move semantics

This reverts commit f0bddfcb21.

CHANGELOG.md

@@ -12,6 +12,31 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
+- Add monotonic watchdog Clock API and use it in `Countdown` and `Stopwatch` class.
+- Bugfix in `Service11TelecommandScheduling` which allowed commands
+  time tagged in the past to be inserted.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/738
+- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
+  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
+  subservice not working properly.
+- Memory leak fixes for the TCP/IP TMTC bridge.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
+- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
+  seconds instead of uptime.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
+  only the X scaling factor was used.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
+- Bugfix for RM3100 MGM sensors. Z value was previously calculated
+  with bytes of the X value.
+- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
+  to false correctly because the `read` and `write` calls were missing.
+- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
+  of the correct unsegmented flags (0b11) as specified in the standard.
+- TC Scheduler Service 11: Add size and CRC check for contained TC.
+- Only delete health table entry in `HealthHelper` destructor if
+  health table was set.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
   Also properly reset the reply size for successfull transfers and erroneous transfers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
@@ -24,19 +49,33 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
-- DHB TM handler `handleDeviceTM` renamed to `handleDeviceTm` and now takes
-  `util::DataWrapper` as the data input argument. This allows more flexibility in the possible
-  types of telemetry.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/669
-- Add `util::DataWrapper` class inside the `util` module. This is a tagged union which allows
-  to specify raw data either as a classic C-style raw pointer and size or as a `SerializeIF`
-  pointer.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/668
+- `CServiceHealthCommanding`: Add announce all health info implementation
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
+- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
+- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
+- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
+  option on the TCP server. CTOR prototype has changed and expects an explicit
+  TCP configuration struct to be passed.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
+- `DleParser` helper class to parse DLE encoded packets from a byte stream.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
+- `UioMapper` is able to resolve symlinks now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
 
 ## Changes
 
+- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
+  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
+  `HealthServiceCfg` now
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
+- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
+- Moved some container returnvalues to dedicated header and namespace
+  to they can be used without template specification.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
   `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
   `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
@@ -65,6 +104,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
   a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
+- Move some generic `StorageManagerIF` implementations from `LocalPool` to
+  interface itself so it can be re-used more easily. Also add new
+  abstract function `bool hasDataAtId(store_address_t storeId) const`.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
   - Make functions `const` where it makes sense
   - Add `const char* getName const` abstract function
@@ -92,6 +135,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
      implementation without an extra component
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
 
+## HAL
+
+- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
+  lot more sense because each ComIF should be responsible for one SPI bus.
+- SPI: Move the empty transfer to update the line polarity to separate function. This means
+  it is not automatically called when calling the setter function for SPI speed and mode.
+  The user should call this function after locking the CS mutex if multiple SPI devices with
+  differing speeds and modes are attached to one bus.
+- SPI: Getter functions for SPI speed and mode.
+
 # [v5.0.0] 25.07.2022
 
 ## Changes
@@ -225,6 +278,7 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
     - 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
@@ -239,17 +293,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - `Subsystem`: New API to add table and sequence entries
 
-## HAL
-
-- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
-- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
-- SPI: Getter functions for SPI speed and mode.
-- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
-
 ## Fixed
 
 - TCP TMTC Server: `MutexGuard` was not created properly in

CMakeLists.txt

@@ -122,6 +122,7 @@ if(UNIX)
   option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
          OFF)
   option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
+  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
 endif()
 
 # Optional sources
@@ -152,12 +153,12 @@ if(FSFW_BUILD_TESTS)
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
   )
   # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
     message(
       STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
     )
     include(FetchContent)
 
@@ -195,13 +196,13 @@ message(
 )
 
 # Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-      "etl with FindPackage")
+      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
+  )
   include(FetchContent)
 
   FetchContent_Declare(

automation/Jenkinsfile

@@ -1,45 +1,87 @@
 pipeline {
     environment {
-        BUILDDIR = 'cmake-build-tests'
+        BUILDDIR_HOST = 'cmake-build-tests-host'
+        BUILDDIR_LINUX = 'cmake-build-tests-linux'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
             image 'fsfw-ci:d6'
-            args '--network host'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
         }
     }
     stages {
-        stage('Clean') {
-            steps {
-                sh 'rm -rf $BUILDDIR'
-            }
-        }
-        stage('Configure') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+        stage('Host') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_HOST'
+                    }
+                }
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
+                }
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
                 }
             }
         }
-        stage('Build') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -j4'
+        stage('Linux') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_LINUX'
+                    }
                 }
-            }
-        }
-        stage('Unittests') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
                 }
-            }
-        }
-        stage('Valgrind') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
                 }
             }
         }

cmake/cmake-modules/bilke/CodeCoverage.cmake

@@ -140,7 +140,7 @@ 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( GCOVR_PATH gcovr )
 find_program( CPPFILT_PATH NAMES c++filt )
 
 if(NOT GCOV_PATH)

docs/conf.py

@@ -51,7 +51,10 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 html_theme = "alabaster"
 
 html_theme_options = {
-    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
+    "extra_nav_links": {
+        "Impressum": "https://www.uni-stuttgart.de/impressum",
+        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
+    }
 }
 
 

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -178,16 +178,25 @@ ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info)
     dp.user.fileSegmentRecvdIndication(segParams);
   }
   result = dp.user.vfs.writeToFile(fileOpParams, fileData);
-  if (offset.value() + fileSegmentLen > tp.progress) {
-    tp.progress = offset.value() + fileSegmentLen;
-  }
   if (result != returnvalue::OK) {
     // TODO: Proper Error handling
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "File write error" << std::endl;
+    sif::error << "cfdp::DestHandler: VFS file write error with code 0x" << std::hex << std::setw(2)
+               << result << std::endl;
 #endif
+    tp.vfsErrorCount++;
+    if (tp.vfsErrorCount < 3) {
+      // TODO: Provide execution step as parameter
+      fp.eventReporter->forwardEvent(events::FILESTORE_ERROR, static_cast<uint8_t>(fsmRes.step),
+                                     result);
+    }
+    return result;
   } else {
     tp.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
+    tp.vfsErrorCount = 0;
+  }
+  if (offset.value() + fileSegmentLen > tp.progress) {
+    tp.progress = offset.value() + fileSegmentLen;
   }
   return result;
 }
@@ -271,35 +280,55 @@ ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, Met
     return OK;
   }
   ReturnValue_t result = OK;
-  fsmRes.step = TransactionStep::TRANSACTION_START;
-  if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
-    fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
-  } else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
-    fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
-  }
-  tp.checksumType = info.getChecksumType();
-  tp.closureRequested = info.isClosureRequested();
   size_t sourceNameSize = 0;
+
   const uint8_t* sourceNamePtr = info.getSourceFileName().getValue(&sourceNameSize);
-  if (sourceNameSize > tp.sourceName.size()) {
-    // TODO: Warning, event etc.
+  if (sourceNameSize + 1 > tp.sourceName.size()) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "source filename too large");
     return FAILED;
   }
   std::memcpy(tp.sourceName.data(), sourceNamePtr, sourceNameSize);
   tp.sourceName[sourceNameSize] = '\0';
   size_t destNameSize = 0;
   const uint8_t* destNamePtr = info.getDestFileName().getValue(&destNameSize);
-  if (destNameSize > tp.destName.size()) {
-    // TODO: Warning, event etc.
+  if (destNameSize + 1 > tp.destName.size()) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "dest filename too large");
     return FAILED;
   }
   std::memcpy(tp.destName.data(), destNamePtr, destNameSize);
   tp.destName[destNameSize] = '\0';
-  reader.fillConfig(tp.pduConf);
-  tp.pduConf.direction = Direction::TOWARDS_SENDER;
-  tp.transactionId.entityId = tp.pduConf.sourceId;
-  tp.transactionId.seqNum = tp.pduConf.seqNum;
-  if (not dp.remoteCfgTable.getRemoteCfg(tp.pduConf.sourceId, &tp.remoteCfg)) {
+
+  // If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
+  // so there is no need to create a file or truncate an existing file
+  if (destNameSize > 0 and sourceNameSize > 0) {
+    FilesystemParams fparams(tp.destName.data());
+    // handling to allow only specifying target directory. Example:
+    // Source path /test/hello.txt, dest path /tmp -> dest path /tmp/hello.txt
+    if (dp.user.vfs.isDirectory(tp.destName.data())) {
+      result = tryBuildingAbsoluteDestName(destNameSize);
+      if (result != OK) {
+        return result;
+      }
+    }
+    if (dp.user.vfs.fileExists(fparams)) {
+      result = dp.user.vfs.truncateFile(fparams);
+      if (result != returnvalue::OK) {
+        fileErrorHandler(events::FILESTORE_ERROR, result, "file truncation error");
+        return FAILED;
+        // TODO: Relevant for filestore rejection error?
+      }
+    } else {
+      result = dp.user.vfs.createFile(fparams);
+      if (result != OK) {
+        fileErrorHandler(events::FILESTORE_ERROR, result, "file creation error");
+        return FAILED;
+        // TODO: Relevant for filestore rejection error?
+      }
+    }
+  }
+  EntityId sourceId;
+  reader.getSourceId(sourceId);
+  if (not dp.remoteCfgTable.getRemoteCfg(sourceId, &tp.remoteCfg)) {
     // TODO: Warning, event etc.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "cfdp::DestHandler" << __func__
@@ -308,22 +337,18 @@ ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, Met
 #endif
     return FAILED;
   }
-  // If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
-  // so there is no need to create a file or truncate an existing file
-  if (destNameSize > 0 and sourceNameSize > 0) {
-    FilesystemParams fparams(tp.destName.data());
-    // TODO: Filesystem errors?
-    if (dp.user.vfs.fileExists(fparams)) {
-      dp.user.vfs.truncateFile(fparams);
-    } else {
-      result = dp.user.vfs.createFile(fparams);
-      if (result != OK) {
-        // TODO: Handle FS error. This is probably a case for the filestore rejection mechanism of
-        // CFDP.
-        //       In any case, it does not really make sense to continue here
-      }
-    }
+  fsmRes.step = TransactionStep::TRANSACTION_START;
+  if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
+  } else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
   }
+  tp.checksumType = info.getChecksumType();
+  tp.closureRequested = info.isClosureRequested();
+  reader.fillConfig(tp.pduConf);
+  tp.pduConf.direction = Direction::TOWARDS_SENDER;
+  tp.transactionId.entityId = tp.pduConf.sourceId;
+  tp.transactionId.seqNum = tp.pduConf.seqNum;
   fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
   MetadataRecvdParams params(tp.transactionId, tp.pduConf.sourceId);
   params.fileSize = tp.fileSize.getSize();
@@ -362,6 +387,37 @@ ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
   return OK;
 }
 
+ReturnValue_t cfdp::DestHandler::tryBuildingAbsoluteDestName(size_t destNameSize) {
+  char baseNameBuf[tp.destName.size()]{};
+  FilesystemParams fparamsSrc(tp.sourceName.data());
+  size_t baseNameLen = 0;
+  ReturnValue_t result =
+      dp.user.vfs.getBaseFilename(fparamsSrc, baseNameBuf, sizeof(baseNameBuf), baseNameLen);
+  if (result != returnvalue::OK or baseNameLen == 0) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "error retrieving source base name");
+    return FAILED;
+  }
+  // Destination name + slash + base name + null termination
+  if (destNameSize + 1 + baseNameLen + 1 > tp.destName.size()) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0,
+                     "dest filename too large after adding source base name");
+    return FAILED;
+  }
+  tp.destName[destNameSize++] = '/';
+  std::memcpy(tp.destName.data() + destNameSize, baseNameBuf, baseNameLen);
+  destNameSize += baseNameLen;
+  tp.destName[destNameSize++] = '\0';
+  return OK;
+}
+
+void cfdp::DestHandler::fileErrorHandler(Event event, ReturnValue_t result, const char* info) {
+  fp.eventReporter->forwardEvent(events::FILENAME_TOO_LARGE_ERROR,
+                                 static_cast<uint8_t>(fsmRes.step), result);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "cfdp::DestHandler: " << info << std::endl;
+#endif
+}
+
 void cfdp::DestHandler::finish() {
   tp.reset();
   dp.packetListRef.clear();

src/fsfw/cfdp/handler/DestHandler.h

@@ -84,7 +84,7 @@ enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
 
 class DestHandler {
  public:
-  enum class TransactionStep {
+  enum class TransactionStep : uint8_t {
     IDLE = 0,
     TRANSACTION_START = 1,
     RECEIVING_FILE_DATA_PDUS = 2,
@@ -157,11 +157,13 @@ class DestHandler {
       progress = 0;
       remoteCfg = nullptr;
       closureRequested = false;
+      vfsErrorCount = 0;
       checksumType = ChecksumType::NULL_CHECKSUM;
     }
 
     ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
     bool closureRequested = false;
+    uint16_t vfsErrorCount = 0;
     std::vector<char> sourceName;
     std::vector<char> destName;
     cfdp::FileSize fileSize;
@@ -189,9 +191,11 @@ class DestHandler {
   ReturnValue_t handleMetadataParseError(ReturnValue_t result, const uint8_t* rawData,
                                          size_t maxSize);
   ReturnValue_t handleTransferCompletion();
+  ReturnValue_t tryBuildingAbsoluteDestName(size_t destNameSize);
   ReturnValue_t sendFinishedPdu();
   ReturnValue_t noticeOfCompletion();
   ReturnValue_t checksumVerification();
+  void fileErrorHandler(Event event, ReturnValue_t result, const char* info);
   const FsmResult& updateFsmRes(uint8_t errors);
   void checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx);
   void finish();

src/fsfw/cfdp/handler/defs.h

@@ -12,6 +12,9 @@ namespace events {
 static constexpr Event STORE_ERROR = event::makeEvent(SSID, 0, severity::LOW);
 static constexpr Event MSG_QUEUE_ERROR = event::makeEvent(SSID, 1, severity::LOW);
 static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
+static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
+//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
+static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
 
 }  // namespace events
 

src/fsfw/container/ArrayList.h

@@ -4,6 +4,7 @@
 #include "../returnvalues/returnvalue.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serialize/SerializeIF.h"
+#include "definitions.h"
 
 /**
  * @brief     A List that stores its values in an array.
@@ -19,9 +20,6 @@ class ArrayList {
   friend class SerialArrayListAdapter;
 
  public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
-  static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
-
   /**
    * This is the allocating constructor.
    * It allocates an array of the specified size.
@@ -187,7 +185,7 @@ class ArrayList {
    */
   ReturnValue_t insert(T entry) {
     if (size >= maxSize_) {
-      return FULL;
+      return containers::LIST_FULL;
     }
     entries[size] = entry;
     ++size;

src/fsfw/container/FixedArrayList.h

@@ -12,6 +12,7 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
   static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
+  static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");
 
  private:
   T data[MAX_SIZE];
@@ -20,15 +21,19 @@ class FixedArrayList : public ArrayList<T, count_t> {
   FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {}
 
   FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) {
-    memcpy(this->data, other.data, sizeof(this->data));
     this->entries = data;
     this->size = other.size;
+    for (size_t idx = 0; idx < this->size; idx++) {
+      data[idx] = other.data[idx];
+    }
   }
 
   FixedArrayList& operator=(FixedArrayList other) {
-    memcpy(this->data, other.data, sizeof(this->data));
     this->entries = data;
     this->size = other.size;
+    for (size_t idx = 0; idx < this->size; idx++) {
+      data[idx] = other.data[idx];
+    }
     return *this;
   }
 

src/fsfw/container/FixedMap.h

@@ -4,8 +4,8 @@
 #include <type_traits>
 #include <utility>
 
-#include "../returnvalues/returnvalue.h"
 #include "ArrayList.h"
+#include "definitions.h"
 
 /**
  * @brief    Map implementation for maps with a pre-defined size.
@@ -24,11 +24,6 @@ class FixedMap : public SerializeIF {
                 "derived class from SerializeIF to be serialize-able");
 
  public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
-  static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
-  static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
-  static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
-
  private:
   static const key_t EMPTY_SLOT = -1;
   ArrayList<std::pair<key_t, T>, uint32_t> theMap;
@@ -76,10 +71,10 @@ class FixedMap : public SerializeIF {
 
   ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) {
     if (exists(key) == returnvalue::OK) {
-      return KEY_ALREADY_EXISTS;
+      return containers::KEY_ALREADY_EXISTS;
     }
     if (_size == theMap.maxSize()) {
-      return MAP_FULL;
+      return containers::MAP_FULL;
     }
     theMap[_size].first = key;
     theMap[_size].second = value;
@@ -93,7 +88,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); }
 
   ReturnValue_t exists(key_t key) const {
-    ReturnValue_t result = KEY_DOES_NOT_EXIST;
+    ReturnValue_t result = containers::KEY_DOES_NOT_EXIST;
     if (findIndex(key) < _size) {
       result = returnvalue::OK;
     }
@@ -103,7 +98,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t erase(Iterator* iter) {
     uint32_t i;
     if ((i = findIndex((*iter).value->first)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return containers::KEY_DOES_NOT_EXIST;
     }
     theMap[i] = theMap[_size - 1];
     --_size;
@@ -114,7 +109,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t erase(key_t key) {
     uint32_t i;
     if ((i = findIndex(key)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return containers::KEY_DOES_NOT_EXIST;
     }
     theMap[i] = theMap[_size - 1];
     --_size;

src/fsfw/container/definitions.h

@@ -0,0 +1,14 @@
+#ifndef FSFW_CONTAINER_DEFINITIONS_H_
+#define FSFW_CONTAINER_DEFINITIONS_H_
+
+#include "fsfw/retval.h"
+
+namespace containers {
+static const ReturnValue_t KEY_ALREADY_EXISTS = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x01);
+static const ReturnValue_t MAP_FULL = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x02);
+static const ReturnValue_t KEY_DOES_NOT_EXIST = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x03);
+
+static const ReturnValue_t LIST_FULL = returnvalue::makeCode(CLASS_ID::ARRAY_LIST, 0x01);
+}  // namespace containers
+
+#endif /* FSFW_CONTAINER_DEFINITIONS_H_ */

src/fsfw/controller/ControllerBase.cpp

@@ -4,11 +4,10 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/subsystem/SubsystemBase.h"
+#include "fsfw/subsystem/helper.h"
 
-ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
-                               size_t commandQueueDepth)
+ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
     : SystemObject(setObjectId),
-      parentId(parentId),
       mode(MODE_OFF),
       submode(SUBMODE_NONE),
       modeHelper(this),
@@ -21,33 +20,15 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
 ReturnValue_t ControllerBase::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
+  ReturnValue_t result = modeHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  MessageQueueId_t parentQueue = 0;
-  if (parentId != objects::NO_OBJECT) {
-    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == nullptr) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  result = healthHelper.initialize(parentQueue);
+  result = healthHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  result = modeHelper.initialize(parentQueue);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return returnvalue::OK;
+  return SystemObject::initialize();
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@@ -120,3 +101,13 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
+
+const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& ControllerBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}

src/fsfw/controller/ControllerBase.h

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

src/fsfw/controller/ExtendedControllerBase.cpp

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

src/fsfw/controller/ExtendedControllerBase.h

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

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/devicehandlers/AssemblyBase.h"
 
-AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth)
-    : SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
+AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
+    : SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
       internalState(STATE_NONE),
       recoveryState(RECOVERY_IDLE),
       recoveringDevice(childrenMap.end()),

src/fsfw/devicehandlers/AssemblyBase.h

@@ -41,7 +41,7 @@ class AssemblyBase : public SubsystemBase {
   static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
 
-  AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
+  AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
   virtual ~AssemblyBase();
 
  protected:

src/fsfw/devicehandlers/ChildHandlerBase.cpp

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

src/fsfw/devicehandlers/ChildHandlerBase.h

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

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,5 +1,6 @@
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "DeviceHandlerBase.h"
 
+#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -12,6 +13,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
+#include "fsfw/subsystem/helper.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -56,12 +58,7 @@ void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
   this->hkDestination = hkDestination;
 }
 
-void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId,
-                                                      lp_id_t heaterRequestPoolId,
-                                                      uint32_t thermalSetId) {
-  thermalSet =
-      new DeviceHandlerThermalSet(this, thermalSetId, thermalStatePoolId, heaterRequestPoolId);
-}
+void DeviceHandlerBase::enableThermalModule(ThermalStateCfg cfg) { this->thermalStateCfg = cfg; }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
   if (comCookie != nullptr) {
@@ -132,14 +129,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
         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);
   if (communicationInterface == nullptr) {
@@ -233,12 +222,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   fillCommandAndReplyMap();
 
   if (thermalSet != nullptr) {
+    PoolReadGuard pg(thermalSet);
     // Set temperature target state to NON_OP.
-    result = thermalSet->read();
-    if (result == returnvalue::OK) {
+    if (pg.getReadResult() == returnvalue::OK) {
       thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       thermalSet->heaterRequest.setValid(true);
-      thermalSet->commit();
     }
   }
 
@@ -368,6 +356,8 @@ void DeviceHandlerBase::doStateMachine() {
       if ((switchState == PowerSwitchIF::SWITCH_ON) || (switchState == NO_SWITCH)) {
         // NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition
         childTransitionFailure = CHILD_TIMEOUT;
+        transitionSourceMode = _MODE_SHUT_DOWN;
+        transitionSourceSubMode = SUBMODE_NONE;
         setMode(_MODE_START_UP);
         callChildStatemachine();
       }
@@ -386,7 +376,7 @@ void DeviceHandlerBase::doStateMachine() {
       }
       ReturnValue_t switchState = getStateOfSwitches();
       if ((switchState == PowerSwitchIF::SWITCH_OFF) || (switchState == NO_SWITCH)) {
-        setMode(_MODE_SWITCH_IS_OFF);
+        setMode(MODE_OFF, SUBMODE_NONE);
       }
     } break;
     case MODE_OFF:
@@ -399,9 +389,6 @@ void DeviceHandlerBase::doStateMachine() {
     case MODE_NORMAL:
     case MODE_ERROR_ON:
       break;
-    case _MODE_SWITCH_IS_OFF:
-      setMode(MODE_OFF, SUBMODE_NONE);
-      break;
     default:
       triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
       setMode(_MODE_POWER_DOWN, 0);
@@ -573,12 +560,14 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 }
 
 void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
-
   /**
    * handle transition from OFF to NORMAL by continuing towards normal when ON is reached
    */
   if (newMode == MODE_ON and continueToNormal) {
     continueToNormal = false;
+    // TODO: Check whether the following two lines are okay to do so.
+    transitionSourceMode = MODE_ON;
+    transitionSourceSubMode = submode;
     mode = _MODE_TO_NORMAL;
     return;
   }
@@ -599,12 +588,12 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
   Clock::getUptime(&timeoutStart);
 
   if (mode == MODE_OFF and thermalSet != nullptr) {
-    ReturnValue_t result = thermalSet->read();
-    if (result == returnvalue::OK) {
+    PoolReadGuard pg(thermalSet);
+    if (pg.getReadResult() == returnvalue::OK) {
       if (thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) {
         thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       }
-      thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
+      thermalSet->heaterRequest.setValid(true);
     }
   }
   /* TODO: This will probably be done by the LocalDataPoolManager now */
@@ -1093,8 +1082,8 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
   // Do not check thermal state for MODE_RAW
   if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
       (thermalSet != nullptr)) {
-    ReturnValue_t result = thermalSet->read();
-    if (result == returnvalue::OK) {
+    PoolReadGuard pg(thermalSet);
+    if (pg.getReadResult() == returnvalue::OK) {
       if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
           (not ThermalComponentIF::isOperational(thermalSet->thermalState.value))) {
         triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE, thermalSet->thermalState.value);
@@ -1155,11 +1144,10 @@ void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode, Submode_t
     childTransitionDelay = getTransitionDelayMs(_MODE_START_UP, MODE_ON);
     triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
     if (thermalSet != nullptr) {
-      ReturnValue_t result = thermalSet->read();
-      if (result == returnvalue::OK) {
+      PoolReadGuard pg(thermalSet);
+      if (pg.getReadResult() == returnvalue::OK) {
         if (thermalSet->heaterRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
           thermalSet->heaterRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
-          thermalSet->commit();
         }
       }
     }
@@ -1482,11 +1470,11 @@ void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  if (thermalSet != nullptr) {
-    localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
-    localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
+  if (thermalStateCfg.has_value()) {
+    localDataPoolMap.emplace(thermalStateCfg.value().thermalStatePoolId,
+                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>());
+    localDataPoolMap.emplace(thermalStateCfg.value().thermalRequestPoolId,
+                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>());
   }
   return returnvalue::OK;
 }
@@ -1499,6 +1487,10 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   }
   this->poolManager.initializeAfterTaskCreation();
 
