updating CI

.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

@@ -8,72 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-## Fixes
-
-- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
-  data with a size limited only by the size of `size_t`.
-- Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
-  number fields stored the actual length of the field instead of the length minus 1 like specified
-  in the CFDP standard.
-- PUS Health Service: Size check for set health command.
-  Perform operation completion for announce health command.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
-- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
-  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
-
-## Added
-
-- add CFDP subsystem ID
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
-- `PusTmZcWriter` now exposes API to set message counter field.
-
-## 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`.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
-- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
-  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.
-
-# [v6.0.0] 2023-02-10
+# [v6.0.0]
 
 ## Fixes
 
-- Mode Service: Add allowed subservice
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
-- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
-  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
-  subservice not working properly.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
-- Memory leak fixes for the TCP/IP TMTC bridge.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
-- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
-  seconds instead of uptime.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
-- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
-  only the X scaling factor was used.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
-- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
-- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
-  to false correctly because the `read` and `write` calls were missing.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
-- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
-  of the correct unsegmented flags (0b11) as specified in the standard.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
 - TC Scheduler Service 11: Add size and CRC check for contained TC.
-  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
 - Only delete health table entry in `HealthHelper` destructor if
   health table was set.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
   Also properly reset the reply size for successfull transfers and erroneous transfers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
@@ -83,84 +25,22 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `TcpTmTcServer.cpp`: The server was actually not able to handle
   CCSDS packets which were clumped together. This has been fixed now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
-- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
-- various fixes related to linux Unittests and memory leaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
-- small fix to allow teardown handling
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
-- fix compiler warning for fixed array list copy ctor
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
-- missing include
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
-- defaultconfig did not build anymore
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
-- hotfix
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
-- small fix for helper
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
-- missing retval conv
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
-- DHB Countdown Bug
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
-- doc corrections
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
-- better error printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
-- include correction
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
-- better warning for missing include paths
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
-- Service 11 regression
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
 
 ## 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.
-- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
-  option on the TCP server. CTOR prototype has changed and expects an explicit
-  TCP configuration struct to be passed.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
 - `DleParser` helper class to parse DLE encoded packets from a byte stream.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
 - `UioMapper` is able to resolve symlinks now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
-- publish documentation for development and master branch
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
-- Add Linux HAL options
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
-- Expand SerializeIF
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
-- PUS Service 11: Additional Safety Check
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
-- improvements for auto-formatter script
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
-- provide a weak print char impl
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
-
-## Removed
-
-- now that doc server is up, remove markdown files
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
-- remove bsp specific code
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
 
 ## Changes
 
-- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
-  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
-  `HealthServiceCfg` now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
 - Moved some container returnvalues to dedicated header and namespace
-  so they can be used without template specification.
+  to they can be used without template specification.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
   `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
@@ -190,41 +70,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
   a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
+- Move some generic `StorageManagerIF` implementations from `LocalPool` to
+  interface itself so it can be re-used more easily. Also add new
+  abstract function `bool hasDataAtId(store_address_t storeId) const`.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
   - Make functions `const` where it makes sense
   - Add `const char* getName const` abstract function
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
-- Generic TMTC Bridge Update
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
-- comment tweak to event parser can read everything
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
-- CMakeLists file updates
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
-- improve srv20 error messages
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
-- I2C Linux: remove duplicate printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
-- printout handling improvements
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
-- vec getter, reset for content
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
-- updates for source sequence counter
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
-- SP reader getPacketData is const now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
-- refactoring of serial drivers for linux
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
-- Local Pool Update Remove Add Data Ignore Fault Argument
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
-- Switch to new documentation server
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
-- Windows Tweaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
-- Refactor Local Pool API
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
-- group MGM data in local pool vectors
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
-
+- Move some generic `StorageManagerIF` implementations from `LocalPool` to
+  interface itself so it can be re-used more easily. Also add new
+  abstract function `bool hasDataAtId(store_address_t storeId) const`.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
 
