMessageIF {
   static const Command_t CMD_NONE = MAKE_COMMAND_ID(0);
   static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID(1);
   //! Reply indicating that the current command was rejected,
-  //! Parameter 1 should contain the error code
+  //! par1 should contain the error code
   static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2);
 
   virtual ~CommandMessageIF(){};

src/fsfw/ipc/MutexGuard.h

@@ -7,17 +7,14 @@
 class MutexGuard {
  public:
   MutexGuard(MutexIF* mutex, MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::BLOCKING,
-             uint32_t timeoutMs = 0, const char* context = nullptr)
+             uint32_t timeoutMs = 0)
       : internalMutex(mutex) {
-    if (context == nullptr) {
-      context = "unknown";
-    }
     if (mutex == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "MutexGuard::" << context << ": Passed mutex is invalid!" << std::endl;
+      sif::error << "MutexGuard: Passed mutex is invalid!" << std::endl;
 #else
-      sif::printError("MutexGuard::%s: Passed mutex is invalid!\n", context);
+      sif::printError("MutexGuard: Passed mutex is invalid!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
       return;
@@ -26,11 +23,11 @@ class MutexGuard {
 #if FSFW_VERBOSE_LEVEL >= 1
     if (result == MutexIF::MUTEX_TIMEOUT) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "MutexGuard::" << context << ": Lock of mutex failed with timeout of "
-                 << timeoutMs << " milliseconds!" << std::endl;
+      sif::error << "MutexGuard: Lock of mutex failed with timeout of " << timeoutMs
+                 << " milliseconds!" << std::endl;
 #else
-      sif::printError("MutexGuard::%s: Lock of mutex failed with timeout of %lu milliseconds\n",
-                      context, timeoutMs);
+      sif::printError("MutexGuard: Lock of mutex failed with timeout of %lu milliseconds\n",
+                      timeoutMs);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
     } else if (result != returnvalue::OK) {

src/fsfw/modes/HasModesIF.h

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

src/fsfw/modes/ModeMessage.h

@@ -1,42 +1,43 @@
 #ifndef FSFW_MODES_MODEMESSAGE_H_
 #define FSFW_MODES_MODEMESSAGE_H_
 
-#include "fsfw/ipc/CommandMessage.h"
+#include "../ipc/CommandMessage.h"
 
 typedef uint32_t Mode_t;
 typedef uint8_t Submode_t;
 
 class ModeMessage {
+ private:
+  ModeMessage();
+
  public:
   static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
-  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
-  //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
-  //! as this will break the subsystem mode machine!!
-  static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);
-  //!> Command to set the specified Mode, regardless of external control flag, replies
-  //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
-  //! replies, as this will break the subsystem mode machine!!
-  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);
-  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
-  static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);
-  //!> Unrequested info about the current mode (used for composites to
-  //! inform their container of a changed mode)
-  static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);
-  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
-  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04);
-  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
-  //! and a transition started but was aborted; the parameters contain
-  //! the mode that was reached
-  static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);
-  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
-  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);
-  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
-  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);
-  //!> Command to trigger an ModeInfo Event and to send this command to
-  //! every child. This command does NOT have a reply.
-  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
-
-  ModeMessage() = delete;
+  static const Command_t CMD_MODE_COMMAND =
+      MAKE_COMMAND_ID(0x01);  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
+                              //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
+                              //! as this will break the subsystem mode machine!!
+  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
+      0xF1);  //!> Command to set the specified Mode, regardless of external control flag, replies
+              //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
+              //! replies, as this will break the subsystem mode machine!!
+  static const Command_t REPLY_MODE_REPLY =
+      MAKE_COMMAND_ID(0x02);  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+  static const Command_t REPLY_MODE_INFO =
+      MAKE_COMMAND_ID(0x03);  //!> Unrequested info about the current mode (used for composites to
+                              //! inform their container of a changed mode)
+  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
+      0x04);  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
+  static const Command_t REPLY_WRONG_MODE_REPLY =
+      MAKE_COMMAND_ID(0x05);  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
+                              //! and a transition started but was aborted; the parameters contain
+                              //! the mode that was reached
+  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
+      0x06);  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
+  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
+      0x07);  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
+  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
+      MAKE_COMMAND_ID(0x08);  //!> Command to trigger an ModeInfo Event and to send this command to
+                              //! every child. This command does NOT have a reply.
 
