remove newline

.gitignore

@@ -10,8 +10,5 @@
 .settings
 .metadata
 
-# VSCode
-.vscode
-
 /build*
 /cmake-build*

CHANGELOG.md

@@ -10,6 +10,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [v6.0.0]
 
+## Changes
+
+- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
+  constants.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
+
 ## Added
 
 - DHB TM handler `handleDeviceTM` renamed to `handleDeviceTm` and now takes
@@ -23,16 +29,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
 
-## Changes
-
-- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
-  constants.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
-- Overhaul of the TMTC stack, including various changes and improvements
-  for other modules
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
-  which also includes a migration guide
-
 # [v5.0.0] 25.07.2022
 
 ## Changes
@@ -166,6 +162,7 @@ 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
@@ -180,17 +177,6 @@ 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

@@ -80,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
     CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
     CACHE STRING "Catch2 library exact version requirement")
 
 # Keep this off by default for now. See PR:
@@ -195,7 +195,7 @@ 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 ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
@@ -360,8 +360,7 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
-    )
+        "${MSG_PREFIX} Flight Software Framework configuration path not set")
     message(
       WARNING
         "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")

README.md

@@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using
 
 ```sh
-cmake --build . -- Sphinx -j
+cmake --build . -j
 ```
 
 You can find the generated documentation inside the `docs/sphinx` folder inside the build

automation/Dockerfile

@@ -5,21 +5,16 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
-
-RUN python3 -m pip install sphinx breathe
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
 
 RUN git clone https://github.com/catchorg/Catch2.git && \
-        cd Catch2 && \
-        git checkout v3.1.0 && \
-        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-        cmake --build build/ --target install
+	cd Catch2 && \
+	git checkout v3.0.0-preview5 && \
+	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+	cmake --build build/ --target install
 
 RUN git clone https://github.com/ETLCPP/etl.git && \
-        cd etl && \
-        git checkout 20.28.0 && \
-        cmake -B build . && \
-        cmake --install build/
-
-#ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+	cd etl && \
+	git checkout 20.28.0 && \
+	cmake -B build . && \
+	cmake --install build/

automation/Jenkinsfile

@@ -1,13 +1,9 @@
 pipeline {
     environment {
-        BUILDDIR = 'cmake-build-tests'
-        DOCDDIR = 'cmake-build-documentation'
+        BUILDDIR = 'build-tests'
     }
     agent {
-        docker { 
-            image 'fsfw-ci:d5'
-            args '--network host'
-        }
+        docker { image 'fsfw-ci:d3'}
     }
     stages {
         stage('Clean') {
@@ -43,47 +39,5 @@ pipeline {
                 }
             }
         }
-        stage('Documentation') {
-            when {
-                branch 'development'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
-                    }
-                }
-                dir(BUILDDIR) {
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
-                    }
-                }
-            }
-        }
-        stage('Master Documentation') {
-            when {
-                branch 'master'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
-                    }
-                }
-                dir(BUILDDIR) {
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
-                    }
-                }
-            }
-        }
     }
 }

misc/defaultcfg/fsfwconfig/FSFWConfig.h

@@ -4,10 +4,6 @@
 #include <cstddef>
 #include <cstdint>
 
-// It is assumed the user has a subsystem and class ID list in some user header files.
-// #include "events/subsystemIdRanges.h"
-// #include "returnvalues/classIds.h"
-
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively

misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp

@@ -35,8 +35,8 @@ void Factory::produceFsfwObjects(void) {
 }
 
 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
-	PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
+	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::packetDestination = objects::NO_OBJECT;
 
 	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
 	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;

scripts/helper.py

@@ -13,7 +13,7 @@ from shutil import which
 from typing import List
 
 
-UNITTEST_FOLDER_NAME = "cmake-build-tests"
+UNITTEST_FOLDER_NAME = "build-tests"
 DOCS_FOLDER_NAME = "build-docs"
 
 

src/fsfw/CMakeLists.txt

@@ -15,7 +15,6 @@ add_subdirectory(globalfunctions)
 add_subdirectory(health)
 add_subdirectory(housekeeping)
 add_subdirectory(internalerror)
-add_subdirectory(introspection)
 add_subdirectory(ipc)
 add_subdirectory(memory)
 add_subdirectory(modes)

src/fsfw/action/Action.cpp

@@ -1,62 +0,0 @@
-#include "Action.h"
-
-#include <fsfw/serialize/SerializeAdapter.h>
-
-#undef Action
-
-#ifdef FSFW_INTROSPECTION
-
-Action::Action() {}
-
-void Action::setEnum(EnumIF *theEnum) {
-  id = theEnum->getValue();
-  name = theEnum->getDescription();
-}
-
-const char *Action::getName() { return name; }
-#else
-Action::Action(ActionId_t id) : id(id) {}
-#endif
-ActionId_t Action::getId() { return id; }
-
-void Action::registerParameter(ParameterIF *parameter) { parameterList.push_back(parameter); }
-
-std::vector<ParameterIF *> const *Action::getParameters() const { return &parameterList; }
-
-size_t Action::getSerializedSize() const {
-  size_t size = SerializeAdapter::getSerializedSize(&id);
-  for (auto parameter : *getParameters()) {
-    size += parameter->getSerializedSize();
-  }
-  return size;
-}
-
-ReturnValue_t Action::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                Endianness streamEndianness) const {
-  ReturnValue_t result = SerializeAdapter::serialize(&id, buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  for (auto parameter : *getParameters()) {
-    result = parameter->serialize(buffer, size, maxSize, streamEndianness);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t Action::deSerialize(const uint8_t **buffer, size_t *size,
-                                  Endianness streamEndianness) {
-  ReturnValue_t result = returnvalue::OK;/* TODO not needed as must have been read before to find this action = SerializeAdapter::deSerialize(&id, buffer, size, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }*/
-  for (auto parameter : *getParameters()) {
-    result = parameter->deSerialize(buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return result;
-}

src/fsfw/action/Action.h

@@ -1,50 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-
-#include <vector>
-
-#include <fsfw/serialize/SerializeIF.h>
-#include "ActionMessage.h"
-#include "ParameterIF.h"
-
-
-#ifdef FSFW_INTROSPECTION
-#include "../introspection/Enum.h"
-#endif
-
-class Action: public SerializeIF {
- public:
-#ifdef FSFW_INTROSPECTION
-  Action();
-  void setEnum(EnumIF* id);
-  const char *getName();
-#else
-  Action(ActionId_t id);
-#endif
-  ActionId_t getId();
-
-  MessageQueueId_t commandedBy;
-
-  [[nodiscard]] virtual ReturnValue_t handle() = 0;
-
-  void registerParameter(ParameterIF *parameter);
-
-  std::vector<ParameterIF *> const *getParameters() const;
-
-  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                  Endianness streamEndianness) const override;
-
-  size_t getSerializedSize() const override;
-
-  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                                    Endianness streamEndianness) override;
-
- private:
-  ActionId_t id;
-  
-#ifdef FSFW_INTROSPECTION
-  const char *name;
-#endif
-  std::vector<ParameterIF *> parameterList;
-};

src/fsfw/action/ActionHelper.cpp

@@ -57,10 +57,6 @@ void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t co
 
 void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
-MessageQueueIF const * ActionHelper::getQueue() const {
-  return queueToUse;
-}
-
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
   const uint8_t* dataPtr = nullptr;
@@ -70,29 +66,9 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
-    ipcStore->deleteData(dataAddress);
     return;
   }
-  auto actionIter = actionMap.find(actionId);
-  if (actionIter == actionMap.end()){
-    CommandMessage reply;
-    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
-    queueToUse->sendMessage(commandedBy, &reply);
-    ipcStore->deleteData(dataAddress);
-    return;
-  }
-  Action* action = actionIter->second;
-  result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
-  if ((result != returnvalue::OK) or (size != 0)){
-    CommandMessage reply;
-    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
-    queueToUse->sendMessage(commandedBy, &reply);
-    ipcStore->deleteData(dataAddress);
-    return;
-  }
-  //TODO call action->check()
-  action->commandedBy = commandedBy;
-  result = owner->executeAction(action);
+  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
   ipcStore->deleteData(dataAddress);
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
@@ -187,11 +163,3 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   }
   return result;
 }
-
-void ActionHelper::registerAction(Action* action) {
-  //TODO error handling
-  ActionId_t id = action->getId();
-  actionMap.emplace(id, action);
-}
-
-std::map<ActionId_t, Action*> const* ActionHelper::getActionMap() { return &actionMap; }

src/fsfw/action/ActionHelper.h

@@ -1,13 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include <map>
-
-#include "Action.h"
 #include "ActionMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/serialize/SerializeIF.h"
-
 /**
  * @brief Action Helper is a helper class which handles action messages
  *
@@ -102,16 +98,6 @@ class ActionHelper {
    */
   void setQueueToUse(MessageQueueIF* queue);
 
-  /**
-   * Needed so templateAction can check if actionHelper was
-   * contructed already to aid in debuggig a nasty coding error.
-   */
-  MessageQueueIF const * getQueue() const;
-
-  void registerAction(Action* action);
-
-  std::map<ActionId_t, Action*> const* getActionMap();
-
  protected:
   //! Increase of value of this per step
   static const uint8_t STEP_OFFSET = 1;
@@ -122,8 +108,6 @@ class ActionHelper {
   MessageQueueIF* queueToUse;
   //! Pointer to an IPC Store, initialized during construction or
   StorageManagerIF* ipcStore = nullptr;
-  //! Map of all implemented Actions
-  std::map<ActionId_t, Action*> actionMap;
 
   /**
    * Internal function called by handleActionMessage

src/fsfw/action/CMakeLists.txt

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

src/fsfw/action/CommandActionHelper.h

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

src/fsfw/action/HasActionsIF.h

@@ -44,12 +44,8 @@ class HasActionsIF {
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
-   *
    */
   [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
-
-  [[nodiscard]] virtual ActionHelper* getActionHelper() = 0;
-
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently
@@ -59,7 +55,8 @@ class HasActionsIF {
    * -@c EXECUTION_FINISHED Finish reply will be generated
    * -@c Not returnvalue::OK Step failure reply will be generated
    */
-  virtual ReturnValue_t executeAction(Action* action) = 0;
+  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                      const uint8_t* data, size_t size) = 0;
 };
 
 #endif /* FSFW_ACTION_HASACTIONSIF_H_ */

src/fsfw/action/MinMaxParameter.h

@@ -1,40 +0,0 @@
-#pragma once
-
-#include "Parameter.h"
-
-template <typename T>
-class MinMaxParameter : public Parameter<T> {
-#ifdef FSFW_INTROSPECTION
- private:
-  MinMaxParameter(Action *owner, const char *name, T min, T max)
-      : Parameter<T>(owner, name), min(min), max(max) {}
-
- public:
-  static MinMaxParameter createMinMaxParameter(Action *owner, const char *name, T min, T max) {
-    return MinMaxParameter(owner, name, min, max);
-  }
-  virtual double getMinFloating() override { return static_cast<double>(min); }
-  virtual int64_t getMinSigned() override { return static_cast<int64_t>(min); }
-
-  virtual double getMaxFloating() override { return static_cast<double>(max); }
-  virtual int64_t getMaxSigned() override { return static_cast<int64_t>(max); }
-
-#else
- private:
-  MinMaxParameter(Action *owner, T min, T max) : Parameter<T>(owner), min(min), max(max) {}
-
- public:
-  static MinMaxParameter createMinMaxParameter(Action *owner, T min, T max) {
-    return MinMaxParameter(owner, min, max);
-  }
-#endif
- private:
-  T min;
-  T max;
-};
-
-#ifdef FSFW_INTROSPECTION
-#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p2, p3, p4)
-#else
-#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p3, p4)
-#endif

src/fsfw/action/Parameter.h

@@ -1,120 +0,0 @@
-#pragma once
-
-#include <stdio.h>
-
-#include "Action.h"
-#include <fsfw/introspection/Types.h>
-#include <fsfw/introspection/TypesHelper.h>
-#include "ParameterIF.h"
-// TODO: ifdef introspection stuff
-
-
-
-template <typename T>
-class Parameter : public ParameterIF {
- protected:
-#ifdef FSFW_INTROSPECTION
-  Parameter(Action *owner, const char *name)
-      : name(name)
-#else
-  Parameter(Action *owner)
-#endif
-  {
-    owner->registerParameter(this);
-  }
-
- public:
-#ifdef FSFW_INTROSPECTION
-  static Parameter createParameter(Action *owner, const char *name) {
-    return Parameter(owner, name);
-  }
-#else
-  static Parameter createParameter(Action *owner) { return Parameter(owner); }
-#endif
-
-  bool isValid() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::isValid(&value);
-  }
-
-  operator T(){
-    return value;
-  }
-
-  Parameter& operator =(const T& newValue){
-    value = newValue;
-    return *this;
-  }
-
-#ifdef FSFW_INTROSPECTION
-  Types::ParameterType getType() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getType<T>();
-  }
-#endif
-
-  T value;
-
-  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                          Endianness streamEndianness) const override {
-    return SerializeAdapter::serialize(&value, buffer, size, maxSize, streamEndianness);
-  }
-
-  size_t getSerializedSize() const override { return SerializeAdapter::getSerializedSize(&value); }
-
-  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                            Endianness streamEndianness) override {
-    return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
-  }
-
-#ifdef FSFW_INTROSPECTION
-  double getFloating() override { return (double)value; }
-  int64_t getSigned() override { return (int64_t)value; }
-
-  bool setFloating(double value) override {
-    if (getType() != Types::FLOATING) {
-      return false;
-    }
-    this->value = T(value);
-    return true;
-  }
-
-  bool setSigned(int64_t value) override {
-    if ((getType() != Types::SIGNED) && (getType() != Types::ENUM)) {
-      return false;
-    }
-    this->value = T(value);
-    return true;
-  }
-
-  double getMinFloating() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
-  }
-  int64_t getMinSigned() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
-  }
-
-  double getMaxFloating() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
-  }
-  int64_t getMaxSigned() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
-  }
-
-  std::vector<int64_t> getEnumValues() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumValues(&value);
-  }
-  const char *const *getEnumDescriptions() override {
-    return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumDescriptions(&value);
-  }
-
-  const char *getName() override { return name; }
-
- private:
-  const char *name;
-#endif
-};
-
-#ifdef FSFW_INTROSPECTION
-#define createParameter(p1, p2) createParameter(p1, p2)
-#else
-#define createParameter(p1, p2) createParameter(p1)
-#endif