 ## CFDP
 
@@ -244,7 +101,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
      implementation without an extra component
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
 
-# [v5.0.0] 2022-07-25
+# [v5.0.0] 25.07.2022
 
 ## Changes
 

CMakeLists.txt

@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################
 
-set(FSFW_VERSION_IF_GIT_FAILS 6)
+set(FSFW_VERSION_IF_GIT_FAILS 5)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
@@ -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}.28.0
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -153,12 +153,16 @@ if(FSFW_BUILD_TESTS)
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
   )
   # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
+  # Suppress this check for rtems, because rtems is cross compiled
+  # on CI with preinstalled Catch which needs to be cross compiled
+  if(NOT FSFW_OSAL MATCHES "rtems")
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  endif()
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
     message(
       STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
     )
     include(FetchContent)
 
@@ -174,6 +178,27 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
+  if(FSFW_OSAL MATCHES "freertos")
+    message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
+    include(FetchContent)
+
+    set(FreeRTOS_PORT posix)
+
+    FetchContent_Declare(
+      FreeRTOS
+      GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
+      GIT_TAG develop
+      GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
+
+    FetchContent_MakeAvailable(FreeRTOS)
+
+    set(LIB_OS_NAME FreeRTOS)
+    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
+    set(THREADS_PREFER_PTHREAD_FLAG ON)
+    find_package(Threads REQUIRED)
+    target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@@ -196,13 +221,17 @@ message(
 )
 
 # Check whether the user has already installed ETL first
+# Suppress this check for rtems, because rtems is cross compiled
+# on CI with preinstalled etl which is not found when cross compiling
+if(NOT FSFW_OSAL MATCHES "rtems")
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
+endif()
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
-  )
+      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
   include(FetchContent)
 
   FetchContent_Declare(
@@ -226,6 +255,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
+
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -360,6 +390,9 @@ if(FSFW_BUILD_TESTS)
   endif()
   target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                  ${LIB_FSFW_NAME})
+  if(FSFW_OSAL MATCHES "freertos")
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
+  endif()
 endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If

automation/Dockerfile

@@ -5,7 +5,7 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync wget qemu-system-arm
 
 RUN python3 -m pip install sphinx breathe
 
@@ -21,8 +21,12 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
         cmake -B build . && \
         cmake --install build/
 
+RUN wget -qO- https://buggy.irs.uni-stuttgart.de/rtems_releases/rtems6-12.2.1.tar.bz2 | tar -xj -C /opt/
+
+ENV PATH="$PATH:/opt/rtems/6/bin"
+
 #ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+RUN adduser -q --uid 114 jenkins
 
 #add documentation server to known hosts
 RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

automation/Jenkinsfile

@@ -2,87 +2,62 @@ pipeline {
     environment {
         BUILDDIR_HOST = 'cmake-build-tests-host'
         BUILDDIR_LINUX = 'cmake-build-tests-linux'
+        BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
+        BUILDDIR_RTEMS = 'cmake-build-tests-rtems'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
-            image 'fsfw-ci:d6'
+            image 'fsfw-ci:d7'
             args '--network host --sysctl fs.mqueue.msg_max=100'
         }
     }
     stages {
         stage('Host') {
-            stages{
-                stage('Clean') {
             steps {
                 sh 'rm -rf $BUILDDIR_HOST'
-                    }
-                }
-                stage('Configure') {
-                    steps {
+
                 dir(BUILDDIR_HOST) {
                     sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
-                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
                     sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
                     sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
-            }
-        }
         stage('Linux') {
-            stages{
-                stage('Clean') {
             steps {
                 sh 'rm -rf $BUILDDIR_LINUX'
-                    }
-                }
-                stage('Configure') {
-                    steps {
+
                 dir(BUILDDIR_LINUX) {
                     sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
-                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
                     sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
                     sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
+        stage('FreeRTOS') {
+            steps {
+                sh 'rm -rf $BUILDDIR_FREERTOS'
+
+                dir(BUILDDIR_FREERTOS) {
+                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+        stage('rtems') {
+            steps {
+                sh 'rm -rf $BUILDDIR_RTEMS'
+
+                dir(BUILDDIR_RTEMS) {
+                    sh 'cmake -DFSFW_OSAL=rtems -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_TOOLCHAIN_FILE=../unittests/testcfg/rtems/cmake/aarch64-rtems6-toolchain.cmake ..'
+                    sh 'cmake --build . -j4'
+                    sh 'qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -semihosting -machine virt,gic-version=3 -cpu cortex-a72 -m 4000  -kernel fsfw-tests'
+                }
             }
         }
         stage('Documentation') {