   static Mode_t getMode(const CommandMessage* message);
   static Submode_t getSubmode(const CommandMessage* message);

src/fsfw/monitoring/AbsLimitMonitor.h

@@ -32,9 +32,9 @@ class AbsLimitMonitor : public MonitorBase<T> {
     return returnvalue::OK;  // We're not out of range.
   }
 
-  virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-                                     ParameterWrapper *parameterWrapper,
-                                     const ParameterWrapper *newValues, uint16_t startAtIndex) {
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+                             uint16_t startAtIndex) override {
     ReturnValue_t result = this->MonitorBase<T>::getParameter(
         domainId, parameterId, parameterWrapper, newValues, startAtIndex);
     // We'll reuse the DOMAIN_ID of MonitorReporter,

src/fsfw/monitoring/MonitoringMessage.h

@@ -13,6 +13,7 @@ class MonitoringMessage : public CommandMessage {
   static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10);
   virtual ~MonitoringMessage();
   static void setLimitViolationReport(CommandMessage* message, store_address_t storeId);
+  using CommandMessage::clear;
   static void clear(CommandMessage* message);
   static store_address_t getStoreId(const CommandMessage* message);
   static void setTypicalMessage(CommandMessage* message, Command_t type, store_address_t storeId);

src/fsfw/objectmanager/ObjectManager.cpp

@@ -109,16 +109,13 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != returnvalue::OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-      sif::printError(
-          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
-          it.first);
-#endif
+                 << std::setfill('0') << var
+                 << " failed to "
+                    "initialize with code 0x"
+                 << result << std::dec << std::setfill(' ') << std::endl;
 #endif
       errorCount++;
     }

src/fsfw/osal/common/TcpIpBase.cpp

@@ -40,8 +40,9 @@ int TcpIpBase::closeSocket(socket_t socket) {
   return closesocket(socket);
 #elif defined(PLATFORM_UNIX)
   return close(socket);
-#endif
+#else
   return -1;
+#endif
 }
 
 int TcpIpBase::getLastSocketError() {
@@ -49,6 +50,7 @@ int TcpIpBase::getLastSocketError() {
   return WSAGetLastError();
 #elif defined(PLATFORM_UNIX)
   return errno;
-#endif
+#else
   return 0;
+#endif
 }

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -283,8 +283,6 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
     ConstStorageAccessor storeAccessor(storeId);
     ReturnValue_t result = tmStore->getData(storeId, storeAccessor);
     if (result != returnvalue::OK) {
-      // Invalid entry, pop FIFO
-      tmtcBridge->tmFifo->pop();
       return result;
     }
     if (wiretappingEnabled) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -79,7 +79,6 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     bool reusePort = false;
   };
-
   enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;

src/fsfw/osal/host/Clock.cpp

@@ -47,32 +47,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClockMonotonic(timeval* time) {
-#if defined(PLATFORM_WIN)
-  // TODO: Implement with std::chrono::steady_clock.. or in some other way. I am not even sure
-  // whether this is possible with steady_clock. The conversion we have to do here just to be
-  // generic is kind of awkward..
-  return returnvalue::FAILED;
-#elif defined(PLATFORM_UNIX)
-  timespec timeMonotonic;
-  int status = clock_gettime(CLOCK_MONOTONIC_RAW, &timeMonotonic);
-  if (status != 0) {
-    return returnvalue::FAILED;
-  }
-  time->tv_sec = timeMonotonic.tv_sec;
-  time->tv_usec = timeMonotonic.tv_nsec / 1000.0;
-  return returnvalue::OK;
-#else
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::getUptime: Not implemented for found OS!" << std::endl;
-#else
-  sif::printWarning("Clock::getUptime: Not implemented for found OS!\n");
-#endif
-  return returnvalue::FAILED;
-#endif
-}
-
-ReturnValue_t Clock::getClock(timeval* time) {
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
 #if defined(PLATFORM_WIN)
   auto now = std::chrono::system_clock::now();
   auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
@@ -100,8 +75,6 @@ ReturnValue_t Clock::getClock(timeval* time) {
 #endif
 }
 
