Merge branch 'development' into mueller/refactor-logging-with-fmt

Reviewed-on: KSat/fsfw#27

.gitignore

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

CHANGELOG.md

@@ -8,32 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v6.0.0]
-
-## Added
-
-- DHB TM handler `handleDeviceTM` renamed to `handleDeviceTm` and now takes
-  `util::DataWrapper` as the data input argument. This allows more flexibility in the possible
-  types of telemetry.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/669
-- Add `util::DataWrapper` class inside the `util` module. This is a tagged union which allows
-  to specify raw data either as a classic C-style raw pointer and size or as a `SerializeIF`
-  pointer.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/668
-- 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
+# [v5.0.0]
 
 ## Changes
 
@@ -48,9 +23,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
-- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
-  Buffer and rejects such writeData calls with `returnvalue::FAILED`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
   - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
@@ -166,6 +138,7 @@ 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 +153,6 @@ 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

@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################
 
-set(FSFW_VERSION_IF_GIT_FAILS 5)
+set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
@@ -74,15 +74,23 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
 set(FSFW_ETL_LIB_VERSION
     ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
     CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)
 
 set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
     CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
     CACHE STRING "Catch2 library exact version requirement")
 
+set(FSFW_FMT_LIB_NAME fmt)
+set(FSFW_FMT_LINK_TARGET fmt::fmt)
+set(FSFW_FMT_LIB_MAJOR_VERSION
+    8
+    CACHE STRING "{fmt} library major version requirement")
+set(FSFW_FMT_LIB_VERSION
+    ${FSFW_FMT_LIB_MAJOR_VERSION}.1.1
+    CACHE STRING "{fmt} library exact version requirement")
+
 # Keep this off by default for now. See PR:
 # https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
 # keeping this on by default is problematic
@@ -104,8 +112,8 @@ if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
-       OFF)
+option(FSFW_BUILD_TESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_TESTS)
@@ -118,12 +126,6 @@ option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
 option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 
-if(UNIX)
-  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
-         OFF)
-  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
-endif()
-
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@@ -175,11 +177,11 @@ if(FSFW_BUILD_TESTS)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
+
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
     set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                   TRUE)
   endif()
-
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
     message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
@@ -189,18 +191,15 @@ if(FSFW_BUILD_TESTS)
   endif()
 endif()
 
-message(
-  STATUS
-    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
-)
+message(STATUS "${MSG_PREFIX} Finding and/or etl (Embedded Template Library)")
 
 # Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
+      "No ETL installation was found with find_package. Installing and providing "
       "etl with FindPackage")
   include(FetchContent)
 
@@ -212,6 +211,26 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
+message(STATUS "Finding and/or providing {fmt} formatting library")
+
+# Check whether the user has already installed ETL first
+find_package(fmt ${FSFW_FMT_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_FMT_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No {fmt} installation was found with find_package. Installing and providing "
+      "{fmt} with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_FMT_LIB_NAME}
+    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
+    GIT_TAG ${FSFW_FMT_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_FMT_LIB_NAME})
+endif()
+
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
@@ -221,7 +240,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
   endif()
   if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
+    # Fixes regression -preview4, to be confirmed in later releases. Related
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
@@ -360,8 +379,7 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${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} ..")
@@ -455,9 +473,8 @@ target_include_directories(
 
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                 ${COMPILER_FLAGS})
-
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET} ${FSFW_FMT_LINK_TARGET})
 
 string(
   CONCAT
@@ -467,6 +484,13 @@ string(
     "Target OSAL: ${FSFW_OS_NAME}\n"
     "######################################################################\n")
 
+# The additional / is important to remove the last character from the path. Note
+# that it does not matter if the OS uses / or \, because we are only saving the
+# path size.
+string(LENGTH "${CMAKE_SOURCE_DIR}/" FSFW_SOURCE_PATH_SIZE)
+target_compile_definitions(
+  ${LIB_FSFW_NAME} PRIVATE "-DFSFW_SOURCE_PATH_SIZE=${FSFW_SOURCE_PATH_SIZE}")
+
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD

README.md

@@ -132,7 +132,7 @@ You can use the following commands inside the `fsfw` folder to set up the build
 
 ```sh
 mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
 You can also use `-DFSFW_OSAL=linux` on Linux systems.
@@ -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'
-                    }
-                }
-            }
-        }
     }
 }

docs/README-highlevel.md

@@ -14,7 +14,7 @@ FSFW to achieve that. The fsfw uses run-time type information but exceptions are
 # Failure Handling
 
 Functions should return a defined `ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
 or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
 See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
 `fsfwconfig` folder.

docs/README-localpools.md

@@ -144,7 +144,7 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDat
 			new PoolEntry<uint8_t>({0}));
 
 	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-	return returnvalue::OK;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 ```
 
@@ -154,7 +154,7 @@ in any case:
 
 ```cpp
 PoolReadGuard readHelper(&gyroData);
-if(readHelper.getReadResult() == returnvalue::OK) {
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 	if(not gyroData.isValid()) {
 		gyroData.setValidity(true, true);
 	}

docs/api/returnvalue.rst

@@ -3,7 +3,7 @@
 Returnvalue API
 ==================
 
-.. doxygenfile:: returnvalue.h
+.. doxygenfile:: HasReturnvaluesIF.h
 
 .. _fwclassids:
 

docs/devicehandlers.rst

@@ -75,11 +75,11 @@ and the respective source file with sensible default return values:
 	void TestDeviceHandler::doShutDown() {}
 
 	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	void TestDeviceHandler::fillCommandAndReplyMap() {}
@@ -87,17 +87,17 @@ and the respective source file with sensible default return values:
 	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 	                                                         const uint8_t* commandData,
 	                                                         size_t commandDataLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
 	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 	                                                      const uint8_t* packet) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
@@ -106,5 +106,5 @@ and the respective source file with sensible default return values:
 
 	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                                         LocalDataPoolManager& poolManager) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

docs/getting_started.rst

@@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console
 
    mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
 
 
 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.

docs/highlevel.rst

@@ -18,7 +18,7 @@ Failure Handling
 -----------------
 
 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.

docs/localpools.rst

@@ -150,7 +150,7 @@ with a housekeeping service command.
 				new PoolEntry<uint8_t>({0}));
 
 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-		return returnvalue::OK;
+		return HasReturnvaluesIF::RETURN_OK;
 	}
 
 Now, if we receive some sensor data and converted them into the right format,
@@ -160,7 +160,7 @@ in any case:
 .. code-block:: cpp
 
 	PoolReadGuard readHelper(&gyroData);
-	if(readHelper.getReadResult() == returnvalue::OK) {
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}

misc/archive/ServiceInterfaceBuffer.cpp

@@ -1,8 +1,8 @@
-#include "ServiceInterfaceBuffer.h"
+#include "fsfw/serviceinterface/ServiceInterfaceBuffer.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
-#include <cinttypes>
+#include <inttypes.h>
 
 #include <cstring>
 
@@ -16,6 +16,8 @@
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);
 
+#ifndef UT699
+
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
                                                bool buffered, bool errStream, uint16_t port)
     : isActive(true),
@@ -56,9 +58,6 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addC
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-  if (not isActive) {
-    return;
-  }
   char array[BUF_SIZE];
   uint32_t length = end - begin;
   if (length > sizeof(array)) {
@@ -75,6 +74,8 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
   }
 }
 
+#endif
+
 int ServiceInterfaceBuffer::overflow(int c) {
   if (not buffered and this->isActive) {
     if (c != Traits::eof()) {
@@ -168,4 +169,89 @@ void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
 }
 #endif
 