docs/conf.py

@@ -51,10 +51,7 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 html_theme = "alabaster"
 
 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"}
 }
 
 

scripts/check_release.py

@@ -1,110 +0,0 @@
-#! /bin/python
-
-
-import argparse
-import json
-import urllib.request
-import re
-from pathlib import Path
-
-def main() -> None:
-    parser = argparse.ArgumentParser(
-        description="List undocumented PRs"
-    )
-    parser.add_argument("-v", "--version", type=str, required=True)
-    args = parser.parse_args()
-    
-    match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version)
-    
-    if not match:
-        print("invalid version")
-        exit(1)
-    
-    version = "v" + match.group(1)
-    
-    print("looking for milestone for " + version + " ...")
-    
-    
-    with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json:
-        milestones = json.load(milestone_json)
-        if (len(milestones) == 0):
-            print("did not find any milestone")
-            exit(1)
-        if (len(milestones) > 1):
-            print("found multiple milestons")
-        milestone_title = milestones[0]['title']
-        milestone = str(milestones[0]['id'])
-        print("Using Milestone \""+ milestone_title + "\" with id " + milestone)
-    
-    milestone_prs = []
-    
-    page = 1
-    last_count = 1;
-    while last_count != 0:
-        with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
-            pull_requests = json.load(pull_requests_json)
-            for pr in pull_requests:
-                milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']})
-            page += 1
-            last_count = len(pull_requests)
-    
-    print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
-    
-    print("looking for CHANGELOG.md ...")
-    
-    path = Path(".")
-    
-    files = list(path.glob("CHANGELOG.md"))
-    
-    if (len(files) != 1):
-        files = list(path.glob("../CHANGELOG.md"))
-        
-    if (len(files) != 1):
-        print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.")
-        exit(1)
-        
-    print("Scanning CHANGELOG.md ...")
-    
-    changelog_prs = []
-    
-    with open(files[0]) as changelog:
-        line = changelog.readline()
-        while (line):
-            #print("line: " + line)
-            match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line)
-            if (match):
-                if match.group(1) == version:
-                    #print("found version")
-                    line = changelog.readline()
-                    continue
-                else:
-                    #print("done with " + match.group(1))
-                    break
-            
-            match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line)
-            if match:
-                changelog_prs.append(match.group(1))
-                
-            line = changelog.readline()
-    
-    print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md")
-    
-    print("")
-    
-    copy_array = changelog_prs.copy()
-    print("PRs in CHANGELOG.md that are not in Milestone:")
-    for pr in milestone_prs:
-        if pr['number'] in copy_array:
-            copy_array.remove(pr['number'])
-    for pr in copy_array:
-        print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr)
-
-    print("")
-
-    print("PRs in milestone that are not in CHANGELOG.md:")
-    
-    for pr in milestone_prs:
-        if pr['number'] not in changelog_prs:
-            print("- " + pr['title'] + "\n  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number'])
-
-main()