src/fsfw/action/ParameterIF.h

@@ -1,45 +0,0 @@
-#pragma once
-
-#include <fsfw/serialize/SerializeIF.h>
-#include <fsfw/introspection/Types.h>
-
-#ifdef FSFW_INTROSPECTION
-#include <vector>
-#endif
-
-class ParameterIF : public SerializeIF {
- public:
-  virtual bool isValid() = 0;
-#ifdef FSFW_INTROSPECTION
-
-  
-
-  virtual const char *getName() = 0;
-
-  virtual Types::ParameterType getType() = 0;
-
-  virtual double getFloating() = 0;
-  virtual int64_t getSigned() = 0;
-
-  virtual bool setFloating(double value) = 0;
-  virtual bool setSigned(int64_t value) = 0;
-
-  virtual double getMinFloating() = 0;
-  virtual int64_t getMinSigned() = 0;
-
-  virtual double getMaxFloating() = 0;
-  virtual int64_t getMaxSigned() = 0;
-
-  virtual std::vector<int64_t> getEnumValues() = 0;
-  virtual const char *const * getEnumDescriptions() = 0;
-
-  // ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-  //                                 Endianness streamEndianness) const override = 0;
-
-  // size_t getSerializedSize() const override = 0;
-
-  // ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-  //                                   Endianness streamEndianness) override = 0;
-
-#endif
-};

src/fsfw/action/SimpleActionHelper.cpp

@@ -44,27 +44,11 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
   if (result != returnvalue::OK) {
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
-    ipcStore->deleteData(dataAddress);
     return;
   }
-  auto actionIter = actionMap.find(actionId);
-  if (actionIter == actionMap.end()){
-    CommandMessage reply;
-    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
-    queueToUse->sendMessage(commandedBy, &reply);
-    ipcStore->deleteData(dataAddress);
-    return;
-  }
-  Action* action = actionIter->second;
-  result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
-  if ((result != returnvalue::OK) or (size != 0)) {
-    CommandMessage reply;
-    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
-    queueToUse->sendMessage(commandedBy, &reply);
-    ipcStore->deleteData(dataAddress);
-    return;
-  }
-  result = action->handle();
+  lastCommander = commandedBy;
+  lastAction = actionId;
+  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
   ipcStore->deleteData(dataAddress);
   switch (result) {
     case returnvalue::OK:

src/fsfw/action/TemplateAction.h

@@ -1,29 +0,0 @@
-#pragma once
-
-#include "Action.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-template <class owner, class action, class ActionEnum>
-class TemplateAction : public Action {
- public:
-#ifdef FSFW_INTROSPECTION
-  TemplateAction(owner *myOwner, ActionEnum id) : Action(), myOwner(myOwner) {
-    Action::setEnum(&id);
-    if (myOwner->getActionHelper() == nullptr) {
-      sif::error
-          << "TemplateAction::TemplateAction: Action instances need to be created (ie located) after the actionHelper instance."
-          << "Program will segfault now..." << std::endl;
-    }
-    myOwner->getActionHelper()->registerAction(this);
-  }
-#else
-  TemplateAction(owner *myOwner, ActionEnum id) : Action((uint32_t)id), myOwner(myOwner) {
-    myOwner->getActionHelper()->registerAction(this);
-  }
-#endif
-
-  ReturnValue_t handle() override { return myOwner->handleAction(dynamic_cast<action *>(this)); }
-
- private:
-  owner *myOwner;
-};

src/fsfw/cfdp/CFDPHandler.cpp

@@ -1,25 +1,24 @@
-#include "fsfw/cfdp/CfdpHandler.h"
+#include "fsfw/cfdp/CFDPHandler.h"
 
-#include "fsfw/cfdp/CfdpMessage.h"
+#include "fsfw/cfdp/CFDPMessage.h"
 #include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/storeAddress.h"
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 
-object_id_t CfdpHandler::packetSource = 0;
-object_id_t CfdpHandler::packetDestination = 0;
+object_id_t CFDPHandler::packetSource = 0;
+object_id_t CFDPHandler::packetDestination = 0;
 
-CfdpHandler::CfdpHandler(object_id_t setObjectId, CFDPDistributor* dist)
+CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
   distributor = dist;
 }
 
-CfdpHandler::~CfdpHandler() = default;
+CFDPHandler::~CFDPHandler() {}
 
-ReturnValue_t CfdpHandler::initialize() {
+ReturnValue_t CFDPHandler::initialize() {
   ReturnValue_t result = SystemObject::initialize();
   if (result != returnvalue::OK) {
     return result;
@@ -28,7 +27,7 @@ ReturnValue_t CfdpHandler::initialize() {
   return returnvalue::OK;
 }
 
-ReturnValue_t CfdpHandler::handleRequest(store_address_t storeId) {
+ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "CFDPHandler::handleRequest" << std::endl;
@@ -42,17 +41,17 @@ ReturnValue_t CfdpHandler::handleRequest(store_address_t storeId) {
   return returnvalue::OK;
 }
 
-ReturnValue_t CfdpHandler::performOperation(uint8_t opCode) {
+ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
   ReturnValue_t status = returnvalue::OK;
   CommandMessage currentMessage;
   for (status = this->requestQueue->receiveMessage(&currentMessage); status == returnvalue::OK;
        status = this->requestQueue->receiveMessage(&currentMessage)) {
-    store_address_t storeId = CfdpMessage::getStoreId(&currentMessage);
+    store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
     this->handleRequest(storeId);
   }
   return returnvalue::OK;
 }
 
-uint16_t CfdpHandler::getIdentifier() { return 0; }
+uint16_t CFDPHandler::getIdentifier() { return 0; }
 
-MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }
+MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }

src/fsfw/cfdp/CFDPHandler.h

@@ -12,15 +12,15 @@ namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
-class CfdpHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject {
+class CFDPHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject {
   friend void(Factory::setStaticFrameworkObjectIds)();
 
  public:
-  CfdpHandler(object_id_t setObjectId, CFDPDistributor* distributor);
+  CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
   /**
    * The destructor is empty.
    */
-  virtual ~CfdpHandler();
+  virtual ~CFDPHandler();
 
   virtual ReturnValue_t handleRequest(store_address_t storeId);
 
@@ -42,7 +42,7 @@ class CfdpHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, pub
    * The current CFDP packet to be processed.
    * It is deleted after handleRequest was executed.
    */
-  CfdpPacketStored currentPacket;
+  CFDPPacketStored currentPacket;
 
   static object_id_t packetSource;
 

src/fsfw/cfdp/CFDPMessage.cpp

@@ -0,0 +1,17 @@
+#include "CFDPMessage.h"
+
+CFDPMessage::CFDPMessage() {}
+
+CFDPMessage::~CFDPMessage() {}
+
+void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
+  message->setParameter(cfdpPacket.raw);
+}
+
+store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
+  store_address_t storeAddressCFDPPacket;
+  storeAddressCFDPPacket = message->getParameter();
+  return storeAddressCFDPPacket;
+}
+
+void CFDPMessage::clear(CommandMessage *message) {}

src/fsfw/cfdp/CFDPMessage.h

@@ -5,14 +5,14 @@
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-class CfdpMessage {
+class CFDPMessage {
  private:
-  CfdpMessage();
+  CFDPMessage();
 
  public:
   static const uint8_t MESSAGE_ID = messagetypes::CFDP;
 
-  virtual ~CfdpMessage();
+  virtual ~CFDPMessage();
   static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
 
   static store_address_t getStoreId(const CommandMessage* message);

src/fsfw/cfdp/CMakeLists.txt

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

src/fsfw/cfdp/CfdpMessage.cpp

@@ -1,17 +0,0 @@
-#include "CfdpMessage.h"
-
-CfdpMessage::CfdpMessage() = default;
-
-CfdpMessage::~CfdpMessage() = default;
-
-void CfdpMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
-  message->setParameter(cfdpPacket.raw);
-}
-
-store_address_t CfdpMessage::getStoreId(const CommandMessage *message) {
-  store_address_t storeId;
-  storeId = static_cast<store_address_t>(message->getParameter());
-  return storeId;
-}
-
-void CfdpMessage::clear(CommandMessage *message) {}

src/fsfw/cfdp/tlv/Lv.cpp

@@ -21,7 +21,7 @@ cfdp::Lv& cfdp::Lv::operator=(const Lv& other) {
   if (value == nullptr or otherSize == 0) {
     this->zeroLen = true;
   }
-  this->value.setConstBuffer(value, otherSize);
+  this->value.setBuffer(value, otherSize);
   return *this;
 }
 
@@ -70,7 +70,7 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setConstBuffer(*buffer + 1, lengthField);
+  value.setBuffer(const_cast<uint8_t*>(*buffer + 1), lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;

src/fsfw/cfdp/tlv/Tlv.cpp

@@ -75,7 +75,7 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setConstBuffer(*buffer + 1, lengthField);
+  value.setBuffer(const_cast<uint8_t *>(*buffer + 1), lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;
@@ -96,7 +96,7 @@ void cfdp::Tlv::setValue(uint8_t *value, size_t len) {
   if (len > 0) {
     zeroLen = false;
   }
-  this->value.setConstBuffer(value, len);
+  this->value.setBuffer(value, len);
 }
 
 uint8_t cfdp::Tlv::getLengthField() const { return this->value.getSerializedSize() - 1; }

src/fsfw/controller/ControllerBase.cpp

@@ -13,9 +13,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
@@ -103,10 +101,6 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 
 void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
 
-const ModeHelper * ControllerBase::getModeHelper() const {
-  return &modeHelper;
-}
-
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
     case HEALTHY:

src/fsfw/controller/ControllerBase.h

@@ -3,7 +3,6 @@
 
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
-#include "fsfw/introspection/ClasslessEnum.h"
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/modes/ModeHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -21,9 +20,7 @@ class ControllerBase : public HasModesIF,
                        public ExecutableObjectIF,
                        public SystemObject {
  public:
-  FSFW_CLASSLESS_ENUM(ControllerModes, Mode_t,
-                      ((CONTROLLER_MODE_ON, MODE_ON, "On"))((CONTROLLER_MODE_OFF, MODE_OFF,
-                                                             "Off"))((MODE_NORMAL, 2, "Normal")))
+  static const Mode_t MODE_NORMAL = 2;
 
   ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
@@ -42,9 +39,6 @@ class ControllerBase : public HasModesIF,
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  /** HasModeIF override */
-  const ModeHelper *getModeHelper() const override;
-
  protected:
   /**
    * Implemented by child class. Handle command messages which are not

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -8,12 +8,11 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
 
 ExtendedControllerBase::~ExtendedControllerBase() = default;
 
-ActionHelper *ExtendedControllerBase::getActionHelper() {
-  return &actionHelper;
-}
-
-ReturnValue_t ExtendedControllerBase::executeAction(Action *action) {
-  return action->handle();
+ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
+                                                    MessageQueueId_t commandedBy,
+                                                    const uint8_t *data, size_t size) {
+  /* Needs to be overriden and implemented by child class. */
+  return returnvalue::OK;
 }
 
 object_id_t ExtendedControllerBase::getObjectId() const { return SystemObject::getObjectId(); }

src/fsfw/controller/ExtendedControllerBase.h

@@ -29,10 +29,6 @@ class ExtendedControllerBase : public ControllerBase,
   ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  /* HasActionsIF overrides */
-  ActionHelper* getActionHelper() override;
-  ReturnValue_t executeAction(Action* actionId) override;
-
  protected:
   LocalDataPoolManager poolManager;
   ActionHelper actionHelper;
@@ -53,6 +49,10 @@ class ExtendedControllerBase : public ControllerBase,
   /* Handle the four messages mentioned above */
   void handleQueue() override;
 
+  /* HasActionsIF overrides */
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+
   /* HasLocalDatapoolIF overrides */
   LocalDataPoolManager* getHkManagerHandle() override;
   [[nodiscard]] object_id_t getObjectId() const override;

src/fsfw/datalinklayer/MapPacketExtraction.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "fsfw/tmtcpacket/SpacePacketBase.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 

src/fsfw/datapoollocal/HasLocalDataPoolIF.h

@@ -79,7 +79,8 @@ class HasLocalDataPoolIF {
    * @param clearMessage  If this is set to true, the pool manager will take care of
    *                      clearing the store automatically
    */
-  virtual void handleChangedDataset(sid_t sid, store_address_t storeId = store_address_t::invalid(),
+  virtual void handleChangedDataset(sid_t sid,
+                                    store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
                                     bool* clearMessage = nullptr) {
     if (clearMessage != nullptr) {
       *clearMessage = true;
@@ -99,7 +100,7 @@ class HasLocalDataPoolIF {
    *                      after the callback.
    */
   virtual void handleChangedPoolVariable(gp_id_t gpid,
-                                         store_address_t storeId = store_address_t::invalid(),
+                                         store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
                                          bool* clearMessage = nullptr) {
     if (clearMessage != nullptr) {
       *clearMessage = true;

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -1,5 +1,6 @@
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 
+#include <array>
 #include <cmath>
 
 #include "fsfw/datapoollocal.h"
@@ -14,7 +15,6 @@
 #include "internal/HasLocalDpIFManagerAttorney.h"
 #include "internal/LocalPoolDataSetAttorney.h"
 
-// TODO: Get rid of this. This should be a constructor argument, not something hardcoded in any way
 object_id_t LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
 
 LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
@@ -57,7 +57,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   }
 
   if (defaultHkDestination != objects::NO_OBJECT) {
-    auto* hkPacketReceiver =
+    AcceptsHkPacketsIF* hkPacketReceiver =
         ObjectManager::instance()->get<AcceptsHkPacketsIF>(defaultHkDestination);
     if (hkPacketReceiver != nullptr) {
       hkDestinationId = hkPacketReceiver->getHkQueue();
@@ -209,9 +209,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     }
 
     /* Prepare and send update snapshot */
-    timeval now{};
+    timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::CDS_short cds{};
+    CCSDSTime::CDS_short cds;
     CCSDSTime::convertToCcsds(&cds, &now);
     HousekeepingSnapshot updatePacket(
         reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@@ -245,9 +245,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     }
 
