missing call added

Reviewed-on: fsfw/fsfw#612

CHANGELOG.md

@@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
+  compiler supports it
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
 - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
   and mode
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@@ -22,32 +25,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
-- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
-- Major update for version handling, using `git describe` to fetch version information with git.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
-  - Place `Version` class outside of `fsfw` namespace. It is generic
-  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
-    manually now. Those should not change too often and only a small subset is needed
-  - Separate folder for easier update and for distinction
-  - LICENSE file included
-  - use `int` for version numbers to allow unset or uninitialized version
-  - Initialize Version object with numbers set to -1
-  - Instead of hardcoding the git hash, it is now retrieved from git
-  - `Version` now allows specifying additional version information like the git SHA1 hash and the
-    versions since the last tag
-  - Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
-  - Version still need to be hand-updated if the FSFW is not included as a submodule for now.
 - IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-- Clock: 
-  - `timeval` to `TimeOfDay_t`
-  - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
-  - Moved the statics used by Clock in ClockCommon.cpp to this file
-  - Better check for leap seconds
-  - Added Unittests for Clock (only getter)
+
+### HAL
+
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+
+### Time
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
+https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
+
+- `timeval` to `TimeOfDay_t`
+- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+- Moved the statics used by Clock in ClockCommon.cpp to this file
+- Better check for leap seconds
+- Added Unittests for Clock (only getter)
+
+### Power 
+
+- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
+  also specify a `ReturnValue_t` return type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
+  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 
 ## Removed
 
@@ -57,15 +69,42 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
+  can make good use of it and it usually makes the code faster and/or smaller.
+  After some more research:
+  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
+  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
+  because if an application linking against the FSFW does not use LTO, there can be compile
+  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
+  can be seen in the multiple CMake issues for it: 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
+  Easiest solution for now: Keep this option OFF by default.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 - Added ETL dependency and improved library dependency management
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
+- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- New typedef for switcher type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- `Subsystem`: New API to add table and sequence entries
 
 ## Fixed
 
+- TCP TMTC Server: `MutexGuard` was not created properly in
+  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
+- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
+  Is not currently used right now but might be used in the future
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
+- Move some CMake directives further up top so they are not ignored
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
 - Small bugfix in STM32 HAL for SPI
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
 - HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO

CMakeLists.txt

@@ -1,43 +1,64 @@
 cmake_minimum_required(VERSION 3.13)
+
+set(LIB_FSFW_NAME fsfw)
 project(${LIB_FSFW_NAME})
 
-set(FSFW_VERSION_IF_GIT_FAILS 4)
-set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
-set(FSFW_REVISION_IF_GIT_FAILS 0)
-
-# Add the cmake folder so the FindSphinx module is found
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
-set(MSG_PREFIX "fsfw |")
-
-set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
-    "ETL library major version requirement"
-)
-set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
-    "ETL library exact version requirement"
-)
-set(FSFW_ETL_LINK_TARGET etl::etl)
-
-set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
-    "Catch2 library major version requirement"
-)
-set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
-    "Catch2 library exact version requirement"
-)
-
-set(FSFW_ETL_LIB_NAME etl)
-
-option(FSFW_GENERATE_SECTIONS
-    "Generate function and data sections. Required to remove unused code" ON
-)
-if(FSFW_GENERATE_SECTIONS)
-    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 17)
+  message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
 endif()
 
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+set(FSFW_VERSION 4)
+set(FSFW_SUBVERSION 0)
+set(FSFW_REVISION 0)
+
+# Add the cmake folder so the FindSphinx module is found
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+
+set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LIB_MAJOR_VERSION
+    20
+    CACHE STRING "ETL library major version requirement")
+set(FSFW_ETL_LIB_VERSION
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
+    CACHE STRING "ETL library exact version requirement")
+set(FSFW_ETL_LINK_TARGET etl::etl)
+
+set(FSFW_CATCH2_LIB_MAJOR_VERSION
+    3
+    CACHE STRING "Catch2 library major version requirement")
+set(FSFW_CATCH2_LIB_VERSION
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    CACHE STRING "Catch2 library exact version requirement")
+
+# Keep this off by default for now. See PR:
+# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
+# keeping this on by default is problematic
+option(
+  FSFW_ENABLE_IPO
+  "Enable interprocedural optimization or link-time optimization if available"
+  OFF)
+if(FSFW_ENABLE_IPO)
+  include(CheckIPOSupported)
+  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
+  if(NOT IPO_SUPPORTED)
+    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+  endif()
+endif()
+
+option(FSFW_GENERATE_SECTIONS
+       "Generate function and data sections. Required to remove unused code" ON)
+if(FSFW_GENERATE_SECTIONS)
+  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+endif()
+
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
-    option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
+  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
@@ -58,111 +79,96 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
-set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
 add_library(${LIB_FSFW_NAME})
 
-set(FSFW_GIT_VER_HANDLING_OK FALSE)
-# Version handling
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-    message(STATUS "${MSG_PREFIX} Determining version information with git")
-    include(FsfwHelpers)
-    determine_version_with_git("--exclude" "docker_*")
-    if(GIT_INFO)
-        set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
-        list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
-        list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
-        list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
-        list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
-        if(NOT FSFW_VERSION)
-            set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-        endif()
-        if(NOT FSFW_SUBVERSION)
-            set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-        endif()
-        if(NOT FSFW_REVISION)
-            set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
-        endif()
-        set(FSFW_GIT_VER_HANDLING_OK TRUE)
-   else()
-        set(FSFW_GIT_VER_HANDLING_OK FALSE)
-   endif()
-endif()
-if(NOT FSFW_GIT_VER_HANDLING_OK)
-    set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-    set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-    set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                TRUE)
 endif()
 
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
-    # Check whether the user has already installed Catch2 first
-    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
-    # Not installed, so use FetchContent to download and provide Catch2
-    if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
-        include(FetchContent)
-
-        FetchContent_Declare(
-            Catch2
-            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
-        )
-
-        list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
-    endif()
-
-    set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
-
-    project(${FSFW_TEST_TGT} CXX C)
-    add_executable(${FSFW_TEST_TGT})
-
-    if(FSFW_TESTS_GEN_COV)
-        message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
-        message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
-        )
-        set(CMAKE_BUILD_TYPE "Debug")
-        include(CodeCoverage)
-    endif()
-endif()
-
-message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
-
-# Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
-# Not installed, so use FetchContent to download and provide etl
-if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
-    message(STATUS
-        "No ETL installation was found with find_package. Installing and providing "
-        "etl with FindPackage"
+  message(
+    STATUS "Building the FSFW unittests in addition to the static library")
+  # Check whether the user has already installed Catch2 first
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  # Not installed, so use FetchContent to download and provide Catch2
+  if(NOT Catch2_FOUND)
+    message(
+      STATUS
+        "Catch2 installation not found. Downloading Catch2 library with FetchContent"
     )
     include(FetchContent)
+
     FetchContent_Declare(
-        ${FSFW_ETL_LIB_NAME}
-        GIT_REPOSITORY https://github.com/ETLCPP/etl
-        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
-    )
-    list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
+      Catch2
+      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
+
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
+  endif()
+
+  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)
+
+  project(${FSFW_TEST_TGT} CXX C)
+  add_executable(${FSFW_TEST_TGT})
+  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                  TRUE)
+  endif()
+
+  if(FSFW_TESTS_GEN_COV)
+    message(STATUS "Generating coverage data for the library")
+    message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
+                   "will be compiled with coverage data as well")
+    include(FetchContent)
+    FetchContent_Declare(
+      cmake-modules GIT_REPOSITORY https://github.com/bilke/cmake-modules.git)
+    FetchContent_MakeAvailable(cmake-modules)
+    set(CMAKE_BUILD_TYPE "Debug")
+    list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
+    include(CodeCoverage)
+  endif()
+endif()
+
+message(STATUS "Finding and/or providing ETL library")
+
+# Check whether the user has already installed ETL first
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_ETL_LIB_NAME}
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
 if(FSFW_FETCH_CONTENT_TARGETS)
-    FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
-    if(TARGET ${FSFW_ETL_LIB_NAME})
-        add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
-    endif()
-    if(TARGET Catch2)
-        # Fixes regression -preview4, to be confirmed in later releases
-        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
-        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-    endif()
+  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+  if(TARGET ${FSFW_ETL_LIB_NAME})
+    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
+  endif()
+  if(TARGET Catch2)
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+  endif()
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -170,275 +176,233 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-
-if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 11)
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 11)
-    message(FATAL_ERROR "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++11 support")
-endif()
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(${LIB_FSFW_NAME}
+                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
-    set(FSFW_OSAL OS_FSFW)
+  message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+  set(FSFW_OSAL OS_FSFW)
 endif()
 
 if(NOT FSFW_OSAL)
-	message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
-	# Assume host OS and autodetermine from OS_FSFW
-	if(UNIX)
-		set(FSFW_OSAL  "linux" 
-			CACHE STRING 
-			"OS abstraction layer used in the FSFW"
-		)
-	elseif(WIN32)
-		set(FSFW_OSAL  "host" 
-			CACHE STRING "OS abstraction layer used in the FSFW"
-		)
-	endif()
+  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+  # Assume host OS and autodetermine from OS_FSFW
+  if(UNIX)
+    set(FSFW_OSAL
+        "linux"
+        CACHE STRING "OS abstraction layer used in the FSFW")
+  elseif(WIN32)
+    set(FSFW_OSAL
+        "host"
+        CACHE STRING "OS abstraction layer used in the FSFW")
+  endif()
 
 endif()
 
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
-    set(FSFW_OS_NAME "Host")
-    set(FSFW_OSAL_HOST ON)
+  set(FSFW_OS_NAME "Host")
+  set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-    set(FSFW_OS_NAME "Linux")
-    set(FSFW_OSAL_LINUX ON)
+  set(FSFW_OS_NAME "Linux")
+  set(FSFW_OSAL_LINUX ON)
 elseif(FSFW_OSAL MATCHES freertos)
-    set(FSFW_OS_NAME "FreeRTOS")
-    set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_OS_NAME}
-    )
+  set(FSFW_OS_NAME "FreeRTOS")
+  set(FSFW_OSAL_FREERTOS ON)
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
 elseif(FSFW_OSAL STREQUAL rtems)
-    set(FSFW_OS_NAME "RTEMS")
-    set(FSFW_OSAL_RTEMS ON)
+  set(FSFW_OS_NAME "RTEMS")
+  set(FSFW_OSAL_RTEMS ON)
 else()
-    message(WARNING
-        "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
-    )
-    set(FSFW_OS_NAME "Host")
-    set(OS_FSFW "host")
+  message(
+    WARNING "Invalid operating system for FSFW specified! Setting to host..")
+  set(FSFW_OS_NAME "Host")
+  set(OS_FSFW "host")
 endif()
 
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 
-message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
+message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
 add_subdirectory(src)
 add_subdirectory(tests)
 if(FSFW_ADD_HAL)
-    add_subdirectory(hal)
+  add_subdirectory(hal)
 endif()
 add_subdirectory(contrib)
 if(FSFW_BUILD_DOCS)
-    add_subdirectory(docs)
+  add_subdirectory(docs)
 endif()
 
 if(FSFW_BUILD_UNITTESTS)
-    if(FSFW_TESTS_GEN_COV)
-        if(CMAKE_COMPILER_IS_GNUCXX)
-            include(CodeCoverage)
+  if(FSFW_TESTS_GEN_COV)
+    if(CMAKE_COMPILER_IS_GNUCXX)
+      include(CodeCoverage)
 
-            # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
-            )
+      # Remove quotes.
+      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
+                         "${COVERAGE_COMPILER_FLAGS}")
 
-            # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
+      # Add compile options manually, we don't want coverage for Catch2
+      target_compile_options(${FSFW_TEST_TGT}
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
+      target_compile_options(${LIB_FSFW_NAME}
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
 
-            # Exclude directories here
-            if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
-                    "--exclude-throw-branches"
-                    "--exclude-unreachable-branches"
-                )
-                set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
-                )
-            elseif(UNIX)
-                set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
-                )
-            endif()
+      # Exclude directories here
+      if(WIN32)
+        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
+                                  "--exclude-unreachable-branches")
+        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
+      elseif(UNIX)
+        set(COVERAGE_EXCLUDES
+            "/usr/include/*"
+            "/usr/bin/*"
+            "Catch2/*"
+            "/usr/local/include/*"
+            "*/fsfw_tests/*"
+            "*/catch2-src/*"
+            "*/fsfw_hal/*")
+      endif()
 
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            # Need to specify this as an interface, otherwise there will the compile issues
-            target_link_options(${LIB_FSFW_NAME} INTERFACE
-                -fprofile-arcs
-                -ftest-coverage
-            )
+      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
+                          -ftest-coverage)
+      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
+                          -ftest-coverage)
+      # Need to specify this as an interface, otherwise there will the compile
+      # issues
+      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
+                          -ftest-coverage)
 
-            if(WIN32)
-                setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
-            else()
-                setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
-            endif()
-        endif()
+      if(WIN32)
+        setup_target_for_coverage_gcovr_html(
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
+      else()
+        setup_target_for_coverage_lcov(
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
+      endif()
     endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+  endif()
+  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
+                                                 ${LIB_FSFW_NAME})
 endif()
 
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
-# If this is not given, we include the default configuration and emit a warning.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
+# this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
-    if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
-        message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
-    endif()
-    add_subdirectory(${DEF_CONF_PATH})
-    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
+  set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+  if(NOT FSFW_BUILD_DOCS)
+    message(WARNING "Flight Software Framework configuration path not set!")
+    message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+  endif()
+  add_subdirectory(${DEF_CONF_PATH})
+  set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
-# FSFW might be part of a possibly complicated folder structure, so we 
-# extract the absolute path of the fsfwconfig folder.
+# FSFW might be part of a possibly complicated folder structure, so we extract
+# the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
-	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
+  set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
-	)
+  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
+                         BASE_DIR ${CMAKE_SOURCE_DIR})
 endif()
 
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
-    if(IS_ABSOLUTE ${INCLUDE_PATH})
-        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-    else()
-        get_filename_component(CURR_ABS_INC_PATH
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
-    endif()
+  if(IS_ABSOLUTE ${INCLUDE_PATH})
+    set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+  else()
+    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
+                           ${CMAKE_SOURCE_DIR})
+  endif()
 
-    if(CMAKE_VERBOSE)
-        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-    endif()
+  if(CMAKE_VERBOSE)
+    message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+  endif()
 