src/fsfw/action/ActionHelper.cpp

@@ -59,12 +59,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
-  bool hasAdditionalData = false;
   const uint8_t* dataPtr = nullptr;
   size_t size = 0;
-  ReturnValue_t result;
-  if (dataAddress != store_address_t::invalid()) {
-    hasAdditionalData = true;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != returnvalue::OK) {
     CommandMessage reply;
@@ -72,11 +68,8 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
     queueToUse->sendMessage(commandedBy, &reply);
     return;
   }
-  }
   result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-  if (hasAdditionalData) {
   ipcStore->deleteData(dataAddress);
-  }
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
     ActionMessage::setCompletionReply(&reply, actionId, true, result);

src/fsfw/action/CommandActionHelper.h

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

src/fsfw/cfdp.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/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/pdu/HeaderCreator.cpp

@@ -24,8 +24,8 @@ ReturnValue_t HeaderCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
   *buffer += 1;
   **buffer = pduDataFieldLen & 0x00ff;
   *buffer += 1;
-  **buffer = segmentationCtrl << 7 | ((pduConf.sourceId.getWidth() - 1) << 4) |
-             segmentMetadataFlag << 3 | (pduConf.seqNum.getWidth() - 1);
+  **buffer = segmentationCtrl << 7 | pduConf.sourceId.getWidth() << 4 | segmentMetadataFlag << 3 |
+             pduConf.seqNum.getWidth();
   *buffer += 1;
   *size += 4;
   ReturnValue_t result = pduConf.sourceId.serialize(buffer, size, maxSize, streamEndianness);

src/fsfw/cfdp/pdu/HeaderReader.cpp

@@ -78,11 +78,11 @@ cfdp::SegmentationControl PduHeaderReader::getSegmentationControl() const {
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenEntityIds() const {
-  return static_cast<cfdp::WidthInBytes>(((pointers.fixedHeader->fourthByte >> 4) & 0b111) + 1);
+  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte >> 4) & 0x07);
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenSeqNum() const {
-  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte & 0b111) + 1);
+  return static_cast<cfdp::WidthInBytes>(pointers.fixedHeader->fourthByte & 0x07);
 }
 
 cfdp::SegmentMetadataFlag PduHeaderReader::getSegmentMetadataFlag() const {

src/fsfw/container/FixedArrayList.h

@@ -12,7 +12,6 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
   static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
-  static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");
 
  private:
   T data[MAX_SIZE];

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/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/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

@@ -1,6 +1,5 @@
-#include "DeviceHandlerBase.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -13,7 +12,6 @@
 #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 +22,8 @@ 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 +38,10 @@ 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 +49,21 @@ 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 +129,6 @@ 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 +223,12 @@ 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 +352,7 @@ 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 +366,13 @@ 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 +380,7 @@ 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 +393,9 @@ 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 +567,25 @@ 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 +1058,8 @@ 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 +1071,13 @@ 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 +1090,6 @@ 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 +1119,8 @@ 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 +1136,11 @@ 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 +1278,6 @@ 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 +1456,15 @@ 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 +1477,8 @@ 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;
 }
@@ -1522,12 +1508,9 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   for (const auto& reply : deviceReplyMap) {
     if (reply.second.dataSet != nullptr) {
-      PoolReadGuard pg(reply.second.dataSet);
-      if (pg.getReadResult() == returnvalue::OK) {
       reply.second.dataSet->setValidity(false, true);
     }
   }
-  }
 }
 
 void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const char* functionName,
@@ -1579,52 +1562,3 @@ 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.
@@ -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();
+  }
 }
 
 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

@@ -15,12 +15,11 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
     {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS, sizeof(EventIdRangeMatcher)},
     {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS, sizeof(ReporterRangeMatcher)}};
 
-EventManager::EventManager(object_id_t setObjectId, uint32_t eventQueueDepth)
+EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      eventQueueDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 EventManager::~EventManager() {
@@ -48,21 +47,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != 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;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
     }
   }
   unlockMutex();
@@ -213,19 +200,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -21,9 +21,9 @@ 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;
+  static const uint16_t MAX_EVENTS_PER_CYCLE = 80;
 
