compile DleParser

Reviewed-on: #99
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -252,6 +252,7 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -475,6 +475,7 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo
   localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -312,6 +312,7 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &loc
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

scripts/auto-formatter.sh

@@ -10,9 +10,10 @@ folder_list=(
 )
 
 cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
-  cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
-  eval ${cmake_fmt_cmd}
+  ${cmake_fmt} -i CMakeLists.txt
+  find ./src ${file_selectors} | xargs ${cmake_fmt}  -i
 else
   echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi

src/CMakeLists.txt

@@ -1,9 +1,6 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${LIB_FSFW_NAME}
+                           INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_subdirectory(fsfw)

src/fsfw/CMakeLists.txt

@@ -1,6 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    version.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE version.cpp)
 
 # Core
 
@@ -37,22 +35,22 @@ add_subdirectory(tmtcservices)
 # Optional
 
 if(FSFW_ADD_MONITORING)
-add_subdirectory(monitoring)
+  add_subdirectory(monitoring)
 endif()
 if(FSFW_ADD_PUS)
-    add_subdirectory(pus)
+  add_subdirectory(pus)
 endif()
 if(FSFW_ADD_TMSTORAGE)
-    add_subdirectory(tmstorage)
+  add_subdirectory(tmstorage)
 endif()
 if(FSFW_ADD_COORDINATES)
-    add_subdirectory(coordinates)
+  add_subdirectory(coordinates)
 endif()
 if(FSFW_ADD_RMAP)
-    add_subdirectory(rmap)
+  add_subdirectory(rmap)
 endif()
 if(FSFW_ADD_DATALINKLAYER)
-    add_subdirectory(datalinklayer)
+  add_subdirectory(datalinklayer)
 endif()
 
 # OSAL

src/fsfw/action/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
-    PRIVATE 
-        ActionHelper.cpp
-        ActionMessage.cpp
-        CommandActionHelper.cpp
-        SimpleActionHelper.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE ActionHelper.cpp ActionMessage.cpp
+                           CommandActionHelper.cpp SimpleActionHelper.cpp)

src/fsfw/cfdp/CMakeLists.txt

@@ -1,7 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    CFDPHandler.cpp
-    CFDPMessage.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
 
 add_subdirectory(pdu)
 add_subdirectory(tlv)

src/fsfw/cfdp/pdu/CMakeLists.txt

@@ -1,32 +1,30 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    PduConfig.cpp
-    VarLenField.cpp
-    HeaderSerializer.cpp
-    HeaderDeserializer.cpp
-    FileDirectiveDeserializer.cpp
-    FileDirectiveSerializer.cpp
- 
-    AckInfo.cpp
-    AckPduSerializer.cpp
-    AckPduDeserializer.cpp
-    EofInfo.cpp
-    EofPduSerializer.cpp
-    EofPduDeserializer.cpp
-    NakInfo.cpp
-    NakPduSerializer.cpp
-    NakPduDeserializer.cpp
-    FinishedInfo.cpp
-    FinishedPduSerializer.cpp
-    FinishedPduDeserializer.cpp
-    MetadataInfo.cpp
-    MetadataPduSerializer.cpp
-    MetadataPduDeserializer.cpp
-    KeepAlivePduSerializer.cpp
-    KeepAlivePduDeserializer.cpp
-    PromptPduSerializer.cpp
-    PromptPduDeserializer.cpp
-
-    FileDataSerializer.cpp
-    FileDataDeserializer.cpp
-    FileDataInfo.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE PduConfig.cpp
+          VarLenField.cpp
+          HeaderSerializer.cpp
+          HeaderDeserializer.cpp
+          FileDirectiveDeserializer.cpp
+          FileDirectiveSerializer.cpp
+          AckInfo.cpp
+          AckPduSerializer.cpp
+          AckPduDeserializer.cpp
+          EofInfo.cpp
+          EofPduSerializer.cpp
+          EofPduDeserializer.cpp
+          NakInfo.cpp
+          NakPduSerializer.cpp
+          NakPduDeserializer.cpp
+          FinishedInfo.cpp
+          FinishedPduSerializer.cpp
+          FinishedPduDeserializer.cpp
+          MetadataInfo.cpp
+          MetadataPduSerializer.cpp
+          MetadataPduDeserializer.cpp
+          KeepAlivePduSerializer.cpp
+          KeepAlivePduDeserializer.cpp
+          PromptPduSerializer.cpp
+          PromptPduDeserializer.cpp
+          FileDataSerializer.cpp
+          FileDataDeserializer.cpp
+          FileDataInfo.cpp)

src/fsfw/cfdp/tlv/CMakeLists.txt

@@ -1,10 +1,10 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    EntityIdTlv.cpp
-    FilestoreRequestTlv.cpp
-    FilestoreResponseTlv.cpp
-    Lv.cpp
-    Tlv.cpp
-    FlowLabelTlv.cpp
-    MessageToUserTlv.cpp
-    FaultHandlerOverrideTlv.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE EntityIdTlv.cpp
+          FilestoreRequestTlv.cpp
+          FilestoreResponseTlv.cpp
+          Lv.cpp
+          Tlv.cpp
+          FlowLabelTlv.cpp
+          MessageToUserTlv.cpp
+          FaultHandlerOverrideTlv.cpp)

src/fsfw/container/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
-    PRIVATE 
-        SharedRingBuffer.cpp
-        SimpleRingBuffer.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE SharedRingBuffer.cpp
+                                        SimpleRingBuffer.cpp)

src/fsfw/controller/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    ControllerBase.cpp
-    ExtendedControllerBase.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE ControllerBase.cpp
+                                        ExtendedControllerBase.cpp)

src/fsfw/coordinates/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		CoordinateTransformations.cpp
-		Sgp4Propagator.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE CoordinateTransformations.cpp
+                                        Sgp4Propagator.cpp)

src/fsfw/datalinklayer/CMakeLists.txt

@@ -1,12 +1,11 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Clcw.cpp
-		DataLinkLayer.cpp
-		Farm1StateLockout.cpp
-		Farm1StateOpen.cpp
-		Farm1StateWait.cpp
-		MapPacketExtraction.cpp
-		TcTransferFrame.cpp
-		TcTransferFrameLocal.cpp
-		VirtualChannelReception.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE Clcw.cpp
+          DataLinkLayer.cpp
+          Farm1StateLockout.cpp
+          Farm1StateOpen.cpp
+          Farm1StateWait.cpp
+          MapPacketExtraction.cpp
+          TcTransferFrame.cpp
+          TcTransferFrameLocal.cpp
+          VirtualChannelReception.cpp)

src/fsfw/datapool/CMakeLists.txt

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

src/fsfw/datapoollocal/CMakeLists.txt

@@ -1,10 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		LocalDataPoolManager.cpp
-		LocalDataSet.cpp
-		LocalPoolDataSetBase.cpp
-		LocalPoolObjectBase.cpp
-		SharedLocalDataSet.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE LocalDataPoolManager.cpp LocalDataSet.cpp LocalPoolDataSetBase.cpp
+          LocalPoolObjectBase.cpp SharedLocalDataSet.cpp)
 
-add_subdirectory(internal)
+add_subdirectory(internal)

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -577,6 +577,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != HasReturnvaluesIF::RETURN_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);
@@ -696,9 +699,9 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
 #else
-    sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
+    sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif
   }
 }
@@ -834,6 +837,8 @@ 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 == HasReturnvaluesIF::RETURN_FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";

src/fsfw/datapoollocal/internal/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		HasLocalDpIFUserAttorney.cpp
-		HasLocalDpIFManagerAttorney.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE HasLocalDpIFUserAttorney.cpp
+                                        HasLocalDpIFManagerAttorney.cpp)

src/fsfw/devicehandlers/CMakeLists.txt

@@ -1,11 +1,10 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		AssemblyBase.cpp
-		ChildHandlerBase.cpp
-		ChildHandlerFDIR.cpp
-		DeviceHandlerBase.cpp
-		DeviceHandlerFailureIsolation.cpp
-		DeviceHandlerMessage.cpp
-		DeviceTmReportingWrapper.cpp
-		HealthDevice.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE AssemblyBase.cpp
+          ChildHandlerBase.cpp
+          ChildHandlerFDIR.cpp
+          DeviceHandlerBase.cpp
+          DeviceHandlerFailureIsolation.cpp
+          DeviceHandlerMessage.cpp
+          DeviceTmReportingWrapper.cpp
+          HealthDevice.cpp)