     /* Prepare and send update snapshot */
-    timeval now{};
+    timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::CDS_short cds{};
+    CCSDSTime::CDS_short cds;
     CCSDSTime::convertToCcsds(&cds, &now);
     HousekeepingSnapshot updatePacket(
         reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@@ -291,7 +291,12 @@ ReturnValue_t LocalDataPoolManager::addUpdateToStore(HousekeepingSnapshot& updat
 
 void LocalDataPoolManager::handleChangeResetLogic(DataType type, DataId dataId,
                                                   MarkChangedIF* toReset) {
-  for (auto& changeInfo : hkUpdateResetList) {
+  if (hkUpdateResetList == nullptr) {
+    /* Config error */
+    return;
+  }
+  HkUpdateResetList& listRef = *hkUpdateResetList;
+  for (auto& changeInfo : listRef) {
     if (changeInfo.dataType != type) {
       continue;
     }
@@ -321,37 +326,38 @@ void LocalDataPoolManager::handleChangeResetLogic(DataType type, DataId dataId,
 }
 
 void LocalDataPoolManager::resetHkUpdateResetHelper() {
-  for (auto& changeInfo : hkUpdateResetList) {
+  if (hkUpdateResetList == nullptr) {
+    return;
+  }
+
+  for (auto& changeInfo : *hkUpdateResetList) {
     changeInfo.currentUpdateCounter = changeInfo.updateCounter;
   }
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForRegularPeriodicPacket(
-    subdp::RegularHkPeriodicParams params) {
-  return subscribeForPeriodicPacket(params);
-}
-
-ReturnValue_t LocalDataPoolManager::subscribeForDiagPeriodicPacket(
-    subdp::DiagnosticsHkPeriodicParams params) {
-  return subscribeForPeriodicPacket(params);
-}
-
-ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase& params) {
-  struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = params.sid;
-  hkReceiver.reportingType = ReportingType::PERIODIC;
-  hkReceiver.dataType = DataType::DATA_SET;
-  if (params.receiver == MessageQueueIF::NO_QUEUE) {
-    hkReceiver.destinationQueue = hkDestinationId;
-  } else {
-    hkReceiver.destinationQueue = params.receiver;
+ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
+                                                               float collectionInterval,
+                                                               bool isDiagnostics,
+                                                               object_id_t packetDestination) {
+  AcceptsHkPacketsIF* hkReceiverObject =
+      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
+  if (hkReceiverObject == nullptr) {
+    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
+                        QUEUE_OR_DESTINATION_INVALID);
+    return QUEUE_OR_DESTINATION_INVALID;
   }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
+  struct HkReceiver hkReceiver;
+  hkReceiver.dataId.sid = sid;
+  hkReceiver.reportingType = ReportingType::PERIODIC;
+  hkReceiver.dataType = DataType::DATA_SET;
+  hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet != nullptr) {
-    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, params.enableReporting);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
-    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, params.collectionInterval,
+    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
+    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval,
                                                        owner->getPeriodicOperationFrequency());
   }
 
@@ -359,30 +365,27 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForRegularUpdatePacket(
-    subdp::RegularHkUpdateParams params) {
-  return subscribeForUpdatePacket(params);
-}
-ReturnValue_t LocalDataPoolManager::subscribeForDiagUpdatePacket(
-    subdp::DiagnosticsHkUpdateParams params) {
-  return subscribeForUpdatePacket(params);
-}
-
-ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(subdp::ParamsBase& params) {
-  struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = params.sid;
-  hkReceiver.reportingType = ReportingType::UPDATE_HK;
-  hkReceiver.dataType = DataType::DATA_SET;
-  if (params.receiver == MessageQueueIF::NO_QUEUE) {
-    hkReceiver.destinationQueue = hkDestinationId;
-  } else {
-    hkReceiver.destinationQueue = params.receiver;
+ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool isDiagnostics,
+                                                             bool reportingEnabled,
+                                                             object_id_t packetDestination) {
+  AcceptsHkPacketsIF* hkReceiverObject =
+      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
+  if (hkReceiverObject == nullptr) {
+    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
+                        QUEUE_OR_DESTINATION_INVALID);
+    return QUEUE_OR_DESTINATION_INVALID;
   }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
+  struct HkReceiver hkReceiver;
+  hkReceiver.dataId.sid = sid;
+  hkReceiver.reportingType = ReportingType::UPDATE_HK;
+  hkReceiver.dataType = DataType::DATA_SET;
+  hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet != nullptr) {
     LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
   }
 
   hkReceivers.push_back(hkReceiver);
@@ -433,7 +436,11 @@ ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessage(
 }
 
 void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType, DataId dataId) {
-  for (auto& updateResetStruct : hkUpdateResetList) {
+  if (hkUpdateResetList == nullptr) {
+    hkUpdateResetList = new std::vector<struct HkUpdateResetHelper>();
+  }
+
+  for (auto& updateResetStruct : *hkUpdateResetList) {
     if (dataType == DataType::DATA_SET) {
       if (updateResetStruct.dataId.sid == dataId.sid) {
         updateResetStruct.updateCounter++;
@@ -457,7 +464,7 @@ void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType, D
   } else {
     hkUpdateResetHelper.dataId.localPoolId = dataId.localPoolId;
   }
-  hkUpdateResetList.push_back(hkUpdateResetHelper);
+  hkUpdateResetList->push_back(hkUpdateResetHelper);
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* message) {
@@ -570,10 +577,6 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != returnvalue::OK) {
-    if (result == WRONG_HK_PACKET_TYPE) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
-                          WRONG_HK_PACKET_TYPE);
-    }
     HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
   } else {
     HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@@ -636,7 +639,6 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
       /* Error, all destinations invalid */
       printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
                           QUEUE_OR_DESTINATION_INVALID);
-      return QUEUE_OR_DESTINATION_INVALID;
     }
     destination = hkDestinationId;
   }
@@ -813,7 +815,9 @@ void LocalDataPoolManager::clearReceiversList() {
   /* Clear the vector completely and releases allocated memory. */
   HkReceivers().swap(hkReceivers);
   /* Also clear the reset helper if it exists */
-  HkUpdateResetList().swap(hkUpdateResetList);
+  if (hkUpdateResetList != nullptr) {
+    HkUpdateResetList().swap(*hkUpdateResetList);
+  }
 }
 
 MutexIF* LocalDataPoolManager::getLocalPoolMutex() { return this->mutex; }
@@ -829,8 +833,6 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
       errorPrint = "Dataset not found";
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
-    } else if (error == WRONG_HK_PACKET_TYPE) {
-      errorPrint = "Wrong Packet Type";
     } else if (error == returnvalue::FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";
@@ -875,7 +877,3 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 }
 
 LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() { return this; }
-
-void LocalDataPoolManager::setHkDestinationId(MessageQueueId_t hkDestId) {
-  hkDestinationId = hkDestId;
-}

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -8,7 +8,6 @@
 #include "ProvidesDataPoolSubscriptionIF.h"
 #include "fsfw/datapool/DataSetIF.h"
 #include "fsfw/datapool/PoolEntry.h"
-#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
 #include "fsfw/housekeeping/HousekeepingMessage.h"
 #include "fsfw/housekeeping/HousekeepingPacketDownlink.h"
 #include "fsfw/housekeeping/PeriodicHousekeepingHelper.h"
@@ -81,9 +80,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
                        bool appendValidityBuffer = true);
-  ~LocalDataPoolManager() override;
-
-  void setHkDestinationId(MessageQueueId_t hkDestId);
+  virtual ~LocalDataPoolManager();
 
   /**
    * Assigns the queue to use. Make sure to call this in the #initialize
@@ -115,6 +112,31 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   virtual ReturnValue_t performHkOperation();
 
+  /**
+   * @brief   Subscribe for the generation of periodic packets.
+   * @details
+   * This subscription mechanism will generally be used by the data creator
+   * to generate housekeeping packets which are downlinked directly.
+   * @return
+   */
+  ReturnValue_t subscribeForPeriodicPacket(
+      sid_t sid, bool enableReporting, float collectionInterval, bool isDiagnostics,
+      object_id_t packetDestination = defaultHkDestination) override;
+
+  /**
+   * @brief   Subscribe for the  generation of packets if the dataset
+   *          is marked as changed.
+   * @details
+   * This subscription mechanism will generally be used by the data creator.
+   * @param sid
+   * @param isDiagnostics
+   * @param packetDestination
+   * @return
+   */
+  ReturnValue_t subscribeForUpdatePacket(
+      sid_t sid, bool reportingEnabled, bool isDiagnostics,
+      object_id_t packetDestination = defaultHkDestination) override;
+
   /**
    * @brief   Subscribe for a notification message which will be sent
    *          if a dataset has changed.
@@ -129,7 +151,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * Otherwise, only an notification message is sent.
    * @return
    */
-  ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
+  ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId, object_id_t destinationObject,
                                              MessageQueueId_t targetQueueId,
                                              bool generateSnapshot) override;
 
@@ -147,7 +169,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * Otherwise, only an notification message is sent.
    * @return
    */
-  ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
+  ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
                                                   object_id_t destinationObject,
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
@@ -230,7 +252,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   void clearReceiversList();
 
-  [[nodiscard]] object_id_t getCreatorObjectId() const;
+  object_id_t getCreatorObjectId() const;
 
   /**
    * Get the pointer to the mutex. Can be used to lock the data pool
@@ -240,17 +262,9 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   MutexIF* getMutexHandle();
 
-  LocalDataPoolManager* getPoolManagerHandle() override;
-  ReturnValue_t subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams params) override;
-  ReturnValue_t subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams params) override;
-
-  ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) override;
-  ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) override;
+  virtual LocalDataPoolManager* getPoolManagerHandle() override;
 
  protected:
-  ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);
-  ReturnValue_t subscribeForUpdatePacket(subdp::ParamsBase& params);
-
   /** Core data structure for the actual pool data */
   localpool::DataPool localPoolMap;
   /** Every housekeeping data manager has a mutex to protect access
@@ -298,8 +312,8 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
 
   using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
   /** This list is used to manage creating multiple update packets and only resetting
-  the update flag if all of them were created. */
-  HkUpdateResetList hkUpdateResetList = HkUpdateResetList();
+  the update flag if all of them were created. Will only be created when needed. */
+  HkUpdateResetList* hkUpdateResetList = nullptr;
 
   /** This is the map holding the actual data. Should only be initialized
    * once ! */

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

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

src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h

@@ -1,90 +1,24 @@
 #ifndef FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 #define FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 
-#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/ipc/messageQueueDefinitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "../ipc/messageQueueDefinitions.h"
+#include "../returnvalues/returnvalue.h"
 #include "localPoolDefinitions.h"
 
-namespace subdp {
-
-struct ParamsBase {
-  ParamsBase(sid_t sid, bool enableReporting, float collectionInterval, bool diagnostics)
-      : sid(sid),
-        enableReporting(enableReporting),
-        collectionInterval(collectionInterval),
-        diagnostics(diagnostics) {}
-
-  [[nodiscard]] bool isDiagnostics() const { return diagnostics; }
-
-  sid_t sid;
-  bool enableReporting;
-  float collectionInterval;
-  MessageQueueId_t receiver = MessageQueueIF::NO_QUEUE;
-
- protected:
-  bool diagnostics;
-};
-
-struct RegularHkPeriodicParams : public ParamsBase {
-  RegularHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
-      : ParamsBase(sid, enableReporting, collectionInterval, false) {}
-};
-
-struct DiagnosticsHkPeriodicParams : public ParamsBase {
-  DiagnosticsHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
-      : ParamsBase(sid, enableReporting, collectionInterval, true) {}
-};
-
-struct RegularHkUpdateParams : public ParamsBase {
-  RegularHkUpdateParams(sid_t sid, bool enableReporting)
-      : ParamsBase(sid, enableReporting, 0.0, false) {}
-};
-
-struct DiagnosticsHkUpdateParams : public ParamsBase {
-  DiagnosticsHkUpdateParams(sid_t sid, bool enableReporting)
-      : ParamsBase(sid, enableReporting, 0.0, true) {}
-};
-}  // namespace subdp
-
 class ProvidesDataPoolSubscriptionIF {
  public:
-  virtual ~ProvidesDataPoolSubscriptionIF() = default;
+  virtual ~ProvidesDataPoolSubscriptionIF(){};
+
   /**
-   * @brief   Subscribe for the generation of periodic packets. Used for regular HK packets
+   * @brief   Subscribe for the generation of periodic packets.
    * @details
    * This subscription mechanism will generally be used by the data creator
    * to generate housekeeping packets which are downlinked directly.
    * @return
    */
-  virtual ReturnValue_t subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams params) = 0;
-  /**
-   * @brief   Subscribe for the generation of periodic packets. Used for diagnostic packets
-   * @details
-   * This subscription mechanism will generally be used by the data creator
-   * to generate housekeeping packets which are downlinked directly.
-   * @return
-   */
-  virtual ReturnValue_t subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams params) = 0;
-
-  [[deprecated(
-      "Please use the new API which takes all arguments as one wrapper "
-      "struct")]] virtual ReturnValue_t
-  subscribeForPeriodicPacket(sid_t sid, bool enableReporting, float collectionInterval,
-                             bool isDiagnostics,
-                             object_id_t packetDestination = objects::NO_OBJECT) {
-    if (isDiagnostics) {
-      subdp::DiagnosticsHkPeriodicParams params(sid, enableReporting, collectionInterval);
-      return subscribeForDiagPeriodicPacket(params);
-    } else {
-      subdp::RegularHkPeriodicParams params(sid, enableReporting, collectionInterval);
-      return subscribeForRegularPeriodicPacket(params);
-    }
-  }
-
+  virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
+                                                   float collectionInterval, bool isDiagnostics,
+                                                   object_id_t packetDestination) = 0;
   /**
    * @brief   Subscribe for the  generation of packets if the dataset
    *          is marked as changed.
@@ -95,28 +29,9 @@ class ProvidesDataPoolSubscriptionIF {
    * @param packetDestination
    * @return
    */
-  virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
-  virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
-
-  //  virtual ReturnValue_t
-  //  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
-  //    return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
-  //  }
-
-  [[deprecated(
-      "Please use the new API which takes all arguments as one wrapper "
-      "struct")]] virtual ReturnValue_t
-  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics,
-                           object_id_t packetDestination = objects::NO_OBJECT) {
-    if (isDiagnostics) {
-      subdp::DiagnosticsHkUpdateParams params(sid, reportingEnabled);
-      return subscribeForDiagUpdatePacket(params);
-    } else {
-      subdp::RegularHkUpdateParams params(sid, reportingEnabled);
-      return subscribeForRegularUpdatePacket(params);
-    }
-  }
-
+  virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
+                                                 bool isDiagnostics,
+                                                 object_id_t packetDestination) = 0;
   /**
    * @brief   Subscribe for a notification message which will be sent
    *          if a dataset has changed.
@@ -131,7 +46,8 @@ class ProvidesDataPoolSubscriptionIF {
    *                              Otherwise, only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
+  virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
+                                                     object_id_t destinationObject,
                                                      MessageQueueId_t targetQueueId,
                                                      bool generateSnapshot) = 0;
   /**
@@ -148,7 +64,7 @@ class ProvidesDataPoolSubscriptionIF {
    *                              only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
+  virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
                                                           object_id_t destinationObject,
                                                           MessageQueueId_t targetQueueId,
                                                           bool generateSnapshot) = 0;

src/fsfw/devicehandlers/AssemblyBase.cpp

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

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,8 +12,7 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -27,9 +26,11 @@
  *
  * Important:
  *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -46,10 +47,9 @@ class AssemblyBase : public SubsystemBase {
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
    * @param mode
    * @param submode
    * @return
@@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();
 
-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
   bool handleChildrenChanged();
 