-ReturnValue_t Clock::getClock_timeval(timeval* time) { return Clock::getClock(time); }
-
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   if (time == nullptr) {
     return returnvalue::FAILED;

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -5,6 +5,7 @@
 #include <condition_variable>
 #include <thread>
 #include <vector>
+#include <string>
 
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/tasks/FixedSlotSequence.h"

src/fsfw/osal/host/PeriodicTask.h

@@ -5,6 +5,7 @@
 #include <condition_variable>
 #include <thread>
 #include <vector>
+#include <string>
 
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/tasks/PeriodicTaskBase.h"

src/fsfw/osal/host/TaskFactory.cpp

@@ -20,18 +20,16 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
-                                                TaskStackSize stackSize_,
-                                                TaskPeriod periodInSeconds_,
-                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
-                                                void* args) {
+PeriodicTaskIF* TaskFactory::createPeriodicTask(
+    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
   return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                           deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }

src/fsfw/osal/host/taskHelpers.h

@@ -4,6 +4,7 @@
 #include <fsfw/returnvalues/returnvalue.h>
 
 #include <thread>
+#include <string>
 
 namespace tasks {
 

src/fsfw/osal/linux/Clock.cpp

@@ -42,7 +42,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock(timeval* time) {
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
   timespec timeUnix{};
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
@@ -53,8 +53,6 @@ ReturnValue_t Clock::getClock(timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock_timeval(timeval* time) { return Clock::getClock(time); }
-
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   timeval timeVal{};
   ReturnValue_t result = getClock_timeval(&timeVal);
@@ -66,17 +64,6 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClockMonotonic(timeval* time) {
-  timespec timeMonotonic{};
-  int status = clock_gettime(CLOCK_MONOTONIC_RAW, &timeMonotonic);
-  if (status != 0) {
-    return returnvalue::FAILED;
-  }
-  time->tv_sec = timeMonotonic.tv_sec;
-  time->tv_usec = timeMonotonic.tv_nsec / 1000.0;
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
   timeval uptime{};
   auto result = getUptime(&uptime);

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -7,15 +7,10 @@
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
-                                     PosixThreadArgs* args)
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
     : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
-      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
-      started(false) {
-  if (args != nullptr) {
-    posixThread.setSchedPolicy(args->policy);
-  }
-}
+      posixThread(name_, priority_, stackSize_),
+      started(false) {}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -23,8 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
    * @param deadlineMissedFunc_
    */
   FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
-                    PosixThreadArgs* args);
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
   ~FixedTimeslotTask() override = default;
 
   ReturnValue_t startTask() override;

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -4,15 +4,10 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_,
-                                     PosixThreadArgs* args)
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
     : PeriodicTaskBase(period_, dlmFunc_),
-      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
-      started(false) {
-  if (args != nullptr) {
-    posixThread.setSchedPolicy(args->policy);
-  }
-}
+      posixThread(name_, priority_, stackSize_),
+      started(false) {}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -24,7 +24,7 @@ class PeriodicPosixTask : public PeriodicTaskBase {
    * @param deadlineMissedFunc_
    */
   PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
-                    TaskDeadlineMissedFunction dlmFunc_, PosixThreadArgs* args);
+                    TaskDeadlineMissedFunction dlmFunc_);
   ~PeriodicPosixTask() override = default;
 