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -572,6 +572,9 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
+  if (newMode == MODE_OFF) {
+    disableCommandsAndReplies();
+  }
   if (!isTransitionalMode()) {
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
@@ -1567,3 +1570,22 @@ void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
 void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
   this->powerSwitcher = switcher;
 }
+
+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;
+    }
+  }
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -1325,6 +1325,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_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/events/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    EventManager.cpp
-    EventMessage.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE EventManager.cpp EventMessage.cpp)
 
 add_subdirectory(eventmatching)

src/fsfw/events/eventmatching/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		EventIdRangeMatcher.cpp
-		EventMatchTree.cpp
-		ReporterRangeMatcher.cpp
-		SeverityRangeMatcher.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE EventIdRangeMatcher.cpp EventMatchTree.cpp
+                           ReporterRangeMatcher.cpp SeverityRangeMatcher.cpp)

src/fsfw/events/fwSubsystemIdRanges.h

@@ -27,6 +27,7 @@ enum : uint8_t {
   PUS_SERVICE_6 = 86,
   PUS_SERVICE_8 = 88,
   PUS_SERVICE_9 = 89,
+  PUS_SERVICE_11 = 91,
   PUS_SERVICE_17 = 97,
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,

src/fsfw/fdir/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		EventCorrelation.cpp
-		FailureIsolationBase.cpp
-		FaultCounter.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE EventCorrelation.cpp FailureIsolationBase.cpp
+                           FaultCounter.cpp)

src/fsfw/globalfunctions/CMakeLists.txt

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

src/fsfw/globalfunctions/DleParser.cpp

@@ -1,6 +1,5 @@
 #include "DleParser.h"
 
-#include <fsfw/globalfunctions/DleEncoder.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <cstdio>

src/fsfw/globalfunctions/DleParser.h

@@ -1,5 +1,4 @@
-#ifndef MISSION_DEVICES_DLEPARSER_H_
-#define MISSION_DEVICES_DLEPARSER_H_
+#pragma once
 
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/DleEncoder.h>
@@ -123,5 +122,3 @@ class DleParser : public HasReturnvaluesIF {
   Context ctx;
   bool startFound = false;
 };
-
-#endif /* MISSION_DEVICES_DLEPARSER_H_ */

src/fsfw/globalfunctions/math/CMakeLists.txt

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

src/fsfw/health/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		HealthHelper.cpp
-		HealthMessage.cpp
-		HealthTable.cpp	
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE HealthHelper.cpp HealthMessage.cpp
+                                        HealthTable.cpp)

src/fsfw/housekeeping/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		HousekeepingMessage.cpp
-		PeriodicHousekeepingHelper.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE HousekeepingMessage.cpp
+                                        PeriodicHousekeepingHelper.cpp)

src/fsfw/internalerror/CMakeLists.txt

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

src/fsfw/ipc/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    CommandMessage.cpp
-    CommandMessageCleaner.cpp
-    MessageQueueMessage.cpp
-    MessageQueueBase.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE CommandMessage.cpp CommandMessageCleaner.cpp
+                           MessageQueueMessage.cpp MessageQueueBase.cpp)

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,
-  //! par1 should contain the error code
+  //! Parameter 1 should contain the error code
   static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2);
 
   virtual ~CommandMessageIF(){};

src/fsfw/memory/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    MemoryHelper.cpp
-    MemoryMessage.cpp
-    GenericFileSystemMessage.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE MemoryHelper.cpp MemoryMessage.cpp
+                                        GenericFileSystemMessage.cpp)

src/fsfw/modes/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ModeHelper.cpp
-		ModeMessage.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE ModeHelper.cpp ModeMessage.cpp)

src/fsfw/monitoring/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		LimitViolationReporter.cpp
-		MonitoringMessage.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE LimitViolationReporter.cpp
+                                        MonitoringMessage.cpp)

src/fsfw/objectmanager/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ObjectManager.cpp
-		SystemObject.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE ObjectManager.cpp SystemObject.cpp)

src/fsfw/objectmanager/frameworkObjects.h

@@ -14,6 +14,7 @@ enum framework_objects : object_id_t {
   PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
   PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
   PUS_SERVICE_9_TIME_MGMT = 0x53000009,
+  PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
   PUS_SERVICE_17_TEST = 0x53000017,
   PUS_SERVICE_20_PARAMETERS = 0x53000020,
   PUS_SERVICE_200_MODE_MGMT = 0x53000200,

src/fsfw/osal/CMakeLists.txt

@@ -1,35 +1,33 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
-    add_subdirectory(freertos)
+  add_subdirectory(freertos)
 elseif(FSFW_OSAL MATCHES "rtems")
-    add_subdirectory(rtems)
+  add_subdirectory(rtems)
 elseif(FSFW_OSAL MATCHES "linux")
-    add_subdirectory(linux)
+  add_subdirectory(linux)
 elseif(FSFW_OSAL MATCHES "host")
-    add_subdirectory(host)
-    if (WIN32)
-        add_subdirectory(windows)
-    elseif(UNIX)
-        # We still need to pull in some Linux specific sources
-        target_sources(${LIB_FSFW_NAME} PUBLIC
-            linux/tcpipHelpers.cpp
-        )
-    endif ()
+  add_subdirectory(host)
+  if(WIN32)
+    add_subdirectory(windows)
+  elseif(UNIX)
+    # We still need to pull in some Linux specific sources
+    target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
+  endif()
 
 else()
 
-    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)
-        add_subdirectory(windows)
-    elseif (UNIX)
-        add_subdirectory(linux)
-    else ()
-        # MacOS or other OSes have not been tested yet / are not supported.
-        message(FATAL_ERROR "The host OS could not be determined! Aborting.")
-    endif()
+  message(WARNING "${MSG_PREFIX} The FSFW_OSAL 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)
+    add_subdirectory(windows)
+  elseif(UNIX)
+    add_subdirectory(linux)
+  else()
+    # MacOS or other OSes have not been tested yet / are not supported.
+    message(FATAL_ERROR "The host OS could not be determined! Aborting.")
+  endif()
 
 endif()
 
-add_subdirectory(common)
+add_subdirectory(common)

src/fsfw/osal/common/CMakeLists.txt

@@ -1,17 +1,10 @@
 if(DEFINED WIN32 OR DEFINED UNIX)
-    target_sources(${LIB_FSFW_NAME} PRIVATE 
-        tcpipCommon.cpp
-        TcpIpBase.cpp
-        UdpTcPollingTask.cpp
-        UdpTmTcBridge.cpp
-        TcpTmTcServer.cpp
-        TcpTmTcBridge.cpp
-    )
+  target_sources(
+    ${LIB_FSFW_NAME}
+    PRIVATE tcpipCommon.cpp TcpIpBase.cpp UdpTcPollingTask.cpp
+            UdpTmTcBridge.cpp TcpTmTcServer.cpp TcpTmTcBridge.cpp)
 endif()
 
 if(WIN32)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        wsock32 
-        ws2_32
-    )
-endif()
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE wsock32 ws2_32)
+endif()

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -122,7 +122,6 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
     }
 
     connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
-    // connSocket = accept(listenerTcpSocket, nullptr, nullptr);
 
     if (connSocket == INVALID_SOCKET) {
       handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);

src/fsfw/osal/freertos/CMakeLists.txt

@@ -1,32 +1,30 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Clock.cpp
-		FixedTimeslotTask.cpp
-		BinarySemaphore.cpp
-		BinSemaphUsingTask.cpp
-		CountingSemaphore.cpp
-		CountingSemaphUsingTask.cpp
-		MessageQueue.cpp
-		Mutex.cpp
-		MutexFactory.cpp
-		PeriodicTask.cpp
-		QueueFactory.cpp
-		SemaphoreFactory.cpp
-		TaskFactory.cpp
-		Timekeeper.cpp
-		TaskManagement.cpp
-		QueueMapManager.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE Clock.cpp
+          FixedTimeslotTask.cpp
+          BinarySemaphore.cpp
+          BinSemaphUsingTask.cpp
+          CountingSemaphore.cpp
+          CountingSemaphUsingTask.cpp
+          MessageQueue.cpp
+          Mutex.cpp
+          MutexFactory.cpp
+          PeriodicTask.cpp
+          QueueFactory.cpp
+          SemaphoreFactory.cpp
+          TaskFactory.cpp
+          Timekeeper.cpp
+          TaskManagement.cpp
+          QueueMapManager.cpp)
 