   /**
@@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -8,7 +8,6 @@
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
@@ -40,9 +39,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -50,6 +48,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", returnvalue::FAILED,
                         "Invalid cookie");
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@@ -127,18 +128,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
-
-  if (this->parent != objects::NO_OBJECT) {
-    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
-    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
-    if (modeIF != nullptr and healthIF != nullptr) {
-      setParentQueue(modeIF->getCommandQueue());
-    }
-  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -374,12 +363,13 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -580,9 +570,6 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
-  if (newMode == MODE_OFF) {
-    disableCommandsAndReplies();
-  }
   if (!isTransitionalMode()) {
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
@@ -1270,33 +1257,40 @@ ReturnValue_t DeviceHandlerBase::letChildHandleMessage(CommandMessage* message)
   return returnvalue::FAILED;
 }
 
-void DeviceHandlerBase::handleDeviceTm(const uint8_t* rawData, size_t rawDataLen,
-                                       DeviceCommandId_t replyId, bool forceDirectTm) {
-  SerialBufferAdapter bufferWrapper(rawData, rawDataLen);
-  handleDeviceTm(bufferWrapper, replyId, forceDirectTm);
-}
-
-void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommandId_t replyId,
+void DeviceHandlerBase::handleDeviceTm(util::DataWrapper dataWrapper, DeviceCommandId_t replyId,
                                        bool forceDirectTm) {
+  if (dataWrapper.isNull()) {
+    return;
+  }
+
   auto iter = deviceReplyMap.find(replyId);
   if (iter == deviceReplyMap.end()) {
     triggerEvent(DEVICE_UNKNOWN_REPLY, replyId);
     return;
   }
 
+  auto reportData = [&](MessageQueueId_t queueId) {
+    if (dataWrapper.type == util::DataTypes::SERIALIZABLE) {
+      return actionHelper.reportData(queueId, replyId, dataWrapper.dataUnion.serializable);
+    } else if (dataWrapper.type == util::DataTypes::RAW) {
+      return actionHelper.reportData(queueId, replyId, dataWrapper.dataUnion.raw.data,
+                                     dataWrapper.dataUnion.raw.len);
+    }
+    return returnvalue::FAILED;
+  };
+
   // Regular replies to a command
   if (iter->second.command != deviceCommandMap.end()) {
     MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
     // This may fail, but we'll ignore the fault.
     if (queueId != NO_COMMANDER) {
-      // This may fail, but we'll ignore the fault.
-      actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
+      reportData(queueId);
     }
 
     // This check should make sure we get any TM but don't get anything doubled.
     if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
-      DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
+      DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataWrapper);
       actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
     }
 
@@ -1305,13 +1299,12 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
       // hiding of sender needed so the service will handle it as
       // unexpected Data, no matter what state (progress or completed)
       // it is in
-      actionHelper.reportData(defaultRawReceiver, replyId, const_cast<SerializeIF*>(&dataSet),
-                              true);
+      reportData(defaultRawReceiver);
     }
   }
   // Unrequested or aperiodic replies
   else {
-    DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
+    DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataWrapper);
     if (wiretappingMode == TM) {
       actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
     }
@@ -1324,23 +1317,22 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
   }
 }
 
-ActionHelper* DeviceHandlerBase::getActionHelper() { return &actionHelper; }
-
-ReturnValue_t DeviceHandlerBase::executeAction(Action* action) {
+ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                               const uint8_t* data, size_t size) {
   ReturnValue_t result = acceptExternalDeviceCommands();
   if (result != returnvalue::OK) {
     return result;
   }
-  DeviceCommandMap::iterator iter = deviceCommandMap.find(action->getId());
+  DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
   if (iter == deviceCommandMap.end()) {
     result = COMMAND_NOT_SUPPORTED;
   } else if (iter->second.isExecuting) {
     result = COMMAND_ALREADY_SENT;
   } else {
-    iter->second.sendReplyTo = action->commandedBy;
-    result = action->handle();
+    result = buildCommandFromCommand(actionId, data, size);
   }
   if (result == returnvalue::OK) {
+    iter->second.sendReplyTo = commandedBy;
     iter->second.isExecuting = true;
     cookieInfo.pendingCommand = iter;
     cookieInfo.state = COOKIE_WRITE_READY;
@@ -1468,8 +1460,6 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1492,7 +1482,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
   }
   return returnvalue::OK;
 }
@@ -1576,36 +1566,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}
-
-void DeviceHandlerBase::disableCommandsAndReplies() {
-  for (auto& command : deviceCommandMap) {
-    if (command.second.isExecuting) {
-      command.second.isExecuting = false;
-    }
-  }
-  for (auto& reply : deviceReplyMap) {
-    if (!reply.second.periodic) {
-      if (reply.second.countdown != nullptr) {
-        reply.second.countdown->timeOut();
-      } else {
-        reply.second.delayCycles = 0;
-      }
-      reply.second.active = false;
-    }
-  }
-}
-
-ModeHelper const* DeviceHandlerBase::getModeHelper() const { return &modeHelper; }
-
-ModeDefinitionHelper DeviceHandlerBase::getModeDefinitionHelper() {
-  return ModeDefinitionHelper::create<DeviceHandlerMode, DefaultSubmode>();
-}
-

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -103,9 +103,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setParent(object_id_t parent);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -204,15 +201,13 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
-  /** @brief  Implementations required for HasActionIF */
-  ActionHelper* getActionHelper() override;
-  ReturnValue_t executeAction(Action *action) override;
+  /** @brief  Implementation required for HasActionIF */
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t *data, size_t size) override;
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
-  void getMode(Mode_t *mode, Submode_t *submode) override;
-  ModeHelper const * getModeHelper() const override;
-  ModeDefinitionHelper getModeDefinitionHelper() override;
+  virtual void getMode(Mode_t *mode, Submode_t *submode);
   HealthState getHealth();
   ReturnValue_t setHealth(HealthState health);
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
@@ -316,8 +311,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    *    - Anything else triggers an even with the returnvalue as a parameter
    */
   virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) = 0;
-  
-  //TODO Remove and update documentation
   /**
    * @brief 	Build a device command packet from data supplied by a direct
    *          command (PUS Service 8)
@@ -344,7 +337,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                 const uint8_t *commandData,
-                                                size_t commandDataLen) {return returnvalue::FAILED;}
+                                                size_t commandDataLen) = 0;
 
   /* Reply handling */
   /**
@@ -471,14 +464,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
    * @param maxDelayCycles The maximum number of delay cycles the reply waits
-   *    until it times out.
+   * until it times out.
    * @param periodic	Indicates if the command is periodic (i.e. it is sent
-   *    by the device repeatedly without request) or not. Default is aperiodic (0).
-   *    Please note that periodic replies are disabled by default. You can enable them with
-   *    #updatePeriodicReply
+   * by the device repeatedly without request) or not. Default is aperiodic (0).
+   * Please note that periodic replies are disabled by default. You can enable them with
+   * #updatePeriodicReply
    * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *    to provide a pointer to a Countdown object which will signal the timeout
-   *    when expired
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c returnvalue::OK when the command was successfully inserted,
    *          - @c returnvalue::FAILED else.
    */
@@ -663,12 +656,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -787,18 +774,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * This is used to keep track of pending replies.
    */
   struct DeviceReplyInfo {
-    //! For Command-Reply combinations:
     //! The maximum number of cycles the handler should wait for a reply
     //! to this command.
-    //!
-    //! Reply Only:
-    //! For periodic replies, this variable will be the number of delay cycles between the replies.
-    //! For the non-periodic variant, this variable is not used as there is no meaningful
-    //! definition for delay
     uint16_t maxDelayCycles;
-    //! This variable will be set to #maxDelayCycles if a reply is expected.
-    //! For non-periodic replies without a command, this variable is unused.
-    //! A runtime value of 0 means there is no reply is currently expected.
+    //! The currently remaining cycles the handler should wait for a reply,
+    //! 0 means there is no reply expected
     uint16_t delayCycles;
     size_t replyLen = 0;  //!< Expected size of the reply.
     //! if this is !=0, the delayCycles will not be reset to 0 but to
@@ -854,7 +834,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -1074,24 +1053,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   bool isAwaitingReply();
 
-  /**
-   * Wrapper function for @handleDeviceTm which wraps the raw buffer with @SerialBufferAdapter.
-   * For interpreted data, prefer the other function.
-   * @param rawData
-   * @param rawDataLen
-   * @param replyId
-   * @param forceDirectTm
-   */
-  void handleDeviceTm(const uint8_t *rawData, size_t rawDataLen, DeviceCommandId_t replyId,
-                      bool forceDirectTm = false);
-  /**
-   * Can be used to handle Service 8 data replies. This will also generate the TM wiretapping
-   * packets accordingly.
-   * @param dataSet
-   * @param replyId
-   * @param forceDirectTm
-   */
-  void handleDeviceTm(const SerializeIF &dataSet, DeviceCommandId_t replyId,
+  void handleDeviceTm(util::DataWrapper dataWrapper, DeviceCommandId_t replyId,
                       bool forceDirectTm = false);
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
@@ -1345,11 +1307,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = returnvalue::FAILED,
                            const char *errorPrint = nullptr);
-
-  /**
-   * @brief Disables all commands and replies when device is set to MODE_OFF
-   */
-  void disableCommandsAndReplies();
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

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

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -4,7 +4,6 @@
 #include "../action/HasActionsIF.h"
 #include "../datapoollocal/localPoolDefinitions.h"
 #include "../events/Event.h"
-#include "../introspection/ClasslessEnum.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../modes/HasModesIF.h"
 #include "DeviceHandlerMessage.h"
@@ -38,30 +37,23 @@ class DeviceHandlerIF {
    * The mode of the device itself is transparent to the user but related to the mode of the
    * handler. MODE_ON and MODE_OFF are included in hasModesIF.h
    */
-  FSFW_CLASSLESS_ENUM(
-      DeviceHandlerMode, Mode_t,
-      //! The device is powered and ready to perform operations. In this mode, no
-      //! commands are sent by the device handler itself, but direct commands can be
-      //! commanded and will be executed/forwarded to the device
-      //! This is an alias of MODE_ON to have the FSFW_ENUM complete for introspection
-      ((DEVICEHANDLER_MODE_ON, HasModesIF::MODE_ON, "On"))
-      //! The device is powered off. The only command accepted in this
-      //! mode is a mode change to on.
-      //! This is an alias of MODE_OFF to have the FSFW_ENUM complete for introspection
-      ((DEVICEHANDLER_MODE_OFF, HasModesIF::MODE_OFF, "Off"))
-      //! The device is powered on and the device handler periodically sends
-      //! commands. The commands to be sent are selected by the handler
-      //! according to the submode.
-      ((MODE_NORMAL, 2, "Normal"))
-      //! The device is powered on and ready to perform operations. In this mode,
-      //! raw commands can be sent. The device handler will send all replies
-      //! received from the command back to the commanding object as raw TM
-      ((MODE_RAW, 3, "Raw"))
-      //! The device is shut down but the switch could not be turned off, so the
-      //! device still is powered. In this mode, only a mode change to @c MODE_OFF
-      //! can be commanded, which tries to switch off the device again.
-      ((MODE_ERROR_ON, 4, "Error")))
 
+  // MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no
+  // commands are sent by the device handler itself, but direct commands van be commanded and will
+  // be interpreted MODE_OFF = 1, //!< The device is powered off. The only command accepted in this
+  // mode is a mode change to on.
+  //! The device is powered on and the device handler periodically sends
+  //! commands. The commands to be sent are selected by the handler
+  //! according to the submode.
+  static const Mode_t MODE_NORMAL = 2;
+  //! The device is powered on and ready to perform operations. In this mode,
+  //! raw commands can be sent. The device handler will send all replies
+  //! received from the command back to the commanding object.
+  static const Mode_t MODE_RAW = 3;
+  //! The device is shut down but the switch could not be turned off, so the
+  //! device still is powered. In this mode, only a mode change to @c MODE_OFF
+  //! can be commanded, which tries to switch off the device again.
+  static const Mode_t MODE_ERROR_ON = 4;
   //! This is a transitional state which can not be commanded. The device
   //! handler performs all commands to get the device in a state ready to
   //! perform commands. When this is completed, the mode changes to @c MODE_ON.
@@ -117,7 +109,6 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 

src/fsfw/devicehandlers/DeviceTmReportingWrapper.cpp

@@ -3,8 +3,8 @@
 #include "fsfw/serialize/SerializeAdapter.h"
 
 DeviceTmReportingWrapper::DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId,
-                                                   const SerializeIF& data)
-    : objectId(objectId), actionId(actionId), data(data) {}
+                                                   util::DataWrapper data)
+    : objectId(objectId), actionId(actionId), dataWrapper(data) {}
 
 DeviceTmReportingWrapper::~DeviceTmReportingWrapper() = default;
 
@@ -19,11 +19,24 @@ ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer, size_t* size
   if (result != returnvalue::OK) {
     return result;
   }
-  return data.serialize(buffer, size, maxSize, streamEndianness);
+  if (dataWrapper.isNull()) {
+    return returnvalue::FAILED;
+  }
+  if (dataWrapper.type == util::DataTypes::SERIALIZABLE) {
+    return dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize, streamEndianness);
+  } else if (dataWrapper.type == util::DataTypes::RAW) {
+    if (*size + dataWrapper.dataUnion.raw.len > maxSize) {
+      return SerializeIF::BUFFER_TOO_SHORT;
+    }
+    std::memcpy(*buffer, dataWrapper.dataUnion.raw.data, dataWrapper.dataUnion.raw.len);
+    *buffer += dataWrapper.dataUnion.raw.len;
+    *size += dataWrapper.dataUnion.raw.len;
+  }
+  return returnvalue::OK;
 }
 
 size_t DeviceTmReportingWrapper::getSerializedSize() const {
-  return sizeof(objectId) + sizeof(ActionId_t) + data.getSerializedSize();
+  return sizeof(objectId) + sizeof(ActionId_t) + dataWrapper.getLength();
 }
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer, size_t* size,

src/fsfw/devicehandlers/DeviceTmReportingWrapper.h

@@ -8,7 +8,7 @@
 
 class DeviceTmReportingWrapper : public SerializeIF {
  public:
-  DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId, const SerializeIF& data);
+  DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId, util::DataWrapper data);
   ~DeviceTmReportingWrapper() override;
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
@@ -19,7 +19,7 @@ class DeviceTmReportingWrapper : public SerializeIF {
  private:
   object_id_t objectId;
   ActionId_t actionId;
-  const SerializeIF& data;
+  util::DataWrapper dataWrapper;
 