-    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+  list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
 endforeach()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    if(NOT DEFINED FSFW_WARNING_FLAGS)
-	   set(FSFW_WARNING_FLAGS
-		  -Wall
-		  -Wextra
-		  -Wimplicit-fallthrough=1
-		  -Wno-unused-parameter
-		  -Wno-psabi
-          -Wduplicated-cond # check for duplicate conditions
-          -Wduplicated-branches # check for duplicate branches
-          -Wlogical-op # Search for bitwise operations instead of logical 
-          -Wnull-dereference # Search for NULL dereference
-          -Wundef # Warn if undefind marcos are used
-          -Wformat=2 # Format string problem detection
-          -Wformat-overflow=2 # Formatting issues in printf
-          -Wformat-truncation=2 # Formatting issues in printf
-          -Wformat-security # Search for dangerous printf operations
-          -Wstrict-overflow=3 # Warn if integer overflows might happen
-          -Warray-bounds=2 # Some array bounds violations will be found
-          -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-          -Wcast-qual # Warn if the constness is cast away
-          -Wstringop-overflow=4
-          # -Wstack-protector # Emits a few false positives for low level access
-          # -Wconversion # Creates many false positives
-          # -Warith-conversion # Use with Wconversion to find more implicit conversions
-          # -fanalyzer # Should be used to look through problems
-        )
-    endif()
+  if(NOT DEFINED FSFW_WARNING_FLAGS)
+    set(FSFW_WARNING_FLAGS
+        -Wall
+        -Wextra
+        -Wimplicit-fallthrough=1
+        -Wno-unused-parameter
+        -Wno-psabi
+        -Wduplicated-cond # check for duplicate conditions
+        -Wduplicated-branches # check for duplicate branches
+        -Wlogical-op # Search for bitwise operations instead of logical
+        -Wnull-dereference # Search for NULL dereference
+        -Wundef # Warn if undefind marcos are used
+        -Wformat=2 # Format string problem detection
+        -Wformat-overflow=2 # Formatting issues in printf
+        -Wformat-truncation=2 # Formatting issues in printf
+        -Wformat-security # Search for dangerous printf operations
+        -Wstrict-overflow=3 # Warn if integer overflows might happen
+        -Warray-bounds=2 # Some array bounds violations will be found
+        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+        -Wcast-qual # Warn if the constness is cast away
+        -Wstringop-overflow=4
+        # -Wstack-protector # Emits a few false positives for low level access
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
+        # be used to look through problems
+    )
+  endif()
 
-    if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
-            "-ffunction-sections"
-            "-fdata-sections"
-        )
-    endif()
+  if(FSFW_GENERATE_SECTIONS)
+    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
+                                                    "-fdata-sections")
+  endif()
+
+  if(FSFW_REMOVE_UNUSED_CODE)
+    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
+  endif()
+
+  if(FSFW_WARNING_SHADOW_LOCAL_GCC)
+    list(APPEND WARNING_FLAGS "-Wshadow=local")
+  endif()
 
-    if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
-            "Wl,--gc-sections"
-        )
-    endif()
-  
-    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
-        list(APPEND WARNING_FLAGS "-Wshadow=local")
-    endif()
-	
 endif()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-	set(COMPILER_FLAGS "/permissive-")
+  set(COMPILER_FLAGS "/permissive-")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
+target_include_directories(
+  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 
-# Includes path required to compile FSFW itself as well
-# We assume that the fsfwconfig folder uses include relative to the project
-# root here!
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
+# Includes path required to compile FSFW itself as well We assume that the
+# fsfwconfig folder uses include relative to the project root here!
+target_include_directories(
+  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
 
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
-	${FSFW_WARNING_FLAGS}
-	${COMPILER_FLAGS}
-)
+target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
+                                                ${COMPILER_FLAGS})
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_ETL_LINK_TARGET}
-    ${FSFW_ADDITIONAL_LINK_LIBS}
-)
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
 
-string(CONCAT POST_BUILD_COMMENT
+string(
+  CONCAT
+    POST_BUILD_COMMENT
     "######################################################################\n"
     "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
     "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
-)
+    "######################################################################\n")
 
 add_custom_command(
-   TARGET ${LIB_FSFW_NAME}
-   POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
-)
+  TARGET ${LIB_FSFW_NAME}
+  POST_BUILD
+  COMMENT ${POST_BUILD_COMMENT})

cmake/FsfwHelpers.cmake

@@ -1,28 +0,0 @@
-# Determines the git version with git describe and returns it by setting
-# the GIT_INFO list in the parent scope. The list has the following entries
-# 1. Full version string
-# 2. Major version
-# 3. Minor version
-# 4. Revision
-# 5. git SHA hash and commits since tag
-function(determine_version_with_git)
-    include(GetGitRevisionDescription)
-    git_describe(VERSION ${ARGN})
-    string(FIND ${VERSION} "." VALID_VERSION)
-    if(VALID_VERSION EQUAL -1)
-        message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
-        return()
-    endif()
-    # Parse the version information into pieces.
-    string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
-    set(GIT_INFO ${VERSION})
-    list(APPEND GIT_INFO ${_VERSION_MAJOR})
-    list(APPEND GIT_INFO ${_VERSION_MINOR})
-    list(APPEND GIT_INFO ${_VERSION_PATCH})
-    list(APPEND GIT_INFO ${VERSION_SHA1})
-    set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
-    message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
-endfunction()

cmake/cmake-modules/CodeCoverage.cmake

@@ -1,719 +0,0 @@
-# Copyright (c) 2012 - 2017, Lars Bilke
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without modification,
-# are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice, this
-#    list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-#    this list of conditions and the following disclaimer in the documentation
-#    and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its contributors
-#    may be used to endorse or promote products derived from this software without
-#    specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-# CHANGES:
-#
-# 2012-01-31, Lars Bilke
-# - Enable Code Coverage
-#
-# 2013-09-17, Joakim Söderberg
-# - Added support for Clang.
-# - Some additional usage instructions.
-#
-# 2016-02-03, Lars Bilke
-# - Refactored functions to use named parameters
-#
-# 2017-06-02, Lars Bilke
-# - Merged with modified version from github.com/ufz/ogs
-#
-# 2019-05-06, Anatolii Kurotych
-# - Remove unnecessary --coverage flag
-#
-# 2019-12-13, FeRD (Frank Dana)
-# - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor
-#   of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments.
-# - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY
-# - All setup functions: accept BASE_DIRECTORY, EXCLUDE list
-# - Set lcov basedir with -b argument
-# - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be
-#   overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().)
-# - Delete output dir, .info file on 'make clean'
-# - Remove Python detection, since version mismatches will break gcovr
-# - Minor cleanup (lowercase function names, update examples...)
-#
-# 2019-12-19, FeRD (Frank Dana)
-# - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets
-#
-# 2020-01-19, Bob Apthorpe
-# - Added gfortran support
-#
-# 2020-02-17, FeRD (Frank Dana)
-# - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters
-#   in EXCLUDEs, and remove manual escaping from gcovr targets
-#
-# 2021-01-19, Robin Mueller
-# - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run
-# - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional
-#   flags to the gcovr command
-#
-# 2020-05-04, Mihchael Davis
-#     - Add -fprofile-abs-path to make gcno files contain absolute paths
-#     - Fix BASE_DIRECTORY not working when defined
-#     - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines
-#
-# 2021-05-10, Martin Stump
-#     - Check if the generator is multi-config before warning about non-Debug builds
-#
-# 2022-02-22, Marko Wehle
-#     - Change gcovr output from -o <filename> for --xml <filename> and --html <filename> output respectively.
-#       This will allow for Multiple Output Formats at the same time by making use of GCOVR_ADDITIONAL_ARGS, e.g. GCOVR_ADDITIONAL_ARGS "--txt".
-#
-# USAGE:
-#
-# 1. Copy this file into your cmake modules path.
-#
-# 2. Add the following line to your CMakeLists.txt (best inside an if-condition
-#    using a CMake option() to enable it just optionally):
-#      include(CodeCoverage)
-#
-# 3. Append necessary compiler flags for all supported source files:
-#      append_coverage_compiler_flags()
-#    Or for specific target:
-#      append_coverage_compiler_flags_to_target(YOUR_TARGET_NAME)
-#
-# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
-#
-# 4. If you need to exclude additional directories from the report, specify them
-#    using full paths in the COVERAGE_EXCLUDES variable before calling
-#    setup_target_for_coverage_*().
-#    Example:
-#      set(COVERAGE_EXCLUDES
-#          '${PROJECT_SOURCE_DIR}/src/dir1/*'
-#          '/path/to/my/src/dir2/*')
-#    Or, use the EXCLUDE argument to setup_target_for_coverage_*().
-#    Example:
-#      setup_target_for_coverage_lcov(
-#          NAME coverage
-#          EXECUTABLE testrunner
-#          EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*")
-#
-# 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set
-#     relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR)
-#     Example:
-#       set(COVERAGE_EXCLUDES "dir1/*")
-#       setup_target_for_coverage_gcovr_html(
-#           NAME coverage
-#           EXECUTABLE testrunner
-#           BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src"
-#           EXCLUDE "dir2/*")
-#
-# 5. Use the functions described below to create a custom make target which
-#    runs your test executable and produces a code coverage report.
-#
-# 6. Build a Debug build:
-#      cmake -DCMAKE_BUILD_TYPE=Debug ..
-#      make
-#      make my_coverage_target
-#
-
-include(CMakeParseArguments)
-
-option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE)
-
-# Check prereqs
-find_program( GCOV_PATH gcov )
-find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
-find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
-find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
-find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
-find_program( CPPFILT_PATH NAMES c++filt )
-
-if(NOT GCOV_PATH)
-    message(FATAL_ERROR "gcov not found! Aborting...")
-endif() # NOT GCOV_PATH
-
-get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
-list(GET LANGUAGES 0 LANG)
-
-if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
-    if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3)
-        message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
-    endif()
-elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
-    if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang")
-        # Do nothing; exit conditional without error if true
-    elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU")
-        # Do nothing; exit conditional without error if true
-    else()
-        message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
-    endif()
-endif()
-
-set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage"
-    CACHE INTERNAL "")
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-    include(CheckCXXCompilerFlag)
-    check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path)
-    if(HAVE_fprofile_abs_path)
-        set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path")
-    endif()
-endif()
-
-set(CMAKE_Fortran_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the Fortran compiler during coverage builds."
-    FORCE )
-set(CMAKE_CXX_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the C++ compiler during coverage builds."
-    FORCE )
-set(CMAKE_C_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the C compiler during coverage builds."
-    FORCE )
-set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used for linking binaries during coverage builds."
-    FORCE )
-set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
-    FORCE )
-mark_as_advanced(
-    CMAKE_Fortran_FLAGS_COVERAGE
-    CMAKE_CXX_FLAGS_COVERAGE
-    CMAKE_C_FLAGS_COVERAGE
-    CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
-
-get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG))
-    message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
-endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)
-
-if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU")
-    link_libraries(gcov)
-endif()
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_lcov(
-#     NAME testrunner_coverage                    # New target name
-#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES testrunner                     # Dependencies to build first
-#     BASE_DIRECTORY "../"                        # Base directory for report
-#                                                 #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"           # Patterns to exclude (can be relative
-#                                                 #  to BASE_DIRECTORY, with CMake 3.4+)
-#     NO_DEMANGLE                                 # Don't demangle C++ symbols
-#                                                 #  even if c++filt is found
-# )
-function(setup_target_for_coverage_lcov)
-
-    set(options NO_DEMANGLE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT LCOV_PATH)
-        message(FATAL_ERROR "lcov not found! Aborting...")
-    endif() # NOT LCOV_PATH
-
-    if(NOT GENHTML_PATH)
-        message(FATAL_ERROR "genhtml not found! Aborting...")
-    endif() # NOT GENHTML_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(LCOV_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND LCOV_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES LCOV_EXCLUDES)
-
-    # Conditional arguments
-    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
-      set(GENHTML_EXTRA_ARGS "--demangle-cpp")
-    endif()
-     
-    # Setting up commands which will be run to generate coverage data.
-    # Cleanup lcov
-    set(LCOV_CLEAN_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory . 
-        -b ${BASEDIR} --zerocounters
-    )
-    # Create baseline to make sure untouched files show up in the report
-    set(LCOV_BASELINE_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b 
-        ${BASEDIR} -o ${Coverage_NAME}.base
-    )
-    # Run tests
-    set(LCOV_EXEC_TESTS_CMD 
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )    
-    # Capturing lcov counters and generating report
-    set(LCOV_CAPTURE_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b 
-        ${BASEDIR} --capture --output-file ${Coverage_NAME}.capture
-    )
-    # add baseline counters
-    set(LCOV_BASELINE_COUNT_CMD
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base 
-        -a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total
-    ) 
-    # filter collected data to final coverage report
-    set(LCOV_FILTER_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove 
-        ${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info
-    )    
-    # Generate HTML output
-    set(LCOV_GEN_HTML_CMD
-        ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o 
-        ${Coverage_NAME} ${Coverage_NAME}.info
-    )
-    
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-        message(STATUS "Command to clean up lcov: ")
-        string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}")
-        message(STATUS "${LCOV_CLEAN_CMD_SPACED}")
-
-        message(STATUS "Command to create baseline: ")
-        string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}")
-        message(STATUS "${LCOV_BASELINE_CMD_SPACED}")
-
-        message(STATUS "Command to run the tests: ")
-        string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}")
-        message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to capture counters and generate report: ")
-        string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}")
-        message(STATUS "${LCOV_CAPTURE_CMD_SPACED}")
-
-        message(STATUS "Command to add baseline counters: ")
-        string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}")
-        message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}")
-
-        message(STATUS "Command to filter collected data: ")
-        string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}")
-        message(STATUS "${LCOV_FILTER_CMD_SPACED}")
-
-        message(STATUS "Command to generate lcov HTML output: ")
-        string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}")
-        message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}")
-    endif()
-
-    # Setup target
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${LCOV_CLEAN_CMD}
-        COMMAND ${LCOV_BASELINE_CMD} 
-        COMMAND ${LCOV_EXEC_TESTS_CMD}
-        COMMAND ${LCOV_CAPTURE_CMD}
-        COMMAND ${LCOV_BASELINE_COUNT_CMD}
-        COMMAND ${LCOV_FILTER_CMD} 
-        COMMAND ${LCOV_GEN_HTML_CMD}
-
-        # Set output files as GENERATED (will be removed on 'make clean')
-        BYPRODUCTS
-            ${Coverage_NAME}.base
-            ${Coverage_NAME}.capture
-            ${Coverage_NAME}.total
-            ${Coverage_NAME}.info
-            ${Coverage_NAME}/index.html
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
-    )
-
-    # Show where to find the lcov info report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
-    )
-
-endfunction() # setup_target_for_coverage_lcov
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_gcovr_xml(
-#     NAME ctest_coverage                    # New target name
-#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES executable_target         # Dependencies to build first
-#     BASE_DIRECTORY "../"                   # Base directory for report
-#                                            #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
-#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
-# )
-# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
-# GCVOR command.
-function(setup_target_for_coverage_gcovr_xml)
-
-    set(options NONE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT GCOVR_PATH)
-        message(FATAL_ERROR "gcovr not found! Aborting...")
-    endif() # NOT GCOVR_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(GCOVR_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
-
-    # Combine excludes to several -e arguments
-    set(GCOVR_EXCLUDE_ARGS "")
-    foreach(EXCLUDE ${GCOVR_EXCLUDES})
-        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
-        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
-    endforeach()
-    
-    # Set up commands which will be run to generate coverage data
-    # Run tests
-    set(GCOVR_XML_EXEC_TESTS_CMD
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )
-    # Running gcovr
-    set(GCOVR_XML_CMD
-        ${GCOVR_PATH} --xml ${Coverage_NAME}.xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
-        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
-    )
-    
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-
-        message(STATUS "Command to run tests: ")
-        string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}")
-        message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to generate gcovr XML coverage data: ")
-        string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}")
-        message(STATUS "${GCOVR_XML_CMD_SPACED}")
-    endif()
-
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${GCOVR_XML_EXEC_TESTS_CMD}
-        COMMAND ${GCOVR_XML_CMD}
-        
-        BYPRODUCTS ${Coverage_NAME}.xml
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Running gcovr to produce Cobertura code coverage report."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
-    )
-endfunction() # setup_target_for_coverage_gcovr_xml
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_gcovr_html(
-#     NAME ctest_coverage                    # New target name
-#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES executable_target         # Dependencies to build first
-#     BASE_DIRECTORY "../"                   # Base directory for report
-#                                            #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
-#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
-# )
-# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
-# GCVOR command.
-function(setup_target_for_coverage_gcovr_html)
-
-    set(options NONE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT GCOVR_PATH)
-        message(FATAL_ERROR "gcovr not found! Aborting...")
-    endif() # NOT GCOVR_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(GCOVR_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
-
-    # Combine excludes to several -e arguments
-    set(GCOVR_EXCLUDE_ARGS "")
-    foreach(EXCLUDE ${GCOVR_EXCLUDES})
-        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
-        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
-    endforeach()
-
-    # Set up commands which will be run to generate coverage data
-    # Run tests
-    set(GCOVR_HTML_EXEC_TESTS_CMD
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )
-    # Create folder
-    set(GCOVR_HTML_FOLDER_CMD
-        ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
-    )
-    # Running gcovr
-    set(GCOVR_HTML_CMD
-        ${GCOVR_PATH} --html ${Coverage_NAME}/index.html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
-        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
-    )
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-
-        message(STATUS "Command to run tests: ")
-        string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}")
-        message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to create a folder: ")
-        string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}")
-        message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}")
-
-        message(STATUS "Command to generate gcovr HTML coverage data: ")
-        string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}")
-        message(STATUS "${GCOVR_HTML_CMD_SPACED}")
-    endif()
-
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD}
-        COMMAND ${GCOVR_HTML_FOLDER_CMD}
-        COMMAND ${GCOVR_HTML_CMD}
-
-        BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html  # report directory
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Running gcovr to produce HTML code coverage report."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
-    )
-
-endfunction() # setup_target_for_coverage_gcovr_html
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_fastcov(
-#     NAME testrunner_coverage                    # New target name
-#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES testrunner                     # Dependencies to build first
-#     BASE_DIRECTORY "../"                        # Base directory for report
-#                                                 #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/" "src/dir2/"             # Patterns to exclude.
-#     NO_DEMANGLE                                 # Don't demangle C++ symbols
-#                                                 #  even if c++filt is found
-#     SKIP_HTML                                   # Don't create html report
-#     POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json  # E.g. for stripping source dir from file paths
-# )
-function(setup_target_for_coverage_fastcov)
-
-    set(options NO_DEMANGLE SKIP_HTML)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT FASTCOV_PATH)
-        message(FATAL_ERROR "fastcov not found! Aborting...")
-    endif()
-
-    if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH)
-        message(FATAL_ERROR "genhtml not found! Aborting...")
-    endif()
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (Patterns, not paths, for fastcov)
-    set(FASTCOV_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES})
-        list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES FASTCOV_EXCLUDES)
-
-    # Conditional arguments
-    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
-        set(GENHTML_EXTRA_ARGS "--demangle-cpp")
-    endif()
-
-    # Set up commands which will be run to generate coverage data
-    set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS})
-
-    set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
-        --search-directory ${BASEDIR}
-        --process-gcno
-        --output ${Coverage_NAME}.json
-        --exclude ${FASTCOV_EXCLUDES}
-        --exclude ${FASTCOV_EXCLUDES}
-    )
-    
-    set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH}
-        -C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info
-    )
-
-    if(Coverage_SKIP_HTML)
-        set(FASTCOV_HTML_CMD ";")
-    else()
-        set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS}
-            -o ${Coverage_NAME} ${Coverage_NAME}.info
-        )
-    endif()
-
-    set(FASTCOV_POST_CMD ";")
-    if(Coverage_POST_CMD)
-        set(FASTCOV_POST_CMD ${Coverage_POST_CMD})
-    endif()
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):")
-
-        message("   Running tests:")
-        string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}")
-        message("     ${FASTCOV_EXEC_TESTS_CMD_SPACED}")
-
-        message("   Capturing fastcov counters and generating report:")
-        string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}")
-        message("     ${FASTCOV_CAPTURE_CMD_SPACED}")
-
-        message("   Converting fastcov .json to lcov .info:")
-        string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}")
-        message("     ${FASTCOV_CONVERT_CMD_SPACED}")
-
-        if(NOT Coverage_SKIP_HTML)
-            message("   Generating HTML report: ")
-            string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}")
-            message("     ${FASTCOV_HTML_CMD_SPACED}")
-        endif()
-        if(Coverage_POST_CMD)
-            message("   Running post command: ")
-            string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}")
-            message("     ${FASTCOV_POST_CMD_SPACED}")
-        endif()
-    endif()
-
-    # Setup target
-    add_custom_target(${Coverage_NAME}
-
-        # Cleanup fastcov
-        COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
-            --search-directory ${BASEDIR}
-            --zerocounters
-
-        COMMAND ${FASTCOV_EXEC_TESTS_CMD}
-        COMMAND ${FASTCOV_CAPTURE_CMD}
-        COMMAND ${FASTCOV_CONVERT_CMD}
-        COMMAND ${FASTCOV_HTML_CMD}
-        COMMAND ${FASTCOV_POST_CMD}
-
-        # Set output files as GENERATED (will be removed on 'make clean')
-        BYPRODUCTS
-             ${Coverage_NAME}.info
-             ${Coverage_NAME}.json
-             ${Coverage_NAME}/index.html  # report directory
-
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report."
-    )
-
-    set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.")
-    if(NOT Coverage_SKIP_HTML)
-        string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.")
-    endif()
-    # Show where to find the fastcov info report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG}
-    )
-
-endfunction() # setup_target_for_coverage_fastcov
-
-function(append_coverage_compiler_flags)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
-endfunction() # append_coverage_compiler_flags
-
-# Setup coverage for specific library
-function(append_coverage_compiler_flags_to_target name)
-    target_compile_options(${name}
-        PRIVATE ${COVERAGE_COMPILER_FLAGS})
-endfunction()