-# FreeRTOS is required to link the FSFW now. It is recommended to compile 
-# FreeRTOS as a static library and set LIB_OS_NAME to the target name of the 
+# FreeRTOS is required to link the FSFW now. It is recommended to compile
+# FreeRTOS as a static library and set LIB_OS_NAME to the target name of the
 # library.
 if(NOT LIB_OS_NAME)
-	message(STATUS
-		"LIB_OS_NAME is empty. Make sure to include the FreeRTOS header path properly."
-	)
+  message(
+    STATUS
+      "LIB_OS_NAME is empty. Make sure to include the FreeRTOS header path properly."
+  )
 else()
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_OS_NAME}
-    )
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
 endif()

src/fsfw/osal/host/CMakeLists.txt

@@ -1,27 +1,23 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-  Clock.cpp
-  FixedTimeslotTask.cpp
-  MessageQueue.cpp
-  Mutex.cpp
-  MutexFactory.cpp
-  PeriodicTask.cpp
-  QueueFactory.cpp
-  QueueMapManager.cpp
-  SemaphoreFactory.cpp
-  TaskFactory.cpp
-  taskHelpers.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE Clock.cpp
+          FixedTimeslotTask.cpp
+          MessageQueue.cpp
+          Mutex.cpp
+          MutexFactory.cpp
+          PeriodicTask.cpp
+          QueueFactory.cpp
+          QueueMapManager.cpp
+          SemaphoreFactory.cpp
+          TaskFactory.cpp
+          taskHelpers.cpp)
 
 if(UNIX)
   find_package(Threads REQUIRED)
 
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_THREAD_LIBS_INIT}
-  )
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${CMAKE_THREAD_LIBS_INIT})
   if(NOT APPLE)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-      rt
-      )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE rt)
   endif()
 
-endif()
+endif()

src/fsfw/osal/host/FixedTimeslotTask.cpp

@@ -3,9 +3,7 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/osal/host/FixedTimeslotTask.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
@@ -22,12 +20,8 @@
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
                                      TaskStackSize setStack, TaskPeriod setPeriod,
-                                     void (*setDeadlineMissedFunc)())
-    : started(false),
-      pollingSeqTable(setPeriod * 1000),
-      taskName(name),
-      period(setPeriod),
-      deadlineMissedFunc(setDeadlineMissedFunc) {
+                                     TaskDeadlineMissedFunction dlmFunc_)
+    : FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
   // It is propably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
@@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-FixedTimeslotTask::~FixedTimeslotTask(void) {
+FixedTimeslotTask::~FixedTimeslotTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -80,7 +74,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void FixedTimeslotTask::taskFunctionality() {
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
   pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // A local iterator for the Polling Sequence Table is created to
@@ -106,16 +100,18 @@ void FixedTimeslotTask::taskFunctionality() {
       // we need to wait before executing the current slot
       // this gives us the time to wait:
       interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
-      delayForInterval(&currentStartTime, interval);
-      // TODO deadline missed check
+      if (not delayForInterval(&currentStartTime, interval)) {
+        if (dlmFunc != nullptr) {
+          dlmFunc();
+        }
+      }
     }
   }
 }
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
                                          int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
+  auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
   if (executableObject != nullptr) {
     pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
     return HasReturnvaluesIF::RETURN_OK;
@@ -133,10 +129,6 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
-
 bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -6,10 +6,10 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  * @details
  * @ingroup task_handling
  */
-class FixedTimeslotTask : public FixedTimeslotTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * @brief   Standard constructor of the class.
@@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * @brief   Currently, the executed object's lifetime is not coupled with
    *          the task object's lifetime, so the destructor is empty.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
   /**
    * @brief   The method to start the task.
@@ -48,7 +48,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    *          The address of the task object is passed as an argument
    *          to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
 
   /**
    * Add timeslot to the polling sequence table.
@@ -57,47 +57,23 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * @param executionStep
    * @return
    */
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+                        int8_t executionStep) override;
 
-  ReturnValue_t checkSequence() const override;
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
+  ReturnValue_t sleepFor(uint32_t ms) override;
 
  protected:
   using chron_ms = std::chrono::milliseconds;
 
   bool started;
-  //!< Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
+
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  //! Polling sequence table which contains the object to execute
-  //! and information like the timeslots and the passed execution step.
-  FixedSlotSequence pollingSeqTable;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
-   * @brief   The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
 
-  /**
-   * @brief   The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief   This is the function executed in the new task's context.
    * @details
@@ -117,9 +93,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/host/PeriodicTask.cpp

@@ -3,13 +3,10 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
 
 #if defined(PLATFORM_WIN)
 #include <processthreadsapi.h>
@@ -20,8 +17,8 @@
 #endif
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
-    : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
   // It is probably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
@@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-PeriodicTask::~PeriodicTask(void) {
+PeriodicTask::~PeriodicTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -75,47 +72,27 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 }
 
 void PeriodicTask::taskFunctionality() {
-  for (const auto& object : objectList) {
-    object->initializeAfterTaskCreation();
-  }
+  initObjsAfterTaskCreation();
 
   std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
   auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
       std::chrono::system_clock::now().time_since_epoch())};
-  auto nextStartTime{currentStartTime};
-
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     if (terminateThread.load()) {
       break;
     }
-    for (const auto& object : objectList) {
-      object->performOperation();
+    for (const auto& objectPair : objectList) {
+      objectPair.first->performOperation(objectPair.second);
     }
     if (not delayForInterval(&currentStartTime, periodChrono)) {
-      if (deadlineMissedFunc != nullptr) {
-        this->deadlineMissedFunc();
+      if (dlmFunc != nullptr) {
+        this->dlmFunc();
       }
     }
   }
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  object->setTaskIF(this);
-  objectList.push_back(object);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time
@@ -156,3 +133,5 @@ bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms
   (*previousWakeTimeMs) = currentStartTime;
   return false;
 }
+
+bool PeriodicTask::isEmpty() const { return objectList.empty(); }

src/fsfw/osal/host/PeriodicTask.h

@@ -6,9 +6,9 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  *
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF {
+class PeriodicTask : public PeriodicTaskBase {
  public:
   /**
    * @brief	Standard constructor of the class.
@@ -34,12 +34,12 @@ class PeriodicTask : public PeriodicTaskIF {
    * assigned.
    */
   PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-               TaskPeriod setPeriod, void (*setDeadlineMissedFunc)());
+               TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
   /**
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -48,63 +48,21 @@ class PeriodicTask : public PeriodicTaskIF {
    * 			The address of the task object is passed as an argument
    * 			to the system call.
    */
-  ReturnValue_t startTask(void);
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   *  -@c RETURN_OK on success
-   *  -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object);
+  ReturnValue_t startTask() override;
 
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object pointer to the object to add.
-   * @return
-   *  -@c RETURN_OK on success
-   *  -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object);
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
+  ReturnValue_t sleepFor(uint32_t ms) override;
 
+  bool isEmpty() const override;
  protected:
   using chron_ms = std::chrono::milliseconds;
   bool started;
-  //!< Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
-   * @brief	The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
+
   /**
    * @brief	This is the function executed in the new task's context.
    * @details
@@ -124,9 +82,9 @@ class PeriodicTask : public PeriodicTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
-#endif /* PERIODICTASK_H_ */
+#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */

src/fsfw/osal/host/TaskFactory.cpp

@@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 // Not used for the host implementation for now because C++ thread abstraction is used
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
 
-TaskFactory::TaskFactory() {}
+TaskFactory::TaskFactory() = default;
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 

src/fsfw/osal/host/taskHelpers.cpp

@@ -6,7 +6,7 @@
 std::mutex nameMapLock;
 std::map<std::thread::id, std::string> taskNameMap;
 
-ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
+ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) {
   std::lock_guard<std::mutex> lg(nameMapLock);
   auto returnPair = taskNameMap.emplace(threadId, taskName);
   if (not returnPair.second) {

src/fsfw/osal/host/taskHelpers.h

@@ -7,7 +7,7 @@
 
 namespace tasks {
 
-ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
+ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName);
 std::string getTaskName(std::thread::id threadId);
 
 }  // namespace tasks

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,29 +1,25 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-  Clock.cpp
-  BinarySemaphore.cpp
-  CountingSemaphore.cpp
-  FixedTimeslotTask.cpp
-  InternalErrorCodes.cpp
-  MessageQueue.cpp
-  Mutex.cpp
-  MutexFactory.cpp
-  PeriodicPosixTask.cpp
-  PosixThread.cpp
-  QueueFactory.cpp
-  SemaphoreFactory.cpp
-  TaskFactory.cpp
-  tcpipHelpers.cpp
-  unixUtility.cpp
-  )
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE Clock.cpp
+          BinarySemaphore.cpp
+          CountingSemaphore.cpp
+          FixedTimeslotTask.cpp
+          InternalErrorCodes.cpp
+          MessageQueue.cpp
+          Mutex.cpp
+          MutexFactory.cpp
+          PeriodicPosixTask.cpp
+          PosixThread.cpp
+          QueueFactory.cpp
+          SemaphoreFactory.cpp
+          TaskFactory.cpp
+          tcpipHelpers.cpp
+          unixUtility.cpp)
 
 find_package(Threads REQUIRED)
 