   // Deserialization forbidden
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,

src/fsfw/devicehandlers/HealthDevice.cpp

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

src/fsfw/events/Event.h

@@ -4,6 +4,8 @@
 #include <stdint.h>
 
 #include "fwSubsystemIdRanges.h"
+// could be moved to more suitable location
+#include <events/subsystemIdRanges.h>
 
 using EventId_t = uint16_t;
 using EventSeverity_t = uint8_t;

src/fsfw/events/EventManager.cpp

@@ -18,9 +18,8 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 EventManager::~EventManager() {
@@ -47,20 +46,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
-                   << result << std::setfill(' ') << std::endl;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
     }
   }
   unlockMutex();
@@ -206,19 +194,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -43,7 +43,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/fdir/FailureIsolationBase.cpp

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

src/fsfw/fdir/FailureIsolationBase.h

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

src/fsfw/globalfunctions/CMakeLists.txt

@@ -4,7 +4,6 @@ target_sources(
           AsciiConverter.cpp
           CRC.cpp
           DleEncoder.cpp
-          DleParser.cpp
           PeriodicOperationDivider.cpp
           timevalOperations.cpp
           Type.cpp

src/fsfw/globalfunctions/DleParser.cpp

@@ -1,230 +0,0 @@
-#include "DleParser.h"
-
-#include <fsfw/serviceinterface/ServiceInterface.h>
-
-#include <cstdio>
-
-DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-                     BufPair decodedBuf, UserHandler handler, void* args)
-    : decodeRingBuf(decodeRingBuf),
-      decoder(decoder),
-      encodedBuf(encodedBuf),
-      decodedBuf(decodedBuf),
-      handler(handler),
-      ctx(args) {
-  if (handler == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
-#else
-    sif::printError("DleParser::DleParser: Invalid user handler\n");
-#endif
-  }
-}
-
-ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
-  if (data == nullptr or len == 0 or handler == nullptr) {
-    return returnvalue::FAILED;
-  }
-  size_t copyIntoRingBufFromHere = 0;
-  size_t copyAmount = len;
-  size_t startIdx = 0;
-  ReturnValue_t result = returnvalue::OK;
-  bool startFoundInThisPacket = false;
-  for (size_t idx = 0; idx < len; idx++) {
-    if (data[idx] == DleEncoder::STX_CHAR) {
-      if (not startFound and not startFoundInThisPacket) {
-        startIdx = idx;
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      } else {
-        // Maybe print warning, should not happen
-        decodeRingBuf.clear();
-        ErrorInfo info;
-        info.len = idx;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
-        handler(ctx);
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      }
-      startFound = true;
-      startFoundInThisPacket = true;
-    } else if (data[idx] == DleEncoder::ETX_CHAR) {
-      if (startFoundInThisPacket) {
-        size_t readLen = 0;
-        size_t decodedLen = 0;
-        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
-                                decodedBuf.second, &decodedLen);
-        if (result == returnvalue::OK) {
-          ctx.setType(ContextType::PACKET_FOUND);
-          ctx.decodedPacket.first = decodedBuf.first;
-          ctx.decodedPacket.second = decodedLen;
-          this->handler(ctx);
-        } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        } else {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        }
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      } else if (startFound) {
-        // ETX found but STX was found in another mini packet. Reconstruct the full packet
-        // to decode it
-        result = decodeRingBuf.writeData(data, idx + 1);
-        if (result != returnvalue::OK) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-          handler(ctx);
-        }
-        size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
-        if (fullEncodedLen > encodedBuf.second) {
-          ErrorInfo info;
-          info.len = fullEncodedLen;
-          prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
-          handler(ctx);
-          decodeRingBuf.clear();
-        } else {
-          size_t decodedLen = 0;
-          size_t readLen = 0;
-          decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
-          result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
-                                  decodedBuf.second, &decodedLen);
-          if (result == returnvalue::OK) {
-            if (this->handler != nullptr) {
-              ctx.setType(ContextType::PACKET_FOUND);
-              ctx.decodedPacket.first = decodedBuf.first;
-              ctx.decodedPacket.second = decodedLen;
-              this->handler(ctx);
-            }
-          } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-            handler(ctx);
-          } else {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
-            handler(ctx);
-          }
-          decodeRingBuf.clear();
-          startFound = false;
-          startFoundInThisPacket = false;
-          if ((idx + 1) < len) {
-            copyIntoRingBufFromHere = idx + 1;
-            copyAmount = len - idx - 1;
-          } else {
-            copyAmount = 0;
-          }
-        }
-      } else {
-        // End data without preceeding STX
-        ErrorInfo info;
-        info.len = idx + 1;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
-        handler(ctx);
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      }
-      startFoundInThisPacket = false;
-      startFound = false;
-    }
-  }
-  if (copyAmount > 0) {
-    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
-    if (result != returnvalue::OK) {
-      ErrorInfo info;
-      info.res = result;
-      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-      handler(ctx);
-    }
-  }
-  return returnvalue::OK;
-}
-
-void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
-            << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
-#endif
-#endif
-}
-
-void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
-  switch (err) {
-    case (ErrorTypes::NONE): {
-      errorPrinter("No error");
-      break;
-    }
-    case (ErrorTypes::DECODE_ERROR): {
-      errorPrinter("Decode Error");
-      break;
-    }
-    case (ErrorTypes::RING_BUF_ERROR): {
-      errorPrinter("Ring Buffer Error");
-      break;
-    }
-    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
-    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
-      char opt[64];
-      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len);
-      if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
-        errorPrinter("Encoded buf too small", opt);
-      } else {
-        errorPrinter("Decoding buf too small", opt);
-      }
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
-      errorPrinter("Consecutive STX chars detected");
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
-      errorPrinter("Consecutive ETX chars detected");
-      break;
-    }
-  }
-}
-
-void DleParser::errorPrinter(const char* str, const char* opt) {
-  if (opt == nullptr) {
-    opt = "";
-  }
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
-#endif
-#endif
-}
-
-void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
-  ctx.setType(ContextType::ERROR);
-  ctx.error.first = err;
-  ctx.error.second = info;
-}
-
-void DleParser::reset() {
-  startFound = false;
-  decodeRingBuf.clear();
-}

src/fsfw/globalfunctions/DleParser.h

@@ -1,124 +0,0 @@
-#pragma once
-
-#include <fsfw/container/SimpleRingBuffer.h>
-#include <fsfw/globalfunctions/DleEncoder.h>
-#include <fsfw/returnvalues/returnvalue.h>
-
-#include <cstddef>
-#include <utility>
-
-/**
- * @brief This base helper class can be used to extract DLE encoded packets from a data stream
- * @details
- * The core API of the parser takes received packets which can contains DLE packets. The parser
- * can deal with DLE packets split across multiple packets. It does so by using a dedicated
- * decoding ring buffer. The user can process received packets and detect errors by
- * overriding two provided virtual methods. This also allows detecting multiple DLE packets
- * inside one passed packet.
- */
-class DleParser {
- public:
-  using BufPair = std::pair<uint8_t*, size_t>;
-
-  enum class ContextType { PACKET_FOUND, ERROR };
-
-  enum class ErrorTypes {
-    NONE,
-    ENCODED_BUF_TOO_SMALL,
-    DECODING_BUF_TOO_SMALL,
-    DECODE_ERROR,
-    RING_BUF_ERROR,
-    CONSECUTIVE_STX_CHARS,
-    CONSECUTIVE_ETX_CHARS
-  };
-
-  union ErrorInfo {
-    size_t len;
-    ReturnValue_t res;
-  };
-
-  using ErrorPair = std::pair<ErrorTypes, ErrorInfo>;
-
-  struct Context {
-   public:
-    Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
-
-    void setType(ContextType type) {
-      if (type == ContextType::PACKET_FOUND) {
-        error.first = ErrorTypes::NONE;
-        error.second.len = 0;
-      } else {
-        decodedPacket.first = nullptr;
-        decodedPacket.second = 0;
-      }
-    }
-
-    ContextType getType() const { return type; }
-
-    BufPair decodedPacket = {};
-    ErrorPair error;
-    void* userArgs;
-
-   private:
-    ContextType type;
-  };
-
-  using UserHandler = void (*)(const Context& ctx);
-
-  /**
-   * Base class constructor
-   * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
-   * split across multiple packets
-   * @param decoder Decoder instance
-   * @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold
-   * the largest expected encoded DLE packet size
-   * @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the
-   * largest expected decoded DLE packet size
-   * @param handler Function which will be called on a found packet
-   * @param args Arbitrary user argument
-   */
-  DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-            BufPair decodedBuf, UserHandler handler, void* args);
-
-  /**
-   * This function allows to pass new data into the parser. It then scans for DLE packets
-   * automatically and inserts (part of) the packet into a ring buffer if necessary.
-   * @param data
-   * @param len
-   * @return
-   */
-  ReturnValue_t passData(uint8_t* data, size_t len);
-
-  /**
-   * Example found packet handler
-   * function call
-   * @param packet Decoded packet
-   * @param len Length of detected packet
-   */
-  void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args);
-  /**
-   * Will be called if an error occured in the #passData call
-   * @param err
-   * @param ctx Context information depending on the error type
-   *  - For buffer length errors, will be set to the detected packet length which is too large
-   *  - For decode or ring buffer errors, will be set to the result returned from the failed call
-   */
-  static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx);
-
-  static void errorPrinter(const char* str, const char* opt = nullptr);
-
-  void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
-  /**
-   * Resets the parser by resetting the internal states and clearing the decoding ring buffer
-   */
-  void reset();
-
- private:
-  SimpleRingBuffer& decodeRingBuf;
-  DleEncoder& decoder;
-  BufPair encodedBuf;
-  BufPair decodedBuf;
-  UserHandler handler = nullptr;
-  Context ctx;
-  bool startFound = false;
-};

src/fsfw/health/HasHealthIF.h

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

src/fsfw/health/HealthTable.h

@@ -9,8 +9,8 @@
 
 class HealthTable : public HealthTableIF, public SystemObject {
  public:
-  explicit HealthTable(object_id_t objectid);
-  ~HealthTable() override;
+  HealthTable(object_id_t objectid);
+  virtual ~HealthTable();
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
 

src/fsfw/housekeeping/AcceptsHkPacketsIF.h

@@ -1,12 +1,12 @@
 #ifndef FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
 #define FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
 
-#include "fsfw/ipc/MessageQueueMessageIF.h"
+#include "../ipc/MessageQueueMessageIF.h"
 
 class AcceptsHkPacketsIF {
  public:
-  virtual ~AcceptsHkPacketsIF() = default;
-  [[nodiscard]] virtual MessageQueueId_t getHkQueue() const = 0;
+  virtual ~AcceptsHkPacketsIF(){};
+  virtual MessageQueueId_t getHkQueue() const = 0;
 };
 
 #endif /* FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_ */

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,13 +7,11 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
+      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@@ -38,14 +36,15 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-                 << newStoreHits << std::endl;
+                 << "occured!" << std::endl;
+      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+      sif::debug << "TM errors: " << newTmHits << std::endl;
+      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug(
-          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-          "| %lu\n",
-          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
-          static_cast<unsigned int>(newStoreHits));
+      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }
@@ -127,12 +126,11 @@ MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
 
 ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                              LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
-  localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
-  localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
-  poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
-      internalErrorSid, false,
-      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
+  localDataPoolMap.emplace(errorPoolIds::TM_HITS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(errorPoolIds::STORE_HITS, new PoolEntry<uint32_t>());
+  poolManager.subscribeForPeriodicPacket(internalErrorSid, false, getPeriodicOperationFrequency(),
+                                         true);
   internalErrorDataset.setValidity(true, true);
   return returnvalue::OK;
 }

src/fsfw/internalerror/InternalErrorReporter.h

@@ -72,9 +72,6 @@ class InternalErrorReporter : public SystemObject,
   uint32_t queueHits = 0;
   uint32_t tmHits = 0;
   uint32_t storeHits = 0;
-  PoolEntry<uint32_t> tmHitsEntry = PoolEntry<uint32_t>();
-  PoolEntry<uint32_t> storeHitsEntry = PoolEntry<uint32_t>();
-  PoolEntry<uint32_t> queueHitsEntry = PoolEntry<uint32_t>();
 
   uint32_t getAndResetQueueHits();
   void incrementQueueHits();

src/fsfw/internalerror/InternalErrorReporterIF.h

@@ -12,7 +12,7 @@
  */
 class InternalErrorReporterIF {
  public:
-  virtual ~InternalErrorReporterIF() = default;
+  virtual ~InternalErrorReporterIF() {}
   /**
    * @brief Function to be called if a message queue could not be sent.
    * @details OSAL Implementations should call this function to indicate that

src/fsfw/introspection/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE ParameterTypeSelector.cpp) 

src/fsfw/introspection/ClasslessEnum.h

@@ -1,48 +0,0 @@
-#pragma once
-
-#include <fsfw/returnvalues/returnvalue.h>
-
-#include <boost/preprocessor.hpp>
-
-// TODO ifdef EnumIF, consistent naming of functions arrays and macros (probably enum values and
-// descriptions)
-
-#include "EnumIF.h"
-#include "EnumCommon.h"
-
-#ifdef FSFW_INTROSPECTION
-
-#define FSFW_CLASSLESS_ENUM(name, type, elements)                                            \
-  enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) };   \
-                                                                                             \
-  class name : public EnumIF {                                                               \
-   public:                                                                                   \
-    enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) }; \
-    name(type value) : value(value) {}                                                       \
-    name() : value(-1) {}                                                                    \
-    name(const name &other) : value(other.value) {}                                          \
-    int64_t getValue() const override { return value; }                                      \
-    operator type() { return value; }                                                        \
-    name &operator=(name other) {                                                            \
-      value = other.value;                                                                   \
-      return *this;                                                                          \
-    }                                                                                        \
-    name &operator=(type value) {                                                            \
-      this->value = value;                                                                   \
-      return *this;                                                                          \
-    }                                                                                        \
-    CREATE_KEY_ARRAY(elements, type)                                                         \
-    VALUE_CHECK(type)                                                                        \
-    GET_INDEX()                                                                              \
-    CREATE_DESCRIPTION_ARRAY(elements)                                                       \
-    GET_DESCRIPTION_FUNC()                                                                   \
-   private:                                                                                  \
-    type value;                                                                              \
-  };
-
-#else
-
-#define FSFW_CLASSLESS_ENUM(name, type, elements) \
-  enum name : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) };
-
-#endif