cmake/cmake-modules/GetGitRevisionDescription.cmake

@@ -1,141 +0,0 @@
-# - Returns a version string from Git
-#
-# These functions force a re-configure on each git commit so that you can
-# trust the values of the variables in your build system.
-#
-#  get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
-#
-# Returns the refspec and sha hash of the current head revision
-#
-#  git_describe(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the source tree, and adjusting
-# the output so that it tests false if an error occurs.
-#
-#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe --exact-match on the source tree,
-# and adjusting the output so that it tests false if there was no exact
-# matching tag.
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-# Iowa State University HCI Graduate Program/VRAC
-#
-# Copyright Iowa State University 2009-2010.
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-
-if(__get_git_revision_description)
-    return()
-endif()
-set(__get_git_revision_description YES)
-
-# We must run the following at "include" time, not at function call time,
-# to find the path to this module rather than the path to a calling list file
-get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
-
-function(get_git_head_revision _refspecvar _hashvar)
-    set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-    set(GIT_DIR "${GIT_PARENT_DIR}/.git")
-    while(NOT EXISTS "${GIT_DIR}")    # .git dir not found, search parent directories
-        set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
-        get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
-        if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
-            # We have reached the root directory, we are not in git
-            set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
-            set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
-            return()
-        endif()
-        set(GIT_DIR "${GIT_PARENT_DIR}/.git")
-    endwhile()
-    # check if this is a submodule
-    if(NOT IS_DIRECTORY ${GIT_DIR})
-        file(READ ${GIT_DIR} submodule)
-        string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
-        get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
-
-        if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
-            set(GIT_DIR ${GIT_DIR_RELATIVE})
-        else()
-            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
-        endif()
-
-    endif()
-    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
-    if(NOT EXISTS "${GIT_DATA}")
-        file(MAKE_DIRECTORY "${GIT_DATA}")
-    endif()
-
-    if(NOT EXISTS "${GIT_DIR}/HEAD")
-        return()
-    endif()
-    set(HEAD_FILE "${GIT_DATA}/HEAD")
-    configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
-
-    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
-        "${GIT_DATA}/grabRef.cmake"
-        @ONLY)
-    include("${GIT_DATA}/grabRef.cmake")
-
-    set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
-    set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
-endfunction()
-
-function(git_describe _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
-        return()
-    endif()
-
-    # TODO sanitize
-    #if((${ARGN}" MATCHES "&&") OR
-    #    (ARGN MATCHES "||") OR
-    #    (ARGN MATCHES "\\;"))
-    #    message("Please report the following error to the project!")
-    #    message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
-    #endif()
-
-    #message(STATUS "Arguments to execute_process: ${ARGN}")
-
-    execute_process(COMMAND
-        ${GIT_EXECUTABLE}
-        describe
-        ${hash}
-        ${ARGN}
-        WORKING_DIRECTORY
-        "${CMAKE_SOURCE_DIR}"
-        RESULT_VARIABLE
-        res
-        OUTPUT_VARIABLE
-        out
-        ERROR_QUIET
-        OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var} "${out}" PARENT_SCOPE)
-endfunction()
-
-function(git_get_exact_tag _var)
-    git_describe(out --exact-match ${ARGN})
-    set(${_var} "${out}" PARENT_SCOPE)
-endfunction()
-
-function(git_get_tag _var)
-    git_describe(out --tags ${ARGN})
-    set(${_var} "${out}" PARENT_SCOPE)
-endfunction()

cmake/cmake-modules/GetGitRevisionDescription.cmake.in

@@ -1,38 +0,0 @@
-# 
-# Internal file for GetGitRevisionDescription.cmake
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-# Iowa State University HCI Graduate Program/VRAC
-#
-# Copyright Iowa State University 2009-2010.
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-
-set(HEAD_HASH)
-
-file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
-
-string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
-if(HEAD_CONTENTS MATCHES "ref")
-    # named branch
-    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
-    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
-    configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
-        configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-        set(HEAD_HASH "${HEAD_REF}")
-    endif()
-else()
-    # detached HEAD
-    configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
-endif()
-
-if(NOT HEAD_HASH)
-file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
-string(STRIP "${HEAD_HASH}" HEAD_HASH)
-endif()

cmake/cmake-modules/LICENSE_1_0.txt

@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.

cmake/cmake-modules/README.md

@@ -1,5 +0,0 @@
-The files in these folder were manually copy and pasted from the
-[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
-this because only a small subset of its provided functions are needed.
-
-The license file in included here as well.

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

@@ -46,9 +46,9 @@ class GpioIF : public HasReturnvaluesIF {
    *          an ouput or input gpio.
    *
    * @param gpioId    A unique number which specifies the GPIO to read.
-   * @param gpioState State of GPIO will be written to this reference
+   * @param gpioState State of GPIO will be written to this pointer.
    */
-  virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0;
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };
 
 #endif /* COMMON_GPIO_GPIOIF_H_ */

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

@@ -9,7 +9,7 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
 
 enum class Direction : int { IN = 0, OUT = 1 };
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -375,16 +375,13 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
 
 ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
                                                          size_t commandDataLen) {
-  if (commandData == nullptr) {
-    return INVALID_COMMAND_PARAMETER;
-  }
   triggerEvent(CHANGE_OF_SETUP_PARAMETER);
   uint32_t size = 2;
   commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
   if (commandDataLen > 1) {
     return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
   }
-  switch (commandData[0]) {
+  switch (*commandData) {
     case (MGMLIS3MDL::ON): {
       commandBuffer[1] = registers[0] | (1 << 7);
       break;

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

@@ -1,27 +0,0 @@
-#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
-#define FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
-
-#include "fsfw_hal/common/gpio/GpioIF.h"
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
-
-/**
- * @brief   Additional abstraction layer for handling GPIOs.
- *
- * @author  J. Meier
- */
-class Gpio {
- public:
-  Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) {
-    if (gpioIF == nullptr) {
-      sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl;
-    }
-  }
-  ReturnValue_t pullHigh() { return gpioIF->pullHigh(gpioId); }
-  ReturnValue_t pullLow() { return gpioIF->pullLow(gpioId); }
-
- private:
-  gpioId_t gpioId = gpio::NO_GPIO;
-  GpioIF* gpioIF = nullptr;
-};
-
-#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ */

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

@@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
   ReturnValue_t result;
   if (gpioCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -96,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
   std::string& label = gpioByLabel.label;
   struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                  << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "label: " + label;
@@ -108,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
   std::string& chipname = gpioByChip.chipname;
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                  << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "chipname: " + chipname;
@@ -133,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                  << ". <Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "line name: " + lineName;
@@ -153,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   lineNum = regularGpio.lineNum;
   lineHandle = gpiod_chip_get_line(chip, lineNum);
   if (!lineHandle) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
     sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                  << std::endl;
     sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+#endif
     gpiod_chip_close(chip);
     return RETURN_FAILED;
   }
@@ -175,7 +185,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
       break;
     }
     default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+#endif
       return GPIO_INVALID_INSTANCE;
     }
 