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC
-  ${CMAKE_THREAD_LIBS_INIT}
-  )
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${CMAKE_THREAD_LIBS_INIT})
 
 if(NOT APPLE)
-  target_link_libraries(${LIB_FSFW_NAME} PUBLIC
-    rt
-  )
+  target_link_libraries(${LIB_FSFW_NAME} PUBLIC rt)
 endif()

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -1,24 +1,21 @@
 #include "fsfw/osal/linux/FixedTimeslotTask.h"
 
-#include <limits.h>
+#include <climits>
 
-#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
-FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
-                                     uint32_t periodMs_)
-    : PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
-
-FixedTimeslotTask::~FixedTimeslotTask() {}
-
-bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); }
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
+    : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
+      posixThread(name_, priority_, stackSize_),
+      started(false) {}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
   return nullptr;
@@ -26,7 +23,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
-  createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -34,45 +31,25 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   return PosixThread::sleep((uint64_t)ms * 1000000);
 }
 
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
-
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::dec << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
   // Like FreeRTOS pthreads are running as soon as they are created
   if (!started) {
-    suspend();
+    posixThread.suspend();
   }
 
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
-  uint64_t interval = pst.getIntervalToNextSlotMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
+  uint32_t interval = 0;
 
   // The task's "infinite" inner loop is entered.
-  while (1) {
-    if (pst.slotFollowsImmediately()) {
+  while (true) {
+    if (pollingSeqTable.slotFollowsImmediately()) {
       // Do nothing
     } else {
       // The interval for the next polling slot is selected.
-      interval = this->pst.getIntervalToPreviousSlotMs();
+      interval = pollingSeqTable.getIntervalToPreviousSlotMs();
       // The period is checked and restarted with the new interval.
       // If the deadline was missed, the deadlineMissedFunc is called.
       if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
@@ -81,7 +58,7 @@ void FixedTimeslotTask::taskFunctionality() {
       }
     }
     // The device handler for this slot is executed and the next one is chosen.
-    this->pst.executeAndAdvance();
+    pollingSeqTable.executeAndAdvance();
   }
 }
 
@@ -89,8 +66,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   FixedTimeslotTask::deadlineMissedCount++;
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
+    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
+               << std::endl;
 #endif
   }
 }

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -3,11 +3,12 @@
 
 #include <pthread.h>
 
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
+#include "fsfw/tasks/definitions.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -21,22 +22,14 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
-  virtual ~FixedTimeslotTask();
+  FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
+  ~FixedTimeslotTask() override = default;
 
   ReturnValue_t startTask() override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
-  uint32_t getPeriodMs() const override;
-
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                        int8_t executionStep) override;
-
-  ReturnValue_t checkSequence() override;
-
-  bool isEmpty() const override;
-
   /**
    * This static function can be used as #deadlineMissedFunc.
    * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
@@ -56,9 +49,12 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  virtual void taskFunctionality();
+  [[noreturn]] virtual void taskFunctionality();
 
  private:
+  PosixThread posixThread;
+  bool started;
+
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -71,9 +67,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * arbitrary data.
    */
   static void* taskEntryPoint(void* arg);
-  FixedSlotSequence pst;
-
-  bool started;
 };
 
 #endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -1,110 +1,54 @@
-#include "fsfw/osal/linux/PeriodicPosixTask.h"
+#include "PeriodicPosixTask.h"
 
-#include <set>
-#include <cerrno>
-
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     uint32_t period_, void(deadlineMissedFunc_)())
-    : PosixThread(name_, priority_, stackSize_),
-      objectList(),
-      started(false),
-      periodMs(period_),
-      deadlineMissedFunc(deadlineMissedFunc_) {}
-
-PeriodicPosixTask::~PeriodicPosixTask() {
-  // Not Implemented
-}
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
+    : PeriodicTaskBase(period_, dlmFunc_),
+      posixThread(name_, priority_, stackSize_),
+      started(false) {}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
+  auto* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
   return nullptr;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject, opCode);
-}
-
-ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-               << " it implements ExecutableObjectIF!" << std::endl;
-#else
-    sif::printError(
-        "PeriodicTask::addComponent: Invalid object. Make sure it "
-        "implements ExecutableObjectIF!\n");
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back({object, opCode});
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
-  return PosixThread::sleep((uint64_t)ms * 1000000);
+  return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
 }
 
-ReturnValue_t PeriodicPosixTask::startTask(void) {
+ReturnValue_t PeriodicPosixTask::startTask() {
   if (isEmpty()) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   started = true;
-  PosixThread::createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void) {
+[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
   if (not started) {
-    suspend();
+    posixThread.suspend();
   }
 
   initObjsAfterTaskCreation();
 
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
+  uint64_t periodMs = getPeriodMs();
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
     for (auto const& objOpCodePair : objectList) {
       objOpCodePair.first->performOperation(objOpCodePair.second);
     }
 
     if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
-      if (this->deadlineMissedFunc != nullptr) {
-        this->deadlineMissedFunc();
+      if (dlmFunc != nullptr) {
+        dlmFunc();
       }
     }
   }
 }
-
-uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
-
-bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); }
-
-ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() {
-  std::multiset<ExecutableObjectIF*> uniqueObjects;
-  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
-  uint32_t count = 0;
-  for (const auto& obj : objectList) {
-    // Ensure that each unique object is initialized once.
-    if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
-      ReturnValue_t result = obj.first->initializeAfterTaskCreation();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        count++;
-        status = result;
-      }
-      uniqueObjects.emplace(obj.first);
-    }
-  }
-  if (count > 0) {
-  }
-  return status;
-}

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -3,12 +3,13 @@
 
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/ExecutableObjectIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
 
-class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
+class PeriodicPosixTask : public PeriodicTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -22,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
-                    void (*deadlineMissedFunc_)());
-  virtual ~PeriodicPosixTask();
+  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
+                    TaskDeadlineMissedFunction dlmFunc_);
+  ~PeriodicPosixTask() override = default;
 
   /**
    * @brief	The method to start the task.
@@ -34,48 +35,17 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
-
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object pointer to the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
-  ReturnValue_t initObjsAfterTaskCreation();
-
-  bool isEmpty() const override;
-
  private:
-  //! Typedef for the List of objects. Will contain the objects to execute and their respective
-  //! op codes
-  using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
+  PosixThread posixThread;
 
   /**
    * @brief Flag to indicate that the task was started and is allowed to run
    */
   bool started;
 
-  /**
-   * @brief Period of the task in milliseconds
-   */
-  uint32_t periodMs;
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
@@ -84,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
    * executed.
    */
-  virtual void taskFunctionality(void);
+  [[noreturn]] virtual void taskFunctionality();
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -92,14 +62,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * of the child class. Needs a valid pointer to the derived class.
    */
   static void* taskEntryPoint(void* arg);
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details	This pointer stores the function that is executed if the task's deadline is missed.
-   * 			So, each may react individually on a timing failure. The pointer may be
-   * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
-   * 			of the periodic task.
-   */
-  void (*deadlineMissedFunc)();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

src/fsfw/osal/linux/PosixThread.h

@@ -35,6 +35,21 @@ class PosixThread {
    */
   void resume();
 
+  /**
+   * @brief     Function that has to be called by derived class because the
+   *        derived class pointer has to be valid as argument.
+   * @details
+   * This function creates a pthread with the given parameters. As the
+   * function requires a pointer to the derived object it has to be called
+   * after the this pointer of the derived object is valid.
+   * Sets the taskEntryPoint as function to be called by new a thread.
+   * @param fnc_ Function which will be executed by the thread.
+   * @param arg_
+   * argument of the taskEntryPoint function, needs to be this pointer
+   * of derived class
+   */
+  void createTask(void* (*fnc_)(void*), void* arg_);
+
   /**
    * Delay function similar to FreeRtos delayUntil function
    *
@@ -55,21 +70,6 @@ class PosixThread {
  protected:
   pthread_t thread;
 
-  /**
-   * @brief 	Function that has to be called by derived class because the
-   *  		derived class pointer has to be valid as argument.
-   * @details
-   * This function creates a pthread with the given parameters. As the
-   * function requires a pointer to the derived object it has to be called
-   * after the this pointer of the derived object is valid.
-   * Sets the taskEntryPoint as function to be called by new a thread.
-   * @param fnc_ Function which will be executed by the thread.
-   * @param arg_
-   * argument of the taskEntryPoint function, needs to be this pointer
-   * of derived class
-   */
-  void createTask(void* (*fnc_)(void*), void* arg_);
-
  private:
   char name[PTHREAD_MAX_NAMELEN];
   int priority;

src/fsfw/osal/linux/TaskFactory.cpp

@@ -8,21 +8,22 @@
 // TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
 PeriodicTaskIF* TaskFactory::createPeriodicTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
+  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
+  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+                               deadLineMissedFunction_);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/osal/rtems/CMakeLists.txt