   /**

src/fsfw/osal/linux/PosixThread.cpp

@@ -7,9 +7,8 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PosixThread::PosixThread(const char* name_, SchedulingPolicy schedPolciy, int priority_,
-                         size_t stackSize_)
-    : thread(0), schedPolicy(schedPolciy), priority(priority_), stackSize(stackSize_) {
+PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_)
+    : thread(0), priority(priority_), stackSize(stackSize_) {
   name[0] = '\0';
   std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
@@ -179,30 +178,20 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 #ifndef FSFW_USE_REALTIME_FOR_LINUX
 #error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
 #endif
-  if (schedPolicy == SchedulingPolicy::RR) {
-    // RR -> This needs root privileges for the process
 #if FSFW_USE_REALTIME_FOR_LINUX == 1
-    status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
-    if (status != 0) {
-      utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
-    }
-    sched_param scheduleParams;
-    scheduleParams.sched_priority = priority;
-    status = pthread_attr_setschedparam(&attributes, &scheduleParams);
-    if (status != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "PosixThread: Setting priority failed" << std::endl;
-#endif
-    }
-#else
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning
-        << "Real time priorities are only allowed if FSFW_USE_REALTIME_FOR_LINUX is set to 1"
-        << std::endl;
-#endif
-#endif
+  // FIFO -> This needs root privileges for the process
+  status = pthread_attr_setschedpolicy(&attributes, SCHED_FIFO);
+  if (status != 0) {
+    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
   }
 
+  sched_param scheduleParams;
+  scheduleParams.__sched_priority = priority;
+  status = pthread_attr_setschedparam(&attributes, &scheduleParams);
+  if (status != 0) {
+    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
+  }
+#endif
   // Set Signal Mask for suspend until startTask is called
   sigset_t waitSignal;
   sigemptyset(&waitSignal);
@@ -254,5 +243,3 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
     utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
   }
 }
-
-void PosixThread::setSchedPolicy(SchedulingPolicy policy) { this->schedPolicy = policy; }

src/fsfw/osal/linux/PosixThread.h

@@ -9,15 +9,10 @@
 
 #include "../../returnvalues/returnvalue.h"
 
-enum SchedulingPolicy { REGULAR, RR };
-struct PosixThreadArgs {
-  SchedulingPolicy policy = SchedulingPolicy::REGULAR;
-};
-
 class PosixThread {
  public:
   static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
-  PosixThread(const char* name_, SchedulingPolicy schedPolicy, int priority_, size_t stackSize_);
+  PosixThread(const char* name_, int priority_, size_t stackSize_);
   virtual ~PosixThread();
   /**
    * Set the Thread to sleep state
@@ -25,9 +20,6 @@ class PosixThread {
    * @return Returns Failed if sleep fails
    */
   static ReturnValue_t sleep(uint64_t ns);
-
-  void setSchedPolicy(SchedulingPolicy policy);
-
   /**
    * @brief Function to suspend the task until SIGUSR1 was received
    *
@@ -80,7 +72,6 @@ class PosixThread {
 
  private:
   char name[PTHREAD_MAX_NAMELEN];
-  SchedulingPolicy schedPolicy;
   int priority;
   size_t stackSize = 0;
 

src/fsfw/osal/linux/TaskFactory.cpp

@@ -12,20 +12,18 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
-                                                TaskStackSize stackSize_,
-                                                TaskPeriod periodInSeconds_,
-                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
-                                                void* args) {
+PeriodicTaskIF* TaskFactory::createPeriodicTask(
+    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
   return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
+                               deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
+                               deadLineMissedFunction_);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/osal/rtems/CpuUsage.h

@@ -19,13 +19,13 @@ class CpuUsage : public SerializeIF {
     float timeRunning;
     float percentUsage;
 
-    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                    Endianness streamEndianness) const override;
+    ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                            Endianness streamEndianness) const override;
 
-    virtual size_t getSerializedSize() const override;
+    size_t getSerializedSize() const override;
 