+  if (thermalStateCfg.has_value()) {
+    ThermalStateCfg& cfg = thermalStateCfg.value();
+    thermalSet = new DeviceHandlerThermalSet(this, cfg);
+  }
   if (setStartupImmediately) {
     startTransition(MODE_ON, getInitialSubmode());
   }
@@ -1530,7 +1522,10 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   for (const auto& reply : deviceReplyMap) {
     if (reply.second.dataSet != nullptr) {
-      reply.second.dataSet->setValidity(false, true);
+      PoolReadGuard pg(reply.second.dataSet);
+      if (pg.getReadResult() == returnvalue::OK) {
+        reply.second.dataSet->setValidity(false, true);
+      }
     }
   }
 }
@@ -1587,19 +1582,13 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
 
 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;
 }
 
-Mode_t DeviceHandlerBase::getMode() {
-  return mode;
-}
+Mode_t DeviceHandlerBase::getMode() { return mode; }
 
-Submode_t DeviceHandlerBase::getSubmode() {
-  return submode;
-}
+Submode_t DeviceHandlerBase::getSubmode() { return submode; }
 
 void DeviceHandlerBase::disableCommandsAndReplies() {
   for (auto& command : deviceCommandMap) {
@@ -1619,6 +1608,16 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
   }
 }
 
+ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}
+
+const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
+
 ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
                                               ReturnValue_t result) {
   auto commandIter = deviceCommandMap.find(action);

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -2,6 +2,7 @@
 #define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include <map>
+#include <optional>
 
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
@@ -21,9 +22,9 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 namespace Factory {
 void setStaticFrameworkObjectIds();
@@ -84,6 +85,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                           public HasModesIF,
                           public HasHealthIF,
                           public HasActionsIF,
+                          public ModeTreeChildIF,
+                          public ModeTreeConnectionIF,
                           public ReceivesParameterMessagesIF,
                           public HasLocalDataPoolIF {
   friend void(Factory::setStaticFrameworkObjectIds)();
@@ -104,7 +107,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
   void setCustomFdir(FailureIsolationBase *fdir);
-  void setParent(object_id_t parent);
   void setPowerSwitcher(PowerSwitchIF *switcher);
 
   /**
@@ -148,11 +150,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   //! has been commanded on and the handler waits for it to be on.
   //! When the switch is on, the mode changes to @c _MODE_TO_ON.
   static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and is off now. This state is only to do an RMAP
-  //! cycle once more where the doSendRead() function will set the mode to
-  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
-  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
   void setHkDestination(object_id_t hkDestination);
 
@@ -162,13 +159,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * The device handler will then take care of creating local pool entries
    * for the device thermal state and device heating request.
    * Custom local pool IDs can be assigned as well.
-   * @param thermalStatePoolId
-   * @param thermalRequestPoolId
    */
-  void setThermalStateRequestPoolIds(
-      lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
-      lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
-      uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
+  void enableThermalModule(ThermalStateCfg cfg);
+
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /**
    * @brief   Helper function to ease device handler development.
    * This will instruct the transition to MODE_ON immediately
@@ -214,7 +210,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return returnvalue::OK for successful execution
    */
-  virtual ReturnValue_t performOperation(uint8_t counter) override;
+  ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -224,14 +220,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
    *          This function will be called by the executing task.
    * @return
    */
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
   /** Destructor. */
   virtual ~DeviceHandlerBase();
@@ -248,6 +244,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual object_id_t getObjectId() const override;
 
   /**
+   * This is a helper method for classes which are parent nodes in the mode tree.
+   * It registers the passed queue as the destination for mode and health messages.
    * @param parentQueueId
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
@@ -924,6 +922,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   //! Object which may be the root cause of an identified fault.
   static object_id_t defaultFdirParentId;
 
+  std::optional<ThermalStateCfg> thermalStateCfg;
+
   /**
    * @brief   Send a reply to a received device handler command.
    *
@@ -1012,6 +1012,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   LocalDataPoolManager *getHkManagerHandle() override;
 
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
+
   /**
    * Returns the delay cycle count of a reply.
    * A count != 0 indicates that the command is already executed.

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -136,4 +136,10 @@ class DeviceHandlerIF {
   virtual MessageQueueId_t getCommandQueue() const = 0;
 };
 
+struct ThermalStateCfg {
+  lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID;
+  lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID;
+  uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID;
+};
+
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

src/fsfw/devicehandlers/DeviceHandlerThermalSet.h

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

src/fsfw/devicehandlers/DeviceTmReportingWrapper.h

@@ -4,7 +4,6 @@
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/serialize/SerializeIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 class DeviceTmReportingWrapper : public SerializeIF {
  public:

src/fsfw/events/EventManager.cpp

@@ -15,15 +15,16 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
     {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS, sizeof(EventIdRangeMatcher)},
     {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS, sizeof(ReporterRangeMatcher)}};
 
-EventManager::EventManager(object_id_t setObjectId)
+EventManager::EventManager(object_id_t setObjectId, uint32_t eventQueueDepth)
     : 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);
+      eventQueueDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 EventManager::~EventManager() {
+  listenerList.clear();
   QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
   MutexFactory::instance()->deleteMutex(mutex);
 }
@@ -73,9 +74,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
   if (!result.second) {
     return returnvalue::FAILED;
   }
+
   return returnvalue::OK;
 }
 
+ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
+  return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
+}
+
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
   return subscribeToEventRange(listener, event);
 }

src/fsfw/events/EventManager.h

@@ -21,9 +21,9 @@ extern const char* translateEvents(Event event);
 
 class EventManager : public EventManagerIF, public ExecutableObjectIF, public SystemObject {
  public:
-  static const uint16_t MAX_EVENTS_PER_CYCLE = 80;
+  static const uint16_t DEFAULT_MAX_EVENTS_PER_CYCLE = 80;
 
-  EventManager(object_id_t setObjectId);
+  EventManager(object_id_t setObjectId, uint32_t eventQueueDepth);
   virtual ~EventManager();
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
@@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
   MessageQueueId_t getEventReportQueue();
 
   ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
+  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
   ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
   ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,

src/fsfw/events/EventManagerIF.h

@@ -18,6 +18,7 @@ class EventManagerIF {
 
   virtual ReturnValue_t registerListener(MessageQueueId_t listener,
                                          bool forwardAllButSelected = false) = 0;
+  virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -24,7 +24,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
     return;
   }
-  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
+  manager->unregisterListener(eventQueue->getId());
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 

src/fsfw/fdir/FaultCounter.cpp

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

src/fsfw/filesystem/HasFileSystemIF.h

@@ -74,6 +74,12 @@ class HasFileSystemIF {
     return MessageQueueIF::NO_QUEUE;
   }
 
+  // Get the base filename without the full directory path
+  virtual ReturnValue_t getBaseFilename(FilesystemParams params, char* nameBuf, size_t maxLen,
+                                        size_t& baseNameLen) = 0;
+
+  virtual bool isDirectory(const char* path) = 0;
+
   virtual bool fileExists(FilesystemParams params) = 0;
 
   /**

src/fsfw/globalfunctions/matching/MatchTree.h

@@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
   MatchTree(iterator root, uint8_t maxDepth = -1)
       : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
   MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
-  virtual ~MatchTree() {}
+  virtual ~MatchTree() { clear(); }
   virtual bool match(T number) override { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
@@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
     return cleanUpElement(position);
   }
 
+  void clear() {
+    Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
+
+    if (localRoot == nullptr) {
+      return;
+    }
+
+    Node* node = localRoot->left;
+
+    while (true) {
+      if (node->left != nullptr) {
+        node = node->left;
+        continue;
+      }
+      if (node->right != nullptr) {
+        node = node->right;
+        continue;
+      }
+      if (node->parent == nullptr) {
+        // this is the root node with no children
+        if (node->value != nullptr) {
+          cleanUpElement(iterator(node));
+        }
+        return;
+      }
+      // leaf
+      {
+        Node* parent = node->parent;
+        if (parent->left == node) {
+          parent->left = nullptr;
+        } else {
+          parent->right = nullptr;
+        }
+        cleanUpElement(iterator(node));
+        node = parent;
+      }
+    }
+  }
+
   virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
 
   bool matchSubtree(iterator iter, T number) {

src/fsfw/globalfunctions/timevalOperations.cpp

@@ -1,8 +1,8 @@
 #include "fsfw/globalfunctions/timevalOperations.h"
 
 timeval& operator+=(timeval& lhs, const timeval& rhs) {
-  int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-  sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
+  int64_t sum = static_cast<int64_t>(lhs.tv_sec) * 1000000. + lhs.tv_usec;
+  sum += static_cast<int64_t>(rhs.tv_sec) * 1000000. + rhs.tv_usec;
   lhs.tv_sec = sum / 1000000;
   lhs.tv_usec = sum - lhs.tv_sec * 1000000;
   return lhs;

src/fsfw/health/HealthHelper.cpp

@@ -5,7 +5,11 @@
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
     : objectId(objectId), owner(owner) {}
 
-HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
+HealthHelper::~HealthHelper() {
+  if (healthTable != nullptr) {
+    healthTable->removeObject(objectId);
+  }
+}
 
 ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
   switch (message->getCommand()) {

src/fsfw/health/HealthTable.cpp

@@ -6,8 +6,6 @@
 
 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
   mutex = MutexFactory::instance()->createMutex();
-  ;
-
   mapIterator = healthMap.begin();
 }
 

src/fsfw/health/HealthTable.h

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

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -10,13 +10,17 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
+  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   mutex = MutexFactory::instance()->createMutex();
   auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
+InternalErrorReporter::~InternalErrorReporter() {
+  MutexFactory::instance()->deleteMutex(mutex);
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}
 
 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
   this->diagnosticPrintout = enable;

src/fsfw/ipc/MutexGuard.h

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

src/fsfw/modes/ModeMessage.cpp

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

src/fsfw/modes/ModeMessage.h

@@ -1,43 +1,42 @@
 #ifndef FSFW_MODES_MODEMESSAGE_H_
 #define FSFW_MODES_MODEMESSAGE_H_
 