@@ -1,20 +1,17 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Clock.cpp
-		CpuUsage.cpp
-		InitTask.cpp
-		InternalErrorCodes.cpp
-		MessageQueue.cpp
-		PeriodicTask.cpp
-		Mutex.cpp
-		MutexFactory.cpp
-		FixedTimeslotTask.cpp
-		QueueFactory.cpp
-		RtemsBasic.cpp
-		RTEMSTaskBase.cpp
-		TaskFactory.cpp
-		BinarySemaphore.cpp
-		SemaphoreFactory.cpp
-)
-
-
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE Clock.cpp
+          CpuUsage.cpp
+          InitTask.cpp
+          InternalErrorCodes.cpp
+          MessageQueue.cpp
+          PeriodicTask.cpp
+          Mutex.cpp
+          MutexFactory.cpp
+          FixedTimeslotTask.cpp
+          QueueFactory.cpp
+          RtemsBasic.cpp
+          RTEMSTaskBase.cpp
+          TaskFactory.cpp
+          BinarySemaphore.cpp
+          SemaphoreFactory.cpp)

src/fsfw/osal/windows/CMakeLists.txt

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

src/fsfw/parameters/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ParameterHelper.cpp
-		ParameterMessage.cpp
-		ParameterWrapper.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE ParameterHelper.cpp ParameterMessage.cpp
+                           ParameterWrapper.cpp)

src/fsfw/power/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    Fuse.cpp
-    PowerComponent.cpp
-    PowerSensor.cpp
-    PowerSwitcher.cpp
-    DummyPowerSwitcher.cpp
-    PowerSwitcherComponent.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE Fuse.cpp PowerComponent.cpp PowerSensor.cpp PowerSwitcher.cpp
+          DummyPowerSwitcher.cpp PowerSwitcherComponent.cpp)

src/fsfw/pus/CMakeLists.txt

@@ -1,12 +1,12 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    Service1TelecommandVerification.cpp
-    Service2DeviceAccess.cpp
-    Service3Housekeeping.cpp
-    Service5EventReporting.cpp
-    Service8FunctionManagement.cpp
-    Service9TimeManagement.cpp
-    Service17Test.cpp
-    Service20ParameterManagement.cpp
-    CService200ModeCommanding.cpp
-    CService201HealthCommanding.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE Service1TelecommandVerification.cpp
+          Service2DeviceAccess.cpp
+          Service3Housekeeping.cpp
+          Service5EventReporting.cpp
+          Service8FunctionManagement.cpp
+          Service9TimeManagement.cpp
+          Service17Test.cpp
+          Service20ParameterManagement.cpp
+          CService200ModeCommanding.cpp
+          CService201HealthCommanding.cpp)

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -44,6 +44,12 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   static constexpr ReturnValue_t INVALID_RELATIVE_TIME =
       HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
 
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
+
+  //! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
+  //! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
+  static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+
   // The types of PUS-11 subservices
   enum Subservice : uint8_t {
     ENABLE_SCHEDULING = 1,
@@ -73,7 +79,10 @@ class Service11TelecommandScheduling final : public PusServiceBase {
                                  uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
                                  bool debugMode = false);
 
-  ~Service11TelecommandScheduling();
+  ~Service11TelecommandScheduling() override;
+
+  void enableExpiredTcDeletion();
+  void disableExpiredTcDeletion();
 
   /** PusServiceBase overrides */
   ReturnValue_t handleRequest(uint8_t subservice) override;
@@ -82,8 +91,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
 
  private:
   struct TelecommandStruct {
-    uint64_t requestId;
-    uint32_t seconds;
+    uint64_t requestId{};
+    uint32_t seconds{};
     store_address_t storeAddr;  // uint16
   };
 
@@ -92,9 +101,11 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   // minimum release time offset to insert into schedule
   const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5;
 
-  // the maximum amount of stored TCs is defined here
-  static constexpr uint16_t MAX_STORED_TELECOMMANDS = 500;
-
+  /**
+   * By default, the scheduling will be disabled. This is a standard requirement
+   */
+  bool schedulingEnabled = false;
+  bool deleteExpiredTcWhenDisabled = true;
   bool debugMode = false;
   StorageManagerIF* tcStore = nullptr;
   AcceptsTelecommandsIF* tcRecipient = nullptr;
@@ -109,6 +120,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
 
   TelecommandMap telecommandMap;
 
+  ReturnValue_t handleResetCommand();
   /**
    * @brief Logic to be performed on an incoming TC[11,4].
    * @return RETURN_OK if successful
@@ -139,17 +151,6 @@ class Service11TelecommandScheduling final : public PusServiceBase {
    */
   ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size);
 
-  /**
-   * @brief Deserializes a generic type from a payload buffer by using the FSFW
-   * SerializeAdapter Interface.
-   * @param output Output to be deserialized
-   * @param buf Payload buffer (application data)
-   * @param bufsize Remaining size of payload buffer (application data size)
-   * @return RETURN_OK if successful
-   */
-  template <typename T>
-  ReturnValue_t deserializeViaFsfwInterface(T& output, const uint8_t* buf, size_t bufsize);
-
   /**
    * @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the
    * class TcPacketPus.
@@ -177,7 +178,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
    * @param ssc Source Sequence Count
    * @return Request ID
    */
-  uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
+  [[nodiscard]] uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
 
   /**
    * @brief Gets the filter range for filter TCs from a data packet
@@ -194,7 +195,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   /**
    * @brief Prints content of multimap. Use for simple debugging only.
    */
-  void debugPrintMultimapContent(void) const;
+  void debugPrintMultimapContent() const;
 };
 
 #include "Service11TelecommandScheduling.tpp"

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -1,11 +1,12 @@
 #pragma once
 
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serialize/SerializeAdapter.h>
-#include <fsfw/tmtcservices/AcceptsTelecommandsIF.h>
-
 #include <cstddef>
 
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
 template <size_t MAX_NUM_TCS>
@@ -18,7 +19,7 @@ inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduli
       tcRecipient(tcRecipient) {}
 
 template <size_t MAX_NUM_TCS>
-inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() {}
+inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() = default;
 
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
@@ -37,6 +38,17 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
     return handleInvalidData("handleRequest");
   }
   switch (subservice) {
+    case Subservice::ENABLE_SCHEDULING: {
+      schedulingEnabled = true;
+      break;
+    }
+    case Subservice::DISABLE_SCHEDULING: {
+      schedulingEnabled = false;
+      break;
+    }
+    case Subservice::RESET_SCHEDULING: {
+      return handleResetCommand();
+    }
     case Subservice::INSERT_ACTIVITY:
       return doInsertActivity(data, size);
     case Subservice::DELETE_ACTIVITY:
@@ -48,41 +60,43 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
     case Subservice::FILTER_TIMESHIFT_ACTIVITY:
       return doFilterTimeshiftActivity(data, size);
     default:
-      break;
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
-
-  return HasReturnvaluesIF::RETURN_FAILED;
+  return RETURN_OK;
 }
 
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
-  // DEBUG
-  // DebugPrintMultimapContent();
-
+  if (not schedulingEnabled) {
+    return RETURN_OK;
+  }
   // get current time as UNIX timestamp
   timeval tNow = {};
   Clock::getClock_timeval(&tNow);
 
+  // TODO: Optionally limit the max number of released TCs per cycle?
   // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
   // does not work in this case as we are deleting the current element here.
   for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
-    if (it->first <= tNow.tv_sec) {
-      // release tc
-      TmTcMessage releaseMsg(it->second.storeAddr);
-      auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
+    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
+      if (schedulingEnabled) {
+        // release tc
+        TmTcMessage releaseMsg(it->second.storeAddr);
+        auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
 
-      if (sendRet != HasReturnvaluesIF::RETURN_OK) {
-        return sendRet;
-      }
-
-      telecommandMap.erase(it++);
-
-      if (debugMode) {
+        if (sendRet != HasReturnvaluesIF::RETURN_OK) {
+          return sendRet;
+        }
+        if (debugMode) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "Released TC & erased it from TC map" << std::endl;
+          sif::info << "Released TC & erased it from TC map" << std::endl;
 #else
-        sif::printInfo("Released TC & erased it from TC map\n");
+          sif::printInfo("Released TC & erased it from TC map\n");
 #endif
+        }
+        telecommandMap.erase(it++);
+      } else if (deleteExpiredTcWhenDisabled) {
+        telecommandMap.erase(it++);
       }
       continue;
     }
@@ -112,12 +126,30 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::initialize() {
   return res;
 }
 