-  EventManager(object_id_t setObjectId, uint32_t eventQueueDepth);
+  EventManager(object_id_t setObjectId);
   virtual ~EventManager();
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
@@ -44,7 +44,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/events/fwSubsystemIdRanges.h

@@ -10,7 +10,7 @@ enum : uint8_t {
   CDH = 28,
   TCS_1 = 59,
   PCDU_1 = 42,
-  POWER_SWITCH_IF = 43,
+  PCDU_2 = 43,
   HEATER = 50,
   T_SENSORS = 52,
   FDIR = 70,
@@ -33,7 +33,6 @@ enum : uint8_t {
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,
   MGM_RM3100 = 107,
-  CFDP = 108,
 
   FW_SUBSYSTEM_ID_RANGE
 };

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/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/health/HasHealthIF.h

@@ -16,24 +16,26 @@ class HasHealthIF {
   };
 
   static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = returnvalue::makeCode(INTERFACE_ID, 1);
-  static constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2);
-  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3);
+  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
+  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
-  //! P1: New Health, P2: Old Health
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  //! Assembly overwrites health information of children to keep satellite alive.
-  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
-  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-  //! Recovery is ongoing. Comes twice during recovery.
-  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-  //! Recovery was completed. Not necessarily successful. No parameters.
-  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
+  static const Event OVERWRITING_HEALTH =
+      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+                                     //!< satellite alive.
+  static const Event TRYING_RECOVERY =
+      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+                                         //!< power-cycle). No parameters.
+  static const Event RECOVERY_STEP =
+      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(
+      12,
+      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
+
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/health/HealthTable.h

@@ -8,8 +8,6 @@
 #include "HealthTableIF.h"
 
 class HealthTable : public HealthTableIF, public SystemObject {
-  friend class CServiceHealthCommanding;
-
  public:
   explicit HealthTable(object_id_t objectid);
   ~HealthTable() override;

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),
+      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       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.cpp

@@ -24,19 +24,3 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
   message->setParameter(reason);
   message->setParameter2(0);
 }
-
-void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
-  Command_t cmd;
-  if (recursive) {
-    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
-  } else {
-    cmd = CMD_MODE_ANNOUNCE;
-  }
-  message.setCommand(cmd);
-}
-
-void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
-  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
-}
-
-void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); }

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,
+  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 = MAKE_COMMAND_ID(0x01);
-  //!> Command to set the specified Mode, regardless of external control flag, replies
+  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 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
+  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_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
+  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 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
+  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 const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
-
-  ModeMessage() = delete;
 
   static Mode_t getMode(const CommandMessage* message);
   static Submode_t getSubmode(const CommandMessage* message);
@@ -44,9 +45,6 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
-  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
-  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
-  static void setModeReadMessage(CommandMessage& message);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

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/objectmanager/frameworkObjects.h

@@ -15,7 +15,6 @@ enum framework_objects : object_id_t {
   PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
   PUS_SERVICE_9_TIME_MGMT = 0x53000009,
   PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
-  PUS_SERVICE_15_TM_STORAGE = 0x53000015,
   PUS_SERVICE_17_TEST = 0x53000017,
   PUS_SERVICE_20_PARAMETERS = 0x53000020,
   PUS_SERVICE_200_MODE_MGMT = 0x53000200,

src/fsfw/osal/CMakeLists.txt

@@ -18,10 +18,7 @@ elseif(FSFW_OSAL MATCHES "host")
   endif()
   set(FSFW_OSAL_HOST 1)
 else()
-  message(
-    WARNING
-      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
-
+  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)

src/fsfw/osal/common/TcpIpBase.cpp

@@ -41,7 +41,6 @@ int TcpIpBase::closeSocket(socket_t socket) {
 #elif defined(PLATFORM_UNIX)
   return close(socket);
 #endif
-  return -1;
 }
 
 int TcpIpBase::getLastSocketError() {
@@ -50,5 +49,4 @@ int TcpIpBase::getLastSocketError() {
 #elif defined(PLATFORM_UNIX)
   return errno;
 #endif
-  return 0;
 }