-#endif
+#ifdef UT699
+#include "../osal/rtems/Interrupt.h"
+
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
+  this->log_message = set_message;
+  this->isActive = true;
+  setp(buf, buf + BUF_SIZE);
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+  char array[BUF_SIZE];
+  uint32_t length = end - begin;
+  if (length > sizeof(array)) {
+    length = sizeof(array);
+  }
+  memcpy(array, begin, length);
+
+  if (!Interrupt::isInterruptInProgress()) {
+    std::cout << array;
+  } else {
+    // Uncomment the following line if you need ISR debug output.
+    //		printk(array);
+  }
+}
+#endif  // UT699
+
+#ifdef ML505
+#include <bsp_flp/network/networkconfig.h>
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port)
+    : isActive(true),
+      log_message(set_message),
+      udpSocket(0),
+      remoteAddressLength(sizeof(remoteAddress)) {
+  setp(buf, buf + BUF_SIZE);
+  memset((uint8_t*)&remoteAddress, 0, sizeof(remoteAddress));
+  remoteAddress.sin_family = AF_INET;
+  remoteAddress.sin_port = htons(port);
+  remoteAddress.sin_addr.s_addr = htonl(inet_addr("192.168.250.100"));
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+  char array[BUF_SIZE];
+  uint32_t length = end - begin;
+  if (length > sizeof(array)) {
+    length = sizeof(array);
+  }
+  memcpy(array, begin, length);
+
+  if (udpSocket <= 0) {
+    initSocket();
+  }
+
+  if (udpSocket > 0) {
+    sendto(udpSocket, array, length, 0, (sockaddr*)&remoteAddress, sizeof(remoteAddress));
+  }
+}
+
+void ServiceInterfaceBuffer::initSocket() {
+  sockaddr_in address;
+  memset((uint8_t*)&address, 0, sizeof(address));
+  address.sin_family = AF_INET;
+  address.sin_port = htons(0);
+  address.sin_addr.s_addr = htonl(INADDR_ANY);
+
+  udpSocket = socket(PF_INET, SOCK_DGRAM, 0);
+  if (socket < 0) {
+    printf("Error opening socket!\n");
+    return;
+  }
+  timeval timeout = {0, 20};
+  if (setsockopt(udpSocket, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)) < 0) {
+    printf("Error setting SO_RCVTIMEO socket options!\n");
+    return;
+  }
+  if (setsockopt(udpSocket, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout)) < 0) {
+    printf("Error setting SO_SNDTIMEO socket options!\n");
+    return;
+  }
+  if (bind(udpSocket, (sockaddr*)&address, sizeof(address)) < 0) {
+    printf("Error binding socket!\n");
+  }
+}
+
+#endif  // ML505
+
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */

misc/archive/ServiceInterfaceBuffer.h

@@ -1,8 +1,9 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
-#include "fsfw/FSFW.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include <FSFWConfig.h>
+
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
@@ -10,6 +11,8 @@
 #include <iostream>
 #include <sstream>
 
+#ifndef UT699
+
 /**
  * @brief 	This is the underlying stream buffer which implements the
  * 			streambuf class and overloads the overflow() and sync() methods
@@ -74,6 +77,85 @@ class ServiceInterfaceBuffer : public std::streambuf {
   bool crAdditionEnabled() const;
 };
 
+#endif
+
+#ifdef UT699
+class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
+  friend class ServiceInterfaceStream;
+
+ public:
+  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
+
+ protected:
+  bool isActive;
+  // This is called when buffer becomes full. If
+  // buffer is not used, then this is called every
+  // time when characters are put to stream.
+  virtual int overflow(int c = Traits::eof());
+
+  // This function is called when stream is flushed,
+  // for example when std::endl is put to stream.
+  virtual int sync(void);
+
+ private:
+  // For additional message information
+  std::string log_message;
+  // For EOF detection
+  typedef std::char_traits<char> Traits;
+
+  // Work in buffer mode. It is also possible to work without buffer.
+  static size_t const BUF_SIZE = 128;
+  char buf[BUF_SIZE];
+
+  // In this function, the characters are parsed.
+  void putChars(char const* begin, char const* end);
+};
+#endif  // UT699
+
+#ifdef ML505
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <netinet/udp.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+
+class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
+  friend class ServiceInterfaceStream;
+
+ public:
+  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
+
+ protected:
+  bool isActive;
+  // This is called when buffer becomes full. If
+  // buffer is not used, then this is called every
+  // time when characters are put to stream.
+  virtual int overflow(int c = Traits::eof());
+
+  // This function is called when stream is flushed,
+  // for example when std::endl is put to stream.
+  virtual int sync(void);
+
+ private:
+  // For additional message information
+  std::string log_message;
+  // For EOF detection
+  typedef std::char_traits<char> Traits;
+
+  // Work in buffer mode. It is also possible to work without buffer.
+  static size_t const BUF_SIZE = 128;
+  char buf[BUF_SIZE];
+
+  // In this function, the characters are parsed.
+  void putChars(char const* begin, char const* end);
+
+  int udpSocket;
+  sockaddr_in remoteAddress;
+  socklen_t remoteAddressLength;
+  void initSocket();
+};
+#endif  // ML505
+
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */

misc/archive/ServiceInterfaceStream.h

@@ -57,10 +57,10 @@ class ServiceInterfaceStream : public std::ostream {
 // Forward declaration of interface streams. These should be instantiated in
 // main. They can then be used like std::cout or std::cerr.
 namespace sif {
-extern ServiceInterfaceStream debug;
-extern ServiceInterfaceStream info;
-extern ServiceInterfaceStream warning;
-extern ServiceInterfaceStream error;
+// extern ServiceInterfaceStream debug;
+// extern ServiceInterfaceStream info;
+// extern ServiceInterfaceStream warning;
+// extern ServiceInterfaceStream error;
 }  // namespace sif
 
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */

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;

misc/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp

@@ -11,15 +11,15 @@ ReturnValue_t pst::pollingSequenceInitDefault(
 
 	/* Add polling sequence table here */
 
-	if (thisSequence->checkSequence() == returnvalue::OK) {
-		return returnvalue::OK;
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
 	}
 	else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
 		        << std::endl;
 #endif
-		return returnvalue::FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 }
 

misc/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h

@@ -1,7 +1,7 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_
 
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 class FixedTimeslotTaskIF;
 

scripts/auto-formatter.sh

@@ -3,11 +3,6 @@ if [[ ! -f README.md ]]; then
   cd ..
 fi
 
-folder_list=(
-  "./src"
-  "./unittests"
-)
-
 cmake_fmt="cmake-format"
 file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
@@ -20,10 +15,9 @@ fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
-  for dir in ${folder_list[@]}; do
-    echo "Auto-formatting ${dir} recursively"
-    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
-  done
+  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./hal ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./tests ${file_selectors} | xargs ${cpp_format} --style=file -i
 else
   echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi

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

@@ -1,7 +1,7 @@
 #include "fsfw/action.h"
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
@@ -12,7 +12,7 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
   if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
     ActionId_t currentAction = ActionMessage::getActionId(command);
     prepareExecution(command->getSender(), currentAction, ActionMessage::getStoreId(command));
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   } else {
     return CommandMessage::UNKNOWN_COMMAND;
   }
@@ -21,24 +21,18 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (ipcStore == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (queueToUse_ != nullptr) {
     setQueueToUse(queueToUse_);
   }
 
   if (queueToUse == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
-#else
-    sif::printWarning("ActionHelper::initialize: No queue set\n");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    FSFW_LOGW("{}", "initialize: No queue set\n");
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
@@ -57,49 +51,25 @@ 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;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     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;
     ActionMessage::setCompletionReply(&reply, actionId, true, result);
     queueToUse->sendMessage(commandedBy, &reply);
   }
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
@@ -115,23 +85,16 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   size_t maxSize = data->getSerializedSize();
   if (maxSize == 0) {
     /* No error, there's simply nothing to report. */
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
   size_t size = 0;
   ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "ActionHelper::reportData: Getting free element from IPC "
-        "store failed!\n");
-#endif
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    FSFW_LOGWT("{}", "reportData: Getting free element from IPC store failed\n");
     return result;
   }
   result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     ipcStore->deleteData(storeAddress);
     return result;
   }
@@ -148,7 +111,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
     result = queueToUse->sendMessage(reportTo, &reply);
   }
 
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     ipcStore->deleteData(storeAddress);
   }
   return result;
@@ -161,12 +124,8 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   CommandMessage reply;
   store_address_t storeAddress;
   ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
-#else
-    sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
-#endif
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    FSFW_LOGWT("{}", "reportData: Adding data to IPC store failed\n");
     return result;
   }
 
@@ -182,16 +141,8 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
     result = queueToUse->sendMessage(reportTo, &reply);
   }
 