@@ -204,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+#endif
     return UNKNOWN_GPIO_ID;
   }
 
@@ -280,7 +294,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
   return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -299,10 +313,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
-    if (gpioState == gpio::Levels::FAILED) {
-      return GPIO_GET_VALUE_FAILED;
-    }
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {

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

@@ -31,16 +31,14 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
   static constexpr ReturnValue_t GPIO_INIT_FAILED =
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
-  // Will be returned if getting the line value failed. Error type will be set to errno in this case
-  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
+
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();
 
   ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
   ReturnValue_t pullHigh(gpioId_t gpioId) override;
   ReturnValue_t pullLow(gpioId_t gpioId) override;
-  ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
  private:
   static const size_t MAX_CHIPNAME_LENGTH = 11;

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -170,20 +170,18 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 
   int readLen = read(fd, replyBuffer, requestLen);
   if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    if (readLen < 0) {
-      sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
-                   << "device failed with error code " << errno << " | " << strerror(errno)
-                   << std::endl;
-    } else {
-      sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
-                   << requestLen << " bytes" << std::endl;
-    }
-#else
-#endif
+#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+               << "device failed with error code " << errno << ". Description"
+               << " of error: " << strerror(errno) << std::endl;
+    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
+               << " bytes" << std::endl;
 #endif
     i2cDeviceMapIter->second.replyLen = 0;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 

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

@@ -0,0 +1,43 @@
+#pragma once
+
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+class ManualCsLockWrapper : public HasReturnvaluesIF {
+ public:
+  ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie,
+                      MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING,
+                      uint32_t timeoutMs = 0)
+      : lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) {
+    if (cookie == nullptr) {
+      // TODO: Error? Or maybe throw exception..
+      return;
+    }
+    cookie->setCsLockManual(true);
+    lockResult = lock->lockMutex(type, timeoutMs);
+    if (lockResult != RETURN_OK) {
+      return;
+    }
+    gpioResult = gpioIF->pullLow(cookie->getChipSelectPin());
+  }
+
+  ~ManualCsLockWrapper() {
+    if (gpioResult == RETURN_OK) {
+      gpioIF->pullHigh(cookie->getChipSelectPin());
+    }
+    cookie->setCsLockManual(false);
+    if (lockResult == RETURN_OK) {
+      lock->unlockMutex();
+    }
+  }
+  ReturnValue_t lockResult;
+  ReturnValue_t gpioResult;
+
+ private:
+  MutexIF* lock;
+  GpioIF* gpioIF;
+  SpiCookie* cookie;
+  MutexIF::TimeoutType type;
+  uint32_t timeoutMs = 0;
+};

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

@@ -196,16 +196,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 
   bool fullDuplex = spiCookie->isFullDuplex();
   gpioId_t gpioId = spiCookie->getChipSelectPin();
+  bool csLockManual = spiCookie->getCsLockManual();
 
-  /* Pull SPI CS low. For now, no support for active high given  */
-  if (gpioId != gpio::NO_GPIO) {
-    result = spiMutex->lockMutex(timeoutType, timeoutMs);
+  MutexIF::TimeoutType csType;
+  dur_millis_t csTimeout = 0;
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
     if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
 #else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
 #endif
 #endif
       return result;
@@ -248,7 +254,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     }
   }
 
-  if (gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -292,12 +298,27 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     return result;
   }
 
+  bool csLockManual = spiCookie->getCsLockManual();
   gpioId_t gpioId = spiCookie->getChipSelectPin();
+<<<<<<< Updated upstream
   if (gpioId != gpio::NO_GPIO) {
     result = spiMutex->lockMutex(timeoutType, timeoutMs);
+=======
+  MutexIF::TimeoutType csType;
+  dur_millis_t csTimeout = 0;
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
+>>>>>>> Stashed changes
     if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
+#else
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+#endif
 #endif
       return result;
     }
@@ -315,7 +336,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     result = HALF_DUPLEX_TRANSFER_FAILED;
   }
 
-  if (gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -346,6 +367,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+<<<<<<< Updated upstream
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
   if (timeoutType != nullptr) {
     *timeoutType = this->timeoutType;
@@ -355,6 +377,9 @@ MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeout
   }
   return spiMutex;
 }
+=======
+MutexIF* SpiComIF::getCsMutex() { return csMutex; }
+>>>>>>> Stashed changes
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
   if (spiCookie == nullptr) {

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

@@ -22,15 +22,15 @@ class SpiCookie;
  */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  public:
-  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+  static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
   static constexpr ReturnValue_t OPENING_FILE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
   /* Full duplex (ioctl) transfer failure */
   static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
   /* Half duplex (read/write) transfer failure */
   static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
 
   SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
@@ -44,7 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    * @brief   This function returns the mutex which can be used to protect the spi bus when
    *          the chip select must be driven from outside of the com if.
    */
-  MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
+  MutexIF* getCsMutex();
 
   /**
    * Perform a regular send operation using Linux iotcl. This is public so it can be used
@@ -70,10 +70,13 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   GpioIF* gpioComIF = nullptr;
+  std::string dev = "";
+  /**
+   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
+   * pulled high
+   */
+  MutexIF* csMutex = nullptr;
 
-  MutexIF* spiMutex = nullptr;
-  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-  uint32_t timeoutMs = 20;
   spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

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

@@ -107,3 +107,17 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
   *callback = this->sendCallback;
   *args = this->callbackArgs;
 }
+
+void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
+
+bool SpiCookie::getCsLockManual() const { return manualCsLock; }
+
+void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
+  csTimeoutType = this->csTimeoutType;
+  csTimeout = this->csTimeout;
+}
+
+void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
+  this->csTimeoutType = csTimeoutType;
+  this->csTimeout = csTimeout;
+}

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

@@ -2,6 +2,8 @@
 #define LINUX_SPI_SPICOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/timemanager/clockDefinitions.h>
 #include <linux/spi/spidev.h>
 
 #include "../../common/gpio/gpioDefinitions.h"
@@ -20,6 +22,8 @@
  */
 class SpiCookie : public CookieIF {
  public:
+  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
+
   /**
    * Each SPI device will have a corresponding cookie. The cookie is used by the communication
    * interface and contains device specific information like the largest expected size to be
@@ -139,9 +143,43 @@ class SpiCookie : public CookieIF {
    */
   void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
+  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
+  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
+
+  void setCsLockManual(bool enable);
+  bool getCsLockManual() const;
+
   spi_ioc_transfer* getTransferStructHandle();
 
  private:
+  address_t spiAddress;
+  gpioId_t chipSelectPin;
+  std::string spiDevice;
+
+  spi::SpiComIfModes comIfMode;
+
+  // Required for regular mode
+  const size_t maxSize;
+  spi::SpiModes spiMode;
+  /**
+   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
+   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
+   * whole duration of the transfers.
+   */
+  bool manualCsLock = false;
+  uint32_t spiSpeed;
+  bool halfDuplex = false;
+
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
+  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
+
+  // Required for callback mode
+  spi::send_callback_function_t sendCallback = nullptr;
+  void* callbackArgs = nullptr;
+
+  struct spi_ioc_transfer spiTransferStruct = {};
+  UncommonParameters uncommonParameters;
+
   /**
    * Internal constructor which initializes every field
    * @param spiAddress
@@ -154,27 +192,8 @@ class SpiCookie : public CookieIF {
    * @param args
    */
   SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
-
-  address_t spiAddress;
-  gpioId_t chipSelectPin;
-  std::string spiDevice;
-
-  spi::SpiComIfModes comIfMode;
-
-  // Required for regular mode
-  const size_t maxSize;
-  spi::SpiModes spiMode;
-  uint32_t spiSpeed;
-  bool halfDuplex = false;
-
-  // Required for callback mode
-  spi::send_callback_function_t sendCallback = nullptr;
-  void* callbackArgs = nullptr;
-
-  struct spi_ioc_transfer spiTransferStruct = {};
-  UncommonParameters uncommonParameters;
 };
 
 #endif /* LINUX_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -2,8 +2,8 @@
 
 #include <fsfw/serviceinterface.h>
 
-UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-                       size_t maxReplyLen, UartModes uartMode)
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+                       UartBaudRate baudrate, size_t maxReplyLen)
     : handlerId(handlerId),
       deviceFile(deviceFile),
       uartMode(uartMode),

hal/src/fsfw_hal/linux/uart/UartCookie.h

@@ -69,8 +69,8 @@ class UartCookie : public CookieIF {
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-             size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+             UartBaudRate baudrate, size_t maxReplyLen);
 
   virtual ~UartCookie();
 

scripts/apply-clang-format.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-if [[ ! -f README.md ]]; then
-	cd ..
-fi
-
-find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

scripts/auto-formatter.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+  cd ..
+fi
+
+cmake_fmt="cmake-format"
+if command -v ${cmake_fmt} &> /dev/null; then
+  cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
+  eval ${cmake_fmt_cmd}
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  find ./src ${file_selectors} | xargs clang-format --style=file -i
+  find ./hal ${file_selectors} | xargs clang-format --style=file -i
+  find ./tests ${file_selectors} | xargs clang-format --style=file -i
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi

src/fsfw/FSFWVersion.h.in

@@ -1,11 +1,9 @@
 #ifndef FSFW_VERSION_H_
 #define FSFW_VERSION_H_
 
-// Versioning is managed in project CMakeLists.txt file
-static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
-static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
-static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
-// Also contains CST (Commits since tag) information
-static const char FSFW_VERSION_CST_GIT_SHA1[] = "@FSFW_VERSION_CST_GIT_SHA1@";
+// Versioning is kept in project CMakeLists.txt file
+#define FSFW_VERSION_MAJOR @FSFW_VERSION@
+#define FSFW_VERSION_MINOR @FSFW_SUBVERSION@
+#define FSFW_VERSION_REVISION @FSFW_REVISION@
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/action/CommandActionHelper.h

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

src/fsfw/cfdp/CFDPHandler.cpp

@@ -12,9 +12,7 @@ object_id_t CFDPHandler::packetDestination = 0;
 
 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
   distributor = dist;
 }
 

src/fsfw/container/FIFOBase.tpp

@@ -5,89 +5,88 @@
 #error Include FIFOBase.h before FIFOBase.tpp!
 #endif
 
-template<typename T>
-inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
-        maxCapacity(maxCapacity), values(values){};
+template <typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
+    : maxCapacity(maxCapacity), values(values){};
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
-    if (full()) {
-        return FULL;
-    } else {
-        values[writeIndex] = value;
-        writeIndex = next(writeIndex);
-        ++currentSize;
-        return HasReturnvaluesIF::RETURN_OK;
-    }
+  if (full()) {
+    return FULL;
+  } else {
+    values[writeIndex] = value;
+    writeIndex = next(writeIndex);
+    ++currentSize;
+    return HasReturnvaluesIF::RETURN_OK;
+  }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
-    if (empty()) {
-        return EMPTY;
-    } else {
-        if (value == nullptr){
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        *value = values[readIndex];
-        readIndex = next(readIndex);
-        --currentSize;
-        return HasReturnvaluesIF::RETURN_OK;
+  if (empty()) {
+    return EMPTY;
+  } else {
+    if (value == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+    *value = values[readIndex];
+    readIndex = next(readIndex);
+    --currentSize;
+    return HasReturnvaluesIF::RETURN_OK;
+  }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::peek(T* value) {
-    if(empty()) {
-        return EMPTY;
-    } else {
-        if (value == nullptr){
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        *value = values[readIndex];
-        return HasReturnvaluesIF::RETURN_OK;
+  if (empty()) {
+    return EMPTY;
+  } else {
+    if (value == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+    *value = values[readIndex];
+    return HasReturnvaluesIF::RETURN_OK;
+  }
 };
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t FIFOBase<T>::pop() {
-    T value;
-    return this->retrieve(&value);
+  T value;
+  return this->retrieve(&value);
 };
 
-template<typename T>
+template <typename T>
 inline bool FIFOBase<T>::empty() {
-    return (currentSize == 0);
+  return (currentSize == 0);
 };
 
-template<typename T>
+template <typename T>
 inline bool FIFOBase<T>::full() {
-    return (currentSize == maxCapacity);
+  return (currentSize == maxCapacity);
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::size() {
-    return currentSize;
+  return currentSize;
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::next(size_t current) {
-    ++current;
-    if (current == maxCapacity) {
-        current = 0;
-    }
-    return current;
+  ++current;
+  if (current == maxCapacity) {
+    current = 0;
+  }
+  return current;
 }
 
-template<typename T>
+template <typename T>
 inline size_t FIFOBase<T>::getMaxCapacity() const {
-    return maxCapacity;
+  return maxCapacity;
 }
 
-
-template<typename T>
-inline void FIFOBase<T>::setContainer(T *data) {
-    this->values = data;
+template <typename T>
+inline void FIFOBase<T>::setContainer(T* data) {
+  this->values = data;
 }
 