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -16,9 +16,9 @@
 
 #endif
 
-TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             uint32_t msgQueueDepth, object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
+TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
+                             object_id_t tcStoreId)
+    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
   mutex = MutexFactory::instance()->createMutex();
   // Connection is always up, TM is requested by connecting to server and receiving packets
   registerCommConnect();

src/fsfw/osal/common/TcpTmTcBridge.h

@@ -38,7 +38,7 @@ class TcpTmTcBridge : public TmTcBridge {
    * @param tmStoreId TM store object ID. It is recommended to the default object ID
    * @param tcStoreId TC store object ID. It is recommended to the default object ID
    */
-  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
+  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
                 object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
   virtual ~TcpTmTcBridge();

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
-                             size_t ringBufferSize, ReceptionModes receptionMode)
+                             size_t receptionBufferSize, size_t ringBufferSize,
+                             std::string customTcpServerPort, ReceptionModes receptionMode)
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(cfg),
+      tcpConfig(std::move(customTcpServerPort)),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -91,15 +91,6 @@ ReturnValue_t TcpTmTcServer::initialize() {
     return returnvalue::FAILED;
   }
 
-  if (tcpConfig.reuseAddr) {
-    unsigned int enable = 1;
-    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
-  }
-  if (tcpConfig.reusePort) {
-    unsigned int enable = 1;
-    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
-  }
-
   // Bind to the address found by getaddrinfo
   retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
   if (retval == SOCKET_ERROR) {
@@ -283,8 +274,6 @@ 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

@@ -41,11 +41,11 @@ class SpacePacketParser;
  */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
  public:
+  enum class ReceptionModes { SPACE_PACKETS };
+
   struct TcpConfig {
    public:
-    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
-    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
-        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
 
     /**
      * Passed to the recv call
@@ -63,25 +63,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    std::string tcpPort = DEFAULT_SERVER_PORT;
-
-    /**
-     * Sets the SO_REUSEADDR option on the socket. See
-     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
-     * especially useful in a debugging and development environment where an OBSW image might be
-     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
-     * port.
-     */
-    bool reuseAddr = false;
-    /**
-     * Sets the SO_REUSEPORT option on the socket. See
-     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
-     */
-    bool reusePort = false;
+    const std::string tcpPort;
   };
 
-  enum class ReceptionModes { SPACE_PACKETS };
-
   static const std::string DEFAULT_SERVER_PORT;
 
   static constexpr size_t ETHERNET_MTU_SIZE = 1500;
@@ -96,9 +80,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
    *                              size will be the Ethernet MTU size
    * @param customTcpServerPort   The user can specify another port than the default (7301) here.
    */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
                 size_t receptionBufferSize = RING_BUFFER_SIZE,
                 size_t ringBufferSize = RING_BUFFER_SIZE,
+                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
   ~TcpTmTcServer() override;
 

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -20,9 +20,9 @@
 const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             uint32_t msgQueueDepth, const std::string &udpServerPort_,
-                             object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
+                             const std::string &udpServerPort_, object_id_t tmStoreId,
+                             object_id_t tcStoreId)
+    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
   if (udpServerPort_.empty()) {
     udpServerPort = DEFAULT_SERVER_PORT;
   } else {
@@ -126,7 +126,10 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
     tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
   }
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were sent" << std::endl;
+  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent
+             << " bytes were"
+                " sent."
+             << std::endl;
 #endif
   return returnvalue::OK;
 }

src/fsfw/osal/common/UdpTmTcBridge.h

@@ -29,7 +29,7 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
   /* The ports chosen here should not be used by any other process. */
   static const std::string DEFAULT_SERVER_PORT;
 