-#include "../ipc/CommandMessage.h"
+#include "fsfw/ipc/CommandMessage.h"
 
 typedef uint32_t Mode_t;
 typedef uint8_t Submode_t;
 
 class ModeMessage {
- private:
-  ModeMessage();
-
  public:
   static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
-  static const Command_t CMD_MODE_COMMAND =
-      MAKE_COMMAND_ID(0x01);  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
-                              //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
-                              //! as this will break the subsystem mode machine!!
-  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
-      0xF1);  //!> Command to set the specified Mode, regardless of external control flag, replies
-              //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
-              //! replies, as this will break the subsystem mode machine!!
-  static const Command_t REPLY_MODE_REPLY =
-      MAKE_COMMAND_ID(0x02);  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
-  static const Command_t REPLY_MODE_INFO =
-      MAKE_COMMAND_ID(0x03);  //!> Unrequested info about the current mode (used for composites to
-                              //! inform their container of a changed mode)
-  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
-      0x04);  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
-  static const Command_t REPLY_WRONG_MODE_REPLY =
-      MAKE_COMMAND_ID(0x05);  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
-                              //! and a transition started but was aborted; the parameters contain
-                              //! the mode that was reached
-  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
-      0x06);  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
-  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
-      0x07);  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
-  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
-      MAKE_COMMAND_ID(0x08);  //!> Command to trigger an ModeInfo Event and to send this command to
-                              //! every child. This command does NOT have a reply.
+  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
+  //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
+  //! as this will break the subsystem mode machine!!
+  static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);
+  //!> Command to set the specified Mode, regardless of external control flag, replies
+  //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
+  //! replies, as this will break the subsystem mode machine!!
+  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);
+  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+  static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);
+  //!> Unrequested info about the current mode (used for composites to
+  //! inform their container of a changed mode)
+  static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);
+  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
+  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04);
+  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
+  //! and a transition started but was aborted; the parameters contain
+  //! the mode that was reached
+  static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);
+  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
+  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);
+  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
+  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);
+  //!> Command to trigger an ModeInfo Event and to send this command to
+  //! every child. This command does NOT have a reply.
+  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
+
+  ModeMessage() = delete;
 
   static Mode_t getMode(const CommandMessage* message);
   static Submode_t getSubmode(const CommandMessage* message);
@@ -45,6 +44,9 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
+  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
+  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
+  static void setModeReadMessage(CommandMessage& message);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

src/fsfw/objectmanager/ObjectManager.cpp

@@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
 
 ObjectManager::ObjectManager() = default;
 
+void ObjectManager::clear() {
+  if (objManagerInstance != nullptr) {
+    delete objManagerInstance;
+    objManagerInstance = nullptr;
+  }
+}
+
 ObjectManager::~ObjectManager() {
-  for (auto const& iter : objectList) {
-    delete iter.second;
+  teardown = true;
+  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
+    delete iter->second;
   }
 }
 
@@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }
 
 ReturnValue_t ObjectManager::remove(object_id_t id) {
+  // this function is called during destruction of System Objects
+  // disabeld for teardown to avoid iterator invalidation and
+  // double free
+  if (teardown) {
+    return returnvalue::OK;
+  }
   if (this->getSystemObject(id) != nullptr) {
     this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1

src/fsfw/objectmanager/ObjectManager.h

@@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
   using produce_function_t = void (*)(void* args);
 
   /**
-   * Returns the single instance of TaskFactory.
+   * Returns the single instance of ObjectManager.
    * The implementation of #instance is found in its subclasses.
    * Thus, we choose link-time variability of the  instance.
    */
   static ObjectManager* instance();
 
+  /**
+   * Deletes the single instance of ObjectManager
+   */
+  static void clear();
+
   void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
 
   template <typename T>
@@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
    */
   std::map<object_id_t, SystemObjectIF*> objectList;
   static ObjectManager* objManagerInstance;
+  // used when the OM itself is deleted to modify behaviour of remove()
+  // to avoid iterator invalidation and double free
+  bool teardown = false;
 };
 
 // Documentation can be found in the class method declaration above

src/fsfw/objectmanager/frameworkObjects.h

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

src/fsfw/osal/CMakeLists.txt

@@ -1,10 +1,13 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
   add_subdirectory(freertos)
+  set(FSFW_OSAL_FREERTOS 1)
 elseif(FSFW_OSAL MATCHES "rtems")
   add_subdirectory(rtems)
+  set(FSFW_OSAL_RTEMS 1)
 elseif(FSFW_OSAL MATCHES "linux")
   add_subdirectory(linux)
+  set(FSFW_OSAL_LINUX 1)
 elseif(FSFW_OSAL MATCHES "host")
   add_subdirectory(host)
   if(WIN32)
@@ -13,18 +16,20 @@ elseif(FSFW_OSAL MATCHES "host")
     # We still need to pull in some Linux specific sources
     target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
   endif()
-
+  set(FSFW_OSAL_HOST 1)
 else()
-
   message(
     WARNING
       "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
+
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)
     add_subdirectory(windows)
+    set(FSFW_OSAL_HOST 1)
   elseif(UNIX)
     add_subdirectory(linux)
+    set(FSFW_OSAL_LINUX 1)
   else()
     # MacOS or other OSes have not been tested yet / are not supported.
     message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@@ -33,3 +38,5 @@ else()
 endif()
 
 add_subdirectory(common)
+
+configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

src/fsfw/osal/common/TcpIpBase.cpp

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

src/fsfw/osal/common/TcpTmTcBridge.cpp

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

src/fsfw/osal/common/TcpTmTcBridge.h

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

src/fsfw/osal/common/TcpTmTcServer.cpp

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

src/fsfw/osal/common/TcpTmTcServer.h

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

src/fsfw/osal/common/UdpTmTcBridge.cpp

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

src/fsfw/osal/common/UdpTmTcBridge.h

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

src/fsfw/osal/host/Clock.cpp

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

src/fsfw/osal/linux/Clock.cpp

@@ -42,7 +42,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock_timeval(timeval* time) {
+ReturnValue_t Clock::getClock(timeval* time) {
   timespec timeUnix{};
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
@@ -53,6 +53,8 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::getClock_timeval(timeval* time) { return Clock::getClock(time); }
+
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   timeval timeVal{};
   ReturnValue_t result = getClock_timeval(&timeVal);
@@ -64,6 +66,17 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::getClockMonotonic(timeval* time) {
+  timespec timeMonotonic{};
+  int status = clock_gettime(CLOCK_MONOTONIC_RAW, &timeMonotonic);
+  if (status != 0) {
+    return returnvalue::FAILED;
+  }
+  time->tv_sec = timeMonotonic.tv_sec;
+  time->tv_usec = timeMonotonic.tv_nsec / 1000.0;
+  return returnvalue::OK;
+}
+
 timeval Clock::getUptime() {
   timeval uptime{};
   auto result = getUptime(&uptime);
@@ -79,11 +92,16 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
   // TODO This is not posix compatible and delivers only seconds precision
   //  Linux specific file read but more precise.
   double uptimeSeconds;
-  if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) {
+  std::ifstream ifile("/proc/uptime");
+  if (ifile.bad()) {
+    return returnvalue::FAILED;
+  }
+  if (ifile >> uptimeSeconds) {
     uptime->tv_sec = uptimeSeconds;
     uptime->tv_usec = uptimeSeconds * (double)1e6 - (uptime->tv_sec * 1e6);
+    return returnvalue::OK;
   }
-  return returnvalue::OK;
+  return returnvalue::FAILED;
 }
 
 // Wait for new FSFW Clock function delivering seconds uptime.

src/fsfw/osal/linux/MessageQueue.cpp

@@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
   attributes.mq_msgsize = maxMessageSize;
   attributes.mq_flags = 0;  // Flags are ignored on Linux during mq_open
   // Set the name of the queue. The slash is mandatory!
-  sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u", queueCounter++);
 
   // Create a nonblocking queue if the name is available (the queue is read
   // and writable for the owner as well as the group)

src/fsfw/osal/osal.h.in

@@ -0,0 +1,36 @@
+#pragma once
+
+namespace osal {
+    enum osalTarget{
+        HOST,
+        LINUX,
+        WINDOWS,
+        FREERTOS,
+        RTEMS,
+    };
+
+#cmakedefine FSFW_OSAL_HOST
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_WINDOWS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_RTEMS
+
+
+    constexpr osalTarget getTarget() {
+#ifdef FSFW_OSAL_HOST
+  return HOST;
+#endif
+#ifdef FSFW_OSAL_LINUX
+  return LINUX;
+#endif
+#ifdef FSFW_OSAL_WINDOWS
+  return WINDOWS;
+#endif
+#ifdef FSFW_OSAL_FREERTOS
+  return FREERTOS;
+#endif
+#ifdef FSFW_OSAL_RTEMS
+  return RTEMS;
+#endif
+    }
+};

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -1,5 +1,7 @@
 #include "DummyPowerSwitcher.h"
 
+#include <utility>
+
 DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
                                        size_t numberOfFuses, bool registerGlobally,
                                        uint32_t switchDelayMs)
@@ -9,11 +11,11 @@ DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwit
       switchDelayMs(switchDelayMs) {}
 
 void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
-  this->switcherList = switcherList;
+  this->switcherList = std::move(switcherList);
 }
 
 void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
-  this->fuseList = fuseList;
+  this->fuseList = std::move(fuseList);
 }
 
 ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -3,7 +3,7 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/power/PowerSwitchIF.h>
 
-PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
+PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
                                                power::Switch_t pwrSwitch)
     : SystemObject(objectId),
       switcher(pwrSwitcher, pwrSwitch),
@@ -54,7 +54,7 @@ ReturnValue_t PowerSwitcherComponent::initialize() {
 
 MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
 
-void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
+void PowerSwitcherComponent::getMode(Mode_t* mode, Submode_t* submode) {
   *mode = this->mode;
   *submode = this->submode;
 }
@@ -65,7 +65,7 @@ ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
 }
 
 ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                       uint32_t *msToReachTheMode) {
+                                                       uint32_t* msToReachTheMode) {
   *msToReachTheMode = 5000;
   if (mode != MODE_ON and mode != MODE_OFF) {
     return TRANS_NOT_ALLOWED;
@@ -105,3 +105,15 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
 }
 
 HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }
+
+const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this; }
+
+const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
+
+ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return parent.registerChild(*this);
+}
+
+object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
+
+ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }

src/fsfw/power/PowerSwitcherComponent.h

@@ -8,6 +8,8 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitcher.h>
 #include <fsfw/power/definitions.h>
+#include <fsfw/subsystem/ModeTreeChildIF.h>
+#include <fsfw/subsystem/ModeTreeConnectionIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
 class PowerSwitchIF;
@@ -24,12 +26,17 @@ class PowerSwitchIF;
  */
 class PowerSwitcherComponent : public SystemObject,
                                public ExecutableObjectIF,
+                               public ModeTreeChildIF,
+                               public ModeTreeConnectionIF,
                                public HasModesIF,
                                public HasHealthIF {
  public:
   PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
                          power::Switch_t pwrSwitch);
 
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
  private:
   MessageQueueIF *queue = nullptr;
   PowerSwitcher switcher;
@@ -56,6 +63,10 @@ class PowerSwitcherComponent : public SystemObject,
 
   ReturnValue_t setHealth(HealthState health) override;
   HasHealthIF::HealthState getHealth() override;
+
+  object_id_t getObjectId() const override;
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
 };
 
 #endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/pus/CMakeLists.txt

@@ -9,4 +9,4 @@ target_sources(
           Service17Test.cpp
           Service20ParameterManagement.cpp
           CService200ModeCommanding.cpp
-          CService201HealthCommanding.cpp)
+          CServiceHealthCommanding.cpp)

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -19,7 +19,8 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_ANNCOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -53,16 +54,32 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                         const uint8_t *tcData, size_t tcDataLen,
                                                         uint32_t *state, object_id_t objectId) {
-  ModePacket modeCommandPacket;
-  ReturnValue_t result =
-      modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
-    return result;
-  }
+  bool recursive = false;
+  switch (subservice) {
+    case (Subservice::COMMAND_MODE_COMMAND): {
+      ModePacket modeCommandPacket;
+      ReturnValue_t result =
+          modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        return result;
+      }
 
-  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-                              modeCommandPacket.getSubmode());
-  return result;
+      ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND,
+                                  modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
+      return returnvalue::OK;
+    }
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
+      recursive = true;
+      [[fallthrough]];
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
+      ModeMessage::setModeAnnounceMessage(*message, recursive);
+      return EXECUTION_COMPLETE;
+    case (Subservice::COMMAND_MODE_READ):
+      ModeMessage::setModeReadMessage(*message);
+      return returnvalue::OK;
+    default:
+      return CommandingServiceBase::INVALID_SUBSERVICE;
+  }
 }
 