 #endif

src/fsfw/container/FixedArrayList.h

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

src/fsfw/container/FixedOrderedMultimap.tpp

@@ -1,109 +1,109 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 
-
-template<typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
-    if (_size == theMap.maxSize()) {
-        return MAP_FULL;
-    }
-    size_t position = findNicePlace(key);
-    memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
-            (_size - position) * sizeof(std::pair<key_t,T>));
-    theMap[position].first = key;
-    theMap[position].second = value;
-    ++_size;
-    if (storedValue != nullptr) {
-        *storedValue = Iterator(&theMap[position]);
-    }
-    return HasReturnvaluesIF::RETURN_OK;
+template <typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
+                                                                         Iterator *storedValue) {
+  if (_size == theMap.maxSize()) {
+    return MAP_FULL;
+  }
+  size_t position = findNicePlace(key);
+  memmove(static_cast<void *>(&theMap[position + 1]), static_cast<void *>(&theMap[position]),
+          (_size - position) * sizeof(std::pair<key_t, T>));
+  theMap[position].first = key;
+  theMap[position].second = value;
+  ++_size;
+  if (storedValue != nullptr) {
+    *storedValue = Iterator(&theMap[position]);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
-    return insert(pair.first, pair.second);
+  return insert(pair.first, pair.second);
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
-    ReturnValue_t result = KEY_DOES_NOT_EXIST;
-    if (findFirstIndex(key) < _size) {
-        result = HasReturnvaluesIF::RETURN_OK;
-    }
-    return result;
+  ReturnValue_t result = KEY_DOES_NOT_EXIST;
+  if (findFirstIndex(key) < _size) {
+    result = HasReturnvaluesIF::RETURN_OK;
+  }
+  return result;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
-    size_t i;
-    if ((i = findFirstIndex((*iter).value->first)) >= _size) {
-        return KEY_DOES_NOT_EXIST;
-    }
-    removeFromPosition(i);
-    if (*iter != begin()) {
-        (*iter)--;
-    } else {
-        *iter = begin();
-    }
-    return HasReturnvaluesIF::RETURN_OK;
+  size_t i;
+  if ((i = findFirstIndex((*iter).value->first)) >= _size) {
+    return KEY_DOES_NOT_EXIST;
+  }
+  removeFromPosition(i);
+  if (*iter != begin()) {
+    (*iter)--;
+  } else {
+    *iter = begin();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
-    size_t i;
-    if ((i = findFirstIndex(key)) >= _size) {
-        return KEY_DOES_NOT_EXIST;
-    }
-    do {
-        removeFromPosition(i);
-        i = findFirstIndex(key, i);
-    } while (i < _size);
-    return HasReturnvaluesIF::RETURN_OK;
+  size_t i;
+  if ((i = findFirstIndex(key)) >= _size) {
+    return KEY_DOES_NOT_EXIST;
+  }
+  do {
+    removeFromPosition(i);
+    i = findFirstIndex(key, i);
+  } while (i < _size);
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
-    ReturnValue_t result = exists(key);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    *value = &theMap[findFirstIndex(key)].second;
-    return HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = exists(key);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  *value = &theMap[findFirstIndex(key)].second;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
-inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
-    if (startAt >= _size) {
-        return startAt + 1;
+template <typename key_t, typename T, typename KEY_COMPARE>
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
+                                                                          size_t startAt) const {
+  if (startAt >= _size) {
+    return startAt + 1;
+  }
+  size_t i = startAt;
+  for (i = startAt; i < _size; ++i) {
+    if (theMap[i].first == key) {
+      return i;
     }
-    size_t i = startAt;
-    for (i = startAt; i < _size; ++i) {
-        if (theMap[i].first == key) {
-            return i;
-        }
-    }
-    return i;
+  }
+  return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
-    size_t i = 0;
-    for (i = 0; i < _size; ++i) {
-        if (myComp(key, theMap[i].first)) {
-            return i;
-        }
+  size_t i = 0;
+  for (i = 0; i < _size; ++i) {
+    if (myComp(key, theMap[i].first)) {
+      return i;
     }
-    return i;
+  }
+  return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE>
+template <typename key_t, typename T, typename KEY_COMPARE>
 inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
-    if (_size <= position) {
-        return;
-    }
-    memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
-            (_size - position - 1) * sizeof(std::pair<key_t,T>));
-    --_size;
+  if (_size <= position) {
+    return;
+  }
+  memmove(static_cast<void *>(&theMap[position]), static_cast<void *>(&theMap[position + 1]),
+          (_size - position - 1) * sizeof(std::pair<key_t, T>));
+  --_size;
 }
 
-
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

src/fsfw/controller/ControllerBase.cpp

@@ -13,9 +13,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/datapool/CMakeLists.txt

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

src/fsfw/datapool/PoolEntry.cpp

@@ -7,26 +7,24 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 template <typename T>
-PoolEntry<T>::PoolEntry(uint8_t len, bool setValid) : length(len), valid(setValid) {
-  this->address = new T[this->length]();
-  std::memset(this->address, 0, this->getByteSize());
-}
-
-template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValues, bool setValid)
-    : length(static_cast<uint8_t>(initValues.size())), valid(setValid) {
-  this->address = new T[this->length]();
-  if (initValues.size() > 0) {
-    std::copy(initValues.begin(), initValues.end(), this->address);
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
+    : length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
+  this->address = new T[this->length];
+  if (initValue.size() == 0) {
+    std::memset(this->address, 0, this->getByteSize());
+  } else {
+    std::copy(initValue.begin(), initValue.end(), this->address);
   }
 }
 
 template <typename T>
-PoolEntry<T>::PoolEntry(const T* initValue, uint8_t setLength, bool setValid)
+PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
     : length(setLength), valid(setValid) {
-  this->address = new T[this->length]();
+  this->address = new T[this->length];
   if (initValue != nullptr) {
     std::memcpy(this->address, initValue, this->getByteSize());
+  } else {
+    std::memset(this->address, 0, this->getByteSize());
   }
 }
 

src/fsfw/datapool/PoolEntry.h

@@ -33,9 +33,6 @@ class PoolEntry : public PoolEntryIF {
                 "instead! The ECSS standard defines a boolean as a one bit "
                 "field. Therefore it is preferred to store a boolean as an "
                 "uint8_t");
-
-  PoolEntry(uint8_t len = 1, bool setValid = false);
-
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
    * 			potential initialization values are copied to that space.
@@ -52,7 +49,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(std::initializer_list<T> initValue, bool setValid = false);
+  PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
 
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
@@ -65,7 +62,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
+  PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
 
   //! Explicitely deleted copy ctor, copying is not allowed.
   PoolEntry(const PoolEntry&) = delete;

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

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

src/fsfw/datapoollocal/LocalPoolVariable.tpp

@@ -5,205 +5,189 @@
 #error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
 #endif
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
-        lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+template <typename T>
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+template <typename T>
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
+template <typename T>
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet,
+                                               pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
+                          setReadWriteMode) {}
 
-template<typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
-                dataSet, setReadWriteMode){}
-
-
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::read(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    if(hkManager == nullptr) {
-        return readWithoutLock();
-    }
-    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
-    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    result = readWithoutLock();
-    mutex->unlockMutex();
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
+                                                uint32_t timeoutMs) {
+  if (hkManager == nullptr) {
+    return readWithoutLock();
+  }
+  MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
+  }
+  result = readWithoutLock();
+  mutex->unlockMutex();
+  return result;
 }
 
-template<typename T>
+template <typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_WRITE) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
+  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
 
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
-        object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
-                false, ownerObjectId, localPoolId);
-        return result;
-    }
-
-    this->value = *(poolEntry->getDataPtr());
-    this->valid = poolEntry->getValid();
-    return RETURN_OK;
-}
-
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    this->setValid(setValid);
-    return commit(timeoutType, timeoutMs);
-}
-
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    if(hkManager == nullptr) {
-        return commitWithoutLock();
-    }
-    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
-    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    result = commitWithoutLock();
-    mutex->unlockMutex();
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
+    object_id_t ownerObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
     return result;
+  }
+
+  this->value = *(poolEntry->getDataPtr());
+  this->valid = poolEntry->getValid();
+  return RETURN_OK;
 }
 
-template<typename T>
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
+                                                  uint32_t timeoutMs) {
+  this->setValid(setValid);
+  return commit(timeoutType, timeoutMs);
+}
+
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
+                                                  uint32_t timeoutMs) {
+  if (hkManager == nullptr) {
+    return commitWithoutLock();
+  }
+  MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = commitWithoutLock();
+  mutex->unlockMutex();
+  return result;
+}
+
+template <typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_READ) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
+  if (readWriteMode == pool_rwm_t::VAR_READ) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
 
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
-        object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
-                false, ownerObjectId, localPoolId);
-        return result;
-    }
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
+    object_id_t ownerObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
+    return result;
+  }
 
-    *(poolEntry->getDataPtr()) = this->value;
-    poolEntry->setValid(this->valid);
-    return RETURN_OK;
+  *(poolEntry->getDataPtr()) = this->value;
+  poolEntry->setValid(this->valid);
+  return RETURN_OK;
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
-        size_t* size, const size_t max_size,
-        SerializeIF::Endianness streamEndianness) const {
-    return SerializeAdapter::serialize(&value,
-            buffer, size ,max_size, streamEndianness);
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::serialize(
+    uint8_t** buffer, size_t* size, const size_t max_size,
+    SerializeIF::Endianness streamEndianness) const {
+  return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
 }
 
-template<typename T>
+template <typename T>
 inline size_t LocalPoolVariable<T>::getSerializedSize() const {
-    return SerializeAdapter::getSerializedSize(&value);
+  return SerializeAdapter::getSerializedSize(&value);
 }
 
-template<typename T>
-inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
-        size_t* size, SerializeIF::Endianness streamEndianness) {
-    return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
+template <typename T>
+inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
+                                                       SerializeIF::Endianness streamEndianness) {
+  return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-template<typename T>
-inline std::ostream& operator<< (std::ostream &out,
-        const LocalPoolVariable<T> &var) {
-    out << var.value;
-    return out;
+template <typename T>
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
+  out << var.value;
+  return out;
 }
 #endif
 
-template<typename T>
+template <typename T>
 inline LocalPoolVariable<T>::operator T() const {
-    return value;
+  return value;
 }
 
-template<typename T>
-inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
-        const T& newValue) {
-    value = newValue;
-    return *this;
+template <typename T>
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
+  value = newValue;
+  return *this;
 }
 
-template<typename T>
-inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
-        const LocalPoolVariable<T>& newPoolVariable) {
-    value = newPoolVariable.value;
-    return *this;
+template <typename T>
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(
+    const LocalPoolVariable<T>& newPoolVariable) {
+  value = newPoolVariable.value;
+  return *this;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator ==(
-        const LocalPoolVariable<T> &other) const {
-    return this->value == other.value;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
+  return this->value == other.value;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
-    return this->value == other;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator==(const T& other) const {
+  return this->value == other;
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator !=(
-        const LocalPoolVariable<T> &other) const {
-    return not (*this == other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
+  return not(*this == other);
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
-    return not (*this == other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator!=(const T& other) const {
+  return not(*this == other);
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator <(
-        const LocalPoolVariable<T> &other) const {
-    return this->value < other.value;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
+  return this->value < other.value;
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator <(const T &other) const {
-    return this->value < other;
+template <typename T>
+inline bool LocalPoolVariable<T>::operator<(const T& other) const {
+  return this->value < other;
 }
 
-
-template<typename T>
-inline bool LocalPoolVariable<T>::operator >(
-        const LocalPoolVariable<T> &other) const {
-    return not (*this < other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
+  return not(*this < other);
 }
 
-template<typename T>
-inline bool LocalPoolVariable<T>::operator >(const T &other) const {
-    return not (*this < other);
+template <typename T>
+inline bool LocalPoolVariable<T>::operator>(const T& other) const {
+  return not(*this < other);
 }
 
 #endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

src/fsfw/datapoollocal/LocalPoolVector.tpp

@@ -5,174 +5,172 @@
 #error Include LocalPoolVector.h before LocalPoolVector.tpp!
 #endif
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
-        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
-        pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+                                                       DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
+                                                       DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
-                dataSet, setReadWriteMode) {}
+template <typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
+                          setReadWriteMode) {}
 
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-    return readWithoutLock();
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
+                                                          uint32_t timeoutMs) {
+  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+  return readWithoutLock();
 }
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_WRITE) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
+  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
 
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    memset(this->value, 0, vectorSize * sizeof(T));
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  memset(this->value, 0, vectorSize * sizeof(T));
 
-    if(result != RETURN_OK) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
-                localPoolId);
-        return result;
-    }
-    std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
-    this->valid = poolEntry->getValid();
-    return RETURN_OK;
+  if (result != RETURN_OK) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
+    return result;
+  }
+  std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
+  this->valid = poolEntry->getValid();
+  return RETURN_OK;
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    this->setValid(valid);
-    return commit(timeoutType, timeoutMs);
+                                                            MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
+  this->setValid(valid);
+  return commit(timeoutType, timeoutMs);
 }
 
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-    return commitWithoutLock();
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
+  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+  return commitWithoutLock();
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
-    if(readWriteMode == pool_rwm_t::VAR_READ) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
-                localPoolId);
-        return PoolVariableIF::INVALID_READ_WRITE_MODE;
-    }
-    PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
-            &poolEntry);
-    if(result != RETURN_OK) {
-        object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
-                localPoolId);
-        return result;
-    }
-    std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
-    poolEntry->setValid(this->valid);
-    return RETURN_OK;
-}
-
-template<typename T, uint16_t vectorSize>
-inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
-    if(i < vectorSize) {
-        return value[i];
-    }
-    // If this happens, I have to set some value. I consider this
-    // a configuration error, but I wont exit here.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
-#else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
-            " last value!\n");
-#endif
-    return value[vectorSize - 1];
-}
-
-template<typename T, uint16_t vectorSize>
-inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
-    if(i < vectorSize) {
-        return value[i];
-    }
-    // If this happens, I have to set some value. I consider this
-    // a configuration error, but I wont exit here.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
-#else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
-            " last value!\n");
-#endif
-    return value[vectorSize - 1];
-}
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
-        size_t* size, size_t maxSize,
-        SerializeIF::Endianness streamEndianness) const {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-    for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-                maxSize, streamEndianness);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-            break;
-        }
-    }
+  if (readWriteMode == pool_rwm_t::VAR_READ) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
+                          targetObjectId, localPoolId);
+    return PoolVariableIF::INVALID_READ_WRITE_MODE;
+  }
+  PoolEntry<T>* poolEntry = nullptr;
+  ReturnValue_t result =
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
+  if (result != RETURN_OK) {
+    object_id_t targetObjectId = hkManager->getCreatorObjectId();
+    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
     return result;
+  }
+  std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
+  poolEntry->setValid(this->valid);
+  return RETURN_OK;
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
+inline T& LocalPoolVector<T, vectorSize>::operator[](size_t i) {
+  if (i < vectorSize) {
+    return value[i];
+  }
+  // If this happens, I have to set some value. I consider this
+  // a configuration error, but I wont exit here.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
+                  " last value!"
+               << std::endl;
+#else
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
+      " last value!\n");
+#endif
+  return value[vectorSize - 1];
+}
+
+template <typename T, uint16_t vectorSize>
+inline const T& LocalPoolVector<T, vectorSize>::operator[](size_t i) const {
+  if (i < vectorSize) {
+    return value[i];
+  }
+  // If this happens, I have to set some value. I consider this
+  // a configuration error, but I wont exit here.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
+                  " last value!"
+               << std::endl;
+#else
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
+      " last value!\n");
+#endif
+  return value[vectorSize - 1];
+}
+
+template <typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
+    uint8_t** buffer, size_t* size, size_t maxSize,
+    SerializeIF::Endianness streamEndianness) const {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+  for (uint16_t i = 0; i < vectorSize; i++) {
+    result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      break;
+    }
+  }
+  return result;
+}
+
+template <typename T, uint16_t vectorSize>
 inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
-    return vectorSize * SerializeAdapter::getSerializedSize(value);
+  return vectorSize * SerializeAdapter::getSerializedSize(value);
 }
 