-  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
+  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
                 const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
   ~UdpTmTcBridge() override;

src/fsfw/osal/freertos/BinSemaphUsingTask.h

@@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
   void refreshTaskHandle();
 
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
   ReturnValue_t release() override;
   uint8_t getSemaphoreCounter() const override;
   static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);

src/fsfw/osal/freertos/BinarySemaphore.h

@@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.

src/fsfw/osal/freertos/Clock.cpp

@@ -110,11 +110,13 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   time_tm.tm_min = from->minute;
   time_tm.tm_sec = from->second;
 
-  time_t seconds = mktime(&time_tm);
+  time_tm.tm_isdst = 0;
+
+  time_t seconds = timegm(&time_tm);
 
   to->tv_sec = seconds;
   to->tv_usec = from->usecond;
-  // Fails in 2038..
+
   return returnvalue::OK;
 }
 

src/fsfw/osal/freertos/CountingSemaphUsingTask.h

@@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Release a semaphore, increasing the number of available counting

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -56,7 +56,9 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   // start time for the first entry.
   auto slotListIter = pollingSeqTable.current;
 
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;

src/fsfw/osal/freertos/Mutex.cpp

@@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
     return MutexIF::MUTEX_NOT_FOUND;
   }
   // If the timeout type is BLOCKING, this will be the correct value.
-  uint32_t timeout = portMAX_DELAY;
+  TickType_t timeout = portMAX_DELAY;
   if (timeoutType == TimeoutType::POLLING) {
     timeout = 0;
   } else if (timeoutType == TimeoutType::WAITING) {

src/fsfw/osal/freertos/TaskManagement.cpp

@@ -3,16 +3,16 @@
 void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
 
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
-  if (callContext == CallContext::ISR) {
-    // This function depends on the partmacro.h definition for the specific device
-    vRequestContextSwitchFromISR();
-  } else {
+  //   if (callContext == CallContext::ISR) {
+  //     // This function depends on the partmacro.h definition for the specific device
+  //     vRequestContextSwitchFromISR();
+  //   } else {
   vRequestContextSwitchFromTask();
-  }
+  //   }
 }
 
 TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
 
-size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
-  return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
+//   return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+// }

src/fsfw/osal/freertos/TaskManagement.h

@@ -11,7 +11,7 @@
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void vRequestContextSwitchFromISR();
+// extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
@@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
  * @return Smallest value of stack remaining since the task was started in
  * 		   words.
  */
-size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
+// size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
 };  // namespace TaskManagement
 

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/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/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);
@@ -89,17 +76,14 @@ timeval Clock::getUptime() {
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
+  // TODO This is not posix compatible and delivers only seconds precision
+  //  Linux specific file read but more precise.
   double uptimeSeconds;
-  std::ifstream ifile("/proc/uptime");
-  if (ifile.bad()) {
-    return returnvalue::FAILED;
-  }
-  if (ifile >> uptimeSeconds) {
+  if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) {
     uptime->tv_sec = uptimeSeconds;
     uptime->tv_usec = uptimeSeconds * (double)1e6 - (uptime->tv_sec * 1e6);
-    return returnvalue::OK;
   }
-  return returnvalue::FAILED;
+  return returnvalue::OK;
 }
 
 // Wait for new FSFW Clock function delivering seconds 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);
+  // 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;
+  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
+    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
   }
-#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
-  }
-
   // 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/Clock.cpp