-    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                      Endianness streamEndianness) override;
+    ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                              Endianness streamEndianness) override;
   };
 
   CpuUsage();

src/fsfw/parameters/HasParametersIF.h

@@ -66,8 +66,7 @@ class HasParametersIF {
    * @param newValues
    * @param startAtIndex Linear index, runs left to right, top to bottom for
    * matrix indexes.
-   * @return returnvalue::OK if parameter is valid and a set function of the parameter wrapper was
-   * called.
+   * @return
    */
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                                      ParameterWrapper *parameterWrapper,

src/fsfw/parameters/ParameterWrapper.cpp

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

src/fsfw/parameters/ParameterWrapper.h

@@ -40,13 +40,15 @@ class ParameterWrapper : public SerializeIF {
   ParameterWrapper(Type type, uint8_t rows, uint8_t columns, const void *data);
   virtual ~ParameterWrapper();
 
-  virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                  Endianness streamEndianness) const override;
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) const override;
 
-  virtual size_t getSerializedSize() const override;
+  size_t getSerializedSize() const override;
 
-  virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                                    Endianness streamEndianness) override;
+  using SerializeIF::deSerialize;  // we overloaded this function, so this is needed to unconfuse
+                                   // the compiler
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override;
 
   virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                                     Endianness streamEndianness, uint16_t startWritingAtIndex = 0);

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -6,11 +6,7 @@ DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwit
     : SystemObject(objectId, registerGlobally),
       switcherList(numberOfSwitches),
       fuseList(numberOfFuses),
-      switchDelayMs(switchDelayMs) {
-  for (auto &switchState : switcherList) {
-    switchState = PowerSwitchIF::SWITCH_UNKNOWN;
-  }
-}
+      switchDelayMs(switchDelayMs) {}
 
 void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
   this->switcherList = switcherList;

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -2,9 +2,8 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/power/PowerSwitchIF.h>
-#include <fsfw/subsystem/helper.h>
 
-PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
                                                power::Switch_t pwrSwitch)
     : SystemObject(objectId),
       switcher(pwrSwitcher, pwrSwitch),
@@ -29,9 +28,6 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
       continue;
     }
   }
-  if (getHealth() == FAULTY) {
-    performFaultyOperation();
-  }
   if (switcher.active()) {
     switcher.doStateMachine();
     auto currState = switcher.getState();
@@ -58,7 +54,7 @@ ReturnValue_t PowerSwitcherComponent::initialize() {
 
 MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
 
-void PowerSwitcherComponent::getMode(Mode_t* mode, Submode_t* submode) {
+void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
   *mode = this->mode;
   *submode = this->submode;
 }
@@ -69,7 +65,7 @@ ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
 }
 
 ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                       uint32_t* msToReachTheMode) {
+                                                       uint32_t *msToReachTheMode) {
   *msToReachTheMode = 5000;
   if (mode != MODE_ON and mode != MODE_OFF) {
     return TRANS_NOT_ALLOWED;
@@ -109,17 +105,3 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
 }
 
 HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }
-
-const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this; }
-
-const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
-
-ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}
-
-object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
-
-ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }
-
-void PowerSwitcherComponent::performFaultyOperation() {}

src/fsfw/power/PowerSwitcherComponent.h

@@ -1,4 +1,5 @@
-#pragma once
+#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
+#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
 
 #include <fsfw/health/HasHealthIF.h>
 #include <fsfw/health/HealthHelper.h>
@@ -7,8 +8,6 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitcher.h>
 #include <fsfw/power/definitions.h>
-#include <fsfw/subsystem/ModeTreeChildIF.h>
-#include <fsfw/subsystem/ModeTreeConnectionIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
 class PowerSwitchIF;
@@ -25,24 +24,17 @@ class PowerSwitchIF;
  */
 class PowerSwitcherComponent : public SystemObject,
                                public ExecutableObjectIF,
-                               public ModeTreeChildIF,
-                               public ModeTreeConnectionIF,
                                public HasModesIF,
                                public HasHealthIF {
  public:
   PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
                          power::Switch_t pwrSwitch);
 