src/fsfw/introspection/Enum.h

@@ -1,64 +0,0 @@
-#pragma once
-
-#include <fsfw/returnvalues/returnvalue.h>
-#include <fsfw/serialize/SerializeAdapter.h>
-
-#include <boost/preprocessor.hpp>
-
-// TODO ifdef EnumIF, consistent naming of functions arrays and macros (probably enum values and
-// descriptions)
-
-#include "EnumIF.h"
-#include "EnumCommon.h"
-
-
-#ifdef FSFW_INTROSPECTION
-
-#define FSFW_ENUM(name, type, elements)                                                      \
-  class name : public EnumIF, public SerializeIF {                                           \
-   public:                                                                                   \
-    enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) }; \
-    name(type value) : value(value) {}                                                       \
-    name() : value(-1) {}                                                                    \
-    name(const name &other) : value(other.value) {}                                          \
-    int64_t getValue() const override { return value; }                                      \
-    operator type() { return value; }                                                        \
-    name &operator=(name other) {                                                            \
-      value = other.value;                                                                   \
-      return *this;                                                                          \
-    }                                                                                        \
-    name &operator=(type value) {                                                            \
-      this->value = value;                                                                   \
-      return *this;                                                                          \
-    }                                                                                        \
-    CREATE_KEY_ARRAY(elements, type)                                                         \
-    VALUE_CHECK(type)                                                                        \
-    GET_INDEX()                                                                              \
-    CREATE_DESCRIPTION_ARRAY(elements)                                                       \
-    GET_DESCRIPTION_FUNC()                                                                   \
-    virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,          \
-                                    Endianness streamEndianness) const override {            \
-      return SerializeAdapter::serialize<>(&value, buffer, size, maxSize, streamEndianness); \
-    }                                                                                        \
-    virtual size_t getSerializedSize() const override {                                      \
-      return SerializeAdapter::getSerializedSize<>(&value);                                  \
-    }                                                                                        \
-    virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,                  \
-                                      Endianness streamEndianness) override {                \
-      return SerializeAdapter::deSerialize<>(&value, buffer, size, streamEndianness);        \
-    }                                                                                        \
-                                                                                             \
-   private:                                                                                  \
-    type value;                                                                              \
-  };
-
-
-#else
-
-#define FSFW_ENUM(name, type, elements)                                     \
-  enum class name : type {                                                  \
-    BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) \
-  };
-
-
-#endif

src/fsfw/introspection/EnumCommon.h

@@ -1,62 +0,0 @@
-#define CLEAN_ENUM_ITEM(r, data, element)                                          \
-  BOOST_PP_IF(BOOST_PP_SUB(BOOST_PP_TUPLE_SIZE(element), 2),                       \
-              (BOOST_PP_TUPLE_ELEM(0, element) = BOOST_PP_TUPLE_ELEM(1, element)), \
-              (BOOST_PP_TUPLE_ELEM(0, element)))
-
-#if defined FSFW_ENUM_VALUE_CHECKS || defined FSFW_INTROSPECTION
-
-
-#define GET_KEY(r, data, element) (BOOST_PP_TUPLE_ELEM(0, element))
-#define GET_DESCRIPTION(r, data, element)                                                       \
-  BOOST_PP_IF(BOOST_PP_SUB(BOOST_PP_TUPLE_SIZE(element), 2), (BOOST_PP_TUPLE_ELEM(2, element)), \
-              (BOOST_PP_TUPLE_ELEM(1, element)))
-
-#define CREATE_KEY_ARRAY(enum_elements, type)                                                \
-  /*was static constexpr, but clang won't compile that*/                                     \
-  int64_t elements[BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements))] = { \
-      BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements))};                 \
-  const int64_t *getElements() const override { return elements; }                           \
-  size_t getSize() const override {                                                          \
-    return BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements));             \
-  }
-#define VALUE_CHECK(type)                                                 \
-  bool isValid() const override {                                         \
-    for (size_t i = 0; i < sizeof(elements) / sizeof(elements[0]); i++) { \
-      if (value == elements[i]) {                                         \
-        return true;                                                      \
-      }                                                                   \
-    }                                                                     \
-    return false;                                                         \
-  }
-
-#ifdef FSFW_INTROSPECTION
-#define CREATE_DESCRIPTION_ARRAY(elements)                                                       \
-  /*was static constexpr, but clang won't compile that*/                                         \
-  const char                                                                                     \
-      *descriptions[BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_DESCRIPTION, "", elements))] = { \
-          BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(GET_DESCRIPTION, "", elements))};              \
-  const char *const *getDescriptions() const override { return descriptions; }
-#define GET_INDEX()                                                       \
-  size_t getIndex(int64_t value) const override {                         \
-    for (size_t i = 0; i < sizeof(elements) / sizeof(elements[0]); i++) { \
-      if (value == elements[i]) {                                         \
-        return i;                                                         \
-      }                                                                   \
-    }                                                                     \
-    return -1;                                                            \
-  }
-#define GET_DESCRIPTION_FUNC()                        \
-  const char *getDescription() const override {       \
-    if (getIndex(value) == static_cast<size_t>(-1)) { \
-      return nullptr;                                      \
-    } else {                                          \
-      return descriptions[getIndex(value)];           \
-    }                                                 \
-  }
-#else
-#define GET_INDEX()
-#define CREATE_DESCRIPTION_ARRAY(elements)
-#define GET_DESCRIPTION_FUNC()
-#endif
-
-#endif

src/fsfw/introspection/EnumIF.h

@@ -1,16 +0,0 @@
-#pragma once
-
-#include <cstddef>
-#include <cstdint>
-
-class EnumIF {
- public:
-  virtual ~EnumIF() {}
-  virtual int64_t getValue() const = 0;
-  virtual bool isValid() const = 0;
-  virtual size_t getSize() const = 0;
-  virtual size_t getIndex(int64_t value) const = 0;
-  virtual const int64_t *getElements() const = 0;
-  virtual const char *const *getDescriptions() const = 0;
-  virtual const char *getDescription() const = 0;
-};

src/fsfw/introspection/ParameterTypeSelector.cpp

@@ -1,56 +0,0 @@
-#include "ParameterTypeSelector.h"
-
-#include <stdint.h>
-
-#include "Types.h"
-
-#ifdef FSFW_INTROSPECTION
-
-template <typename T>
-Types::ParameterType ParameterTypeSelector::getType() {
-    return Types::UNSUPPORTED;
-  }
-
-template <>
-Types::ParameterType ParameterTypeSelector::getType<uint8_t>() {
-  return Types::SIGNED;
-}
-template <>
-Types::ParameterType ParameterTypeSelector::getType<int8_t>() {
-  return Types::SIGNED;
-}
-
-template <>
-Types::ParameterType ParameterTypeSelector::getType<uint16_t>() {
-  return Types::SIGNED;
-}
-template <>
-Types::ParameterType ParameterTypeSelector::getType<int16_t>() {
-  return Types::SIGNED;
-}
-template <>
-Types::ParameterType ParameterTypeSelector::getType<uint32_t>() {
-  return Types::SIGNED;
-}
-template <>
-Types::ParameterType ParameterTypeSelector::getType<int32_t>() {
-  return Types::SIGNED;
-}
-// template <>
-// Types::ParameterType ParameterTypeSelector::getType<uint64_t>() {
-//   return Types::UNSIGNED;
-// }
-template <>
-Types::ParameterType ParameterTypeSelector::getType<int64_t>() {
-  return Types::SIGNED;
-}
-template <>
-Types::ParameterType ParameterTypeSelector::getType<float>() {
-  return Types::FLOATING;
-}
-template <>
-Types::ParameterType ParameterTypeSelector::getType<double>() {
-  return Types::FLOATING;
-}
-
-#endif

src/fsfw/introspection/ParameterTypeSelector.h

@@ -1,13 +0,0 @@
-#pragma once
-
-#include "Types.h"
-
-#ifdef FSFW_INTROSPECTION
-
-class ParameterTypeSelector {
- public:
-  template <typename T>
-  static Types::ParameterType getType();
-};
-
-#endif

src/fsfw/introspection/Types.h

@@ -1,8 +0,0 @@
-#pragma once
-
-//maybe call them MIB types as these are the ones exposed to the MIB?
-// Note: some DBs (Postgress, Mongo) only support signed 64bit integers. To have a common denominator, all integers are int64_t.
-// As such, ther is no unsigned Type, as there can not be a uint64_t and uint32_t completely fits into int64_t
-namespace Types {
-enum ParameterType { SIGNED, FLOATING, ENUM, STRING, BYTEARRAY, UNSUPPORTED };
-}  // namespace Types

src/fsfw/introspection/TypesHelper.h

@@ -1,74 +0,0 @@
-#pragma once
-
-#include <limits>
-#include <vector>
-
-#include "Enum.h"
-#include "Types.h"
-#include "ParameterTypeSelector.h"
-
-template <bool>
-class enumHelper;
-
-template <>
-class enumHelper<true> {
- public:
-  static bool isValid(EnumIF *anEnum) { return anEnum->isValid(); }
-
-#ifdef FSFW_INTROSPECTION
-  template <typename T>
-  static Types::ParameterType getType() {
-    return Types::ENUM;
-  }
-
-  template <typename T>
-  static T getMin() {
-    return 0;
-  }
-
-  template <typename T>
-  static T getMax() {
-    return 0;
-  }
-
-  static std::vector<int64_t> getEnumValues() { return std::vector<int64_t>(); }
-
-  static std::vector<int64_t> getEnumValues(EnumIF *anEnum) {
-    std::vector<int64_t> vector;
-    for (size_t i = 0; i < anEnum->getSize(); i++) {
-      vector.push_back(anEnum->getElements()[i]);
-    }
-    return vector;
-  }
-
-  static const char *const *getEnumDescriptions(EnumIF *anEnum) {
-    return anEnum->getDescriptions();
-  }
-#endif
-};
-
-template <>
-class enumHelper<false> {
- public:
-  static bool isValid(void *) { return true; }
-
-#ifdef FSFW_INTROSPECTION
-  template <typename T>
-  static Types::ParameterType getType() {
-    return ParameterTypeSelector::getType<T>();
-  }
-
-  template <typename T>
-  static T getMin() {
-    return std::numeric_limits<T>::lowest();
-  }
-  template <typename T>
-  static T getMax() {
-    return std::numeric_limits<T>::max();
-  }
-
-  static std::vector<int64_t> getEnumValues(void *) { return std::vector<int64_t>(); }
-
-  static const char *const *getEnumDescriptions(void *) { return nullptr; }
-#endif
-};

src/fsfw/ipc/CommandMessageIF.h

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

src/fsfw/ipc/MessageQueueBase.cpp

@@ -8,7 +8,7 @@ MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t default
   }
 }
 
-MessageQueueBase::~MessageQueueBase() = default;
+MessageQueueBase::~MessageQueueBase() {}
 
 ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
   return sendToDefaultFrom(message, this->getId(), false);

src/fsfw/ipc/MessageQueueBase.h

@@ -7,28 +7,28 @@
 class MessageQueueBase : public MessageQueueIF {
  public:
   MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
-  ~MessageQueueBase() override;
+  virtual ~MessageQueueBase();
 
   // Default implementations for MessageQueueIF where possible
-  [[nodiscard]] MessageQueueId_t getLastPartner() const override;
-  [[nodiscard]] MessageQueueId_t getId() const override;
-  MqArgs& getMqArgs() override;
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-  [[nodiscard]] MessageQueueId_t getDefaultDestination() const override;
-  [[nodiscard]] bool isDefaultDestinationSet() const override;
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault) override;
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-  ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-                                  bool ignoreFault = false) override;
+  virtual MessageQueueId_t getLastPartner() const override;
+  virtual MessageQueueId_t getId() const override;
+  virtual MqArgs& getMqArgs() override;
+  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+  virtual MessageQueueId_t getDefaultDestination() const override;
+  virtual bool isDefaultDestinationSet() const override;
+  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                    bool ignoreFault) override;
+  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+                                       MessageQueueId_t* receivedFrom) override;
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+                                          bool ignoreFault = false) override;
 
   // OSAL specific, forward the abstract function
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override = 0;
-  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                MessageQueueId_t sentFrom, bool ignoreFault = false) override = 0;
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
+  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
 
  protected:
   MessageQueueId_t id = MessageQueueIF::NO_QUEUE;

src/fsfw/ipc/MessageQueueIF.h

@@ -30,7 +30,7 @@ class MessageQueueIF {
   //! [EXPORT] : [COMMENT] Returned if the target destination is invalid.
   static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
 
-  virtual ~MessageQueueIF() = default;
+  virtual ~MessageQueueIF() {}
   /**
    * @brief	This operation sends a message to the last communication partner.
    * @details
@@ -82,11 +82,11 @@ class MessageQueueIF {
   /**
    * @brief	This method returns the message queue ID of the last communication partner.
    */
-  [[nodiscard]] virtual MessageQueueId_t getLastPartner() const = 0;
+  virtual MessageQueueId_t getLastPartner() const = 0;
   /**
    * @brief	This method returns the message queue ID  of this class's message queue.
    */
-  [[nodiscard]] virtual MessageQueueId_t getId() const = 0;
+  virtual MessageQueueId_t getId() const = 0;
 
   /**
    * @brief	With the sendMessage call, a queue message is sent to a receiving queue.
@@ -159,9 +159,9 @@ class MessageQueueIF {
   /**
    * @brief	This method is a simple getter for the default destination.
    */
-  [[nodiscard]] virtual MessageQueueId_t getDefaultDestination() const = 0;
+  virtual MessageQueueId_t getDefaultDestination() const = 0;
 
-  [[nodiscard]] virtual bool isDefaultDestinationSet() const = 0;
+  virtual bool isDefaultDestinationSet() const = 0;
 
   virtual MqArgs& getMqArgs() = 0;
 };

src/fsfw/ipc/MessageQueueMessage.cpp

@@ -10,10 +10,10 @@ MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()
 }
 
 MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
-    : messageSize(MessageQueueMessage::HEADER_SIZE + size) {
-  if (size <= MessageQueueMessage::MAX_DATA_SIZE) {
-    std::memcpy(MessageQueueMessage::getData(), data, size);
-    this->messageSize = MessageQueueMessage::HEADER_SIZE + size;
+    : messageSize(this->HEADER_SIZE + size) {
+  if (size <= this->MAX_DATA_SIZE) {
+    memcpy(this->getData(), data, size);
+    this->messageSize = this->HEADER_SIZE + size;
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "MessageQueueMessage: Passed size larger than maximum"
@@ -21,23 +21,21 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
                  << std::endl;
 #endif
     memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-    this->messageSize = MessageQueueMessage::HEADER_SIZE;
+    this->messageSize = this->HEADER_SIZE;
   }
 }
 
-MessageQueueMessage::~MessageQueueMessage() = default;
+MessageQueueMessage::~MessageQueueMessage() {}
 
 const uint8_t* MessageQueueMessage::getBuffer() const { return this->internalBuffer; }
 
 uint8_t* MessageQueueMessage::getBuffer() { return this->internalBuffer; }
 
 const uint8_t* MessageQueueMessage::getData() const {
-  return this->internalBuffer + MessageQueueMessage::HEADER_SIZE;
+  return this->internalBuffer + this->HEADER_SIZE;
 }
 
-uint8_t* MessageQueueMessage::getData() {
-  return this->internalBuffer + MessageQueueMessage::HEADER_SIZE;
-}
+uint8_t* MessageQueueMessage::getData() { return this->internalBuffer + this->HEADER_SIZE; }
 