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     ipcStore->deleteData(storeAddress);
   }
   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
  *
@@ -40,7 +36,7 @@ class ActionHelper {
    * send to the sender of the message automatically.
    *
    * @param command Pointer to a command message received by the owner
-   * @return returnvalue::OK if the message is a action message,
+   * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
    *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
    */
   ReturnValue_t handleActionMessage(CommandMessage* command);
@@ -49,7 +45,7 @@ class ActionHelper {
    * helper function
    * @param queueToUse_   Pointer to the messageQueue to be used, optional
    *                      if queue was set in constructor
-   * @return Returns returnvalue::OK if successful
+   * @return Returns RETURN_OK if successful
    */
   ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
   /**
@@ -62,7 +58,7 @@ class ActionHelper {
    * @param result Result of the execution
    */
   void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
-            ReturnValue_t result = returnvalue::OK);
+            ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   /**
    * Function to be called by the owner to send a action completion message
    * @param success   Specify whether action was completed successfully or not.
@@ -71,7 +67,7 @@ class ActionHelper {
    * @param result Result of the execution
    */
   void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
-              ReturnValue_t result = returnvalue::OK);
+              ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   /**
    * Function to be called by the owner if an action does report data.
    * Takes a SerializeIF* pointer and serializes it into the IPC store.
@@ -79,7 +75,7 @@ class ActionHelper {
    *                  message to
    * @param replyId ID of the executed command
    * @param data Pointer to the data
-   * @return Returns returnvalue::OK if successful, otherwise failure code
+   * @return Returns RETURN_OK if successful, otherwise failure code
    */
   ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data,
                            bool hideSender = false);
@@ -90,7 +86,7 @@ class ActionHelper {
    *                  message to
    * @param replyId ID of the executed command
    * @param data Pointer to the data
-   * @return Returns returnvalue::OK if successful, otherwise failure code
+   * @return Returns RETURN_OK if successful, otherwise failure code
    */
   ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data,
                            size_t dataSize, bool hideSender = false);
@@ -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/ActionMessage.cpp

@@ -25,7 +25,7 @@ store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
 
 void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
                                  ReturnValue_t result) {
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     message->setCommand(STEP_SUCCESS);
   } else {
     message->setCommand(STEP_FAILED);

src/fsfw/action/ActionMessage.h

@@ -33,12 +33,12 @@ class ActionMessage {
   static store_address_t getStoreId(const CommandMessage* message);
 
   static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
-                           ReturnValue_t result = returnvalue::OK);
+                           ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   static uint8_t getStep(const CommandMessage* message);
   static ReturnValue_t getReturnCode(const CommandMessage* message);
   static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
   static void setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
-                                 ReturnValue_t result = returnvalue::OK);
+                                 ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 
   static void clear(CommandMessage* message);
 };

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.cpp

@@ -16,12 +16,12 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
   uint8_t *storePointer;
   size_t maxSize = data->getSerializedSize();
   ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t size = 0;
   result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return sendCommand(receiver->getCommandQueue(), actionId, storeId);
@@ -35,7 +35,7 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
   }
   store_address_t storeId;
   ReturnValue_t result = ipcStore->addData(&storeId, data, size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return sendCommand(receiver->getCommandQueue(), actionId, storeId);
@@ -46,7 +46,7 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
   CommandMessage command;
   ActionMessage::setCommand(&command, actionId, storeId);
   ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     ipcStore->deleteData(storeId);
   }
   lastTarget = queueId;
@@ -57,44 +57,44 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
 ReturnValue_t CommandActionHelper::initialize() {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (ipcStore == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   queueToUse = owner->getCommandQueuePtr();
   if (queueToUse == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
   if (reply->getSender() != lastTarget) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   switch (reply->getCommand()) {
     case ActionMessage::COMPLETION_SUCCESS:
       commandCount--;
       owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::COMPLETION_FAILED:
       commandCount--;
       owner->completionFailedReceived(ActionMessage::getActionId(reply),
                                       ActionMessage::getReturnCode(reply));
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::STEP_SUCCESS:
       owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
                                     ActionMessage::getStep(reply));
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::STEP_FAILED:
       commandCount--;
       owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
                                 ActionMessage::getReturnCode(reply));
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::DATA_REPLY:
       extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     default:
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
 
@@ -104,7 +104,7 @@ void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address
   const uint8_t *data = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return;
   }
   owner->dataReceived(actionId, data, size);

src/fsfw/action/CommandActionHelper.h

@@ -4,7 +4,7 @@
 #include "ActionMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/serialize/SerializeIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.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/CommandsActionsIF.h

@@ -3,7 +3,7 @@
 
 #include "CommandActionHelper.h"
 #include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.

src/fsfw/action/HasActionsIF.h

@@ -5,7 +5,7 @@
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
 #include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief
@@ -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
@@ -57,9 +53,10 @@ class HasActionsIF {
    *
    * @return
    * -@c EXECUTION_FINISHED Finish reply will be generated
-   * -@c Not returnvalue::OK Step failure reply will be generated
+   * -@c Not RETURN_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

@@ -9,7 +9,7 @@ void SimpleActionHelper::step(ReturnValue_t result) {
   // STEP_OFFESET is subtracted to compensate for adding offset in base
   // method, which is not necessary here.
   ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     resetHelper();
   }
 }
@@ -41,38 +41,22 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
   const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_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:
+    case HasReturnvaluesIF::RETURN_OK:
       isExecuting = true;
       stepCount++;
       break;
     case HasActionsIF::EXECUTION_FINISHED:
-      ActionMessage::setCompletionReply(&reply, actionId, true, returnvalue::OK);
+      ActionMessage::setCompletionReply(&reply, actionId, true, HasReturnvaluesIF::RETURN_OK);
       queueToUse->sendMessage(commandedBy, &reply);
       break;
     default:

src/fsfw/action/SimpleActionHelper.h

@@ -12,8 +12,8 @@ class SimpleActionHelper : public ActionHelper {
  public:
   SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
   ~SimpleActionHelper() override;
-  void step(ReturnValue_t result = returnvalue::OK);
-  void finish(ReturnValue_t result = returnvalue::OK);
+  void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+  void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   ReturnValue_t reportData(SerializeIF* data);
 
  protected:

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

@@ -0,0 +1,52 @@
+#include "fsfw/cfdp/CFDPHandler.h"
+
+#include "fsfw/cfdp/CFDPMessage.h"
+#include "fsfw/ipc/CommandMessage.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/storagemanager/storeAddress.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+
+object_id_t CFDPHandler::packetSource = 0;
+object_id_t CFDPHandler::packetDestination = 0;
+
+CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
+    : SystemObject(setObjectId) {
+  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
+  distributor = dist;
+}
+
+CFDPHandler::~CFDPHandler() {}
+
+ReturnValue_t CFDPHandler::initialize() {
+  ReturnValue_t result = SystemObject::initialize();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  this->distributor->registerHandler(this);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
+  FSFW_LOGDT("{}", "CFDPHandler::handleRequest\n");
+
+  // TODO read out packet from store using storeId
+
+  return RETURN_OK;
+}
+
+ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
+  ReturnValue_t status = RETURN_OK;
+  CommandMessage currentMessage;
+  for (status = this->requestQueue->receiveMessage(&currentMessage); status == RETURN_OK;
+       status = this->requestQueue->receiveMessage(&currentMessage)) {
+    store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
+    this->handleRequest(storeId);
+  }
+  return RETURN_OK;
+}
+
+uint16_t CFDPHandler::getIdentifier() { return 0; }
+
+MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }

src/fsfw/cfdp/CFDPHandler.h

@@ -3,7 +3,7 @@
 
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tcdistribution/CFDPDistributor.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
@@ -12,15 +12,18 @@ namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
-class CfdpHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject {
+class CFDPHandler : public ExecutableObjectIF,
+                    public AcceptsTelecommandsIF,
+                    public SystemObject,
+                    public HasReturnvaluesIF {
   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 +45,7 @@ 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/CfdpHandler.cpp

@@ -1,58 +0,0 @@
-#include "fsfw/cfdp/CfdpHandler.h"
-
-#include "fsfw/cfdp/CfdpMessage.h"
-#include "fsfw/ipc/CommandMessage.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/storagemanager/storeAddress.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-
-object_id_t CfdpHandler::packetSource = 0;
-object_id_t CfdpHandler::packetDestination = 0;
-
-CfdpHandler::CfdpHandler(object_id_t setObjectId, CFDPDistributor* dist)
-    : SystemObject(setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-  distributor = dist;
-}
-
-CfdpHandler::~CfdpHandler() = default;
-
-ReturnValue_t CfdpHandler::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  this->distributor->registerHandler(this);
-  return returnvalue::OK;
-}
-
-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;
-#else
-  sif::printDebug("CFDPHandler::handleRequest\n");
-#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif
-
-  // TODO read out packet from store using storeId
-
-  return returnvalue::OK;
-}
-
-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);
-    this->handleRequest(storeId);
-  }
-  return returnvalue::OK;
-}
-
-uint16_t CfdpHandler::getIdentifier() { return 0; }
-
-MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }

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/FileSize.h

@@ -43,7 +43,7 @@ struct FileSize : public SerializeIF {
       uint32_t sizeTmp = 0;
       ReturnValue_t result =
           SerializeAdapter::deSerialize(&sizeTmp, buffer, size, streamEndianness);
-      if (result == returnvalue::OK) {
+      if (result == HasReturnvaluesIF::RETURN_OK) {
         fileSize = sizeTmp;
       }
       return result;
@@ -53,11 +53,11 @@ struct FileSize : public SerializeIF {
   ReturnValue_t setFileSize(uint64_t fileSize, bool largeFile) {
     if (not largeFile and fileSize > UINT32_MAX) {
       // TODO: emit warning here
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     this->fileSize = fileSize;
     this->largeFile = largeFile;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   bool isLargeFile() const { return largeFile; }

src/fsfw/cfdp/definitions.h

@@ -7,7 +7,7 @@
 #include <cstdint>
 
 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 namespace cfdp {
 
@@ -15,24 +15,28 @@ static constexpr uint8_t VERSION_BITS = 0b00100000;
 
 static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
 
-static constexpr ReturnValue_t INVALID_TLV_TYPE = returnvalue::makeCode(CFDP_CLASS_ID, 1);
-static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS = returnvalue::makeCode(CFDP_CLASS_ID, 2);
-static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN = returnvalue::makeCode(CFDP_CLASS_ID, 3);
+static constexpr ReturnValue_t INVALID_TLV_TYPE =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 1);
+static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 2);
+static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 3);
 static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
-    returnvalue::makeCode(CFDP_CLASS_ID, 4);
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 4);
 //! Can not parse options. This can also occur because there are options
 //! available but the user did not pass a valid options array
 static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
-    returnvalue::makeCode(CFDP_CLASS_ID, 5);
-static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS = returnvalue::makeCode(CFDP_CLASS_ID, 6);
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 5);
+static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
 static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
-    returnvalue::makeCode(CFDP_CLASS_ID, 6);
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
 static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
-    returnvalue::makeCode(CFDP_CLASS_ID, 8);
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 8);
 //! Can not parse filestore response because user did not pass a valid instance
 //! or remaining size is invalid
 static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
-    returnvalue::makeCode(CFDP_CLASS_ID, 9);
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 9);
 
 //! Checksum types according to the SANA Checksum Types registry
 //! https://sanaregistry.org/r/checksum_identifiers/

src/fsfw/cfdp/pdu/AckPduDeserializer.cpp

@@ -5,7 +5,7 @@ AckPduDeserializer::AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, Ac
 
 ReturnValue_t AckPduDeserializer::parseData() {
   ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
@@ -15,7 +15,7 @@ ReturnValue_t AckPduDeserializer::parseData() {
   if (not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
     return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 bool AckPduDeserializer::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {

src/fsfw/cfdp/pdu/AckPduSerializer.cpp

@@ -11,7 +11,7 @@ ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
                                           Endianness streamEndianness) const {
   ReturnValue_t result =
       FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   cfdp::FileDirectives ackedDirective = ackInfo.getAckedDirective();
@@ -21,7 +21,7 @@ ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
   if (ackedDirective != cfdp::FileDirectives::FINISH and
       ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE) {
     // TODO: better returncode
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (*size + 2 > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
@@ -32,5 +32,5 @@ ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
   **buffer = ackedConditionCode << 4 | transactionStatus;
   *buffer += 1;
   *size += 1;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/cfdp/pdu/EofPduDeserializer.cpp

@@ -8,7 +8,7 @@ EofPduDeserializer::EofPduDeserializer(const uint8_t* pduBuf, size_t maxSize, Eo
 
 ReturnValue_t EofPduDeserializer::parseData() {
   ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -31,7 +31,7 @@ ReturnValue_t EofPduDeserializer::parseData() {
   uint32_t checksum = 0;
   auto endianness = getEndianness();
   result = SerializeAdapter::deSerialize(&checksum, &bufPtr, &deserLen, endianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   info.setChecksum(checksum);
@@ -44,24 +44,16 @@ ReturnValue_t EofPduDeserializer::parseData() {
     result = SerializeAdapter::deSerialize(&fileSizeValue, &bufPtr, &deserLen, endianness);
     info.setFileSize(fileSizeValue, false);
   }
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
     EntityIdTlv* tlvPtr = info.getFaultLoc();
     if (tlvPtr == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "EofPduDeserializer::parseData: Ca not deserialize fault location,"
-                      " given TLV pointer invalid"
-                   << std::endl;
-#else
-      sif::printWarning(
-          "EofPduDeserializer::parseData: Ca not deserialize fault location,"
-          " given TLV pointer invalid");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return returnvalue::FAILED;
+      FSFW_LOGW("{}",
+                "parseData: Ca not deserialize fault location,"
+                " given TLV pointer invalid\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     result = tlvPtr->deSerialize(&bufPtr, &deserLen, endianness);
   }

src/fsfw/cfdp/pdu/EofPduSerializer.cpp

@@ -16,7 +16,7 @@ ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
                                           Endianness streamEndianness) const {
   ReturnValue_t result =
       FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (*size + 1 > maxSize) {
@@ -27,7 +27,7 @@ ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
   *size += 1;
   uint32_t checksum = info.getChecksum();
   result = SerializeAdapter::serialize(&checksum, buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (info.getFileSize().isLargeFile()) {

src/fsfw/cfdp/pdu/FileDataDeserializer.cpp

@@ -6,7 +6,7 @@ FileDataDeserializer::FileDataDeserializer(const uint8_t* pduBuf, size_t maxSize
 
 ReturnValue_t FileDataDeserializer::parseData() {
   ReturnValue_t result = HeaderDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t currentIdx = HeaderDeserializer::getHeaderSize();
@@ -32,13 +32,13 @@ ReturnValue_t FileDataDeserializer::parseData() {
     }
   }
   result = info.getOffset().deSerialize(&buf, &remSize, this->getEndianness());
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (remSize > 0) {
     info.setFileData(buf, remSize);
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 SerializeIF::Endianness FileDataDeserializer::getEndianness() const { return endianness; }

src/fsfw/cfdp/pdu/FileDataInfo.cpp

@@ -50,11 +50,11 @@ ReturnValue_t FileDataInfo::addSegmentMetadataInfo(cfdp::RecordContinuationState
   this->segmentMetadataFlag = cfdp::SegmentMetadataFlag::PRESENT;
   this->recContState = recContState;
   if (segmentMetadataLen > 63) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   this->segmentMetadata = segmentMetadata;
   this->segmentMetadataLen = segmentMetadataLen;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 const uint8_t *FileDataInfo::getFileData(size_t *fileSize) const {

src/fsfw/cfdp/pdu/FileDataSerializer.cpp

@@ -17,7 +17,7 @@ void FileDataSerializer::update() {
 ReturnValue_t FileDataSerializer::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                                             Endianness streamEndianness) const {
   ReturnValue_t result = HeaderSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (*size + this->getSerializedSize() > maxSize) {
@@ -36,7 +36,7 @@ ReturnValue_t FileDataSerializer::serialize(uint8_t** buffer, size_t* size, size
   }
   cfdp::FileSize& offset = info.getOffset();
   result = offset.serialize(this->getLargeFileFlag(), buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t fileSize = 0;
@@ -47,7 +47,7 @@ ReturnValue_t FileDataSerializer::serialize(uint8_t** buffer, size_t* size, size
   std::memcpy(*buffer, readOnlyPtr, fileSize);
   *buffer += fileSize;
   *size += fileSize;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t FileDataSerializer::getSerializedSize() const {

src/fsfw/cfdp/pdu/FileDirectiveDeserializer.cpp

@@ -7,7 +7,7 @@ cfdp::FileDirectives FileDirectiveDeserializer::getFileDirective() const { retur
 
 ReturnValue_t FileDirectiveDeserializer::parseData() {
   ReturnValue_t result = HeaderDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (this->getPduDataFieldLen() < 1) {
@@ -21,7 +21,7 @@ ReturnValue_t FileDirectiveDeserializer::parseData() {
     return cfdp::INVALID_DIRECTIVE_FIELDS;
   }
   setFileDirective(static_cast<cfdp::FileDirectives>(rawPtr[currentIdx]));
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t FileDirectiveDeserializer::getHeaderSize() const {

src/fsfw/cfdp/pdu/FileDirectiveSerializer.cpp

@@ -13,13 +13,13 @@ size_t FileDirectiveSerializer::getSerializedSize() const {
 ReturnValue_t FileDirectiveSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                                  Endianness streamEndianness) const {
   if (buffer == nullptr or size == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (FileDirectiveSerializer::getWholePduSize() > maxSize) {
     return BUFFER_TOO_SHORT;
   }
   ReturnValue_t result = HeaderSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -29,7 +29,7 @@ ReturnValue_t FileDirectiveSerializer::serialize(uint8_t **buffer, size_t *size,
   **buffer = directiveCode;
   *buffer += 1;
   *size += 1;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void FileDirectiveSerializer::setDirectiveDataFieldLen(size_t len) {

src/fsfw/cfdp/pdu/FinishedInfo.cpp

@@ -46,14 +46,14 @@ ReturnValue_t FinishedInfo::setFilestoreResponsesArray(FilestoreResponseTlv** fs
   if (maxFsResponsesLen != nullptr) {
     this->fsResponsesMaxLen = *maxFsResponsesLen;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t FinishedInfo::getFilestoreResonses(FilestoreResponseTlv*** fsResponses,
                                                  size_t* fsResponsesLen,
                                                  size_t* fsResponsesMaxLen) {
   if (fsResponses == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   *fsResponses = this->fsResponses;
   if (fsResponsesLen != nullptr) {
@@ -62,7 +62,7 @@ ReturnValue_t FinishedInfo::getFilestoreResonses(FilestoreResponseTlv*** fsRespo
   if (fsResponsesMaxLen != nullptr) {
     *fsResponsesMaxLen = this->fsResponsesMaxLen;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void FinishedInfo::setFaultLocation(EntityIdTlv* faultLocation) {
@@ -71,10 +71,10 @@ void FinishedInfo::setFaultLocation(EntityIdTlv* faultLocation) {
 