-template<typename T, uint16_t vectorSize>
+template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
-        const uint8_t** buffer, size_t* size,
-        SerializeIF::Endianness streamEndianness) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-    for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-                streamEndianness);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-            break;
-        }
+    const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+  for (uint16_t i = 0; i < vectorSize; i++) {
+    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      break;
     }
-    return result;
+  }
+  return result;
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-template<typename T, uint16_t vectorSize>
-inline std::ostream& operator<< (std::ostream &out,
-        const LocalPoolVector<T, vectorSize> &var) {
-    out << "Vector: [";
-    for(int i = 0;i < vectorSize; i++) {
-        out << var.value[i];
-        if(i < vectorSize - 1) {
-            out << ", ";
-        }
+template <typename T, uint16_t vectorSize>
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
+  out << "Vector: [";
+  for (int i = 0; i < vectorSize; i++) {
+    out << var.value[i];
+    if (i < vectorSize - 1) {
+      out << ", ";
     }
-    out << "]";
-    return out;
+  }
+  out << "]";
+  return out;
 }
 #endif
 

src/fsfw/devicehandlers/AssemblyBase.cpp

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

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,8 +12,7 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -27,9 +26,11 @@
  *
  * Important:
  *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -46,14 +47,13 @@ class AssemblyBase : public SubsystemBase {
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
    * @param mode
    * @param submode
    * @return
-   *    - @c RETURN_OK if OK
+   *    - @c RETURN_OK if ok
    *    - @c NEED_SECOND_STEP if children need to be commanded again
    */
   virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
@@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();
 
-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
   bool handleChildrenChanged();
 
   /**
@@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -39,9 +39,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -49,6 +48,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
                         HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@@ -124,18 +126,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != RETURN_OK) {
     return result;
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
-
-  if (this->parent != objects::NO_OBJECT) {
-    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
-    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
-    if (modeIF != nullptr and healthIF != nullptr) {
-      setParentQueue(modeIF->getCommandQueue());
-    }
-  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -243,28 +233,17 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
-  bool timedOut = false;
   for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
-    if (replyPair.second.countdown != nullptr && replyPair.second.active) {
-      if (replyPair.second.countdown->hasTimedOut()) {
-        timedOut = true;
-      }
-    }
-    if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
+    if (replyPair.second.delayCycles != 0) {
       replyPair.second.delayCycles--;
       if (replyPair.second.delayCycles == 0) {
         if (replyPair.second.periodic) {
           replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
         }
-        timedOut = true;
+        replyToReply(replyPair.first, replyPair.second, TIMEOUT);
+        missedReply(replyPair.first);
       }
     }
-    if (timedOut) {
-      replyToReply(replyPair.first, replyPair.second, TIMEOUT);
-      missedReply(replyPair.first);
-      timedOut = false;
-      replyPair.second.active = false;
-    }
   }
 }
 
@@ -373,12 +352,14 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -427,22 +408,20 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
     DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
-    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
-    Countdown* countdown) {
+    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
   // No need to check, as we may try to insert multiple times.
   insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
   if (hasDifferentReplyId) {
-    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
+    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
   } else {
-    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
-                            countdown);
+    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
   }
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
                                                   uint16_t maxDelayCycles,
                                                   LocalPoolDataSetBase* dataSet, size_t replyLen,
-                                                  bool periodic, Countdown* countdown) {
+                                                  bool periodic) {
   DeviceReplyInfo info;
   info.maxDelayCycles = maxDelayCycles;
   info.periodic = periodic;
@@ -450,10 +429,6 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   info.replyLen = replyLen;
   info.dataSet = dataSet;
   info.command = deviceCommandMap.end();
-  info.countdown = countdown;
-  if (info.periodic) {
-    info.active = true;
-  }
   auto resultPair = deviceReplyMap.emplace(replyId, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -489,8 +464,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
   }
   DeviceReplyIter iter = deviceReplyMap.find(replyId);
   if (iter != deviceReplyMap.end()) {
-    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
-        (iter->second.active && iter->second.countdown != nullptr)) {
+    if (iter->second.delayCycles != 0) {
       return iter->second.replyLen;
     }
   }
@@ -834,18 +808,17 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
 
   DeviceReplyInfo* info = &(iter->second);
 
-  if ((info->delayCycles != 0 && info->countdown == nullptr) ||
-      (info->active && info->countdown != nullptr)) {
+  if (info->delayCycles != 0) {
     result = interpretDeviceReply(foundId, receivedData);
 
     if (result == IGNORE_REPLY_DATA) {
       return;
     }
 
-    if (info->active && info->countdown != nullptr) {
-      disableTimeoutControlledReply(info);
-    } else if (info->delayCycles != 0) {
-      disableDelayCyclesControlledReply(info);
+    if (info->periodic) {
+      info->delayCycles = info->maxDelayCycles;
+    } else {
+      info->delayCycles = 0;
     }
 
     if (result != RETURN_OK) {
@@ -864,24 +837,6 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
   }
 }
 
-void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
-  if (info->periodic) {
-    info->countdown->resetTimer();
-  } else {
-    info->active = false;
-    info->countdown->timeOut();
-  }
-}
-
-void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
-  if (info->periodic) {
-    info->delayCycles = info->maxDelayCycles;
-  } else {
-    info->delayCycles = 0;
-    info->active = false;
-  }
-}
-
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
                                                 size_t* len) {
   size_t lenTmp;
@@ -1007,10 +962,6 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
     info->delayCycles = info->maxDelayCycles;
     info->command = command;
     command->second.expectedReplies = expectedReplies;
-    if (info->countdown != nullptr) {
-      info->countdown->resetTimer();
-    }
-    info->active = true;
     return RETURN_OK;
   } else {
     return NO_REPLY_EXPECTED;
@@ -1245,8 +1196,7 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 bool DeviceHandlerBase::isAwaitingReply() {
   std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
   for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
-    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
-        (iter->second.active && iter->second.countdown != nullptr)) {
+    if (iter->second.delayCycles != 0) {
       return true;
     }
   }
@@ -1402,9 +1352,6 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
   if (iter == deviceReplyMap.end()) {
     return 0;
   }
-  else if (iter->second.countdown != nullptr) {
-    return 0;
-  }
   return iter->second.delayCycles;
 }
 
@@ -1452,8 +1399,6 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1476,7 +1421,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -1560,11 +1505,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -103,9 +103,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setParent(object_id_t parent);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -451,9 +448,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
-   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *                  to provide a pointer to a Countdown object which will signal the timeout
-   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
@@ -461,8 +455,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                                            LocalPoolDataSetBase *replyDataSet = nullptr,
                                            size_t replyLen = 0, bool periodic = false,
                                            bool hasDifferentReplyId = false,
-                                           DeviceCommandId_t replyId = 0,
-                                           Countdown *countdown = nullptr);
+                                           DeviceCommandId_t replyId = 0);
   /**
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
@@ -472,15 +465,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
-   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *                  to provide a pointer to a Countdown object which will signal the timeout
-   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
   ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
                                  LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
-                                 bool periodic = false, Countdown *countdown = nullptr);
+                                 bool periodic = false);
 
   /**
    * @brief   A simple command to add a command to the commandList.
@@ -659,12 +649,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -799,11 +783,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     LocalPoolDataSetBase *dataSet = nullptr;
     //! The command that expects this reply.
     DeviceCommandMap::iterator command;
-    //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
-    //! is also possible specify a countdown
-    Countdown* countdown = nullptr;
-    //! will be set to true when reply is enabled
-    bool active = false;
   };
 
   using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@@ -843,7 +822,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -1266,17 +1244,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   void doGetRead(void);
 
-  /**
-   * @brief Handles disabling of replies which use a timeout to detect missed replies.
-   */
-  void disableTimeoutControlledReply(DeviceReplyInfo* info);
-
-  /**
-   * @brief Handles disabling of replies which use a number of maximum delay cycles to detect
-   *        missed replies.
-   */
-  void disableDelayCyclesControlledReply(DeviceReplyInfo* info);
-
   /**
    * Retrive data from the #IPCStore.
    *

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -29,7 +29,6 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
     case HasModesIF::OBJECT_IN_INVALID_MODE:
-    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       handleRecovery(event->getEvent());

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -109,7 +109,6 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 

src/fsfw/devicehandlers/HealthDevice.cpp

@@ -8,9 +8,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/events/EventManager.cpp

@@ -18,9 +18,8 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 EventManager::~EventManager() {
@@ -47,20 +46,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
-                   << result << std::setfill(' ') << std::endl;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
     }
   }
   unlockMutex();
@@ -201,19 +189,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -42,7 +42,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -9,9 +9,8 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -52,12 +51,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid" << std::endl;
-      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#else
-      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
-      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
+      sif::error << "FailureIsolationBase::intialize: Parent object"
+                 << "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return RETURN_FAILED;

src/fsfw/fdir/FailureIsolationBase.h

@@ -14,12 +14,13 @@ class FailureIsolationBase : public HasReturnvaluesIF,
                              public HasParametersIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
-  //! FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
-  //! FDIR turns off device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
+  static const Event FDIR_CHANGED_STATE =
+      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
+                                      //!< (oldState) to par1 (newState).
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
+      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
+      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.
 
   FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                        uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);

src/fsfw/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
+		PeriodicOperationDivider.cpp
+		timevalOperations.cpp
+		Type.cpp
+		bitutility.cpp
 )
 
 add_subdirectory(math)

src/fsfw/globalfunctions/DleParser.cpp

@@ -1,231 +0,0 @@
-#include "DleParser.h"
-
-#include <fsfw/globalfunctions/DleEncoder.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-
-#include <cstdio>
-
-DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-                     BufPair decodedBuf, UserHandler handler, void* args)
-    : decodeRingBuf(decodeRingBuf),
-      decoder(decoder),
-      encodedBuf(encodedBuf),
-      decodedBuf(decodedBuf),
-      handler(handler),
-      ctx(args) {
-  if (handler == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
-#else
-    sif::printError("DleParser::DleParser: Invalid user handler\n");
-#endif
-  }
-}
-
-ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
-  if (data == nullptr or len == 0 or handler == nullptr) {
-    return RETURN_FAILED;
-  }
-  size_t copyIntoRingBufFromHere = 0;
-  size_t copyAmount = len;
-  size_t startIdx = 0;
-  ReturnValue_t result = RETURN_OK;
-  bool startFoundInThisPacket = false;
-  for (size_t idx = 0; idx < len; idx++) {
-    if (data[idx] == DleEncoder::STX_CHAR) {
-      if (not startFound and not startFoundInThisPacket) {
-        startIdx = idx;
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      } else {
-        // Maybe print warning, should not happen
-        decodeRingBuf.clear();
-        ErrorInfo info;
-        info.len = idx;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
-        handler(ctx);
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      }
-      startFound = true;
-      startFoundInThisPacket = true;
-    } else if (data[idx] == DleEncoder::ETX_CHAR) {
-      if (startFoundInThisPacket) {
-        size_t readLen = 0;
-        size_t decodedLen = 0;
-        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
-                                decodedBuf.second, &decodedLen);
-        if (result == HasReturnvaluesIF::RETURN_OK) {
-          ctx.setType(ContextType::PACKET_FOUND);
-          ctx.decodedPacket.first = decodedBuf.first;
-          ctx.decodedPacket.second = decodedLen;
-          this->handler(ctx);
-        } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        } else {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        }
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      } else if (startFound) {
-        // ETX found but STX was found in another mini packet. Reconstruct the full packet
-        // to decode it
-        result = decodeRingBuf.writeData(data, idx + 1);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-          handler(ctx);
-        }
-        size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
-        if (fullEncodedLen > encodedBuf.second) {
-          ErrorInfo info;
-          info.len = fullEncodedLen;
-          prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
-          handler(ctx);
-          decodeRingBuf.clear();
-        } else {
-          size_t decodedLen = 0;
-          size_t readLen = 0;
-          decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
-          result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
-                                  decodedBuf.second, &decodedLen);
-          if (result == HasReturnvaluesIF::RETURN_OK) {
-            if (this->handler != nullptr) {
-              ctx.setType(ContextType::PACKET_FOUND);
-              ctx.decodedPacket.first = decodedBuf.first;
-              ctx.decodedPacket.second = decodedLen;
-              this->handler(ctx);
-            }
-          } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-            handler(ctx);
-          } else {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
-            handler(ctx);
-          }
-          decodeRingBuf.clear();
-          startFound = false;
-          startFoundInThisPacket = false;
-          if ((idx + 1) < len) {
-            copyIntoRingBufFromHere = idx + 1;
-            copyAmount = len - idx - 1;
-          } else {
-            copyAmount = 0;
-          }
-        }
-      } else {
-        // End data without preceeding STX
-        ErrorInfo info;
-        info.len = idx + 1;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
-        handler(ctx);
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      }
-      startFoundInThisPacket = false;
-      startFound = false;
-    }
-  }
-  if (copyAmount > 0) {
-    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      ErrorInfo info;
-      info.res = result;
-      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-      handler(ctx);
-    }
-  }
-  return RETURN_OK;
-}
-
-void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
-            << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
-#endif
-#endif
-}
-
-void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
-  switch (err) {
-    case (ErrorTypes::NONE): {
-      errorPrinter("No error");
-      break;
-    }
-    case (ErrorTypes::DECODE_ERROR): {
-      errorPrinter("Decode Error");
-      break;
-    }
-    case (ErrorTypes::RING_BUF_ERROR): {
-      errorPrinter("Ring Buffer Error");
-      break;
-    }
-    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
-    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
-      char opt[64];
-      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len);
-      if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
-        errorPrinter("Encoded buf too small", opt);
-      } else {
-        errorPrinter("Decoding buf too small", opt);
-      }
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
-      errorPrinter("Consecutive STX chars detected");
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
-      errorPrinter("Consecutive ETX chars detected");
-      break;
-    }
-  }
-}
-
-void DleParser::errorPrinter(const char* str, const char* opt) {
-  if (opt == nullptr) {
-    opt = "";
-  }
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
-#endif
-#endif
-}
-
-void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
-  ctx.setType(ContextType::ERROR);
-  ctx.error.first = err;
-  ctx.error.second = info;
-}
-
-void DleParser::reset() {
-  startFound = false;
-  decodeRingBuf.clear();
-}