 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
@@ -73,8 +90,10 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
   ReturnValue_t result = returnvalue::FAILED;
   switch (replyId) {
     case (ModeMessage::REPLY_MODE_REPLY): {
-      result = prepareModeReply(reply, objectId);
-      break;
+      if (previousCommand != ModeMessage::CMD_MODE_COMMAND) {
+        return prepareModeReply(reply, objectId);
+      }
+      return returnvalue::OK;
     }
     case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
       result = prepareWrongModeReply(reply, objectId);

src/fsfw/pus/CService200ModeCommanding.h

@@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
     COMMAND_MODE_READ = 3,
     //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
     //! This command does NOT have a reply
-    COMMAND_MODE_ANNCOUNCE = 4,
+    COMMAND_MODE_ANNOUNCE = 4,
     //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
     //! command to every child. This command does NOT have a reply.
     COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -1,106 +0,0 @@
-#include "fsfw/pus/CService201HealthCommanding.h"
-
-#include "fsfw/health/HasHealthIF.h"
-#include "fsfw/health/HealthMessage.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/pus/servicepackets/Service201Packets.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
-                                                         uint8_t serviceId,
-                                                         uint8_t numParallelCommands,
-                                                         uint16_t commandTimeoutSeconds)
-    : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
-                            commandTimeoutSeconds) {}
-
-ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
-      return returnvalue::OK;
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Invalid Subservice" << std::endl;
-#endif
-      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-  }
-}
-
-ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
-                                                                    const uint8_t *tcData,
-                                                                    size_t tcDataLen,
-                                                                    MessageQueueId_t *id,
-                                                                    object_id_t *objectId) {
-  if (tcDataLen < sizeof(object_id_t)) {
-    return CommandingServiceBase::INVALID_TC;
-  }
-  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-
-  return checkInterfaceAndAcquireMessageQueue(id, objectId);
-}
-
-ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
-  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
-  if (destination == nullptr) {
-    return CommandingServiceBase::INVALID_OBJECT;
-  }
-
-  *messageQueueToSet = destination->getCommandQueue();
-  return returnvalue::OK;
-}
-
-ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
-                                                          uint8_t subservice, const uint8_t *tcData,
-                                                          size_t tcDataLen, uint32_t *state,
-                                                          object_id_t objectId) {
-  ReturnValue_t result = returnvalue::OK;
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH): {
-      HealthSetCommand healthCommand;
-      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        break;
-      }
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
-                                      healthCommand.getHealth());
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
-      break;
-    }
-    default: {
-      // Should never happen, subservice was already checked
-      result = returnvalue::FAILED;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
-                                                       Command_t previousCommand, uint32_t *state,
-                                                       CommandMessage *optionalNextCommand,
-                                                       object_id_t objectId, bool *isStep) {
-  Command_t replyId = reply->getCommand();
-  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
-    return EXECUTION_COMPLETE;
-  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
-    return reply->getReplyRejectedReason();
-  }
-  return CommandingServiceBase::INVALID_REPLY;
-}
-
-// Not used for now, health state already reported by event
-[[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/CServiceHealthCommanding.cpp

@@ -0,0 +1,155 @@
+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/pus/CServiceHealthCommanding.h>
+
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthMessage.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/pus/servicepackets/Service201Packets.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
+    : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
+                            args.numParallelCommands, args.commandTimeoutSeconds),
+      healthTable(args.table),
+      maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
+
+ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
+      return returnvalue::OK;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Invalid Subservice" << std::endl;
+#endif
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
+                                                                 const uint8_t *tcData,
+                                                                 size_t tcDataLen,
+                                                                 MessageQueueId_t *id,
+                                                                 object_id_t *objectId) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      if (tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+      }
+      SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+
+      return checkInterfaceAndAcquireMessageQueue(id, objectId);
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      return returnvalue::OK;
+    }
+    default: {
+      return returnvalue::FAILED;
+    }
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+  if (destination == nullptr) {
+    return CommandingServiceBase::INVALID_OBJECT;
+  }
+
+  *messageQueueToSet = destination->getCommandQueue();
+  return returnvalue::OK;
+}
+
+ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
+                                                       const uint8_t *tcData, size_t tcDataLen,
+                                                       uint32_t *state, object_id_t objectId) {
+  ReturnValue_t result = returnvalue::OK;
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH): {
+      if (tcDataLen != sizeof(object_id_t) + sizeof(HasHealthIF::HealthState)) {
+        return CommandingServiceBase::INVALID_TC;
+      }
+      HealthSetCommand healthCommand;
+      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        break;
+      }
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
+                                      healthCommand.getHealth());
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
+      return CommandingServiceBase::EXECUTION_COMPLETE;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      ReturnValue_t result = iterateHealthTable(true);
+      if (result == returnvalue::OK) {
+        reportAllHealth = true;
+        return EXECUTION_COMPLETE;
+      }
+      return result;
+      while (true) {
+        ReturnValue_t result = iterateHealthTable(false);
+        if (result != returnvalue::OK) {
+          break;
+        }
+      }
+
+      return returnvalue::OK;
+    }
+    default: {
+      // Should never happen, subservice was already checked
+      result = returnvalue::FAILED;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
+                                                    Command_t previousCommand, uint32_t *state,
+                                                    CommandMessage *optionalNextCommand,
+                                                    object_id_t objectId, bool *isStep) {
+  Command_t replyId = reply->getCommand();
+  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
+    return EXECUTION_COMPLETE;
+  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
+    return reply->getReplyRejectedReason();
+  }
+  return CommandingServiceBase::INVALID_REPLY;
+}
+
+void CServiceHealthCommanding::doPeriodicOperation() {
+  if (reportAllHealth) {
+    for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
+      ReturnValue_t result = iterateHealthTable(false);
+      if (result != returnvalue::OK) {
+        reportAllHealth = false;
+        break;
+      }
+    }
+  }
+}
+
+// Not used for now, health state already reported by event
+[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::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);
+}
+
+ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
+  std::pair<object_id_t, HasHealthIF::HealthState> pair;
+
+  ReturnValue_t result = healthTable.iterate(&pair, reset);
+  if (result != returnvalue::OK) {
+    return result;
+  } else {
+    EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
+    return returnvalue::OK;
+  }
+}

src/fsfw/pus/CServiceHealthCommanding.h

@@ -1,8 +1,26 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
+#include <fsfw/health/HealthTable.h>
+
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 
+struct HealthServiceCfg {
+  HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
+                   uint16_t maxNumHealthInfoPerCycle)
+      : objectId(objectId),
+        apid(apid),
+        table(healthTable),
+        maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
+  object_id_t objectId;
+  uint16_t apid;
+  HealthTable &table;
+  uint16_t maxNumHealthInfoPerCycle;
+  uint8_t service = 201;
+  uint8_t numParallelCommands = 4;
+  uint16_t commandTimeoutSeconds = 60;
+};
+
 /**
  * @brief   Custom PUS service to set health of all objects
  *          implementing hasHealthIF.
@@ -17,11 +35,10 @@
  * child class like this service
  *
  */
-class CService201HealthCommanding : public CommandingServiceBase {
+class CServiceHealthCommanding : public CommandingServiceBase {
  public:
-  CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  ~CService201HealthCommanding() override = default;
+  CServiceHealthCommanding(HealthServiceCfg args);
+  ~CServiceHealthCommanding() override = default;
 
  protected:
   /* CSB abstract function implementations */
@@ -37,7 +54,13 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             CommandMessage *optionalNextCommand, object_id_t objectId,
                             bool *isStep) override;
 
+  void doPeriodicOperation() override;
+
  private:
+  HealthTable &healthTable;
+  uint16_t maxNumHealthInfoPerCycle = 0;
+  bool reportAllHealth = false;
+  ReturnValue_t iterateHealthTable(bool reset);
   static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
                                                             const object_id_t *objectId);
 

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
   static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
   static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5);
+  static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6);
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
 

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,9 +2,11 @@
 
 #include <cstddef>
 
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@@ -158,7 +160,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   // (See requirement for Time margin)
   timeval tNow = {};
   Clock::getClock_timeval(&tNow);
-  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
+  if (timestamp < static_cast<uint32_t>(tNow.tv_sec + RELEASE_TIME_MARGIN_SECONDS)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
                     "current time"
@@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
     return returnvalue::FAILED;
   }
 
+  if (size < PusTcIF::MIN_SIZE) {
+    return CONTAINED_TC_TOO_SMALL;
+  }
+
+  if (CRC::crc16ccitt(data, size) != 0) {
+    return CONTAINED_TC_CRC_MISSMATCH;
+  }
+
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

src/fsfw/pus/Service17Test.cpp

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

src/fsfw/pus/Service17Test.h

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

src/fsfw/pus/Service20ParameterManagement.cpp

@@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
                << "MessageQueue: Can't access object" << std::endl;
-    sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
+    sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
+    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
 #else
     sif::printError(
         "Service20ParameterManagement::checkInterfaceAndAcquire"
         "MessageQueue: Can't access object\n");
     sif::printError("Object ID: 0x%08x\n", *objectId);
-    sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
+    sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
 #endif
 
     return CommandingServiceBase::INVALID_OBJECT;

src/fsfw/pus/Service5EventReporting.h

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

src/fsfw/pus/Service9TimeManagement.cpp

@@ -1,5 +1,7 @@
 #include "fsfw/pus/Service9TimeManagement.h"
 
+#include <cmath>
+
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
-    case SUBSERVICE::SET_TIME: {
+    case Subservice::SET_TIME: {
       return setTime();
     }
+    case Subservice::DUMP_TIME: {
+      timeval newTime;
+      Clock::getClock_timeval(&newTime);
+      uint32_t subsecondMs =
+          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
+      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
+      return returnvalue::OK;
+    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
@@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  uint32_t formerUptime;
-  Clock::getUptime(&formerUptime);
+  timeval time;
+  Clock::getClock_timeval(&time);
   result = Clock::setClock(&timeToSet);
 
   if (result == returnvalue::OK) {
-    uint32_t newUptime;
-    Clock::getUptime(&newUptime);
-    triggerEvent(CLOCK_SET, newUptime, formerUptime);
+    timeval newTime;
+    Clock::getClock_timeval(&newTime);
+    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
     return returnvalue::OK;
   } else {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);

src/fsfw/pus/Service9TimeManagement.h

@@ -6,10 +6,13 @@
 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
+
+  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
   static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
+  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, 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_FAILURE = MAKE_EVENT(2, severity::LOW);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
@@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase {
   virtual ReturnValue_t setTime();
 
  private:
-  enum SUBSERVICE {
-    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+  enum Subservice {
+    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    DUMP_TIME = 129,
   };
 };
 

src/fsfw/pus/servicepackets/Service200Packets.h

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

src/fsfw/storagemanager/LocalPool.cpp

@@ -31,9 +31,8 @@ LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
 
 LocalPool::~LocalPool() = default;
 
-ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size,
-                                 bool ignoreFault) {
-  ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size) {
+  ReturnValue_t status = reserveSpace(size, storageId);
   if (status == returnvalue::OK) {
     write(*storageId, data, size);
   }
@@ -49,8 +48,8 @@ ReturnValue_t LocalPool::getData(store_address_t packetId, const uint8_t** packe
 }
 
 ReturnValue_t LocalPool::getFreeElement(store_address_t* storageId, const size_t size,
-                                        uint8_t** pData, bool ignoreFault) {
-  ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+                                        uint8_t** pData) {
+  ReturnValue_t status = reserveSpace(size, storageId);
   if (status == returnvalue::OK) {
     *pData = &store[storageId->poolIndex][getRawPosition(*storageId)];
   } else {
@@ -167,7 +166,7 @@ void LocalPool::clearStore() {
   }
 }
 
-ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId, bool ignoreFault) {
+ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId) {
   ReturnValue_t status = getSubPoolIndex(size, &storeId->poolIndex);
   if (status != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -318,27 +317,3 @@ bool LocalPool::hasDataAtId(store_address_t storeId) const {
   }
   return false;
 }
-
-ReturnValue_t LocalPool::getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) {
-  return StorageManagerIF::getFreeElement(storeId, size, pData);
-}
-
-ConstAccessorPair LocalPool::getData(store_address_t storeId) {
-  return StorageManagerIF::getData(storeId);
-}
-
-ReturnValue_t LocalPool::addData(store_address_t* storeId, const uint8_t* data, size_t size) {
-  return StorageManagerIF::addData(storeId, data, size);
-}
-
-ReturnValue_t LocalPool::getData(store_address_t storeId, ConstStorageAccessor& accessor) {
-  return StorageManagerIF::getData(storeId, accessor);
-}
-
-ReturnValue_t LocalPool::modifyData(store_address_t storeId, StorageAccessor& accessor) {
-  return StorageManagerIF::modifyData(storeId, accessor);
-}
-
-AccessorPair LocalPool::modifyData(store_address_t storeId) {
-  return StorageManagerIF::modifyData(storeId);
-}

src/fsfw/storagemanager/LocalPool.h

@@ -86,21 +86,13 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   /**
    * Documentation: See StorageManagerIF.h
    */
-  ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size,
-                        bool ignoreFault) override;
   ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size) override;
 
   ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) override;
-  ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData,
-                               bool ignoreFault) override;
 
-  ConstAccessorPair getData(store_address_t storeId) override;
-  ReturnValue_t getData(store_address_t storeId, ConstStorageAccessor& accessor) override;
   ReturnValue_t getData(store_address_t storeId, const uint8_t** packet_ptr, size_t* size) override;
 
-  AccessorPair modifyData(store_address_t storeId) override;
   ReturnValue_t modifyData(store_address_t storeId, uint8_t** packet_ptr, size_t* size) override;
-  ReturnValue_t modifyData(store_address_t storeId, StorageAccessor& accessor) override;
 
   ReturnValue_t deleteData(store_address_t storeId) override;
   ReturnValue_t deleteData(uint8_t* ptr, size_t size, store_address_t* storeId) override;
@@ -136,6 +128,12 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   [[nodiscard]] max_subpools_t getNumberOfSubPools() const override;
   [[nodiscard]] bool hasDataAtId(store_address_t storeId) const override;
 
+  // Using functions provided by StorageManagerIF requires either a fully qualified path
+  // like for example localPool.StorageManagerIF::getFreeElement(...) or re-exporting
+  // the fully qualified path with the using directive.
+  using StorageManagerIF::getData;
+  using StorageManagerIF::modifyData;
+
  protected:
   /**
    * With this helper method, a free element of @c size is reserved.
@@ -144,7 +142,7 @@ class LocalPool : public SystemObject, public StorageManagerIF {
    * @return	- returnvalue::OK on success,
    * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
    */
-  virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault);
+  virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address);
 
  private:
   /**
@@ -188,6 +186,8 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   std::vector<std::vector<size_type>> sizeLists =
       std::vector<std::vector<size_type>>(NUMBER_OF_SUBPOOLS);
 
+  bool ignoreFault = false;
+
   //! A variable to determine whether higher n pools are used if
   //! the store is full.
   bool spillsToHigherPools = false;

src/fsfw/storagemanager/PoolManager.cpp

@@ -9,10 +9,9 @@ PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPo
 
 PoolManager::~PoolManager() { MutexFactory::instance()->deleteMutex(mutex); }
 
-ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address,
-                                        bool ignoreFault) {
-  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs);
-  ReturnValue_t status = LocalPool::reserveSpace(size, address, ignoreFault);
+ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address) {
+  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs, LOCK_CTX);
+  ReturnValue_t status = LocalPool::reserveSpace(size, address);
   return status;
 }
 
@@ -23,12 +22,12 @@ ReturnValue_t PoolManager::deleteData(store_address_t storeId) {
              << storeId.poolIndex << ". id is " << storeId.packetIndex << std::endl;
 #endif
 #endif
-  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs);
+  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs, LOCK_CTX);
   return LocalPool::deleteData(storeId);
 }
 
 ReturnValue_t PoolManager::deleteData(uint8_t* buffer, size_t size, store_address_t* storeId) {
-  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs, LOCK_CTX);
   ReturnValue_t status = LocalPool::deleteData(buffer, size, storeId);
   return status;
 }

src/fsfw/storagemanager/PoolManager.h

@@ -56,8 +56,9 @@ class PoolManager : public LocalPool {
  protected:
   //! Default mutex timeout value to prevent permanent blocking.
   uint32_t mutexTimeoutMs = 20;
+  static constexpr char LOCK_CTX[] = "PoolManager";
 
-  ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault) override;
+  ReturnValue_t reserveSpace(size_t size, store_address_t* address) override;
 
   /**
    * @brief	The mutex is created in the constructor and makes

src/fsfw/storagemanager/StorageManagerIF.h

@@ -55,7 +55,7 @@ class StorageManagerIF {
   /**
    * @brief This is the empty virtual destructor as required for C++ interfaces.
    */
-  ~StorageManagerIF() = default;
+  virtual ~StorageManagerIF() = default;
   /**
    * @brief	With addData, a free storage position is allocated and data
    * 			stored there.
@@ -66,12 +66,7 @@ class StorageManagerIF {
    * @return	Returns @returnvalue::OK if data was added.
    * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
    */
-  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size,
-                                bool ignoreFault) = 0;
-
-  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) {
-    return addData(storageId, data, size, false);
-  }
+  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) = 0;
 
   /**
    * @brief	With deleteData, the storageManager frees the memory region
@@ -186,12 +181,8 @@ class StorageManagerIF {
    * @return	Returns @returnvalue::OK if data was added.
    * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
    */
-  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr,
-                                       bool ignoreFault) = 0;
-
-  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr) {
-    return getFreeElement(storageId, size, dataPtr, false);
-  }
+  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size,
+                                       uint8_t** dataPtr) = 0;
 
   [[nodiscard]] virtual bool hasDataAtId(store_address_t storeId) const = 0;
 

src/fsfw/subsystem/CMakeLists.txt

@@ -1,3 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp
+                                        helper.cpp)
 
 add_subdirectory(modes)

src/fsfw/subsystem/HasModeTreeChildrenIF.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
+#define FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
+
+#include "ModeTreeChildIF.h"
+
+class HasModeTreeChildrenIF {
+ public:
+  virtual ~HasModeTreeChildrenIF() = default;
+  virtual ReturnValue_t registerChild(const ModeTreeChildIF& child) = 0;
+  virtual MessageQueueId_t getCommandQueue() const = 0;
+};
+
+#endif  // FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_

src/fsfw/subsystem/ModeTreeChildIF.h

@@ -0,0 +1,15 @@
+#ifndef FSFW_SUBSYSTEM_MODETREECHILDIF_H_
+#define FSFW_SUBSYSTEM_MODETREECHILDIF_H_
+
+#include <fsfw/health/HasHealthIF.h>
+#include <fsfw/modes/HasModesIF.h>
+
+class ModeTreeChildIF {
+ public:
+  virtual ~ModeTreeChildIF() = default;
+  virtual object_id_t getObjectId() const = 0;
+  virtual const HasHealthIF* getOptHealthIF() const = 0;
+  virtual const HasModesIF& getModeIF() const = 0;
+};
+
+#endif /* FSFW_SUBSYSTEM_MODETREECHILDIF_H_ */

src/fsfw/subsystem/ModeTreeConnectionIF.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
+#define FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
+
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+
+class ModeTreeConnectionIF {
+ public:
+  virtual ~ModeTreeConnectionIF() = default;
+  virtual ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) = 0;
+  virtual ModeTreeChildIF& getModeTreeChildIF() = 0;
+};
+
+#endif /* FSFW_SRC_FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ */

src/fsfw/subsystem/Subsystem.cpp

@@ -9,9 +9,9 @@
 #include "fsfw/serialize/SerialLinkedListAdapter.h"
 #include "fsfw/serialize/SerializeElement.h"
 
-Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+Subsystem::Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                      uint32_t maxNumberOfTables)
-    : SubsystemBase(setObjectId, parent, 0),
+    : SubsystemBase(setObjectId, 0),
       isInTransition(false),
       childrenChangedHealth(false),
       currentTargetTable(),
@@ -36,6 +36,13 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
 
   for (; iter.value != nullptr; ++iter) {
     if (!existsModeTable(iter->getTableId())) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      using namespace std;
+      sif::warning << "Subsystem::checkSequence: "
+                   << "Object " << setfill('0') << hex << "0x" << setw(8) << getObjectId()
+                   << setw(0) << ": Mode table for mode ID "
+                   << "0x" << setw(8) << iter->getTableId() << " does not exist" << dec << endl;
+#endif
       return TABLE_DOES_NOT_EXIST;
     } else {
       ReturnValue_t result = checkTable(getTable(iter->getTableId()));

src/fsfw/subsystem/Subsystem.h

@@ -66,8 +66,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    */
-  Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
-            uint32_t maxNumberOfTables);
+  Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
   virtual ~Subsystem();
 
   ReturnValue_t addSequence(SequenceEntry sequence);

src/fsfw/subsystem/SubsystemBase.cpp

@@ -1,16 +1,17 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
+#include "fsfw/FSFW.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/subsystem/helper.h"
 
-SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode,
+SubsystemBase::SubsystemBase(object_id_t setObjectId, Mode_t initialMode,
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
       healthHelper(this, setObjectId),
-      modeHelper(this),
-      parentId(parent) {
+      modeHelper(this) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -18,38 +19,9 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
-ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
-  ChildInfo info;
-
-  HasModesIF* child = ObjectManager::instance()->get<HasModesIF>(objectId);
-  // This is a rather ugly hack to have the changedHealth info for all
-  // children available.
-  HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
-  if (child == nullptr) {
-    if (healthChild == nullptr) {
-      return CHILD_DOESNT_HAVE_MODES;
-    } else {
-      info.commandQueue = healthChild->getCommandQueue();
-      info.mode = MODE_OFF;
-    }
-  } else {
-    // intentional to force an initial command during system startup
-    info.commandQueue = child->getCommandQueue();
-    info.mode = HasModesIF::MODE_UNDEFINED;
-  }
-
-  info.submode = SUBMODE_NONE;
-  info.healthChanged = false;
-
-  auto resultPair = childrenMap.emplace(objectId, info);
-  if (not resultPair.second) {
-    return COULD_NOT_INSERT_CHILD;
-  }
-  return returnvalue::OK;
-}
-
 ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter,
                                                     Submode_t targetSubmode) {
+  using namespace mode;
   std::map<object_id_t, ChildInfo>::iterator childIter;
 
   for (; tableIter.value != NULL; ++tableIter) {
@@ -63,13 +35,21 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry
       return returnvalue::FAILED;
     }
 
-    Submode_t submodeToCheckAgainst = tableIter.value->getSubmode();
+    // Check submodes here.
+    uint8_t mask;
+    bool submodesAllowedMask = tableIter.value->submodesAllowed(&mask);
+    uint8_t submodeToCheckAgainst = tableIter.value->getSubmode();
     if (tableIter.value->inheritSubmode()) {
       submodeToCheckAgainst = targetSubmode;
     }
-
-    if (childIter->second.submode != submodeToCheckAgainst) {
-      return returnvalue::FAILED;
+    if (submodesAllowedMask) {
+      if ((childIter->second.submode | mask) != mask) {
+        return returnvalue::FAILED;
+      }
+    } else {
+      if (childIter->second.submode != submodeToCheckAgainst) {
+        return returnvalue::FAILED;
+      }
     }
   }
   return returnvalue::OK;
@@ -87,7 +67,8 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     if ((iter = childrenMap.find(object)) == childrenMap.end()) {
       // illegal table entry, should only happen due to misconfigured mode table
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << std::hex << getObjectId() << ": invalid mode table entry" << std::endl;
+      sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
+                 << std::endl;
 #endif
       continue;
     }
@@ -145,6 +126,20 @@ ReturnValue_t SubsystemBase::updateChildMode(MessageQueueId_t queue, Mode_t mode
   return CHILD_NOT_FOUND;
 }
 