 ReturnValue_t FinishedInfo::getFaultLocation(EntityIdTlv** faultLocation) {
   if (this->faultLocation == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   *faultLocation = this->faultLocation;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 cfdp::ConditionCode FinishedInfo::getConditionCode() const { return conditionCode; }

src/fsfw/cfdp/pdu/FinishedPduDeserializer.cpp

@@ -6,7 +6,7 @@ FinishPduDeserializer::FinishPduDeserializer(const uint8_t* pduBuf, size_t maxSi
 
 ReturnValue_t FinishPduDeserializer::parseData() {
   ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
@@ -33,7 +33,7 @@ FinishedInfo& FinishPduDeserializer::getInfo() { return finishedInfo; }
 
 ReturnValue_t FinishPduDeserializer::parseTlvs(size_t remLen, size_t currentIdx, const uint8_t* buf,
                                                cfdp::ConditionCode conditionCode) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   size_t fsResponsesIdx = 0;
   auto endianness = getEndianness();
   FilestoreResponseTlv** fsResponseArray = nullptr;
@@ -60,7 +60,7 @@ ReturnValue_t FinishPduDeserializer::parseTlvs(size_t remLen, size_t currentIdx,
         return cfdp::FINISHED_CANT_PARSE_FS_RESPONSES;
       }
       result = fsResponseArray[fsResponsesIdx]->deSerialize(&buf, &remLen, endianness);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
       fsResponsesIdx += 1;
@@ -72,11 +72,11 @@ ReturnValue_t FinishPduDeserializer::parseTlvs(size_t remLen, size_t currentIdx,
         return cfdp::INVALID_TLV_TYPE;
       }
       result = finishedInfo.getFaultLocation(&faultLocation);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
       result = faultLocation->deSerialize(&buf, &remLen, endianness);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
     } else {

src/fsfw/cfdp/pdu/FinishedPduSerializer.cpp

@@ -17,7 +17,7 @@ ReturnValue_t FinishPduSerializer::serialize(uint8_t **buffer, size_t *size, siz
                                              Endianness streamEndianness) const {
   ReturnValue_t result =
       FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (*size + 1 >= maxSize) {
@@ -34,13 +34,13 @@ ReturnValue_t FinishPduSerializer::serialize(uint8_t **buffer, size_t *size, siz
     finishInfo.getFilestoreResonses(&fsResponsesArray, &fsResponsesArrayLen, nullptr);
     for (size_t idx = 0; idx < fsResponsesArrayLen; idx++) {
       result = fsResponsesArray[idx]->serialize(buffer, size, maxSize, streamEndianness);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
     }
   }
   EntityIdTlv *entityId = nullptr;
-  if (finishInfo.getFaultLocation(&entityId) == returnvalue::OK) {
+  if (finishInfo.getFaultLocation(&entityId) == HasReturnvaluesIF::RETURN_OK) {
     result = entityId->serialize(buffer, size, maxSize, streamEndianness);
   }
   return result;

src/fsfw/cfdp/pdu/HeaderDeserializer.cpp

@@ -18,7 +18,7 @@ ReturnValue_t HeaderDeserializer::setData(uint8_t *dataPtr, size_t maxSize, void
   if (dataPtr == nullptr) {
     // Allowed for now
     this->fixedHeader = nullptr;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
   this->fixedHeader = reinterpret_cast<PduHeaderFixedStruct *>(const_cast<uint8_t *>(dataPtr));
   sourceIdRaw = static_cast<uint8_t *>(&fixedHeader->variableFieldsStart);
@@ -27,7 +27,7 @@ ReturnValue_t HeaderDeserializer::setData(uint8_t *dataPtr, size_t maxSize, void
   seqNumRaw = static_cast<uint8_t *>(sourceIdRaw) + static_cast<uint8_t>(widthEntityIds);
   destIdRaw = static_cast<uint8_t *>(seqNumRaw) + static_cast<uint8_t>(widthSeqNum);
   this->maxSize = maxSize;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t HeaderDeserializer::getHeaderSize() const {

src/fsfw/cfdp/pdu/HeaderDeserializer.h

@@ -36,8 +36,8 @@ class HeaderDeserializer : public RedirectableDataPointerIF, public PduHeaderIF
   /**
    * This needs to be called before accessing the PDU fields to avoid segmentation faults.
    * @return
-   *  - returnvalue::OK on parse success
-   *  - returnvalue::FAILED Invalid raw data
+   *  - RETURN_OK on parse success
+   *  - RETURN_FAILED Invalid raw data
    *  - SerializeIF::BUFFER_TOO_SHORT if buffer is shorter than expected
    */
   virtual ReturnValue_t parseData();
@@ -61,7 +61,7 @@ class HeaderDeserializer : public RedirectableDataPointerIF, public PduHeaderIF
   void getDestId(cfdp::EntityId& destId) const override;
   void getTransactionSeqNum(cfdp::TransactionSeqNum& seqNum) const override;
 
-  ReturnValue_t deserResult = returnvalue::OK;
+  ReturnValue_t deserResult = HasReturnvaluesIF::RETURN_OK;
 
   /**
    * Can also be used to reset the pointer to a nullptr, but the getter functions will not

src/fsfw/cfdp/pdu/HeaderSerializer.cpp

@@ -15,7 +15,7 @@ HeaderSerializer::HeaderSerializer(PduConfig &pduConf, cfdp::PduType pduType,
 ReturnValue_t HeaderSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                           Endianness streamEndianness) const {
   if (buffer == nullptr or size == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (maxSize < this->getSerializedSize()) {
     return BUFFER_TOO_SHORT;
@@ -32,19 +32,19 @@ ReturnValue_t HeaderSerializer::serialize(uint8_t **buffer, size_t *size, size_t
   *buffer += 1;
   *size += 4;
   ReturnValue_t result = pduConf.sourceId.serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = pduConf.seqNum.serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = pduConf.destId.serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t HeaderSerializer::getSerializedSize() const {
@@ -55,7 +55,7 @@ size_t HeaderSerializer::getSerializedSize() const {
 ReturnValue_t HeaderSerializer::deSerialize(const uint8_t **buffer, size_t *size,
                                             Endianness streamEndianness) {
   // We could implement this, but I prefer dedicated classes
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 size_t HeaderSerializer::getWholePduSize() const {

src/fsfw/cfdp/pdu/KeepAlivePduDeserializer.cpp

@@ -6,7 +6,7 @@ KeepAlivePduDeserializer::KeepAlivePduDeserializer(const uint8_t* pduBuf, size_t
 
 ReturnValue_t KeepAlivePduDeserializer::parseData() {
   ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();

src/fsfw/cfdp/pdu/KeepAlivePduSerializer.cpp

@@ -19,7 +19,7 @@ ReturnValue_t KeepAlivePduSerializer::serialize(uint8_t **buffer, size_t *size,
                                                 Endianness streamEndianness) const {
   ReturnValue_t result =
       FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return progress.serialize(this->getLargeFileFlag(), buffer, size, maxSize, streamEndianness);

src/fsfw/cfdp/pdu/MetadataInfo.cpp

@@ -39,7 +39,7 @@ cfdp::FileSize& MetadataInfo::getFileSize() { return fileSize; }
 ReturnValue_t MetadataInfo::getOptions(cfdp::Tlv*** optionsArray, size_t* optionsLen,
                                        size_t* maxOptsLen) {
   if (optionsArray == nullptr or this->optionsArray == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   *optionsArray = this->optionsArray;
   if (optionsLen != nullptr) {
@@ -48,7 +48,7 @@ ReturnValue_t MetadataInfo::getOptions(cfdp::Tlv*** optionsArray, size_t* option
   if (maxOptsLen != nullptr) {
     *maxOptsLen = this->maxOptionsLen;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 bool MetadataInfo::hasOptions() const {

src/fsfw/cfdp/pdu/MetadataPduDeserializer.cpp

@@ -6,7 +6,7 @@ MetadataPduDeserializer::MetadataPduDeserializer(const uint8_t* pduBuf, size_t m
 