@@ -107,9 +107,6 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
   rtems_status_code status = rtems_clock_get_tod(&timeRtems);
   switch (status) {
     case RTEMS_SUCCESSFUL: {
-      /* The last field now contains the RTEMS ticks of the seconds from 0
-      to rtems_clock_get_ticks_per_second() minus one.
-      We calculate the microseconds accordingly */
       time->day = timeRtems.day;
       time->hour = timeRtems.hour;
       time->minute = timeRtems.minute;
@@ -140,7 +137,7 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   timeRtems.hour = from->hour;
   timeRtems.minute = from->minute;
   timeRtems.second = from->second;
-  timeRtems.ticks = from->usecond * getTicksPerSecond() / 1e6;
+  timeRtems.ticks = from->usecond * rtems_clock_get_ticks_per_second() / 1e6;
   to->tv_sec = _TOD_To_seconds(&timeRtems);
   to->tv_usec = from->usecond;
   return returnvalue::OK;

src/fsfw/osal/rtems/CpuUsage.cpp

@@ -93,8 +93,8 @@ ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size, size_t maxSize
                                                        streamEndianness);
 }
 
-uint32_t CpuUsage::getSerializedSize() const {
-  uint32_t size = 0;
+size_t CpuUsage::getSerializedSize() const {
+  size_t size = 0;
 
   size += sizeof(timeSinceLastReset);
   size += SerialArrayListAdapter<ThreadData>::getSerializedSize(&threadData);
@@ -136,8 +136,8 @@ ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, size_t* size, si
   return returnvalue::OK;
 }
 
-uint32_t CpuUsage::ThreadData::getSerializedSize() const {
-  uint32_t size = 0;
+size_t CpuUsage::ThreadData::getSerializedSize() const {
+  size_t size = 0;
 
   size += sizeof(id);
   size += MAX_LENGTH_OF_THREAD_NAME;

src/fsfw/osal/rtems/InternalErrorCodes.cpp

@@ -35,10 +35,9 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
       return OUT_OF_PROXIES;
     case INTERNAL_ERROR_INVALID_GLOBAL_ID:
       return INVALID_GLOBAL_ID;
-#ifndef STM32H743ZI_NUCLEO
-    case INTERNAL_ERROR_BAD_STACK_HOOK:
-      return BAD_STACK_HOOK;
-#endif
+    //TODO this one is not there anymore in rtems-6 (5 as well?)
+    //case INTERNAL_ERROR_BAD_STACK_HOOK:
+    //  return BAD_STACK_HOOK;
       //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
       //		return BAD_ATTRIBUTES;
       //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:

src/fsfw/osal/rtems/SemaphoreFactory.cpp

@@ -1,5 +1,5 @@
 #include "fsfw/osal/rtems/BinarySemaphore.h"
-// #include "fsfw/osal/rtems/CountingSemaphore.h"
+//#include "fsfw/osal/rtems/CountingSemaphore.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/SemaphoreFactory.h"

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/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/Fuse.h

@@ -32,7 +32,7 @@ class Fuse : public SystemObject,
     gp_id_t poolIdPower;
   };
 
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
   //! PSS detected that current on a fuse is totally out of bounds.
   static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
   //! PSS detected a fuse that went off.

src/fsfw/power/PowerSwitchIF.h

@@ -28,12 +28,10 @@ class PowerSwitchIF {
   static const ReturnValue_t SWITCH_TIMEOUT = MAKE_RETURN_CODE(2);
   static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
   static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
-  static const ReturnValue_t SWITCH_UNKNOWN = MAKE_RETURN_CODE(5);
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
-  //!< Someone detected that a switch went off which shouldn't. Severity:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
+      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
                           //!< Low, Parameter1: switchId1, Parameter2: switchId2
-  static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
   /**
    * send a direct command to the Power Unit to enable/disable the specified switch.
    *
@@ -52,7 +50,6 @@ class PowerSwitchIF {
    * @return
    *     - @c SWITCH_ON if the specified switch is on.
    *     - @c SWITCH_OFF if the specified switch is off.
-   *     - @c SWITCH_UNKNOWN if the state of the specified switch is unknown.
    *     - @c returnvalue::FAILED if an error occured
    */
   virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;