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleResetCommand() {
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    ReturnValue_t result = tcStore->deleteData(it->second.storeAddr);
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      // This should not happen
+      sif::warning << "Service11TelecommandScheduling::handleRequestDeleting: Deletion failed"
+                   << std::endl;
+#else
+      sif::printWarning("Service11TelecommandScheduling::handleRequestDeleting: Deletion failed\n");
+#endif
+      triggerEvent(TC_DELETION_FAILED, (it->second.requestId >> 32) & 0xffffffff,
+                   it->second.requestId & 0xffffffff);
+    }
+  }
+  telecommandMap.clear();
+  return RETURN_OK;
+}
+
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
     const uint8_t *data, size_t size) {
   uint32_t timestamp = 0;
-  const uint8_t *initData = data;
-  size_t initSz = size;
   ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
   if (result != RETURN_OK) {
     return result;
@@ -142,7 +174,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
 
   // store currentPacket and receive the store address
   store_address_t addr{};
-  if (tcStore->addData(&addr, initData, initSz) != RETURN_OK ||
+  if (tcStore->addData(&addr, data, size) != RETURN_OK ||
       addr.raw == storeId::INVALID_STORE_ADDRESS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
@@ -404,7 +436,6 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimesh
     // and then insert it again as new entry
     telecommandMap.insert(std::make_pair(tempKey, tempTc));
     shiftedItemsCount++;
-    continue;
   }
 
   if (debugMode) {
@@ -463,9 +494,9 @@ template <size_t MAX_NUM_TCS>
 inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::buildRequestId(uint32_t sourceId,
                                                                             uint16_t apid,
                                                                             uint16_t ssc) const {
-  uint64_t sourceId64 = static_cast<uint64_t>(sourceId);
-  uint64_t apid64 = static_cast<uint64_t>(apid);
-  uint64_t ssc64 = static_cast<uint64_t>(ssc);
+  auto sourceId64 = static_cast<uint64_t>(sourceId);
+  auto apid64 = static_cast<uint64_t>(apid);
+  auto ssc64 = static_cast<uint64_t>(ssc);
 
   return (sourceId64 << 32) | (apid64 << 16) | ssc64;
 }
@@ -483,7 +514,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
   if (typeRaw > 3) {
     return INVALID_TYPE_TIME_WINDOW;
   }
-  TypeOfTimeWindow type = static_cast<TypeOfTimeWindow>(typeRaw);
+  auto type = static_cast<TypeOfTimeWindow>(typeRaw);
 
   // we now have the type of delete activity - so now we set the range to delete,
   // according to the type of time window.
@@ -558,7 +589,10 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
 
   // additional security check, this should never be true
   if (itBegin->first > itEnd->first) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#else
     sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
+#endif
     return RETURN_FAILED;
   }
 
@@ -580,19 +614,32 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidD
 }
 
 template <size_t MAX_NUM_TCS>
-inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent(void) const {
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent() const {
+  for ([[maybe_unused]] const auto &dit : telecommandMap) {
 #if FSFW_DISABLE_PRINTOUT == 0
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
-             << std::endl;
-  sif::debug << "[" << dit->first << "]: Request ID: " << dit->second.requestId << " | "
-             << "Store Address: " << dit->second.storeAddr << std::endl;
+    sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
+               << std::endl;
+    sif::debug << "[" << dit.first << "]: Request ID: " << dit.second.requestId << " | "
+               << "Store Address: " << dit.second.storeAddr.raw << std::endl;
 #else
-  sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
-  for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
-    sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit->first,
-                    dit->second.requestId, dit->second.storeAddr);
+    sif::printDebug(
+        "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
+    for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
+      sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit->first,
+                      dit->second.requestId, dit->second.storeAddr);
+    }
+#endif
+#endif
   }
-#endif
-#endif
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::enableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = true;
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::disableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = false;
 }

src/fsfw/pus/Service3Housekeeping.cpp

@@ -208,7 +208,7 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
       ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
       HousekeepingMessage::getHkRequestFailureReply(reply, &error);
       failureParameter2 = error;
-      return CommandingServiceBase::EXECUTION_COMPLETE;
+      return RETURN_FAILED;
     }
 
     default:
@@ -248,19 +248,23 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
     case (HousekeepingMessage::HK_REQUEST_FAILURE): {
       break;
     }
+    case(CommandMessage::REPLY_REJECTED): {
+      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
+          "rejected with error code" << reply->getParameter() << std::endl;
+      break;
+    }
 
     default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
-                      "command "
-                   << command << "!" << std::endl;
+                      "command " << command << "" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu!\n",
+          "reply command %hu\n",
           command);
 #endif
-      return;
+      break;
     }
   }
 
@@ -275,6 +279,7 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
         "Could not generate reply!\n");
 #endif
   }
+  CommandingServiceBase::handleUnrequestedReply(reply);
 }
 
 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }

src/fsfw/pus/Service5EventReporting.cpp

@@ -85,7 +85,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // In addition to the default PUSServiceBase initialization, this service needs
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
     return RETURN_FAILED;
   }

src/fsfw/rmap/CMakeLists.txt

@@ -1,7 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		RMAP.cpp
-		RMAPCookie.cpp
-		RmapDeviceCommunicationIF.cpp
-)
-
+target_sources(${LIB_FSFW_NAME} PRIVATE RMAP.cpp RMAPCookie.cpp
+                                        RmapDeviceCommunicationIF.cpp)

src/fsfw/serialize/CMakeLists.txt

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

src/fsfw/serviceinterface/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-	ServiceInterfaceStream.cpp
-	ServiceInterfaceBuffer.cpp
-	ServiceInterfacePrinter.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE ServiceInterfaceStream.cpp ServiceInterfaceBuffer.cpp
+          ServiceInterfacePrinter.cpp)

src/fsfw/storagemanager/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ConstStorageAccessor.cpp
-		StorageAccessor.cpp
-		LocalPool.cpp
-		PoolManager.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE ConstStorageAccessor.cpp StorageAccessor.cpp
+                           LocalPool.cpp PoolManager.cpp)

src/fsfw/subsystem/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Subsystem.cpp
-		SubsystemBase.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp)
 
-add_subdirectory(modes)
+add_subdirectory(modes)

src/fsfw/subsystem/modes/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ModeSequenceMessage.cpp
-		ModeStore.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE ModeSequenceMessage.cpp ModeStore.cpp)

src/fsfw/tasks/CMakeLists.txt

@@ -1,5 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		FixedSequenceSlot.cpp
-		FixedSlotSequence.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
+                           PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)

src/fsfw/tasks/FixedSlotSequence.h

@@ -35,7 +35,7 @@ class FixedSlotSequence {
    * @brief	The constructor of the FixedSlotSequence object.
    * @param	setLength	The period length, expressed in ms.
    */
-  FixedSlotSequence(uint32_t setLengthMs);
+  explicit FixedSlotSequence(uint32_t setLengthMs);
 
   /**
    * @brief	The destructor of the FixedSlotSequence object.

src/fsfw/tasks/FixedTimeslotTaskBase.cpp

@@ -0,0 +1,29 @@
+#include "FixedTimeslotTaskBase.h"
+
+#include "fsfw/objectmanager/ObjectManager.h"
+
+FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
+                                             TaskDeadlineMissedFunction dlmFunc_)
+    : period(period_), pollingSeqTable(getPeriodMs()), dlmFunc(dlmFunc_) {}
+uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
+
+bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); }
+
+ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
+
+ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+                                             int8_t executionStep) {
+  auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
+  if (executableObject != nullptr) {
+    pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << componentId
+             << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
+#else
+  sif::printError("Component 0x%08x not found, not adding it to PST\n");
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
+}

src/fsfw/tasks/FixedTimeslotTaskBase.h

@@ -0,0 +1,44 @@
+#ifndef FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
+#define FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
+
+#include "FixedSlotSequence.h"
+#include "FixedTimeslotTaskIF.h"
+#include "definitions.h"
+
+class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
+ public:
+  explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
+  ~FixedTimeslotTaskBase() override = default;
+  ;
+
+ protected:
+  /**
+   * @brief Period of task in floating point seconds
+   */
+  TaskPeriod period;
+
+  //! Polling sequence table which contains the object to execute
+  //! and information like the timeslots and the passed execution step.
+  FixedSlotSequence pollingSeqTable;
+
+  /**
+   * @brief The pointer to the deadline-missed function.
+   * @details
+   * This pointer stores the function that is executed if the task's deadline
+   * is missed. So, each may react individually on a timing failure.
+   * The pointer may be NULL, then nothing happens on missing the deadline.
+   * The deadline is equal to the next execution of the periodic task.
+   */
+  TaskDeadlineMissedFunction dlmFunc = nullptr;
+
+  ReturnValue_t checkSequence() override;
+
+  [[nodiscard]] uint32_t getPeriodMs() const override;
+
+  [[nodiscard]] bool isEmpty() const override;
+
+  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+                        int8_t executionStep) override;
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -11,7 +11,7 @@
  */
 class FixedTimeslotTaskIF : public PeriodicTaskIF {
  public:
-  virtual ~FixedTimeslotTaskIF() {}
+  ~FixedTimeslotTaskIF() override = default;
 