 ReturnValue_t MetadataPduDeserializer::parseData() {
   ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
@@ -21,15 +21,15 @@ ReturnValue_t MetadataPduDeserializer::parseData() {
   buf += 1;
   auto endianness = getEndianness();
   result = info.getFileSize().deSerialize(&buf, &remSize, endianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = info.getSourceFileName().deSerialize(&buf, &remSize, endianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = info.getDestFileName().deSerialize(&buf, &remSize, endianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -47,7 +47,7 @@ ReturnValue_t MetadataPduDeserializer::parseData() {
         return cfdp::METADATA_CANT_PARSE_OPTIONS;
       }
       result = optionsArray[optsIdx]->deSerialize(&buf, &remSize, endianness);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
       optsIdx++;

src/fsfw/cfdp/pdu/MetadataPduSerializer.cpp

@@ -17,7 +17,7 @@ ReturnValue_t MetadataPduSerializer::serialize(uint8_t **buffer, size_t *size, s
                                                Endianness streamEndianness) const {
   ReturnValue_t result =
       FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (*size + 1 >= maxSize) {
@@ -27,15 +27,15 @@ ReturnValue_t MetadataPduSerializer::serialize(uint8_t **buffer, size_t *size, s
   *buffer += 1;
   *size += 1;
   result = info.getFileSize().serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = info.getSourceFileName().serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = info.getDestFileName().serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -45,7 +45,7 @@ ReturnValue_t MetadataPduSerializer::serialize(uint8_t **buffer, size_t *size, s
     info.getOptions(&optsArray, &optsLen, nullptr);
     for (size_t idx = 0; idx < optsLen; idx++) {
       result = optsArray[idx]->serialize(buffer, size, maxSize, streamEndianness);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
     }

src/fsfw/cfdp/pdu/NakPduDeserializer.cpp

@@ -5,7 +5,7 @@ NakPduDeserializer::NakPduDeserializer(const uint8_t* pduBuf, size_t maxSize, Na
 
 ReturnValue_t NakPduDeserializer::parseData() {
   ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
@@ -16,11 +16,11 @@ ReturnValue_t NakPduDeserializer::parseData() {
   }
   result =
       nakInfo.getStartOfScope().deSerialize(&buffer, &remSize, SerializeIF::Endianness::NETWORK);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = nakInfo.getEndOfScope().deSerialize(&buffer, &remSize, SerializeIF::Endianness::NETWORK);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   nakInfo.setSegmentRequestLen(0);
@@ -39,12 +39,12 @@ ReturnValue_t NakPduDeserializer::parseData() {
         }
         result =
             segReqs[idx].first.deSerialize(&buffer, &remSize, SerializeIF::Endianness::NETWORK);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
           return result;
         }
         result =
             segReqs[idx].second.deSerialize(&buffer, &remSize, SerializeIF::Endianness::NETWORK);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
           return result;
         }
         idx++;

src/fsfw/cfdp/pdu/NakPduSerializer.cpp

@@ -17,15 +17,15 @@ ReturnValue_t NakPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
                                           Endianness streamEndianness) const {
   ReturnValue_t result =
       FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = nakInfo.getStartOfScope().serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = nakInfo.getEndOfScope().serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (nakInfo.hasSegmentRequests()) {
@@ -34,11 +34,11 @@ ReturnValue_t NakPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
     nakInfo.getSegmentRequests(&segmentRequests, &segmentRequestLen, nullptr);
     for (size_t idx = 0; idx < segmentRequestLen; idx++) {
       result = segmentRequests[idx].first.serialize(buffer, size, maxSize, streamEndianness);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
       result = segmentRequests[idx].second.serialize(buffer, size, maxSize, streamEndianness);
-      if (result != returnvalue::OK) {
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
     }

src/fsfw/cfdp/pdu/PromptPduDeserializer.cpp

@@ -9,7 +9,7 @@ cfdp::PromptResponseRequired PromptPduDeserializer::getPromptResponseRequired()
 
 ReturnValue_t PromptPduDeserializer::parseData() {
   ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
@@ -17,5 +17,5 @@ ReturnValue_t PromptPduDeserializer::parseData() {
     return SerializeIF::STREAM_TOO_SHORT;
   }
   responseRequired = static_cast<cfdp::PromptResponseRequired>((rawPtr[currentIdx] >> 7) & 0x01);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/cfdp/pdu/PromptPduSerializer.cpp

@@ -13,7 +13,7 @@ ReturnValue_t PromptPduSerializer::serialize(uint8_t **buffer, size_t *size, siz
                                              Endianness streamEndianness) const {
   ReturnValue_t result =
       FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (*size + 1 > maxSize) {

src/fsfw/cfdp/pdu/VarLenField.cpp

@@ -6,14 +6,8 @@
 
 cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
   ReturnValue_t result = this->setValue(width, value);
-  if (result != returnvalue::OK) {
-#if FSFW_DISABLE_PRINTOUT == 0
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::VarLenField: Setting value failed" << std::endl;
-#else
-    sif::printWarning("cfdp::VarLenField: Setting value failed\n");
-#endif
-#endif
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    FSFW_LOGW("{}", "cfdp::VarLenField: Setting value failed\n");
   }
 }
 
@@ -25,21 +19,21 @@ ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_
   switch (widthInBytes) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       if (value > UINT8_MAX) {
-        return returnvalue::FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
       }
       this->value.oneByte = value;
       break;
     }
     case (cfdp::WidthInBytes::TWO_BYTES): {
       if (value > UINT16_MAX) {
-        return returnvalue::FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
       }
       this->value.twoBytes = value;
       break;
     }
     case (cfdp::WidthInBytes::FOUR_BYTES): {
       if (value > UINT32_MAX) {
-        return returnvalue::FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
       }
       this->value.fourBytes = value;
       break;
@@ -49,7 +43,7 @@ ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_
     }
   }
   this->width = widthInBytes;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t cfdp::VarLenField::getValue() const {
@@ -77,7 +71,7 @@ ReturnValue_t cfdp::VarLenField::serialize(uint8_t **buffer, size_t *size, size_
       **buffer = value.oneByte;
       *size += 1;
       *buffer += 1;
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
     case (cfdp::WidthInBytes::TWO_BYTES): {
       return SerializeAdapter::serialize(&value.twoBytes, buffer, size, maxSize, streamEndianness);
@@ -86,7 +80,7 @@ ReturnValue_t cfdp::VarLenField::serialize(uint8_t **buffer, size_t *size, size_
       return SerializeAdapter::serialize(&value.fourBytes, buffer, size, maxSize, streamEndianness);
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 }
@@ -105,7 +99,7 @@ ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *siz
     case (cfdp::WidthInBytes::ONE_BYTE): {
       value.oneByte = **buffer;
       *size += 1;
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
     case (cfdp::WidthInBytes::TWO_BYTES): {
       return SerializeAdapter::deSerialize(&value.twoBytes, buffer, size, streamEndianness);
@@ -114,7 +108,7 @@ ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *siz
       return SerializeAdapter::deSerialize(&value.fourBytes, buffer, size, streamEndianness);
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 }

src/fsfw/cfdp/tlv/FaultHandlerOverrideTlv.cpp

@@ -22,7 +22,7 @@ ReturnValue_t FaultHandlerOverrideTlv::serialize(uint8_t **buffer, size_t *size,
   **buffer = this->conditionCode << 4 | this->handlerCode;
   *buffer += 1;
   *size += 1;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t FaultHandlerOverrideTlv::getSerializedSize() const { return getLengthField() + 2; }
@@ -40,7 +40,7 @@ ReturnValue_t FaultHandlerOverrideTlv::deSerialize(const uint8_t **buffer, size_
   *size -= 1;
   size_t detectedSize = **buffer;
   if (detectedSize != getLengthField()) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   *buffer += 1;
   *size += 1;
@@ -48,7 +48,7 @@ ReturnValue_t FaultHandlerOverrideTlv::deSerialize(const uint8_t **buffer, size_
   this->handlerCode = static_cast<cfdp::FaultHandlerCode>(**buffer & 0x0f);
   *buffer += 1;
   *size += 1;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 cfdp::TlvTypes FaultHandlerOverrideTlv::getType() const { return cfdp::TlvTypes::FAULT_HANDLER; }