src/fsfw/globalfunctions/DleParser.h

@@ -1,127 +0,0 @@
-#ifndef MISSION_DEVICES_DLEPARSER_H_
-#define MISSION_DEVICES_DLEPARSER_H_
-
-#include <fsfw/container/SimpleRingBuffer.h>
-#include <fsfw/globalfunctions/DleEncoder.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
-#include <cstddef>
-#include <utility>
-
-/**
- * @brief This base helper class can be used to extract DLE encoded packets from a data stream
- * @details
- * The core API of the parser takes received packets which can contains DLE packets. The parser
- * can deal with DLE packets split across multiple packets. It does so by using a dedicated
- * decoding ring buffer. The user can process received packets and detect errors by
- * overriding two provided virtual methods. This also allows detecting multiple DLE packets
- * inside one passed packet.
- */
-class DleParser : public HasReturnvaluesIF {
- public:
-  using BufPair = std::pair<uint8_t*, size_t>;
-
-  enum class ContextType { PACKET_FOUND, ERROR };
-
-  enum class ErrorTypes {
-    NONE,
-    ENCODED_BUF_TOO_SMALL,
-    DECODING_BUF_TOO_SMALL,
-    DECODE_ERROR,
-    RING_BUF_ERROR,
-    CONSECUTIVE_STX_CHARS,
-    CONSECUTIVE_ETX_CHARS
-  };
-
-  union ErrorInfo {
-    size_t len;
-    ReturnValue_t res;
-  };
-
-  using ErrorPair = std::pair<ErrorTypes, ErrorInfo>;
-
-  struct Context {
-   public:
-    Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
-
-    void setType(ContextType type) {
-      if (type == ContextType::PACKET_FOUND) {
-        error.first = ErrorTypes::NONE;
-        error.second.len = 0;
-      } else {
-        decodedPacket.first = nullptr;
-        decodedPacket.second = 0;
-      }
-    }
-
-    ContextType getType() const { return type; }
-
-    BufPair decodedPacket = {};
-    ErrorPair error;
-    void* userArgs;
-
-   private:
-    ContextType type;
-  };
-
-  using UserHandler = void (*)(const Context& ctx);
-
-  /**
-   * Base class constructor
-   * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
-   * split across multiple packets
-   * @param decoder Decoder instance
-   * @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold
-   * the largest expected encoded DLE packet size
-   * @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the
-   * largest expected decoded DLE packet size
-   * @param handler Function which will be called on a found packet
-   * @param args Arbitrary user argument
-   */
-  DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-            BufPair decodedBuf, UserHandler handler, void* args);
-
-  /**
-   * This function allows to pass new data into the parser. It then scans for DLE packets
-   * automatically and inserts (part of) the packet into a ring buffer if necessary.
-   * @param data
-   * @param len
-   * @return
-   */
-  ReturnValue_t passData(uint8_t* data, size_t len);
-
-  /**
-   * Example found packet handler
-   * function call
-   * @param packet Decoded packet
-   * @param len Length of detected packet
-   */
-  void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args);
-  /**
-   * Will be called if an error occured in the #passData call
-   * @param err
-   * @param ctx Context information depending on the error type
-   *  - For buffer length errors, will be set to the detected packet length which is too large
-   *  - For decode or ring buffer errors, will be set to the result returned from the failed call
-   */
-  static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx);
-
-  static void errorPrinter(const char* str, const char* opt = nullptr);
-
-  void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
-  /**
-   * Resets the parser by resetting the internal states and clearing the decoding ring buffer
-   */
-  void reset();
-
- private:
-  SimpleRingBuffer& decodeRingBuf;
-  DleEncoder& decoder;
-  BufPair encodedBuf;
-  BufPair decodedBuf;
-  UserHandler handler = nullptr;
-  Context ctx;
-  bool startFound = false;
-};
-
-#endif /* MISSION_DEVICES_DLEPARSER_H_ */

src/fsfw/health/HasHealthIF.h

@@ -23,15 +23,19 @@ class HasHealthIF {
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  //! Assembly overwrites health information of children to keep satellite alive.
-  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
-  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-  //! Recovery is ongoing. Comes twice during recovery.
-  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-  //! Recovery was completed. Not necessarily successful. No parameters.
-  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
+  static const Event OVERWRITING_HEALTH =
+      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+                                     //!< satellite alive.
+  static const Event TRYING_RECOVERY =
+      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+                                         //!< power-cycle). No parameters.
+  static const Event RECOVERY_STEP =
+      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(
+      12,
+      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
+
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,13 +7,11 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
+      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@@ -38,14 +36,15 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-                 << newStoreHits << std::endl;
+                 << "occured!" << std::endl;
+      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+      sif::debug << "TM errors: " << newTmHits << std::endl;
+      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug(
-          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-          "| %lu\n",
-          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
-          static_cast<unsigned int>(newStoreHits));
+      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }

src/fsfw/modes/HasModesIF.h

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

src/fsfw/objectmanager/ObjectManager.cpp

@@ -95,16 +95,13 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-      sif::printError(
-          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
-          it.first);
-#endif
+                 << std::setfill('0') << var
+                 << " failed to "
+                    "initialize with code 0x"
+                 << result << std::dec << std::setfill(' ') << std::endl;
 #endif
       errorCount++;
     }

src/fsfw/osal/common/TcpTmTcServer.cpp

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

src/fsfw/osal/common/TcpTmTcServer.h

@@ -17,6 +17,7 @@
 #endif
 
 #include <string>
+#include <utility>
 #include <vector>
 
 class TcpTmTcBridge;
@@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   struct TcpConfig {
    public:
-    TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
 
     /**
      * Passed to the recv call
@@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
                 size_t ringBufferSize = RING_BUFFER_SIZE,
                 std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
-  virtual ~TcpTmTcServer();
+  ~TcpTmTcServer() override;
 
   void enableWiretapping(bool enable);
 
@@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
 
   ReturnValue_t initialize() override;
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  std::string getTcpPort() const;
+  [[nodiscard]] const std::string& getTcpPort() const;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   ReceptionModes receptionMode;
   TcpConfig tcpConfig;
-  struct sockaddr tcpAddress;
+  struct sockaddr tcpAddress = {};
   socket_t listenerTcpSocket = 0;
 
   MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

src/fsfw/parameters/HasParametersIF.h

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

src/fsfw/parameters/ParameterWrapper.cpp

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

src/fsfw/power/CMakeLists.txt

@@ -4,5 +4,4 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
     PowerSensor.cpp
     PowerSwitcher.cpp
     DummyPowerSwitcher.cpp
-    PowerSwitcherComponent.cpp
 )

src/fsfw/power/DummyPowerSwitcher.cpp

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

src/fsfw/power/DummyPowerSwitcher.h

@@ -8,10 +8,17 @@
 #include "definitions.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
+/**
+ * @brief   This component can be used to simulate a power switcher like a
+ *          Power Control Distribution Unit (PCDU)
+ * @details
+ * The dummy switcher will simply cache the commanded fuse and switch states and return them
+ * in the according switch getter functions. In that sense, it simulates an ideal PCDU.
+ */
 class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
  public:
   DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
-                     uint32_t switchDelayMs = 5000);
+                     bool registerGlobally = true, uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
   void setInitialFusesList(std::vector<ReturnValue_t> switcherList);

src/fsfw/power/PowerSensor.cpp

@@ -15,9 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue =
+      QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitcher.h

@@ -18,7 +18,8 @@ class PowerSwitcher : public HasReturnvaluesIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
   static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
   static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-  PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                power::Switch_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
   void turnOn(bool checkCurrentState = true);
   void turnOff(bool checkCurrentState = true);

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -1,107 +0,0 @@
-#include "PowerSwitcherComponent.h"
-
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/power/PowerSwitchIF.h>
-
-PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
-                                               power::Switch_t pwrSwitch)
-    : SystemObject(objectId),
-      switcher(pwrSwitcher, pwrSwitch),
-      modeHelper(this),
-      healthHelper(this, objectId) {
-  queue = QueueFactory::instance()->createMessageQueue();
-}
-
-ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
-  ReturnValue_t result;
-  CommandMessage command;
-
-  for (result = queue->receiveMessage(&command); result == RETURN_OK;
-       result = queue->receiveMessage(&command)) {
-    result = healthHelper.handleHealthCommand(&command);
-    if (result == RETURN_OK) {
-      continue;
-    }
-
-    result = modeHelper.handleModeCommand(&command);
-    if (result == RETURN_OK) {
-      continue;
-    }
-  }
-  if (switcher.active()) {
-    switcher.doStateMachine();
-    auto currState = switcher.getState();
-    if (currState == PowerSwitcher::SWITCH_IS_OFF) {
-      setMode(MODE_OFF, 0);
-    } else if (currState == PowerSwitcher::SWITCH_IS_ON) {
-      setMode(MODE_ON, 0);
-    }
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t PowerSwitcherComponent::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  result = healthHelper.initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  return SystemObject::initialize();
-}
-
-MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
-
-void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
-  *mode = this->mode;
-  *submode = this->submode;
-}
-
-ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
-  healthHelper.setHealth(health);
-  return RETURN_OK;
-}
-
-ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                       uint32_t *msToReachTheMode) {
-  *msToReachTheMode = 5000;
-  if (mode != MODE_ON and mode != MODE_OFF) {
-    return TRANS_NOT_ALLOWED;
-  }
-  return RETURN_OK;
-}
-
-void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) {
-  if (mode == MODE_OFF) {
-    switcher.turnOff(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-      setMode(MODE_OFF, 0);
-    }
-  } else if (mode == MODE_ON) {
-    switcher.turnOn(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-      setMode(MODE_ON, 0);
-    }
-  }
-}
-
-void PowerSwitcherComponent::setToExternalControl() {
-  healthHelper.setHealth(HasHealthIF::EXTERNAL_CONTROL);
-}
-
-void PowerSwitcherComponent::announceMode(bool recursive) {
-  triggerEvent(MODE_INFO, mode, submode);
-}
-
-void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
-  this->mode = newMode;
-  this->submode = newSubmode;
-  modeHelper.modeChanged(mode, submode);
-  announceMode(false);
-}
-
-HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }

src/fsfw/power/PowerSwitcherComponent.h

@@ -1,62 +0,0 @@
-#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
-#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
-
-#include <fsfw/health/HasHealthIF.h>
-#include <fsfw/health/HealthHelper.h>
-#include <fsfw/modes/HasModesIF.h>
-#include <fsfw/modes/ModeHelper.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/power/PowerSwitcher.h>
-#include <fsfw/power/definitions.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-
-class PowerSwitchIF;
-
-/**
- * @brief Allows to create an power switch object with its own mode and health
- * @details
- * This basic component allows to create an object which is solely responsible for managing a
- * switch. It also has a mode and a health by implementing the respective interface components
- * which allows integrating this component into a system mode tree.
- *
- * Commanding this component to MODE_OFF will cause the switcher to turn the switch off while
- * commanding in to MODE_ON will cause the switcher to turn the switch on.
- */
-class PowerSwitcherComponent : public SystemObject,
-                               public HasReturnvaluesIF,
-                               public ExecutableObjectIF,
-                               public HasModesIF,
-                               public HasHealthIF {
- public:
-  PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
-                         power::Switch_t pwrSwitch);
-
- private:
-  MessageQueueIF *queue = nullptr;
-  PowerSwitcher switcher;
-
-  Mode_t mode = MODE_OFF;
-  Submode_t submode = 0;
-
-  ModeHelper modeHelper;
-  HealthHelper healthHelper;
-
-  void setMode(Mode_t newMode, Submode_t newSubmode);
-
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
-
-  ReturnValue_t initialize() override;
-
-  MessageQueueId_t getCommandQueue() const override;
-  void getMode(Mode_t *mode, Submode_t *submode) override;
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t *msToReachTheMode) override;
-  void startTransition(Mode_t mode, Submode_t submode) override;
-  void setToExternalControl() override;
-  void announceMode(bool recursive) override;
-
-  ReturnValue_t setHealth(HealthState health) override;
-  HasHealthIF::HealthState getHealth() override;
-};
-
-#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -13,8 +13,6 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
     : CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
 }
 
-CService201HealthCommanding::~CService201HealthCommanding() {}
-
 ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_SET_HEALTH):
@@ -43,8 +41,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
 }
 
 ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
-  HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
   if (destination == nullptr) {
     return CommandingServiceBase::INVALID_OBJECT;
   }
@@ -77,6 +75,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
       HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
       break;
     }
+    default: {
+      // Should never happen, subservice was already checked
+      result = RETURN_FAILED;
+    }
   }
   return result;
 }
@@ -95,10 +97,10 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 }
 
 // Not used for now, health state already reported by event
-ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
-  prepareHealthSetReply(reply);
-  uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
+    const CommandMessage *reply) {
+  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);
   return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
 }

src/fsfw/pus/CService201HealthCommanding.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
-#include "../tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
 
 /**
  * @brief   Custom PUS service to set health of all objects
@@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
  public:
   CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                               uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  virtual ~CService201HealthCommanding();
+  ~CService201HealthCommanding() override = default;
 
  protected:
   /* CSB abstract function implementations */
@@ -38,12 +38,10 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             bool *isStep) override;
 
  private:
-  ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
-                                        size_t tcDataLen);
-  ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
-                                                     object_id_t *objectId);
+  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
+                                                            const object_id_t *objectId);
 
-  ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+  [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 
   enum Subservice {
     //! [EXPORT] : [TC] Set health of target object

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -16,9 +16,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
       apid(apid),
       serviceId(serviceId),
       targetDestination(targetDestination) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {

src/fsfw/pus/Service3Housekeeping.cpp

@@ -214,11 +214,11 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << std::endl;
+                   << "reply command " << command << "!" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
           command);
 #endif
       return CommandingServiceBase::INVALID_REPLY;

src/fsfw/pus/Service5EventReporting.cpp

@@ -12,9 +12,7 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
                                                uint32_t messageQueueDepth)
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -38,6 +36,9 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -86,7 +87,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
+  if (manager == NULL) {
     return RETURN_FAILED;
   }
   // register Service 5 as listener for events

src/fsfw/pus/Service5EventReporting.h

@@ -41,7 +41,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
+                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
   virtual ~Service5EventReporting();
 
   /***

src/fsfw/pus/Service9TimeManagement.h

@@ -6,10 +6,10 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event CLOCK_SET =
+      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  static constexpr Event CLOCK_SET_FAILURE =
+      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 

src/fsfw/subsystem/Subsystem.h

@@ -33,12 +33,8 @@ struct SequenceEntry : public TableSequenceBase {
 };
 