+ReturnValue_t SubsystemBase::updateChildModeByObjId(object_id_t objectId, Mode_t mode,
+                                                    Submode_t submode) {
+  std::map<object_id_t, ChildInfo>::iterator iter;
+
+  for (iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
+    if (iter->first == objectId) {
+      iter->second.mode = mode;
+      iter->second.submode = submode;
+      return returnvalue::OK;
+    }
+  }
+  return CHILD_NOT_FOUND;
+}
+
 ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth) {
   for (auto iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
     if (iter->second.commandQueue == queue) {
@@ -158,36 +153,15 @@ ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bo
 MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t SubsystemBase::initialize() {
-  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
-  ReturnValue_t result = SystemObject::initialize();
-
+  ReturnValue_t result = modeHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == nullptr) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  result = healthHelper.initialize(parentQueue);
-
+  result = healthHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  result = modeHelper.initialize(parentQueue);
-
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return returnvalue::OK;
+  return SystemObject::initialize();
 }
 
 ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
@@ -240,8 +214,14 @@ ReturnValue_t SubsystemBase::handleModeReply(CommandMessage* message) {
 }
 
 ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter) {
-  for (; tableIter.value != NULL; ++tableIter) {
+  for (; tableIter.value != nullptr; ++tableIter) {
     if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      using namespace std;
+      sif::warning << "SubsystemBase::checkTable: Could not find object " << setfill('0') << hex
+                   << "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8)
+                   << setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl;
+#endif
       return TABLE_CONTAINS_INVALID_OBJECT_ID;
     }
   }
@@ -326,4 +306,33 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
 
+ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}
+
+object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); }
+
 void SubsystemBase::modeChanged() {}
+
+ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
+  ChildInfo info;
+
+  const HasModesIF& modeChild = child.getModeIF();
+  // intentional to force an initial command during system startup
+  info.commandQueue = modeChild.getCommandQueue();
+  info.mode = HasModesIF::MODE_UNDEFINED;
+  info.submode = SUBMODE_NONE;
+  info.healthChanged = false;
+
+  auto resultPair = childrenMap.emplace(child.getObjectId(), info);
+  if (not resultPair.second) {
+    return COULD_NOT_INSERT_CHILD;
+  }
+  return returnvalue::OK;
+}
+
+const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }

src/fsfw/subsystem/SubsystemBase.h

@@ -3,14 +3,16 @@
 
 #include <map>
 
-#include "../container/HybridIterator.h"
-#include "../health/HasHealthIF.h"
-#include "../health/HealthHelper.h"
-#include "../ipc/MessageQueueIF.h"
-#include "../modes/HasModesIF.h"
-#include "../objectmanager/SystemObject.h"
-#include "../returnvalues/returnvalue.h"
-#include "../tasks/ExecutableObjectIF.h"
+#include "fsfw/container/HybridIterator.h"
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 #include "modes/HasModeSequenceIF.h"
 
 /**
@@ -27,6 +29,9 @@
 class SubsystemBase : public SystemObject,
                       public HasModesIF,
                       public HasHealthIF,
+                      public HasModeTreeChildrenIF,
+                      public ModeTreeConnectionIF,
+                      public ModeTreeChildIF,
                       public ExecutableObjectIF {
  public:
   static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
@@ -36,32 +41,34 @@ class SubsystemBase : public SystemObject,
   static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04);
   static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID = MAKE_RETURN_CODE(0x05);
 
-  SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode = 0,
-                uint16_t commandQueueDepth = 8);
+  SubsystemBase(object_id_t setObjectId, Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
   virtual ~SubsystemBase();
 
   virtual MessageQueueId_t getCommandQueue() const override;
 
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /**
    * Function to register the child objects.
    * Performs a checks if the child does implement HasHealthIF and/or HasModesIF
    *
-   * 	Also adds them to the internal childrenMap.
+   *    Also adds them to the internal childrenMap.
    *
    * @param objectId
    * @return returnvalue::OK if successful
-   * 		   CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
-   * 		   COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
+   *           CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
+   *           COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
    */
-  ReturnValue_t registerChild(object_id_t objectId);
+  ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
  protected:
   struct ChildInfo {
@@ -88,8 +95,6 @@ class SubsystemBase : public SystemObject,
 
   ModeHelper modeHelper;
 
-  const object_id_t parentId;
-
   typedef std::map<object_id_t, ChildInfo> ChildrenMap;
   ChildrenMap childrenMap;
 
@@ -110,6 +115,7 @@ class SubsystemBase : public SystemObject,
                     Submode_t targetSubmode = SUBMODE_NONE);
 
   ReturnValue_t updateChildMode(MessageQueueId_t queue, Mode_t mode, Submode_t submode);
+  ReturnValue_t updateChildModeByObjId(object_id_t objectId, Mode_t mode, Submode_t submode);
 
   ReturnValue_t updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth = true);
 
@@ -136,6 +142,10 @@ class SubsystemBase : public SystemObject,
 
   virtual void getMode(Mode_t *mode, Submode_t *submode) override;
 
+  object_id_t getObjectId() const override;
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
+
   virtual void setToExternalControl() override;
 
   virtual void announceMode(bool recursive) override;

src/fsfw/subsystem/helper.cpp

@@ -0,0 +1,15 @@
+#include "helper.h"
+
+ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent,
+                                              const ModeTreeChildIF& child,
+                                              HealthHelper* healthHelper, ModeHelper& modeHelper) {
+  ReturnValue_t result = parent.registerChild(child);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (healthHelper != nullptr) {
+    healthHelper->setParentQueue(parent.getCommandQueue());
+  }
+  modeHelper.setParentQueue(parent.getCommandQueue());
+  return returnvalue::OK;
+}

src/fsfw/subsystem/helper.h

@@ -0,0 +1,14 @@
+#ifndef FSFW_SUBSYSTEM_HELPER_H_
+#define FSFW_SUBSYSTEM_HELPER_H_
+
+#include "HasModeTreeChildrenIF.h"
+#include "fsfw/health/HealthHelper.h"
+
+namespace modetree {
+
+ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child,
+                                    HealthHelper* healthHelper, ModeHelper& modeHelper);
+
+}
+
+#endif /* FSFW_SRC_FSFW_SUBSYSTEM_HELPER_H_ */

src/fsfw/subsystem/modes/ModeDefinitions.h

@@ -1,111 +1,126 @@
 #ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
 #define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
 
-#include "../../modes/HasModesIF.h"
-#include "../../objectmanager/SystemObjectIF.h"
-#include "../../serialize/SerialLinkedListAdapter.h"
-#include "../../serialize/SerializeIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/serialize/SerialLinkedListAdapter.h"
+#include "fsfw/serialize/SerializeIF.h"
 
-class ModeListEntry : public SerializeIF, public LinkedElement<ModeListEntry> {
+namespace mode {
+enum SpecialSubmodeFlags : uint8_t { INHERIT = 1 << 0, ALLOWED_MASK = 1 << 1 };
+}
+
+class ModeListEntry : public SerialLinkedListAdapter<SerializeIF>,
+                      public LinkedElement<ModeListEntry> {
  public:
-  ModeListEntry() : LinkedElement<ModeListEntry>(this) {}
+  static constexpr uint8_t ALL_SUBMODES_ALLOWED_MASK = 0xff;
 
-  uint32_t value1 = 0;
-  uint32_t value2 = 0;
-  uint8_t value3 = 0;
-  uint8_t value4 = 0;
+  ModeListEntry() : SerialLinkedListAdapter(), LinkedElement<ModeListEntry>(this) { setLinks(); }
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const {
-    ReturnValue_t result;
+  SerializeElement<uint32_t> value1 = 0;
+  SerializeElement<uint32_t> value2 = 0;
+  SerializeElement<uint8_t> value3 = 0;
+  SerializeElement<uint8_t> value4 = 0;
+  SerializeElement<uint8_t> value5 = 0;
 
-    result = SerializeAdapter::serialize(&value1, buffer, size, maxSize, streamEndianness);
-
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&value2, buffer, size, maxSize, streamEndianness);
-
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&value3, buffer, size, maxSize, streamEndianness);
-
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::serialize(&value4, buffer, size, maxSize, streamEndianness);
-
-    return result;
+  ModeListEntry(const ModeListEntry& other)
+      : SerialLinkedListAdapter(), LinkedElement<ModeListEntry>(this) {
+    value1.entry = other.value1.entry;
+    value2.entry = other.value2.entry;
+    value3.entry = other.value3.entry;
+    value4.entry = other.value4.entry;
+    value5.entry = other.value5.entry;
+    setLinks();
   }
 
-  virtual size_t getSerializedSize() const {
-    return sizeof(value1) + sizeof(value2) + sizeof(value3) + sizeof(value4);
+  ModeListEntry& operator=(const ModeListEntry& other) {
+    this->value1.entry = other.value1.entry;
+    this->value2.entry = other.value2.entry;
+    this->value3.entry = other.value3.entry;
+    this->value4.entry = other.value4.entry;
+    this->value5.entry = other.value5.entry;
+    return *this;
   }
 
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    Endianness streamEndianness) {
-    ReturnValue_t result;
-
-    result = SerializeAdapter::deSerialize(&value1, buffer, size, streamEndianness);
-
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::deSerialize(&value2, buffer, size, streamEndianness);
-
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::deSerialize(&value3, buffer, size, streamEndianness);
-
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::deSerialize(&value4, buffer, size, streamEndianness);
-
-    return result;
+  void setLinks() {
+    setStart(&value1);
+    value1.setNext(&value2);
+    value2.setNext(&value3);
+    value3.setNext(&value4);
+    value4.setNext(&value5);
   }
 
   // for Sequences
-  Mode_t getTableId() const { return value1; }
+  Mode_t getTableId() const { return value1.entry; }
 
-  void setTableId(Mode_t tableId) { this->value1 = tableId; }
+  void setTableId(Mode_t tableId) { this->value1.entry = tableId; }
 
-  uint8_t getWaitSeconds() const { return value2; }
+  uint8_t getWaitSeconds() const { return value2.entry; }
 
-  void setWaitSeconds(uint8_t waitSeconds) { this->value2 = waitSeconds; }
+  void setWaitSeconds(uint8_t waitSeconds) { this->value2.entry = waitSeconds; }
 
-  bool checkSuccess() const { return value3 == 1; }
+  bool checkSuccess() const { return value3.entry == 1; }
 
-  void setCheckSuccess(bool checkSuccess) { this->value3 = checkSuccess; }
+  void setCheckSuccess(bool checkSuccess) { this->value3.entry = checkSuccess; }
 
   // for Tables
-  object_id_t getObject() const { return value1; }
+  object_id_t getObject() const { return value1.entry; }
 
-  void setObject(object_id_t object) { this->value1 = object; }
+  void setObject(object_id_t object) { this->value1.entry = object; }
 
-  Mode_t getMode() const { return value2; }
+  Mode_t getMode() const { return value2.entry; }
 
-  void setMode(Mode_t mode) { this->value2 = mode; }
+  void setMode(Mode_t mode) { this->value2.entry = mode; }
 
-  Submode_t getSubmode() const { return value3; }
+  Submode_t getSubmode() const { return value3.entry; }
 
-  void setSubmode(Submode_t submode) { this->value3 = submode; }
+  void setSubmode(Submode_t submode) { this->value3.entry = submode; }
 
-  bool inheritSubmode() const { return value4 == 1; }
-
-  void setInheritSubmode(bool inherit) {
-    if (inherit) {
-      value4 = 1;
-    } else {
-      value4 = 0;
+  bool inheritSubmode() const {
+    return (value4.entry & mode::SpecialSubmodeFlags::INHERIT) ==
+           mode::SpecialSubmodeFlags::INHERIT;
+  }
+  bool submodesAllowed(uint8_t* mask) const {
+    bool submodesAllowed = (value4.entry & mode::SpecialSubmodeFlags::ALLOWED_MASK) ==
+                           mode::SpecialSubmodeFlags::ALLOWED_MASK;
+    if (submodesAllowed and mask != nullptr) {
+      *mask = value5.entry;
     }
+    return submodesAllowed;
   }
 