 MessageQueueId_t MessageQueueMessage::getSender() const {
   MessageQueueId_t temp_id;
@@ -60,22 +58,14 @@ void MessageQueueMessage::print(bool printWholeMessage) {
   }
 }
 
-void MessageQueueMessage::clear() {
-  memset(this->getBuffer(), 0, MessageQueueMessage::MAX_MESSAGE_SIZE);
-}
+void MessageQueueMessage::clear() { memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE); }
 
 size_t MessageQueueMessage::getMessageSize() const { return this->messageSize; }
 
-void MessageQueueMessage::setMessageSize(size_t messageSize_) { this->messageSize = messageSize_; }
+void MessageQueueMessage::setMessageSize(size_t messageSize) { this->messageSize = messageSize; }
 
-size_t MessageQueueMessage::getMinimumMessageSize() const {
-  return MessageQueueMessage::MIN_MESSAGE_SIZE;
-}
+size_t MessageQueueMessage::getMinimumMessageSize() const { return this->MIN_MESSAGE_SIZE; }
 
-size_t MessageQueueMessage::getMaximumMessageSize() const {
-  return MessageQueueMessage::MAX_MESSAGE_SIZE;
-}
+size_t MessageQueueMessage::getMaximumMessageSize() const { return this->MAX_MESSAGE_SIZE; }
 
-size_t MessageQueueMessage::getMaximumDataSize() const {
-  return MessageQueueMessage::MAX_DATA_SIZE;
-}
+size_t MessageQueueMessage::getMaximumDataSize() const { return this->MAX_DATA_SIZE; }

src/fsfw/ipc/MessageQueueMessage.h

@@ -25,30 +25,6 @@
  */
 class MessageQueueMessage : public MessageQueueMessageIF {
  public:
-  /**
-   * @brief	This constant defines the maximum size of the data content,
-   * 			excluding the header.
-   * @details
-   * It may be changed if necessary, but in general should be kept
-   * as small as possible.
-   */
-  static const size_t MAX_DATA_SIZE = 24;
-  /**
-   * @brief	This constant defines the maximum total size in bytes
-   * 			of a sent message.
-   * @details
-   * It is the sum of the maximum data and the header size. Be aware that
-   * this constant is used to define the buffer sizes for every message
-   * queue in the system. So, a change here may have significant impact on
-   * the required resources.
-   */
-  static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
-  /**
-   * @brief Defines the minimum size of a message where only the
-   * 		  header is included
-   */
-  static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
-
   /**
    * @brief	The class is initialized empty with this constructor.
    * @details
@@ -74,12 +50,59 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    * @brief	As no memory is allocated in this class,
    * 		    the destructor is empty.
    */
-  ~MessageQueueMessage() override;
+  virtual ~MessageQueueMessage();
 
+  /**
+   * @brief	The size information of each message is stored in
+   *  			this attribute.
+   * @details
+   * It is public to simplify usage and to allow for passing the size
+   * address as a pointer. Care must be taken when inheriting from this class,
+   * as every child class is responsible for managing the size information by
+   * itself. When using the class to receive a message, the size information
+   * is updated automatically.
+   *
+   * Please note that the minimum size is limited by the size of the header
+   * while the maximum size is limited by the maximum allowed message size.
+   */
+  size_t messageSize;
+  /**
+   * @brief	This constant defines the maximum size of the data content,
+   * 			excluding the header.
+   * @details
+   * It may be changed if necessary, but in general should be kept
+   * as small as possible.
+   */
+  static const size_t MAX_DATA_SIZE = 24;
+
+  /**
+   * @brief	This constant defines the maximum total size in bytes
+   * 			of a sent message.
+   * @details
+   * It is the sum of the maximum data and the header size. Be aware that
+   * this constant is used to define the buffer sizes for every message
+   * queue in the system. So, a change here may have significant impact on
+   * the required resources.
+   */
+  static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+  /**
+   * @brief Defines the minimum size of a message where only the
+   * 		  header is included
+   */
+  static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
+
+ private:
+  /**
+   * @brief	This is the internal buffer that contains the
+   * 			actual message data.
+   */
+  uint8_t internalBuffer[MAX_MESSAGE_SIZE];
+
+ public:
   /**
    * @brief	This method is used to get the complete data of the message.
    */
-  [[nodiscard]] const uint8_t* getBuffer() const override;
+  const uint8_t* getBuffer() const override;
   /**
    * @brief	This method is used to get the complete data of the message.
    */
@@ -89,7 +112,7 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    * @details
    * It shall be used by child classes to add data at the right position.
    */
-  [[nodiscard]] const uint8_t* getData() const override;
+  const uint8_t* getData() const override;
   /**
    * @brief	This method is used to fetch the data content of the message.
    * @details
@@ -100,7 +123,7 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    * @brief	This method is used to extract the sender's message
    * 			queue id information from a received message.
    */
-  [[nodiscard]] MessageQueueId_t getSender() const override;
+  MessageQueueId_t getSender() const override;
   /**
    * @brief	With this method, the whole content
    * 			and the message size is set to zero.
@@ -115,40 +138,16 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    */
   void setSender(MessageQueueId_t setId) override;
 
-  [[nodiscard]] size_t getMessageSize() const override;
-  void setMessageSize(size_t messageSize) override;
-  [[nodiscard]] size_t getMinimumMessageSize() const override;
-  [[nodiscard]] size_t getMaximumMessageSize() const override;
-  [[nodiscard]] size_t getMaximumDataSize() const override;
+  virtual size_t getMessageSize() const override;
+  virtual void setMessageSize(size_t messageSize) override;
+  virtual size_t getMinimumMessageSize() const override;
+  virtual size_t getMaximumMessageSize() const override;
+  virtual size_t getMaximumDataSize() const override;
 
   /**
    * @brief	This is a debug method that prints the content.
    */
   void print(bool printWholeMessage);
-
-  /**
-   * TODO: This really should not be public. If it should be possible to pass size address as a
-   *       pointer, add a getter function returning a const reference to the size
-   * @brief	The size information of each message is stored in
-   *  			this attribute.
-   * @details
-   * It is public to simplify usage and to allow for passing the size
-   * address as a pointer. Care must be taken when inheriting from this class,
-   * as every child class is responsible for managing the size information by
-   * itself. When using the class to receive a message, the size information
-   * is updated automatically.
-   *
-   * Please note that the minimum size is limited by the size of the header
-   * while the maximum size is limited by the maximum allowed message size.
-   */
-  size_t messageSize;
-
- private:
-  /**
-   * @brief	This is the internal buffer that contains the
-   * 			actual message data.
-   */
-  uint8_t internalBuffer[MAX_MESSAGE_SIZE] = {};
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

src/fsfw/ipc/MessageQueueMessageIF.h

@@ -14,7 +14,7 @@ class MessageQueueMessageIF {
    */
   static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
 
-  virtual ~MessageQueueMessageIF() = default;
+  virtual ~MessageQueueMessageIF(){};
 
   /**
    * @brief	With this method, the whole content and the message
@@ -29,7 +29,7 @@ class MessageQueueMessageIF {
    * @brief	Get read-only pointer to the complete data of the message.
    * @return
    */
-  [[nodiscard]] virtual const uint8_t* getBuffer() const = 0;
+  virtual const uint8_t* getBuffer() const = 0;
 
   /**
    * @brief	This method is used to get the complete data of the message.
@@ -48,14 +48,14 @@ class MessageQueueMessageIF {
    * @brief	This method is used to extract the sender's message queue id
    * 			information from a received message.
    */
-  [[nodiscard]] virtual MessageQueueId_t getSender() const = 0;
+  virtual MessageQueueId_t getSender() const = 0;
 
   /**
    * @brief	This method is used to fetch the data content of the message.
    * @details
    * It shall be used by child classes to add data at the right position.
    */
-  [[nodiscard]] virtual const uint8_t* getData() const = 0;
+  virtual const uint8_t* getData() const = 0;
   /**
    * @brief	This method is used to fetch the data content of the message.
    * @details
@@ -67,28 +67,12 @@ class MessageQueueMessageIF {
    * Get constant message size of current message implementation.
    * @return
    */
-  [[nodiscard]] virtual size_t getMessageSize() const = 0;
+  virtual size_t getMessageSize() const = 0;
 
-  /**
-   * Sets the current message size of a given message
-   * @param messageSize
-   */
   virtual void setMessageSize(size_t messageSize) = 0;
-  /**
-   * Returns the smallest possible message size, including any headers
-   * @return
-   */
-  [[nodiscard]] virtual size_t getMinimumMessageSize() const = 0;
-  /**
-   * Returns the largest possible message size, including any headers
-   * @return
-   */
-  [[nodiscard]] virtual size_t getMaximumMessageSize() const = 0;
-  /**
-   * Returns the largest possible data size without any headers
-   * @return
-   */
-  [[nodiscard]] virtual size_t getMaximumDataSize() const = 0;
+  virtual size_t getMinimumMessageSize() const = 0;
+  virtual size_t getMaximumMessageSize() const = 0;
+  virtual size_t getMaximumDataSize() const = 0;
 };
 
 #endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

src/fsfw/ipc/MessageQueueSenderIF.h

@@ -1,14 +1,14 @@
 #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 
+#include "../objectmanager/ObjectManagerIF.h"
 #include "MessageQueueIF.h"
 #include "MessageQueueMessageIF.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
 
 class MessageQueueSenderIF {
  public:
-  virtual ~MessageQueueSenderIF() = default;
-  MessageQueueSenderIF() = delete;
+  virtual ~MessageQueueSenderIF() {}
+
   /**
    * Allows sending messages without actually "owning" a message queue.
    * Not sure whether this is actually a good idea.
@@ -16,6 +16,9 @@ class MessageQueueSenderIF {
   static ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                    MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
                                    bool ignoreFault = false);
+
+ private:
+  MessageQueueSenderIF() {}
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */

src/fsfw/modes/HasModesIF.h

@@ -4,9 +4,7 @@
 #include <cstdint>
 
 #include "../events/Event.h"
-#include "../introspection/ClasslessEnum.h"
 #include "../returnvalues/returnvalue.h"
-#include "ModeDefinitionHelper.h"
 #include "ModeHelper.h"
 #include "ModeMessage.h"
 
@@ -21,39 +19,35 @@ class HasModesIF {
   static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  //! An object announces changing the mode. p1: target mode. p2: target submode
-  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
-  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
-  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
+  static const Event CHANGING_MODE =
+      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
+                                      //!< p2: target submode
+  static const Event MODE_INFO = MAKE_EVENT(
+      1,
+      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
   static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
   static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
   static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
-  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
-  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
-  //! p1: target mode. p2: target submode
-  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
-  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
-  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
+  static const Event OBJECT_IN_INVALID_MODE =
+      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
+                                     //!< mode it should never be in.
+  static const Event FORCING_MODE = MAKE_EVENT(
+      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
+                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+  static const Event MODE_CMD_REJECTED =
+      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
+                                     //!< called object id, Par2: return code.
 
-  //! The device is powered and ready to perform operations. In this mode, no commands are
-  //! sent by the device handler itself, but direct commands can be commanded and will be
-  //! interpreted
-  static constexpr Mode_t MODE_ON = 1;
-  //! The device is powered off. The only command accepted in this mode is a mode change to on.
-  static constexpr Mode_t MODE_OFF = 0;
-
-  static constexpr Mode_t MODE_INVALID = -1;
-  static constexpr Mode_t MODE_UNDEFINED = -2;
-
-  FSFW_CLASSLESS_ENUM(DefaultSubmode, Submode_t,
-                      ((SUBMODE_NONE, 0,
-                        "Default")))  //!< To avoid checks against magic number "0".
+  static const Mode_t MODE_ON =
+      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
+          //!< sent by the device handler itself, but direct commands van be commanded and will be
+          //!< interpreted
+  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
+                                     //!< this mode is a mode change to on.
+  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;
-  virtual const ModeHelper * getModeHelper() const = 0;
-  virtual ModeDefinitionHelper getModeDefinitionHelper() = 0;
   virtual void getMode(Mode_t *mode, Submode_t *submode) = 0;
 
  protected:

src/fsfw/modes/ModeDefinitionHelper.h

@@ -1,33 +0,0 @@
-#pragma once
-
-#include <fsfw/introspection/EnumIF.h>
-
-class ModeDefinitionHelper {
- public:
-#ifdef FSFW_INTROSPECTION
-  ModeDefinitionHelper(EnumIF *mode, EnumIF *submode) : mode(mode), submode(submode) {}
-#else
-  ModeDefinitionHelper(void *mode, void *submode) {};
-#endif
-  template <typename Mode, typename Submode>
-  static ModeDefinitionHelper create() {
-#ifdef FSFW_INTROSPECTION
-    EnumIF *mode = new Mode();
-    EnumIF *submode = new Submode();
-    return ModeDefinitionHelper(mode, submode);
-#else
-    return ModeDefinitionHelper(nullptr, nullptr);
-#endif
-  }
-
-  void free() {
-#ifdef FSFW_INTROSPECTION
-    delete mode;
-    delete submode;
-#endif
-  }
-#ifdef FSFW_INTROSPECTION
-  EnumIF *mode;
-  EnumIF *submode;
-#endif
-};

src/fsfw/modes/ModeHelper.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-ModeHelper::ModeHelper(HasModesIF *owner)
+ModeHelper::ModeHelper(HasModesIF* owner)
     : commandedMode(HasModesIF::MODE_OFF),
       commandedSubmode(HasModesIF::SUBMODE_NONE),
       owner(owner),
@@ -12,7 +12,7 @@ ModeHelper::ModeHelper(HasModesIF *owner)
 
 ModeHelper::~ModeHelper() {}
 
-ReturnValue_t ModeHelper::handleModeCommand(CommandMessage *command) {
+ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
   CommandMessage reply;
   Mode_t mode;
   Submode_t submode;
@@ -106,33 +106,3 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
 bool ModeHelper::isForced() { return forced; }
 
 void ModeHelper::setForced(bool forced) { this->forced = forced; }
-
-#ifdef FSFW_INTROSPECTION
-std::vector<std::pair<Mode_t, const char *>> ModeHelper::getModes() const {
-  std::vector<std::pair<Mode_t, const char *>> modeVector;
-  auto modeDefinitionHelper = owner->getModeDefinitionHelper();
-  EnumIF *mode = modeDefinitionHelper.mode;
-  for (size_t i = 0; i < mode->getSize(); i++) {
-    modeVector.push_back(
-        std::pair<Mode_t, const char *>(mode->getElements()[i], mode->getDescriptions()[i]));
-  }
-  modeDefinitionHelper.free();
-  return modeVector;
-}
-
-std::vector<std::pair<Submode_t, const char *>> ModeHelper::getSubmodes(Mode_t mode) const {
-  auto modeDefinitionHelper = owner->getModeDefinitionHelper();
-  EnumIF *submode = modeDefinitionHelper.submode;
-  std::vector<std::pair<Submode_t, const char *>> submodeVector;
-  for (size_t i = 0; i < submode->getSize(); i++) {
-    uint32_t ignored;
-    if (owner->checkModeCommand(mode, submode->getElements()[i], &ignored) ==
-        HasReturnvaluesIF::RETURN_OK) {
-      submodeVector.push_back(std::pair<Submode_t, const char *>(submode->getElements()[i],
-                                                                 submode->getDescriptions()[i]));
-    }
-  }
-  modeDefinitionHelper.free();
-  return submodeVector;
-}
-#endif

src/fsfw/modes/ModeHelper.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_MODES_MODEHELPER_H_
 #define FSFW_MODES_MODEHELPER_H_
 