 /**
- * @brief   This class extends the SubsystemBase to perform the management of mode tables
- *          and mode sequences
+ * @brief   TODO: documentation missing
  * @details
- * This class is able to use mode tables and sequences to command all its children into the
- * right mode. Fallback sequences can be used to handle failed transitions or have a fallback
- * in case a component can't keep its current mode.
  */
 class Subsystem : public SubsystemBase, public HasModeSequenceIF {
  public:

src/fsfw/subsystem/SubsystemBase.cpp

@@ -8,13 +8,11 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
+      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+                                                                CommandMessage::MAX_MESSAGE_SIZE)),
       healthHelper(this, setObjectId),
       modeHelper(this),
-      parentId(parent) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
+      parentId(parent) {}
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
@@ -33,9 +31,8 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
       info.mode = MODE_OFF;
     }
   } else {
-    // intentional to force an initial command during system startup
     info.commandQueue = child->getCommandQueue();
-    info.mode = HasModesIF::MODE_UNDEFINED;
+    info.mode = -1;  // intentional to force an initial command during system startup
   }
 
   info.submode = SUBMODE_NONE;

src/fsfw/subsystem/SubsystemBase.h

@@ -15,14 +15,7 @@
 
 /**
  * @defgroup subsystems Subsystem Objects
- * All Subsystem and Assemblies can derive from this class. It contains helper classes to
- * perform mode and health handling, which allows OBSW developers to build a mode tree for
- * the whole satellite.
- *
- * Aside from setting up a mode tree and being able to executing mode tables, this class does not
- * provide an implementation on what to do with the features. To build a mode tree, helper classes
- * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
- * class.
+ * Contains all Subsystem and Assemblies
  */
 class SubsystemBase : public SystemObject,
                       public HasModesIF,
@@ -103,7 +96,6 @@ class SubsystemBase : public SystemObject,
                                        Submode_t targetSubmode);
 
   /**
-   * This function takes care of sending all according mode commands specified inside a mode table.
    * We need to know the target Submode, as children are able to inherit the submode
    * Still, we have a default for all child implementations which do not use submode inheritance
    */

src/fsfw/tcdistribution/TcDistributor.cpp

@@ -5,9 +5,7 @@
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
-  auto mqArgs = MqArgs(objectId);
-  tcQueue = QueueFactory::instance()->createMessageQueue(
-      DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
 }
 
 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }

src/fsfw/thermal/AbstractTemperatureSensor.cpp

@@ -4,13 +4,14 @@
 
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                      ThermalModuleIF *thermalModule)
-    : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
-  if (thermalModule != nullptr) {
+    : SystemObject(setObjectid),
+      commandQueue(NULL),
+      healthHelper(this, setObjectid),
+      parameterHelper(this) {
+  if (thermalModule != NULL) {
     thermalModule->registerSensor(this);
   }
-  auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
 AbstractTemperatureSensor::~AbstractTemperatureSensor() {

src/fsfw/thermal/AbstractTemperatureSensor.h

@@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
   HasHealthIF::HealthState getHealth();
 
  protected:
-  MessageQueueIF* commandQueue = nullptr;
+  MessageQueueIF* commandQueue;
   HealthHelper healthHelper;
   ParameterHelper parameterHelper;
 

src/fsfw/thermal/Heater.cpp

@@ -12,9 +12,7 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
       switch1(switch1),
       heaterOnCountdown(10800000) /*about two orbits*/,
       parameterHelper(this) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue();
 }
 
 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }

src/fsfw/timemanager/Countdown.cpp

@@ -1,12 +1,7 @@
 #include "fsfw/timemanager/Countdown.h"
 
-Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
-  if (startImmediately) {
-    setTimeout(initialTimeout);
-  }
-  else {
-    timeout = initialTimeout;
-  }
+Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
+  setTimeout(initialTimeout);
 }
 
 Countdown::~Countdown() {}

src/fsfw/timemanager/Countdown.h

@@ -26,9 +26,8 @@ class Countdown {
    * Otherwise a call to hasTimedOut might return True.
    *
    * @param initialTimeout Countdown duration in milliseconds
-   * @param startImmediately  Set to false if countdown should not be started immediately
    */
-  Countdown(uint32_t initialTimeout = 0, bool startImmediately = true);
+  Countdown(uint32_t initialTimeout = 0);
   ~Countdown();
   /**
    * Call to set a new countdown duration.

src/fsfw/tmstorage/TmStoreBackendIF.h

@@ -33,47 +33,50 @@ class TmStoreBackendIF : public HasParametersIF {
   static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
-  //! Initiating sending data to store failed. Low, par1:
-  //! returnCode, par2: integer (debug info)
-  static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
-  //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW);
-  //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW);
-  //! Data was requested, but access failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW);
-  //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
-  static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW);
-  //! Storing data failed. May simply be a full store. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW);
-  //! Dumping retrieved data failed. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW);
-  //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
-  //! Store was not initialized. Starts empty. Info, parameters both zero.
-  static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW);
-  //! Data was read out, but it is inconsistent. Low par1:
-  //! Memory address of corruption, par2: integer (debug info)
-  static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO);
-
-  static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW);
-  //! Info event indicating the store will be initialized, either at boot or after IOB switch.
-  //! Info. pars: 0
-  static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO);
-  //! Info event indicating the store was successfully initialized, either at boot or after
-  //! IOB switch. Info. pars: 0
-  static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO);
-  //! Info event indicating that dumping finished successfully.
-  //! par1: Number of dumped packets. par2: APID/SSC (16bits each)
-  static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO);
-  //! Info event indicating that deletion finished successfully.
-  //! par1:Number of deleted packets. par2: APID/SSC (16bits each)
-  static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO);
-  //! Info event indicating that something went wrong during deletion. pars: 0
-  static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW);
-  //! Info that the a auto catalog report failed
-  static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);
+  static const Event STORE_SEND_WRITE_FAILED =
+      MAKE_EVENT(0, severity::LOW);  //!< Initiating sending data to store failed. Low, par1:
+                                     //!< returnCode, par2: integer (debug info)
+  static const Event STORE_WRITE_FAILED = MAKE_EVENT(
+      1, severity::LOW);  //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_SEND_READ_FAILED =
+      MAKE_EVENT(2, severity::LOW);  //!< Initiating reading data from store failed. Low, par1:
+                                     //!< returnCode, par2: 0
+  static const Event STORE_READ_FAILED = MAKE_EVENT(
+      3, severity::LOW);  //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
+  static const Event UNEXPECTED_MSG =
+      MAKE_EVENT(4, severity::LOW);  //!< An unexpected TM packet or data message occurred. Low,
+                                     //!< par1: 0, par2: integer (debug info)
+  static const Event STORING_FAILED = MAKE_EVENT(
+      5, severity::LOW);  //!< Storing data failed. May simply be a full store. Low, par1:
+                          //!< returnCode, par2: integer (sequence count of failed packet).
+  static const Event TM_DUMP_FAILED =
+      MAKE_EVENT(6, severity::LOW);  //!< Dumping retrieved data failed. Low, par1: returnCode,
+                                     //!< par2: integer (sequence count of failed packet).
+  static const Event STORE_INIT_FAILED =
+      MAKE_EVENT(7, severity::LOW);  //!< Corrupted init data or read error. Low, par1: returnCode,
+                                     //!< par2: integer (debug info)
+  static const Event STORE_INIT_EMPTY = MAKE_EVENT(
+      8, severity::INFO);  //!< Store was not initialized. Starts empty. Info, parameters both zero.
+  static const Event STORE_CONTENT_CORRUPTED =
+      MAKE_EVENT(9, severity::LOW);  //!< Data was read out, but it is inconsistent. Low par1:
+                                     //!< Memory address of corruption, par2: integer (debug info)
+  static const Event STORE_INITIALIZE =
+      MAKE_EVENT(10, severity::INFO);  //!< Info event indicating the store will be initialized,
+                                       //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event INIT_DONE = MAKE_EVENT(
+      11, severity::INFO);  //!< Info event indicating the store was successfully initialized,
+                            //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event DUMP_FINISHED = MAKE_EVENT(
+      12, severity::INFO);  //!< Info event indicating that dumping finished successfully. par1:
+                            //!< Number of dumped packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FINISHED = MAKE_EVENT(
+      13, severity::INFO);  //!< Info event indicating that deletion finished successfully. par1:
+                            //!< Number of deleted packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FAILED = MAKE_EVENT(
+      14,
+      severity::LOW);  //!< Info event indicating that something went wrong during deletion. pars: 0
+  static const Event AUTO_CATALOGS_SENDING_FAILED =
+      MAKE_EVENT(15, severity::INFO);  //!< Info that the a auto catalog report failed
 
   virtual ~TmStoreBackendIF() {}
 

src/fsfw/tmtcpacket/SpacePacket.h

@@ -25,7 +25,7 @@ class SpacePacket : public SpacePacketBase {
    * @param apid Sets the packet's APID field. The default value describes an idle packet.
    * @param sequenceCount ets the packet's Source Sequence Count field.
    */
-  SpacePacket(uint16_t packetDataLength = 0, bool isTelecommand = false,
+  SpacePacket(uint16_t packetDataLength, bool isTelecommand = false,
               uint16_t apid = APID_IDLE_PACKET, uint16_t sequenceCount = 0);
   /**
    * The class's default destructor.

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -20,10 +20,8 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
       service(service),
       timeoutSeconds(commandTimeoutSeconds),
       commandMap(numberOfParallelCommands) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
-  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
-  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
 
 void CommandingServiceBase::setPacketSource(object_id_t packetSource) {

src/fsfw/tmtcservices/CommandingServiceBase.h

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

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -13,9 +13,7 @@ object_id_t PusServiceBase::packetDestination = 0;
 
 PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
     : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
 }
 
 PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -8,7 +8,7 @@ class SourceSequenceCounter {
   uint16_t sequenceCount;
 
  public:
-  SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
+  SourceSequenceCounter() : sequenceCount(0) {}
   void increment() {
     sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
   }
@@ -19,20 +19,6 @@ class SourceSequenceCounter {
   void reset(uint16_t toValue = 0) {
     sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
   }
-  SourceSequenceCounter& operator++(int) {
-    this->increment();
-    return *this;
-  }
-  SourceSequenceCounter& operator--(int) {
-    this->decrement();
-    return *this;
-  }
-  SourceSequenceCounter& operator=(const uint16_t& newCount) {
-    sequenceCount = newCount;
-    return *this;
-  }
-
-  operator uint16_t() { return this->get(); }
 };
 
 #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -15,9 +15,7 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
       tcDestination(tcDestination)
 
 {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
-      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@@ -174,18 +172,15 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
   }
 
   if (tmFifo->full()) {
-    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-                      "of stored packet IDs reached!"
-                   << std::endl;
+    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+                    "of stored packet IDs reached!"
+                 << std::endl;
 #else
-      sif::printWarning(
-          "TmTcBridge::storeDownlinkData: TM downlink max. number "
-          "of stored packet IDs reached!\n");
+    sif::printWarning(
+        "TmTcBridge::storeDownlinkData: TM downlink max. number "
+        "of stored packet IDs reached!\n");
 #endif
-      warningSwitch = true;
-    }
     if (overwriteOld) {
       tmFifo->retrieve(&storeId);
       tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -72,8 +72,6 @@ class TmTcBridge : public AcceptsTelemetryIF,
   virtual uint16_t getIdentifier() override;
   virtual MessageQueueId_t getRequestQueue() override;
 
-  bool warningSwitch = true;
-
  protected:
   //! Cached for initialize function.
   object_id_t tmStoreId = objects::NO_OBJECT;

src/fsfw/version.cpp

@@ -12,25 +12,12 @@
 #undef minor
 #endif
 
-const Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION,
-                                    FSFW_VERSION_CST_GIT_SHA1};
+const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
+                                          FSFW_VERSION_REVISION};
 
-Version::Version(int major, int minor, int revision, const char* addInfo)
-    : major(major), minor(minor), revision(revision), addInfo(addInfo) {}
+fsfw::Version::Version(uint32_t major, uint32_t minor, uint32_t revision)
+    : major(major), minor(minor), revision(revision) {}
 
-void Version::getVersion(char* str, size_t maxLen) const {
-  size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
-  if (addInfo != nullptr) {
-    snprintf(str + len, maxLen - len, "-%s", addInfo);
-  }
+void fsfw::Version::getVersion(char* str, size_t maxLen) const {
+  snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
 }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-std::ostream& operator<<(std::ostream& os, const Version& v) {
-  os << v.major << "." << v.minor << "." << v.revision;
-  if (v.addInfo != nullptr) {
-    os << "-" << v.addInfo;
-  }
-  return os;
-}
-#endif

src/fsfw/version.h

@@ -8,15 +8,14 @@
 #endif
 #include <cstdint>
 
+namespace fsfw {
+
 class Version {
  public:
-  Version(int major, int minor, int revision, const char* addInfo = nullptr);
-  int major = -1;
-  int minor = -1;
-  int revision = -1;
-
-  // Additional information, e.g. a git SHA hash
-  const char* addInfo = nullptr;
+  Version(uint32_t major, uint32_t minor, uint32_t revision);
+  uint32_t major = 0;
+  uint32_t minor = 0;
+  uint32_t revision = 0;
 
   friend bool operator==(const Version& v1, const Version& v2) {
     return (v1.major == v2.major and v1.minor == v2.minor and v1.revision == v2.revision);
@@ -44,7 +43,10 @@ class Version {
    * @param v
    * @return
    */
-  friend std::ostream& operator<<(std::ostream& os, const Version& v);
+  friend std::ostream& operator<<(std::ostream& os, const Version& v) {
+    os << v.major << "." << v.minor << "." << v.revision;
+    return os;
+  }
 #endif
 
   /**
@@ -55,9 +57,7 @@ class Version {
   void getVersion(char* str, size_t maxLen) const;
 };
 
-namespace fsfw {
-
-extern const Version FSFW_VERSION;
+extern const fsfw::Version FSFW_VERSION;
 
 }  // namespace fsfw
 

tests/src/fsfw_tests/unit/CMakeLists.txt

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

tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp

@@ -73,7 +73,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
     // This ensures that the tests do not block indefinitely
     usleep(500);
-    REQUIRE(limitIdx < 50000);
+    REQUIRE(limitIdx < 500);
   }
   limitIdx = 0;
   CHECK(bytesHaveBeenRead == true);

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

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

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

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

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

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

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

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

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

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

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

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