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
- protected:
-  PowerSwitcher switcher;
-
  private:
   MessageQueueIF *queue = nullptr;
+  PowerSwitcher switcher;
 
-  Mode_t mode = MODE_UNDEFINED;
+  Mode_t mode = MODE_OFF;
   Submode_t submode = 0;
 
   ModeHelper modeHelper;
@@ -50,23 +42,20 @@ class PowerSwitcherComponent : public SystemObject,
 
   void setMode(Mode_t newMode, Submode_t newSubmode);
 
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
   ReturnValue_t initialize() override;
 
-  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+  MessageQueueId_t getCommandQueue() const override;
   void getMode(Mode_t *mode, Submode_t *submode) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
-  virtual void performFaultyOperation();
   void setToExternalControl() override;
   void announceMode(bool recursive) override;
 
   ReturnValue_t setHealth(HealthState health) override;
   HasHealthIF::HealthState getHealth() override;
-
-  [[nodiscard]] object_id_t getObjectId() const override;
-  [[nodiscard]] const HasHealthIF *getOptHealthIF() const override;
-  [[nodiscard]] const HasModesIF &getModeIF() const override;
 };
+
+#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -79,7 +79,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
   // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
   // does not work in this case as we are deleting the current element here.
   for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
-    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
+    if (it->first <= tNow.tv_sec) {
       if (schedulingEnabled) {
         // release tc
         TmTcMessage releaseMsg(it->second.storeAddr);
@@ -160,7 +160,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   // (See requirement for Time margin)
   timeval tNow = {};
   Clock::getClock_timeval(&tNow);
-  if (timestamp < static_cast<uint32_t>(tNow.tv_sec + RELEASE_TIME_MARGIN_SECONDS)) {
+  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
                     "current time"

src/fsfw/pus/Service17Test.cpp

@@ -1,7 +1,5 @@
 #include "fsfw/pus/Service17Test.h"
 
-#include <fsfw/serialize/SerializeElement.h>
-
 #include "fsfw/FSFW.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -33,15 +31,6 @@ ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
       }
       return tmHelper.storeAndSendTmPacket();
     }
-    case Subservice::PING_WITH_DATA: {
-      SerializeElement<uint32_t> receivedDataLen = currentPacket.getUserDataLen();
-      ReturnValue_t result =
-          tmHelper.prepareTmPacket(Subservice::PING_WITH_DATA_REPORT_WITH_SIZE, receivedDataLen);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      return tmHelper.storeAndSendTmPacket();
-    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }

src/fsfw/pus/Service17Test.h

@@ -32,9 +32,6 @@ class Service17Test : public PusServiceBase {
     CONNECTION_TEST_REPORT = 2,
     //!  [EXPORT] : [COMMAND] Trigger test reply and test event
     EVENT_TRIGGER_TEST = 128,
-    PING_WITH_DATA = 129,
-    //! [EXPORT] : [COMMAND] Report which reports the sent user data size
-    PING_WITH_DATA_REPORT_WITH_SIZE = 130
   };
 
   explicit Service17Test(PsbParams params);

src/fsfw/pus/Service3Housekeeping.cpp

@@ -4,10 +4,9 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/pus/servicepackets/Service3Packets.h"
 
-Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                                           uint32_t queueDepth, uint8_t numParallelCommands)
-    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, numParallelCommands,
-                            COMMAND_TIMEOUT_SECONDS, queueDepth) {}
+Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId)
+    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
+                            COMMAND_TIMEOUT_SECONDS) {}
 
 Service3Housekeeping::~Service3Housekeeping() {}
 
@@ -209,17 +208,17 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
       ReturnValue_t error = returnvalue::FAILED;
       HousekeepingMessage::getHkRequestFailureReply(reply, &error);
       failureParameter2 = error;
-      return returnvalue::FAILED;
+      return CommandingServiceBase::EXECUTION_COMPLETE;
     }
 