src/fsfw/cfdp/tlv/FilestoreRequestTlv.cpp

@@ -16,11 +16,11 @@ void FilestoreRequestTlv::setSecondFileName(cfdp::Lv *secondFileName) {
 ReturnValue_t FilestoreRequestTlv::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                              Endianness streamEndianness) const {
   ReturnValue_t result = commonSerialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = firstFileName.serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (requiresSecondFileName()) {
@@ -30,13 +30,13 @@ ReturnValue_t FilestoreRequestTlv::serialize(uint8_t **buffer, size_t *size, siz
     }
     secondFileName->serialize(buffer, size, maxSize, streamEndianness);
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t FilestoreRequestTlv::deSerialize(const uint8_t **buffer, size_t *size,
                                                Endianness streamEndianness) {
   ReturnValue_t result = commonDeserialize(buffer, size, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return deSerializeFromValue(buffer, size, streamEndianness);
@@ -63,13 +63,13 @@ ReturnValue_t FilestoreRequestTlv::deSerializeFromValue(const uint8_t **buffer,
   *buffer += 1;
   *size -= 1;
   ReturnValue_t result = firstFileName.deSerialize(buffer, size, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (requiresSecondFileName()) {
     if (secondFileName == nullptr) {
       secondFileNameMissing();
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     result = secondFileName->deSerialize(buffer, size, streamEndianness);
   }

src/fsfw/cfdp/tlv/FilestoreResponseTlv.cpp

@@ -32,11 +32,11 @@ ReturnValue_t FilestoreResponseTlv::serialize(uint8_t **buffer, size_t *size, si
                                               Endianness streamEndianness) const {
   ReturnValue_t result =
       commonSerialize(buffer, size, maxSize, streamEndianness, true, this->statusCode);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = firstFileName.serialize(buffer, size, maxSize, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (requiresSecondFileName()) {
@@ -61,7 +61,7 @@ ReturnValue_t FilestoreResponseTlv::serialize(uint8_t **buffer, size_t *size, si
 ReturnValue_t FilestoreResponseTlv::deSerialize(const uint8_t **buffer, size_t *size,
                                                 Endianness streamEndianness) {
   ReturnValue_t result = commonDeserialize(buffer, size, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return deSerializeFromValue(buffer, size, streamEndianness);
@@ -75,7 +75,7 @@ ReturnValue_t FilestoreResponseTlv::deSerializeFromValue(const uint8_t **buffer,
   *buffer += 1;
   *size -= 1;
   ReturnValue_t result = firstFileName.deSerialize(buffer, size, streamEndianness);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   if (requiresSecondFileName()) {
@@ -83,7 +83,7 @@ ReturnValue_t FilestoreResponseTlv::deSerializeFromValue(const uint8_t **buffer,
       return cfdp::FILESTORE_REQUIRES_SECOND_FILE;
     }
     result = secondFileName->deSerialize(buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
   }
@@ -98,7 +98,7 @@ ReturnValue_t FilestoreResponseTlv::deSerializeFromValue(const uint8_t **buffer,
     *size -= 1;
     *buffer += 1;
     // Ignore empty filestore message
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
   return filestoreMsg->deSerialize(buffer, size, streamEndianness);
 }

src/fsfw/cfdp/tlv/FilestoreTlvBase.h

@@ -6,7 +6,7 @@
 #include <fsfw/cfdp/tlv/Tlv.h>
 #include <fsfw/cfdp/tlv/TlvIF.h>
 #include <fsfw/serialize/SerializeIF.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 #include <cstddef>
 #include <cstdint>
@@ -73,7 +73,7 @@ class FilestoreTlvBase : public TlvIF {
                                 Endianness streamEndianness, bool isResponse = false,
                                 uint8_t responseStatusCode = 0) const {
     if (buffer == nullptr or size == nullptr) {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     if (maxSize < 3) {
       return SerializeIF::BUFFER_TOO_SHORT;
@@ -90,13 +90,13 @@ class FilestoreTlvBase : public TlvIF {
     }
     *buffer += 1;
     *size += 1;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   ReturnValue_t commonDeserialize(const uint8_t** buffer, size_t* size,
                                   SerializeIF::Endianness streamEndianness) {
     if (buffer == nullptr or size == nullptr) {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     if (*size < 3) {
       return SerializeIF::STREAM_TOO_SHORT;
@@ -114,7 +114,7 @@ class FilestoreTlvBase : public TlvIF {
     if (remainingLength == 0) {
       return SerializeIF::STREAM_TOO_SHORT;
     }
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   bool requiresSecondFileName() const {
@@ -128,17 +128,7 @@ class FilestoreTlvBase : public TlvIF {
   }
 
   void secondFileNameMissing() const {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "FilestoreRequestTlv::deSerialize: Second file name required"
-                    " but TLV pointer not set"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "FilestoreRequestTlv::deSerialize: Second file name required"
-        " but TLV pointer not set\n");
-#endif
-#endif
+    FSFW_LOGWT("{}", "secondFileNameMissing: Second file name required but TLV pointer not set\n");
   }
 
   FilestoreActionCode getActionCode() const { return actionCode; }
@@ -152,7 +142,7 @@ class FilestoreTlvBase : public TlvIF {
     size_t serSize = 0;
     uint8_t* valueStart = buffer + 2;
     ReturnValue_t result = this->serialize(&buffer, &serSize, maxSize, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     tlv.setValue(valueStart, serSize - 2);

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;
 }
 
@@ -31,13 +31,13 @@ ReturnValue_t cfdp::Lv::serialize(uint8_t** buffer, size_t* size, size_t maxSize
     return BUFFER_TOO_SHORT;
   }
   if (buffer == nullptr or size == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (zeroLen) {
     **buffer = 0;
     *size += 1;
     *buffer += 1;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
   return value.serialize(buffer, size, maxSize, streamEndianness);
 }
@@ -54,7 +54,7 @@ size_t cfdp::Lv::getSerializedSize() const {
 ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
                                     Endianness streamEndianness) {
   if (buffer == nullptr or size == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (*size < 1) {
     return SerializeIF::STREAM_TOO_SHORT;
@@ -64,16 +64,16 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
     zeroLen = true;
     *buffer += 1;
     *size -= 1;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   } else if (*size < lengthField + 1) {
     return SerializeIF::STREAM_TOO_SHORT;
   }
   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;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 const uint8_t* cfdp::Lv::getValue(size_t* size) const {

src/fsfw/cfdp/tlv/Tlv.cpp

@@ -12,7 +12,7 @@ cfdp::Tlv::Tlv() : value(static_cast<uint8_t *>(nullptr), 0, true) {}
 ReturnValue_t cfdp::Tlv::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                    Endianness streamEndianness) const {
   if (buffer == nullptr or size == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (*size + 2 > maxSize) {
     return BUFFER_TOO_SHORT;
@@ -28,10 +28,10 @@ ReturnValue_t cfdp::Tlv::serialize(uint8_t **buffer, size_t *size, size_t maxSiz
     **buffer = 0;
     *size += 1;
     *buffer += 1;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
   if (value.getConstBuffer() == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   return value.serialize(buffer, size, maxSize, streamEndianness);
 }
@@ -48,7 +48,7 @@ size_t cfdp::Tlv::getSerializedSize() const {
 ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
                                      Endianness streamEndianness) {
   if (buffer == nullptr or size == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (*size < 2) {
     return STREAM_TOO_SHORT;
@@ -68,17 +68,17 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
     zeroLen = true;
     *buffer += 1;
     *size -= 1;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
   if (lengthField + 1 > *size) {
     return SerializeIF::STREAM_TOO_SHORT;
   }
   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;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 const uint8_t *cfdp::Tlv::getValue() const { return value.getConstBuffer(); }
@@ -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/cfdp/tlv/Tlv.h

@@ -23,7 +23,7 @@ class Tlv : public TlvIF {
    * @param maxSize
    * @param streamEndianness
    * @return
-   *  - returnvalue::OK on success
+   *  - RETURN_OK on success
    *  - INVALID_TLV_TYPE
    *  - SerializeIF returncode on wrong serialization parameters
    */
@@ -37,7 +37,7 @@ class Tlv : public TlvIF {
    * @param buffer Raw buffer including the size field
    * @param size
    * @param streamEndianness
-   *  - returnvalue::OK on success
+   *  - RETURN_OK on success
    *  - INVALID_TLV_TYPE
    *  - SerializeIF returncode on wrong deserialization parameters
    */

src/fsfw/container/ArrayList.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_CONTAINER_ARRAYLIST_H_
 #define FSFW_CONTAINER_ARRAYLIST_H_
 
-#include "../returnvalues/returnvalue.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serialize/SerializeIF.h"
 