-#include <vector>
-
 #include "ModeMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/returnvalues/returnvalue.h"
@@ -41,12 +39,6 @@ class ModeHelper {
 
   void setForced(bool forced);
 
-#ifdef FSFW_INTROSPECTION
-  std::vector<std::pair<Mode_t, const char *>> getModes() const;
-
-  std::vector<std::pair<Submode_t, const char *>> getSubmodes(Mode_t mode) const;
-#endif
-
  protected:
   HasModesIF *owner;
   MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -8,7 +8,7 @@
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../serialize/SerializeElement.h"
 #include "../serviceinterface/ServiceInterface.h"
-#include "../timemanager/TimeWriterIF.h"
+#include "../timemanager/TimeStamperIF.h"
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
 #include "monitoringConf.h"
@@ -34,9 +34,9 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   SerializeElement<T> limitValue;
   SerializeElement<ReturnValue_t> oldState;
   SerializeElement<ReturnValue_t> newState;
-  uint8_t rawTimestamp[TimeWriterIF::MAXIMUM_TIMESTAMP_LEN] = {};
+  uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {};
   SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
-  TimeWriterIF* timeStamper;
+  TimeStamperIF* timeStamper;
   MonitoringReportContent()
       : SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
         monitorId(0),
@@ -47,7 +47,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
         oldState(0),
         newState(0),
         timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
-        timeStamper(nullptr) {
+        timeStamper(NULL) {
     setAllNext();
   }
   MonitoringReportContent(gp_id_t globalPoolId, T value, T limitValue, ReturnValue_t oldState,
@@ -61,7 +61,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
         oldState(oldState),
         newState(newState),
         timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
-        timeStamper(nullptr) {
+        timeStamper(NULL) {
     setAllNext();
     if (checkAndSetStamper()) {
       timeStamper->addTimeStamp(rawTimestamp, sizeof(rawTimestamp));
@@ -79,7 +79,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   }
   bool checkAndSetStamper() {
     if (timeStamper == nullptr) {
-      timeStamper = ObjectManager::instance()->get<TimeWriterIF>(timeStamperId);
+      timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
       if (timeStamper == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "MonitoringReportContent::checkAndSetStamper: "

src/fsfw/objectmanager/ObjectManager.cpp

@@ -21,7 +21,7 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
   this->factoryArgs = factoryArgs;
 }
 
-ObjectManager::ObjectManager() = default;
+ObjectManager::ObjectManager() {}
 
 ObjectManager::~ObjectManager() {
   for (auto const& iter : objectList) {
@@ -53,7 +53,7 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }
 
 ReturnValue_t ObjectManager::remove(object_id_t id) {
-  if (this->getSystemObject(id) != nullptr) {
+  if (this->getSystemObject(id) != NULL) {
     this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     // sif::debug << "ObjectManager::removeObject: Object " << std::hex
@@ -78,7 +78,7 @@ SystemObjectIF* ObjectManager::getSystemObject(object_id_t id) {
   }
 }
 
-void ObjectManager::produce() {
+void ObjectManager::initialize() {
   if (objectFactoryFunction == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "ObjectManager::initialize: Passed produceObjects "
@@ -90,25 +90,18 @@ void ObjectManager::produce() {
     return;
   }
   objectFactoryFunction(factoryArgs);
-}
-
-void ObjectManager::initialize() {
-  produce();
   ReturnValue_t result = returnvalue::FAILED;
   uint32_t errorCount = 0;
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != returnvalue::OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-      sif::printError(
-          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
-          it.first);
-#endif
+                 << std::setfill('0') << var
+                 << " failed to "
+                    "initialize with code 0x"
+                 << result << std::dec << std::setfill(' ') << std::endl;
 #endif
       errorCount++;
     }
@@ -147,7 +140,3 @@ void ObjectManager::printList() {
   }
 #endif
 }
-
-const std::map<object_id_t, SystemObjectIF*> * ObjectManager::getObjectList(){
-  return &objectList;
-}

src/fsfw/objectmanager/ObjectManager.h

@@ -38,13 +38,11 @@ class ObjectManager : public ObjectManagerIF {
   /**
    *  @brief  In the class's destructor, all objects in the list are deleted.
    */
-  ~ObjectManager() override;
+  virtual ~ObjectManager();
   ReturnValue_t insert(object_id_t id, SystemObjectIF* object) override;
   ReturnValue_t remove(object_id_t id) override;
   void initialize() override;
-  void produce() override;
   void printList() override;
-  const std::map<object_id_t, SystemObjectIF*> * getObjectList() override;
 
  protected:
   SystemObjectIF* getSystemObject(object_id_t id) override;

src/fsfw/objectmanager/ObjectManagerIF.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 #define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
-#include <map>
-
 #include "../returnvalues/returnvalue.h"
 #include "../serviceinterface/ServiceInterface.h"
 #include "SystemObjectIF.h"
@@ -60,14 +58,12 @@ class ObjectManagerIF {
    * 			@li returnvalue::OK in case the object was successfully removed
    */
   virtual ReturnValue_t remove(object_id_t id) = 0;
-  virtual void produce() = 0;
   virtual void initialize() = 0;
   /**
    * @brief	This is a debug function, that prints the current content of the
    * 			object list.
    */
   virtual void printList() = 0;
-  virtual const std::map<object_id_t, SystemObjectIF*>* getObjectList() = 0;
 };
 
 #endif /* OBJECTMANAGERIF_H_ */

src/fsfw/objectmanager/SystemObjectIF.h

@@ -46,7 +46,7 @@ class SystemObjectIF : public EventReportingProxyIF {
    * Therefore, a two-step initialization resolves this problem and prevents
    * circular dependencies of not-fully initialized objects on start up.
    * @return	- @c returnvalue::OK in case the initialization was successful
-   * 		- @c returnvalue::FAILED otherwise
+   * 			- @c returnvalue::FAILED otherwise
    */
   virtual ReturnValue_t initialize() = 0;
   /**

src/fsfw/objectmanager/frameworkObjects.h

@@ -33,7 +33,6 @@ enum framework_objects : object_id_t {
   TC_STORE = 0x534f0100,
   TM_STORE = 0x534f0200,
   TIME_STAMPER = 0x53500010,
-  VERIFICATION_REPORTER = 0x53500020,
 
   FSFW_OBJECTS_END = 0x53ffffff,
   NO_OBJECT = 0xFFFFFFFF

src/fsfw/osal/CMakeLists.txt

@@ -16,9 +16,7 @@ elseif(FSFW_OSAL MATCHES "host")
 
 else()
 
-  message(
-    WARNING
-      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
+  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -161,7 +161,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 
   while (true) {
     ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
-                          receptionBuffer.size(), tcpConfig.tcpFlags);
+                          receptionBuffer.capacity(), tcpConfig.tcpFlags);
     if (retval == 0) {
       size_t availableReadData = ringBuffer.getAvailableReadData();
       if (availableReadData > lastRingBufferSize) {
@@ -335,27 +335,31 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   }
   ringBuffer.readData(receptionBuffer.data(), readAmount, true);
   const uint8_t* bufPtr = receptionBuffer.data();
-  SpacePacketParser::FoundPacketInfo info;
-  if (spacePacketParser == nullptr) {
-    return returnvalue::FAILED;
-  }
-  spacePacketParser->reset();
-  while (spacePacketParser->getAmountRead() < readAmount) {
-    result = spacePacketParser->parseSpacePackets(&bufPtr, readAmount, info);
+  const uint8_t** bufPtrPtr = &bufPtr;
+  size_t startIdx = 0;
+  size_t foundSize = 0;
+  size_t readLen = 0;
+  while (readLen < readAmount) {
+    if (spacePacketParser == nullptr) {
+      return returnvalue::FAILED;
+    }
+    result =
+        spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
     switch (result) {
       case (SpacePacketParser::NO_PACKET_FOUND):
       case (SpacePacketParser::SPLIT_PACKET): {
         break;
       }
       case (returnvalue::OK): {
-        result = handleTcReception(receptionBuffer.data() + info.startIdx, info.sizeFound);
+        result = handleTcReception(receptionBuffer.data() + startIdx, foundSize);
         if (result != returnvalue::OK) {
           status = result;
         }
       }
     }
-    ringBuffer.deleteData(info.sizeFound);
+    ringBuffer.deleteData(foundSize);
     lastRingBufferSize = ringBuffer.getAvailableReadData();
+    std::memset(receptionBuffer.data() + startIdx, 0, foundSize);
   }
   return status;
 }

src/fsfw/osal/host/Clock.cpp

@@ -146,7 +146,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm {};
+  struct tm time_tm;
 
   time_tm.tm_year = from->year - 1900;
   time_tm.tm_mon = from->month - 1;

src/fsfw/osal/host/MessageQueue.cpp

@@ -65,11 +65,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     // But I will still return a failure here.
     return returnvalue::FAILED;
   }
-  auto* targetQueue =
+  MessageQueue* targetQueue =
       dynamic_cast<MessageQueue*>(QueueMapManager::instance()->getMessageQueue(sendTo));
   if (targetQueue == nullptr) {
     if (not ignoreFault) {
-      auto* internalErrorReporter =
+      InternalErrorReporterIF* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
       if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();
@@ -84,7 +84,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
            message->getMaximumMessageSize());
   } else {
     if (not ignoreFault) {
-      auto* internalErrorReporter =
+      InternalErrorReporterIF* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
       if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();

src/fsfw/osal/host/MessageQueue.h

@@ -68,7 +68,7 @@ class MessageQueue : public MessageQueueBase {
    * @details	This is accomplished by using the delete call provided
    * 			by the operating system.
    */
-  ~MessageQueue() override;
+  virtual ~MessageQueue();
 
   // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
@@ -111,6 +111,8 @@ class MessageQueue : public MessageQueueBase {
   size_t messageDepth = 0;
 
   MutexIF* queueLock;
+
+  MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

src/fsfw/osal/host/QueueFactory.cpp

@@ -13,6 +13,7 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
                                                 MessageQueueMessageIF* message,
                                                 MessageQueueId_t sentFrom, bool ignoreFault) {
   return MessageQueue::sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
+  return returnvalue::OK;
 }
 
 QueueFactory* QueueFactory::instance() {
@@ -22,9 +23,9 @@ QueueFactory* QueueFactory::instance() {
   return factoryInstance;
 }
 
-QueueFactory::QueueFactory() = default;
+QueueFactory::QueueFactory() {}
 
-QueueFactory::~QueueFactory() = default;
+QueueFactory::~QueueFactory() {}
 
 MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
                                                  MqArgs* args) {

src/fsfw/osal/host/QueueMapManager.cpp

@@ -54,7 +54,7 @@ MessageQueueIF* QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId
-                 << " does not exist in the map" << std::endl;
+                 << " does not exists in the map!" << std::endl;
 #else
     sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
                       messageQueueId);

src/fsfw/osal/linux/Clock.cpp

@@ -2,22 +2,23 @@
 
 #include <linux/sysinfo.h>
 #include <sys/sysinfo.h>
+#include <sys/time.h>
+#include <time.h>
 #include <unistd.h>
 
-#include <ctime>
 #include <fstream>
 
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t Clock::getTicksPerSecond() {
+uint32_t Clock::getTicksPerSecond(void) {
   uint32_t ticks = sysconf(_SC_CLK_TCK);
   return ticks;
 }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  timespec timeUnix{};
-  timeval timeTimeval{};
+  timespec timeUnix;
+  timeval timeTimeval;
   convertTimeOfDayToTimeval(time, &timeTimeval);
   timeUnix.tv_sec = timeTimeval.tv_sec;
   timeUnix.tv_nsec = (__syscall_slong_t)timeTimeval.tv_usec * 1000;
@@ -31,7 +32,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::setClock(const timeval* time) {
-  timespec timeUnix{};
+  timespec timeUnix;
   timeUnix.tv_sec = time->tv_sec;
   timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
   int status = clock_settime(CLOCK_REALTIME, &timeUnix);
@@ -43,7 +44,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 }
 
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
-  timespec timeUnix{};
+  timespec timeUnix;
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
     return returnvalue::FAILED;
@@ -54,18 +55,18 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 }
 
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval timeVal{};
+  timeval timeVal;
   ReturnValue_t result = getClock_timeval(&timeVal);
   if (result != returnvalue::OK) {
     return result;
   }
-  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
+  *time = (uint64_t)timeVal.tv_sec * 1e6 + timeVal.tv_usec;
 
   return returnvalue::OK;
 }
 
 timeval Clock::getUptime() {
-  timeval uptime{};
+  timeval uptime;
   auto result = getUptime(&uptime);
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -98,7 +99,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 //}
 
 ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime{};
+  timeval uptime;
   ReturnValue_t result = getUptime(&uptime);
   if (result != returnvalue::OK) {
     return result;
@@ -108,7 +109,7 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 }
 
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  timespec timeUnix{};
+  timespec timeUnix;
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
     // TODO errno
@@ -121,7 +122,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
   MutexGuard helper(timeMutex);
   // gmtime writes its output in a global buffer which is not Thread Safe
   // Therefore we have to use a Mutex here
-  struct std::tm* timeInfo;
+  struct tm* timeInfo;
   timeInfo = gmtime(&timeUnix.tv_sec);
   time->year = timeInfo->tm_year + 1900;
   time->month = timeInfo->tm_mon + 1;
@@ -135,7 +136,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  std::tm fromTm{};
+  tm fromTm;
   // Note: Fails for years before AD
   fromTm.tm_year = from->year - 1900;
   fromTm.tm_mon = from->month - 1;

src/fsfw/parameters/HasParametersIF.h

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

src/fsfw/parameters/ParameterMessage.cpp

@@ -44,7 +44,7 @@ store_address_t ParameterMessage::getParameterLoadCommand(const CommandMessage*
   *pfc = packedParamSettings >> 16 & 0xff;
   *rows = packedParamSettings >> 8 & 0xff;
   *columns = packedParamSettings & 0xff;
-  return static_cast<store_address_t>(message->getParameter2());
+  return message->getParameter2();
 }
 
 void ParameterMessage::clear(CommandMessage* message) {