   static constexpr ReturnValue_t SLOT_LIST_EMPTY =
       HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);

src/fsfw/tasks/PeriodicTaskBase.cpp

@@ -0,0 +1,65 @@
+#include "PeriodicTaskBase.h"
+
+#include <set>
+
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
+
+PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
+    : period(period_), dlmFunc(dlmFunc_) {
+  // Hints at configuration error
+  if (PeriodicTaskBase::getPeriodMs() <= 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Passed task period 0 or smaller than 1 ms" << std::endl;
+#else
+    sif::printWarning("Passed task period 0 or smaller than 1ms\n");
+#endif
+  }
+}
+
+uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
+
+bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
+
+ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
+  std::multiset<ExecutableObjectIF*> uniqueObjects;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  uint32_t count = 0;
+  for (const auto& obj : objectList) {
+    // Ensure that each unique object is initialized once.
+    if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
+      ReturnValue_t result = obj.first->initializeAfterTaskCreation();
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        count++;
+        status = result;
+      }
+      uniqueObjects.emplace(obj.first);
+    }
+  }
+  if (count > 0) {
+  }
+  return status;
+}
+
+ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
+  auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
+  return addComponent(newObject, opCode);
+}
+
+ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
+  if (object == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+               << " it implements ExecutableObjectIF!" << std::endl;
+#else
+    sif::printError(
+        "PeriodicTask::addComponent: Invalid object. Make sure it "
+        "implements ExecutableObjectIF!\n");
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  objectList.push_back({object, opCode});
+  object->setTaskIF(this);
+
+  return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw/tasks/PeriodicTaskBase.h

@@ -0,0 +1,51 @@
+#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
+#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
+
+#include <cstdint>
+#include <vector>
+
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/definitions.h"
+
+class ExecutableObjectIF;
+
+class PeriodicTaskBase : public PeriodicTaskIF {
+ public:
+  explicit PeriodicTaskBase(TaskPeriod period,
+                            TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
+
+  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
+  ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
+
+  [[nodiscard]] uint32_t getPeriodMs() const override;
+
+  [[nodiscard]] bool isEmpty() const override;
+
+  ReturnValue_t initObjsAfterTaskCreation();
+
+ protected:
+  //! Typedef for the List of objects. Will contain the objects to execute and their respective
+  //! operation codes
+  using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
+  /**
+   * @brief This attribute holds a list of objects to be executed.
+   */
+  ObjectList objectList;
+
+  /**
+   * @brief Period of task in floating point seconds
+   */
+  TaskPeriod period;
+
+  /**
+   * @brief The pointer to the deadline-missed function.
+   * @details
+   * This pointer stores the function that is executed if the task's deadline
+   * is missed. So, each may react individually on a timing failure.
+   * The pointer may be NULL, then nothing happens on missing the deadline.
+   * The deadline is equal to the next execution of the periodic task.
+   */
+  TaskDeadlineMissedFunction dlmFunc = nullptr;
+};
+
+#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */

src/fsfw/tasks/PeriodicTaskIF.h

@@ -3,9 +3,8 @@
 
 #include <cstddef>
 
-#include "../objectmanager/SystemObjectIF.h"
-#include "../timemanager/Clock.h"
-class ExecutableObjectIF;
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 
 /**
  * New version of TaskIF
@@ -18,7 +17,7 @@ class PeriodicTaskIF {
   /**
    * @brief	A virtual destructor as it is mandatory for interfaces.
    */
-  virtual ~PeriodicTaskIF() {}
+  virtual ~PeriodicTaskIF() = default;
   /**
    * @brief	With the startTask method, a created task can be started
    *          for the first time.
@@ -26,20 +25,21 @@ class PeriodicTaskIF {
   virtual ReturnValue_t startTask() = 0;
 
   /**
-   * Add a component (object) to a periodic task.
-   * @param object
-   * Add an object to the task. The object needs to implement ExecutableObjectIF
-   * @return
+   * Adds an object to the list of objects to be executed.
+   * The objects are executed in the order added. The object needs to implement
+   * ExecutableObjectIF
+   * @param object Id of the object to add.
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
   virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
     return HasReturnvaluesIF::RETURN_FAILED;
   };
 
   /**
-   * Add an object to a periodic task.
-   * @param object
-   * Add an object to the task.
-   * @return
+   * Adds an object to the list of objects to be executed.
+   * The objects are executed in the order added.
+   * @param object pointer to the object to add.
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
   virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
     return HasReturnvaluesIF::RETURN_FAILED;

src/fsfw/tasks/TaskFactory.h

@@ -4,7 +4,7 @@
 #include <cstdlib>
 
 #include "FixedTimeslotTaskIF.h"
-#include "Typedef.h"
+#include "definitions.h"
 
 /**
  * Singleton Class that produces Tasks.

src/fsfw/tasks/Typedef.h

@@ -1,13 +0,0 @@
-#ifndef FSFW_TASKS_TYPEDEF_H_
-#define FSFW_TASKS_TYPEDEF_H_
-
-#include <cstddef>
-#include <cstdint>
-
-typedef const char* TaskName;
-typedef uint32_t TaskPriority;
-typedef size_t TaskStackSize;
-typedef double TaskPeriod;
-typedef void (*TaskDeadlineMissedFunction)();
-
-#endif /* FSFW_TASKS_TYPEDEF_H_ */

src/fsfw/tasks/definitions.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_TASKS_TYPEDEF_H_
+#define FSFW_TASKS_TYPEDEF_H_
+
+#include <cstddef>
+#include <cstdint>
+
+using TaskName = const char*;
+using TaskPriority = int;
+using TaskStackSize = size_t;
+using TaskPeriod = double;
+using TaskDeadlineMissedFunction = void (*)();
+
+#endif /* FSFW_TASKS_TYPEDEF_H_ */

src/fsfw/tcdistribution/CCSDSDistributor.cpp

@@ -9,7 +9,7 @@
 CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId)
     : TcDistributor(setObjectId), defaultApid(setDefaultApid) {}
 
-CCSDSDistributor::~CCSDSDistributor() {}
+CCSDSDistributor::~CCSDSDistributor() = default;
 
 TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
 #if CCSDS_DISTRIBUTOR_DEBUGGING == 1
@@ -38,6 +38,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
         " store failed!\n");
 #endif
 #endif
+    return queueMap.end();
   }
   SpacePacketBase currentPacket(packet);
 
@@ -45,7 +46,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
   sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex
             << currentPacket.getAPID() << std::dec << std::endl;
 #endif
-  TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
+  auto position = this->queueMap.find(currentPacket.getAPID());
   if (position != this->queueMap.end()) {
     return position;
   } else {

src/fsfw/tcdistribution/CMakeLists.txt

@@ -1,9 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    CCSDSDistributor.cpp
-    PUSDistributor.cpp
-    TcDistributor.cpp
-    TcPacketCheckPUS.cpp
-    TcPacketCheckCFDP.cpp
-    CFDPDistributor.cpp
-)
-
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE CCSDSDistributor.cpp PUSDistributor.cpp TcDistributor.cpp
+          TcPacketCheckPUS.cpp TcPacketCheckCFDP.cpp CFDPDistributor.cpp)

src/fsfw/tcdistribution/PUSDistributor.cpp

@@ -15,7 +15,7 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
       tcStatus(RETURN_FAILED),
       packetSource(setPacketSource) {}
 
-PUSDistributor::~PUSDistributor() {}
+PUSDistributor::~PUSDistributor() = default;
 
 PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
@@ -23,7 +23,7 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
     sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
                << storeId.packetIndex << std::endl;
 #endif
-    TcMqMapIter queueMapIt = this->queueMap.end();
+    auto queueMapIt = this->queueMap.end();
     if (this->currentPacket == nullptr) {
       return queueMapIt;
     }
@@ -48,10 +48,8 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
         sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword
                      << " error" << std::endl;
 #else
-        sif::printWarning(
-            "PUSDistributor::handlePacket: Packet format invalid, "
-            "%s error\n",
-            keyword);
+        sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n",
+                          keyword);
 #endif
 #endif
       }
@@ -133,8 +131,7 @@ ReturnValue_t PUSDistributor::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  CCSDSDistributorIF* ccsdsDistributor =
-      ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
+  auto* ccsdsDistributor = ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
   if (ccsdsDistributor == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;

src/fsfw/thermal/CMakeLists.txt

@@ -1,10 +1,9 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		AbstractTemperatureSensor.cpp
-		Heater.cpp
-		RedundantHeater.cpp
-		ThermalComponentCore.cpp
-		ThermalComponent.cpp
-		ThermalModule.cpp
-		ThermalMonitorReporter.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE AbstractTemperatureSensor.cpp
+          Heater.cpp
+          RedundantHeater.cpp
+          ThermalComponentCore.cpp
+          ThermalComponent.cpp
+          ThermalModule.cpp
+          ThermalMonitorReporter.cpp)

src/fsfw/timemanager/CMakeLists.txt

@@ -1,8 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    CCSDSTime.cpp
-    Countdown.cpp
-    Stopwatch.cpp
-    TimeMessage.cpp
-    TimeStamper.cpp
-    ClockCommon.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE CCSDSTime.cpp Countdown.cpp Stopwatch.cpp
+                           TimeMessage.cpp TimeStamper.cpp ClockCommon.cpp)

src/fsfw/tmstorage/CMakeLists.txt

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

src/fsfw/tmtcpacket/CMakeLists.txt

@@ -1,8 +1,5 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
-    SpacePacket.cpp
-    SpacePacketBase.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE SpacePacket.cpp SpacePacketBase.cpp)
 
 add_subdirectory(cfdp)
 add_subdirectory(packetmatcher)
-add_subdirectory(pus)
+add_subdirectory(pus)

src/fsfw/tmtcpacket/cfdp/CMakeLists.txt

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

src/fsfw/tmtcpacket/packetmatcher/CMakeLists.txt

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

src/fsfw/tmtcpacket/pus/tc/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE    
-    TcPacketPusBase.cpp
-    TcPacketPus.cpp
-    TcPacketStoredBase.cpp
-    TcPacketStoredPus.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE TcPacketPusBase.cpp TcPacketPus.cpp
+                           TcPacketStoredBase.cpp TcPacketStoredPus.cpp)

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredBase.cpp

@@ -6,20 +6,20 @@
 #include "fsfw/objectmanager/frameworkObjects.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-StorageManagerIF* TcPacketStoredBase::store = nullptr;
+StorageManagerIF* TcPacketStoredBase::STORE = nullptr;
 
 TcPacketStoredBase::TcPacketStoredBase() {
   this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-  this->checkAndSetStore();
+  TcPacketStoredBase::checkAndSetStore();
 }
 
-TcPacketStoredBase::~TcPacketStoredBase() {}
+TcPacketStoredBase::~TcPacketStoredBase() = default;
 
 ReturnValue_t TcPacketStoredBase::getData(const uint8_t** dataPtr, size_t* dataSize) {
-  auto result = this->store->getData(storeAddress, dataPtr, dataSize);
+  auto result = TcPacketStoredBase::STORE->getData(storeAddress, dataPtr, dataSize);
   if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TcPacketStoredBase: Could not get data!" << std::endl;
+    sif::warning << "TcPacketStoredBase: Could not get data" << std::endl;
 #else
     sif::printWarning("TcPacketStoredBase: Could not get data!\n");
 #endif
@@ -28,11 +28,13 @@ ReturnValue_t TcPacketStoredBase::getData(const uint8_t** dataPtr, size_t* dataS
 }
 
 bool TcPacketStoredBase::checkAndSetStore() {
-  if (this->store == nullptr) {
-    this->store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-    if (this->store == nullptr) {
+  if (TcPacketStoredBase::STORE == nullptr) {
+    TcPacketStoredBase::STORE = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+    if (TcPacketStoredBase::STORE == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found!" << std::endl;
+      sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found" << std::endl;
+#else
+      sif::printError("TcPacketStoredBase::TcPacketStoredBase: TC Store not found\n");
 #endif
       return false;
     }
@@ -47,7 +49,7 @@ void TcPacketStoredBase::setStoreAddress(store_address_t setAddress,
   size_t tempSize;
   ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
   if (this->checkAndSetStore()) {
-    status = this->store->getData(this->storeAddress, &tempData, &tempSize);
+    status = TcPacketStoredBase::STORE->getData(this->storeAddress, &tempData, &tempSize);
   }
 
   if (status == StorageManagerIF::RETURN_OK) {

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredBase.h

@@ -65,7 +65,7 @@ class TcPacketStoredBase : public TcPacketStoredIF {
    * call tries to set it and throws an error message in case of failures.
    * The default store is objects::TC_STORE.
    */
-  static StorageManagerIF* store;
+  static StorageManagerIF* STORE;
   /**
    * The address where the packet data of the object instance is stored.
    */
@@ -77,7 +77,7 @@ class TcPacketStoredBase : public TcPacketStoredIF {
    * @return  @li @c true if the store is linked or could be created.
    *          @li @c false otherwise.
    */
-  bool checkAndSetStore();
+  static bool checkAndSetStore();
 };
 
-#endif /* TMTCPACKET_PUS_TcPacketStoredBase_H_ */
+#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredIF.h

@@ -9,7 +9,8 @@
 
 class TcPacketStoredIF {
  public:
-  virtual ~TcPacketStoredIF(){};
+  virtual ~TcPacketStoredIF() = default;
+  ;
 
   /**
    * With this call, the stored packet can be set to another packet in a store. This is useful

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredPus.cpp

@@ -14,8 +14,8 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid, uint8_t service, uint8_t sub
   }
   uint8_t* pData = nullptr;
   ReturnValue_t returnValue =
-      this->store->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &pData);
-  if (returnValue != this->store->RETURN_OK) {
+      this->STORE->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &pData);
+  if (returnValue != this->STORE->RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "TcPacketStoredBase: Could not get free element from store!" << std::endl;
 #endif
@@ -44,19 +44,19 @@ TcPacketStoredPus::TcPacketStoredPus(const uint8_t* data, size_t size) : TcPacke
     return;
   }
   if (this->checkAndSetStore()) {
-    ReturnValue_t status = store->addData(&storeAddress, data, size);
+    ReturnValue_t status = STORE->addData(&storeAddress, data, size);
     if (status != HasReturnvaluesIF::RETURN_OK) {
       this->setData(nullptr, size);
     }
     const uint8_t* storePtr = nullptr;
     // Repoint base data pointer to the data in the store.
-    store->getData(storeAddress, &storePtr, &size);
+    STORE->getData(storeAddress, &storePtr, &size);
     this->setData(const_cast<uint8_t*>(storePtr), size);
   }
 }
 
 ReturnValue_t TcPacketStoredPus::deletePacket() {
-  ReturnValue_t result = this->store->deleteData(this->storeAddress);
+  ReturnValue_t result = this->STORE->deleteData(this->storeAddress);
   this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
   // To circumvent size checks
   this->setData(nullptr, -1);
@@ -68,7 +68,7 @@ TcPacketPusBase* TcPacketStoredPus::getPacketBase() { return this; }
 bool TcPacketStoredPus::isSizeCorrect() {
   const uint8_t* temp_data = nullptr;
   size_t temp_size;
-  ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data, &temp_size);
+  ReturnValue_t status = this->STORE->getData(this->storeAddress, &temp_data, &temp_size);
   if (status == StorageManagerIF::RETURN_OK) {
     if (this->getFullSize() == temp_size) {
       return true;

src/fsfw/tmtcpacket/pus/tm/CMakeLists.txt

@@ -1,9 +1,9 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    TmPacketStoredPusA.cpp
-    TmPacketStoredPusC.cpp
-    TmPacketPusA.cpp
-    TmPacketPusC.cpp
-    TmPacketStoredBase.cpp
-    TmPacketBase.cpp
-    TmPacketMinimal.cpp
-)
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE TmPacketStoredPusA.cpp
+          TmPacketStoredPusC.cpp
+          TmPacketPusA.cpp
+          TmPacketPusC.cpp
+          TmPacketStoredBase.cpp
+          TmPacketBase.cpp
+          TmPacketMinimal.cpp)

src/fsfw/tmtcservices/AcceptsTelecommandsIF.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
 #define FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
 
-#include "../ipc/MessageQueueSenderIF.h"
+#include "fsfw/ipc/MessageQueueSenderIF.h"
 
 /**
  * @brief 	This interface is implemented by classes that are sinks for
@@ -20,7 +20,7 @@ class AcceptsTelecommandsIF {
   /**
    * @brief The virtual destructor as it is mandatory for C++ interfaces.
    */
-  virtual ~AcceptsTelecommandsIF() {}
+  virtual ~AcceptsTelecommandsIF() = default;
   /**
    * @brief	Getter for the service id.
    * @details	Any receiving service (at least any PUS service) shall have a