-  bool operator==(ModeListEntry other) {
-    return ((value1 == other.value1) && (value2 == other.value2) && (value3 == other.value3));
+  /**
+   * Enable the inheritance of submodes. This is relevant for both the execution
+   * of mode tables and for mode checking.
+   */
+  void enableInheritSubmode() { value4.entry |= mode::SpecialSubmodeFlags::INHERIT; }
+  /**
+   * Disable the inheritance of submodes. This is relevant for both the execution
+   * of mode tables and for mode checking.
+   */
+  void disableInheritSubmode() { value4.entry &= ~mode::SpecialSubmodeFlags::INHERIT; }
+
+  /**
+   * Specialization of @enableSubmodeAllowed which allows all submodes.
+   */
+  void allowAllSubmodes() { enableSubmodeAllowed(ALL_SUBMODES_ALLOWED_MASK); }
+
+  /**
+   * Enable an allowed submode mask for mode checks. Any submode which contains bits
+   * outside of the mask will be declined.
+   *
+   * For example, for a mask of 0b11, only the modes 0b00, 0b01 and 0b11 will be accepted.
+   */
+  void enableSubmodeAllowed(uint8_t mask) {
+    value4.entry |= mode::SpecialSubmodeFlags::ALLOWED_MASK;
+    value5.entry = mask;
+  }
+  /**
+   * Enforce the equality of submodes for mode checks. This is the default.
+   */
+  void disableSubmodeAllowed() {
+    value4.entry &= ~mode::SpecialSubmodeFlags::ALLOWED_MASK;
+    value5.entry = 0;
   }
 };
 

src/fsfw/tasks/FixedTimeslotTaskBase.cpp

@@ -15,10 +15,10 @@ ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t execId, ExecutableObjec
                                              uint32_t slotTimeMs, int8_t executionStep) {
   if (execObj == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execObj
+    sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execId
                << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
 #else
-    sif::printError("Component 0x%08x not found, not adding it to PST\n");
+    sif::printError("Component 0x%08x not found, not adding it to PST\n", execId);
 #endif
     return returnvalue::FAILED;
   }

src/fsfw/thermal/Heater.cpp

@@ -283,7 +283,7 @@ ReturnValue_t Heater::getParameter(uint8_t domainId, uint8_t uniqueId,
   }
   switch (uniqueId) {
     case 0:
-      parameterWrapper->set(heaterOnCountdown.timeout);
+      parameterWrapper->set(heaterOnCountdown.getTimeoutMs());
       break;
     default:
       return INVALID_IDENTIFIER_ID;

src/fsfw/timemanager/CCSDSTime.cpp

@@ -246,6 +246,20 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
   return UNSUPPORTED_TIME_FORMAT;
 }
 
+ReturnValue_t CCSDSTime::convertToAsciiWithSecs(int8_t* to, const Clock::TimeOfDay_t* from,
+                                                uint8_t length) {
+  if (from == nullptr or to == nullptr) {
+    return returnvalue::FAILED;
+  }
+  int count = snprintf(reinterpret_cast<char*>(to), length,
+                       "%4" SCNu32 "-%2" SCNu32 "-%2" SCNu32 "T%2" SCNu32 ":%2" SCNu32 ":%2" SCNu32,
+                       from->year, from->month, from->day, from->hour, from->minute, from->second);
+  if (count >= length) {
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
 ReturnValue_t CCSDSTime::checkCcs(const uint8_t* time, uint8_t length) {
   const Ccs_mseconds* time_struct = reinterpret_cast<const Ccs_mseconds*>(time);
 

src/fsfw/timemanager/CCSDSTime.h

@@ -207,7 +207,8 @@ class CCSDSTime {
 
   static ReturnValue_t convertFromASCII(Clock::TimeOfDay_t *to, uint8_t const *from,
                                         uint8_t length);
-
+  static ReturnValue_t convertToAsciiWithSecs(int8_t *to, const Clock::TimeOfDay_t *from,
+                                              uint8_t length);
   static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
 
  private:

src/fsfw/timemanager/CdsShortTimeStamper.cpp

@@ -4,6 +4,8 @@
 
 #include "fsfw/timemanager/Clock.h"
 
+CdsShortTimeStamper::CdsShortTimeStamper() : SystemObject(0, false) {}
+
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
 
 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,

src/fsfw/timemanager/CdsShortTimeStamper.h

@@ -18,6 +18,7 @@
 class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
  public:
   static constexpr size_t TIMESTAMP_LEN = 7;
+  CdsShortTimeStamper();
   /**
    * @brief   Default constructor which also registers the time stamper as a
    *          system object so it can be found with the #objectManager.

src/fsfw/timemanager/Clock.h

@@ -49,6 +49,13 @@ class Clock {
    * @return	-@c returnvalue::OK on success. Otherwise, the OS failure code is returned.
    */
   static ReturnValue_t setClock(const timeval *time);
+
+  /**
+   * @deprecated Use getClock instead, which does the same.
+   * @param time
+   * @return
+   */
+  static ReturnValue_t getClock_timeval(timeval *time);
   /**
    * This system call returns the current system clock in timeval format.
    * The timval format has the fields @c tv_sec with seconds and @c tv_usec with
@@ -56,7 +63,18 @@ class Clock {
    * @param time	A pointer to a timeval struct where the current time is stored.
    * @return @c returnvalue::OK on success. Otherwise, the OS failure code is returned.
    */
-  static ReturnValue_t getClock_timeval(timeval *time);
+  static ReturnValue_t getClock(timeval *time);
+
+  /**
+   * Retrieve a monotonic clock. This clock this is also more suited for measuring elapsed times
+   * between two time points, but less suited when the absolute time is required.
+   *
+   * Implementation example: A generic UNIX implementation can use CLOCK_MONOTONIC_RAW with
+   * `clock_gettime`.
+   * @param time
+   * @return
+   */
+  static ReturnValue_t getClockMonotonic(timeval *time);
 
   /**
    * Get the time since boot in a timeval struct

src/fsfw/timemanager/Countdown.cpp

@@ -1,49 +1,62 @@
 #include "fsfw/timemanager/Countdown.h"
 
-Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
+#include "fsfw/globalfunctions/timevalOperations.h"
+
+Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) {
   if (startImmediately) {
     setTimeout(initialTimeout);
   } else {
-    timeout = initialTimeout;
+    timeout.tv_sec = initialTimeout / 1000;
+    timeout.tv_usec = (initialTimeout % 1000) * 1000;
   }
 }
 
-Countdown::~Countdown() {}
+Countdown::~Countdown() = default;
 
 ReturnValue_t Countdown::setTimeout(uint32_t milliseconds) {
-  ReturnValue_t returnValue = Clock::getUptime(&startTime);
-  timeout = milliseconds;
-  return returnValue;
+  timeout.tv_sec = milliseconds / 1000;
+  timeout.tv_usec = (milliseconds % 1000) * 1000;
+  return Clock::getClockMonotonic(&startTime);
 }
 
 bool Countdown::hasTimedOut() const {
-  if (uint32_t(this->getCurrentTime() - startTime) >= timeout) {
+  // Account for system clock going back in time.
+  if (getCurrentTime() < startTime) {
     return true;
-  } else {
-    return false;
   }
+  if (getCurrentTime() - startTime >= timeout) {
+    return true;
+  }
+  return false;
 }
 
 bool Countdown::isBusy() const { return !hasTimedOut(); }
 
-ReturnValue_t Countdown::resetTimer() { return setTimeout(timeout); }
+ReturnValue_t Countdown::resetTimer() { return setTimeoutTv(timeout); }
 
 void Countdown::timeOut() { startTime = this->getCurrentTime() - timeout; }
 
 uint32_t Countdown::getRemainingMillis() const {
-  // We fetch the time before the if-statement
-  // to be sure that the return is in
-  // range 0 <= number <= timeout
-  uint32_t currentTime = this->getCurrentTime();
   if (this->hasTimedOut()) {
     return 0;
-  } else {
-    return (startTime + timeout) - currentTime;
   }
+  timeval remainingMillisTv = (startTime + timeout) - this->getCurrentTime();
+  return remainingMillisTv.tv_sec * 1000 + remainingMillisTv.tv_usec / 1000;
 }
 
-uint32_t Countdown::getCurrentTime() const {
-  uint32_t currentTime;
-  Clock::getUptime(&currentTime);
+uint32_t Countdown::timevalToMs(timeval &tv) { return tv.tv_sec * 1000 + tv.tv_usec / 1000; }
+
+ReturnValue_t Countdown::setTimeoutTv(timeval tv) {
+  timeout = tv;
+  return Clock::getClockMonotonic(&startTime);
+}
+
+uint32_t Countdown::getTimeoutMs() const { return timeout.tv_sec * 1000 + timeout.tv_usec / 1000; }
+
+timeval Countdown::getTimeout() const { return timeout; }
+
+timeval Countdown::getCurrentTime() const {
+  timeval currentTime{};
+  Clock::getClockMonotonic(&currentTime);
   return currentTime;
 }

src/fsfw/timemanager/Countdown.h

@@ -6,6 +6,10 @@
 /**
  *
  * Countdown keeps track of a timespan.
+ * This class uses the system clock internally to achieve
+ * a high resolution. This means that the API is only partially
+ * resistant against time jumps. The user must take care to account
+ * for time jumps in some from if this relevant.
  *
  * Countdown::resetTimer restarts the timer.
  * Countdown::setTimeout sets a new countdown duration and resets.
@@ -39,6 +43,8 @@ class Countdown {
    * @return Returnvalue from Clock::getUptime
    */
   ReturnValue_t setTimeout(uint32_t milliseconds);
+  ReturnValue_t setTimeoutTv(timeval tv);
+
   /**
    * Returns true if the countdown duration has passed.
    *
@@ -61,22 +67,31 @@ class Countdown {
    * Returns the remaining milliseconds (0 if timeout)
    */
   uint32_t getRemainingMillis() const;
+
+  uint32_t getTimeoutMs() const;
+
+  timeval getTimeout() const;
+
   /**
    * Makes hasTimedOut() return true
    */
   void timeOut();
-  /**
-   * Internal countdown duration in milliseconds
-   */
-  uint32_t timeout;
+
+  static inline uint32_t timevalToMs(timeval& tv);
 
  private:
   /**
-   * Last time the timer was started (uptime)
+   * Start time of the countdown.
    */
-  uint32_t startTime = 0;
+  timeval startTime{};
 
-  uint32_t getCurrentTime() const;
+  /**
+   * Timeout as timeval type. The countdown has timed out when the
+   * current time exceeds the start time plus the timeout.
+   */
+  timeval timeout{};
+
+  timeval getCurrentTime() const;
 };
 
 #endif /* FSFW_TIMEMANAGER_COUNTDOWN_H_ */

src/fsfw/timemanager/Stopwatch.cpp

@@ -9,10 +9,10 @@
 Stopwatch::Stopwatch(bool displayOnDestruction, StopwatchDisplayMode displayMode)
     : displayOnDestruction(displayOnDestruction), displayMode(displayMode) {
   // Measures start time on initialization.
-  Clock::getUptime(&startTime);
+  Clock::getClockMonotonic(&startTime);
 }
 
-void Stopwatch::start() { Clock::getUptime(&startTime); }
+void Stopwatch::start() { Clock::getClockMonotonic(&startTime); }
 
 dur_millis_t Stopwatch::stop(bool display) {
   stopInternal();
@@ -63,6 +63,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const { return displayMode; }
 
 void Stopwatch::stopInternal() {
   timeval endTime;
-  Clock::getUptime(&endTime);
+  Clock::getClockMonotonic(&endTime);
   elapsedTime = endTime - startTime;
 }

src/fsfw/timemanager/TimeReaderIF.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H
 #define FSFW_TIMEMANAGER_TIMEREADERIF_H
 
+#include <cstdio>
 #include <cstdlib>
 
 #include "fsfw/platform.h"