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << std::endl;
+                   << "reply command " << command << "!" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
           command);
 #endif
       return CommandingServiceBase::INVALID_REPLY;
@@ -249,28 +248,19 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
     case (HousekeepingMessage::HK_REQUEST_FAILURE): {
       break;
     }
-    case (CommandMessage::REPLY_REJECTED): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
-                      "rejected with error code"
-                   << reply->getParameter() << std::endl;
-#else
-#endif
-      break;
-    }
 
     default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
                       "command "
-                   << command << "" << std::endl;
+                   << command << "!" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
           command);
 #endif
-      break;
+      return;
     }
   }
 
@@ -285,7 +275,6 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
         "Could not generate reply!\n");
 #endif
   }
-  CommandingServiceBase::handleUnrequestedReply(reply);
 }
 
 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }

src/fsfw/pus/Service3Housekeeping.h

@@ -28,8 +28,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
   static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
   static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
 
-  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId, uint32_t queueDepth,
-                       uint8_t numParallelCommands);
+  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId);
   virtual ~Service3Housekeeping();
 
  protected:

src/fsfw/pus/Service5EventReporting.cpp

@@ -13,10 +13,8 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
       storeHelper(params.apid),
       tmHelper(params.serviceId, storeHelper, sendHelper),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
   psbParams.name = "PUS 5 Event Reporting";
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -40,6 +38,9 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+#endif
   return returnvalue::OK;
 }
 

src/fsfw/pus/Service5EventReporting.h

@@ -42,7 +42,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10,
-                         uint32_t messageQueueDepth = 20);
+                         uint32_t messageQueueDepth = 10);
   ~Service5EventReporting() override;
 
   /***

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -9,11 +9,11 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uint16_t apid,
-                                                       uint8_t serviceId, size_t queueDepth,
+                                                       uint8_t serviceId,
                                                        uint8_t numParallelCommands,
                                                        uint16_t commandTimeoutSeconds)
     : CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
-                            numParallelCommands, commandTimeoutSeconds, queueDepth) {}
+                            numParallelCommands, commandTimeoutSeconds) {}
 
 Service8FunctionManagement::~Service8FunctionManagement() {}
 

src/fsfw/pus/Service8FunctionManagement.h

@@ -31,8 +31,7 @@
 class Service8FunctionManagement : public CommandingServiceBase {
  public:
   Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                             size_t queueDepth, uint8_t numParallelCommands = 4,
-                             uint16_t commandTimeoutSeconds = 60);
+                             uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
   ~Service8FunctionManagement() override;
 
  protected:

src/fsfw/pus/servicepackets/Service200Packets.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 #define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 
-#include "fsfw/modes/ModeMessage.h"
-#include "fsfw/serialize/SerialLinkedListAdapter.h"
-#include "fsfw/serialize/SerializeIF.h"
+#include "../../modes/ModeMessage.h"
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../serialize/SerializeIF.h"
 
 /**
  * @brief Subservice 1, 2, 3, 4, 5

src/fsfw/pus/servicepackets/Service5Packets.h

@@ -24,8 +24,8 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
         parameter1(parameter1_),
         parameter2(parameter2_) {}
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  SerializeIF::Endianness streamEndianness) const override {
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          SerializeIF::Endianness streamEndianness) const override {
     ReturnValue_t result =
         SerializeAdapter::serialize(&reportId, buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
@@ -46,7 +46,7 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
     return result;
   }
 
-  virtual size_t getSerializedSize() const override {
+  size_t getSerializedSize() const override {
     uint32_t size = 0;
     size += SerializeAdapter::getSerializedSize(&reportId);
     size += SerializeAdapter::getSerializedSize(&objectId);
@@ -55,8 +55,8 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
     return size;
   }
 
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    SerializeIF::Endianness streamEndianness) override {
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            SerializeIF::Endianness streamEndianness) override {
     return returnvalue::FAILED;
   }