@@ -183,7 +183,7 @@ class ArrayList {
    * @param entry
    * @return
    *          -@c FULL if the List is full
-   *          -@c returnvalue::OK else
+   *          -@c RETURN_OK else
    */
   ReturnValue_t insert(T entry) {
     if (size >= maxSize_) {
@@ -191,7 +191,7 @@ class ArrayList {
     }
     entries[size] = entry;
     ++size;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   /**

src/fsfw/container/FIFOBase.h

@@ -4,7 +4,7 @@
 #include <cstddef>
 #include <cstring>
 
-#include "../returnvalues/returnvalue.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 template <typename T>
 class FIFOBase {
@@ -20,24 +20,24 @@ class FIFOBase {
   /**
    * Insert value into FIFO
    * @param value
-   * @return returnvalue::OK on success, FULL if full
+   * @return RETURN_OK on success, FULL if full
    */
   ReturnValue_t insert(T value);
   /**
    * Retrieve item from FIFO. This removes the item from the FIFO.
    * @param value Must point to a valid T
-   * @return returnvalue::OK on success, EMPTY if empty and FAILED if nullptr check failed
+   * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
    */
   ReturnValue_t retrieve(T* value);
   /**
    * Retrieve item from FIFO without removing it from FIFO.
    * @param value Must point to a valid T
-   * @return returnvalue::OK on success, EMPTY if empty and FAILED if nullptr check failed
+   * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
    */
   ReturnValue_t peek(T* value);
   /**
    * Remove item from FIFO.
-   * @return returnvalue::OK on success, EMPTY if empty
+   * @return RETURN_OK on success, EMPTY if empty
    */
   ReturnValue_t pop();
 

src/fsfw/container/FIFOBase.tpp

@@ -17,7 +17,7 @@ inline ReturnValue_t FIFOBase<T>::insert(T value) {
     values[writeIndex] = value;
     writeIndex = next(writeIndex);
     ++currentSize;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 };
 
@@ -27,12 +27,12 @@ inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
     return EMPTY;
   } else {
     if (value == nullptr) {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     *value = values[readIndex];
     readIndex = next(readIndex);
     --currentSize;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 };
 
@@ -42,10 +42,10 @@ inline ReturnValue_t FIFOBase<T>::peek(T* value) {
     return EMPTY;
   } else {
     if (value == nullptr) {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     *value = values[readIndex];
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 };
 

src/fsfw/container/FixedMap.h

@@ -4,7 +4,7 @@
 #include <type_traits>
 #include <utility>
 
-#include "../returnvalues/returnvalue.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ArrayList.h"
 
 /**
@@ -75,7 +75,7 @@ class FixedMap : public SerializeIF {
   uint32_t size() const { return _size; }
 
   ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) {
-    if (exists(key) == returnvalue::OK) {
+    if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
       return KEY_ALREADY_EXISTS;
     }
     if (_size == theMap.maxSize()) {
@@ -87,7 +87,7 @@ class FixedMap : public SerializeIF {
       *storedValue = Iterator(&theMap[_size]);
     }
     ++_size;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); }
@@ -95,7 +95,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t exists(key_t key) const {
     ReturnValue_t result = KEY_DOES_NOT_EXIST;
     if (findIndex(key) < _size) {
-      result = returnvalue::OK;
+      result = HasReturnvaluesIF::RETURN_OK;
     }
     return result;
   }
@@ -108,7 +108,7 @@ class FixedMap : public SerializeIF {
     theMap[i] = theMap[_size - 1];
     --_size;
     --((*iter).value);
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   ReturnValue_t erase(key_t key) {
@@ -118,14 +118,14 @@ class FixedMap : public SerializeIF {
     }
     theMap[i] = theMap[_size - 1];
     --_size;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   T* findValue(key_t key) const { return &theMap[findIndex(key)].second; }
 
   Iterator find(key_t key) const {
     ReturnValue_t result = exists(key);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return end();
     }
     return Iterator(&theMap[findIndex(key)]);
@@ -133,11 +133,11 @@ class FixedMap : public SerializeIF {
 
   ReturnValue_t find(key_t key, T** value) const {
     ReturnValue_t result = exists(key);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     *value = &theMap[findIndex(key)].second;
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   bool empty() {
@@ -165,7 +165,7 @@ class FixedMap : public SerializeIF {
     ReturnValue_t result =
         SerializeAdapter::serialize(&this->_size, buffer, size, maxSize, streamEndianness);
     uint32_t i = 0;
-    while ((result == returnvalue::OK) && (i < this->_size)) {
+    while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
       result =
           SerializeAdapter::serialize(&theMap[i].first, buffer, size, maxSize, streamEndianness);
       result =
@@ -195,7 +195,7 @@ class FixedMap : public SerializeIF {
       return SerializeIF::TOO_MANY_ELEMENTS;
     }
     uint32_t i = 0;
-    while ((result == returnvalue::OK) && (i < this->_size)) {
+    while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
       result = SerializeAdapter::deSerialize(&theMap[i].first, buffer, size, streamEndianness);
       result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size, streamEndianness);
       ++i;

src/fsfw/container/FixedOrderedMultimap.h

@@ -100,7 +100,7 @@ class FixedOrderedMultimap {
    * @param[in] value Value of the new element
    * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a
    * nullptr
-   * @return returnvalue::OK if insert was successful, MAP_FULL if no space is available
+   * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
    */
   ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr);
 
@@ -108,14 +108,14 @@ class FixedOrderedMultimap {
    * Used to insert new pair instead of single values
    *
    * @param pair Pair to be inserted
-   * @return returnvalue::OK if insert was successful, MAP_FULL if no space is available
+   * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
    */
   ReturnValue_t insert(std::pair<key_t, T> pair);
 
   /***
    * Can be used to check if a certain key is in the map
    * @param key Key to be checked
-   * @return returnvalue::OK if the key exists KEY_DOES_NOT_EXIST otherwise
+   * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
    */
   ReturnValue_t exists(key_t key) const;
 
@@ -127,14 +127,14 @@ class FixedOrderedMultimap {
    *
    * @warning The iterator needs to be valid and dereferenceable
    * @param[in/out] iter Pointer to iterator to the element that needs to be ereased
-   * @return returnvalue::OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+   * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
    */
   ReturnValue_t erase(Iterator* iter);
 
   /***
    * Used to erase by key
    * @param key Key to be erased
-   * @return returnvalue::OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+   * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
    */
   ReturnValue_t erase(key_t key);
 
@@ -148,7 +148,7 @@ class FixedOrderedMultimap {
    */
   Iterator find(key_t key) const {
     ReturnValue_t result = exists(key);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return end();
     }
     return Iterator(&theMap[findFirstIndex(key)]);
@@ -160,7 +160,7 @@ class FixedOrderedMultimap {
    *
    * @param key Key to search for
    * @param value Found value
-   * @return returnvalue::OK if it points to the value,
+   * @return RETURN_OK if it points to the value,
    * KEY_DOES_NOT_EXIST if the key is not in the map
    */
   ReturnValue_t find(key_t key, T** value) const;

src/fsfw/container/FixedOrderedMultimap.tpp

@@ -16,7 +16,7 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t k
   if (storedValue != nullptr) {
     *storedValue = Iterator(&theMap[position]);
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
@@ -27,7 +27,7 @@ template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
   ReturnValue_t result = KEY_DOES_NOT_EXIST;
   if (findFirstIndex(key) < _size) {
-    result = returnvalue::OK;
+    result = HasReturnvaluesIF::RETURN_OK;
   }
   return result;
 }
@@ -44,7 +44,7 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator
   } else {
     *iter = begin();
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 template <typename key_t, typename T, typename KEY_COMPARE>
@@ -57,17 +57,17 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t ke
     removeFromPosition(i);
     i = findFirstIndex(key, i);
   } while (i < _size);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 template <typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
   ReturnValue_t result = exists(key);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   *value = &theMap[findFirstIndex(key)].second;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 template <typename key_t, typename T, typename KEY_COMPARE>

src/fsfw/container/IndexedRingMemoryArray.h

@@ -4,7 +4,7 @@
 #include <cmath>
 
 #include "../globalfunctions/CRC.h"
-#include "../returnvalues/returnvalue.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerialArrayListAdapter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "ArrayList.h"
@@ -52,15 +52,15 @@ class Index : public SerializeIF {
                           Endianness streamEndianness) const {
     ReturnValue_t result =
         SerializeAdapter::serialize(&blockStartAddress, buffer, size, maxSize, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = indexType.serialize(buffer, size, maxSize, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = SerializeAdapter::serialize(&this->size, buffer, size, maxSize, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result =
@@ -71,19 +71,19 @@ class Index : public SerializeIF {
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
     ReturnValue_t result =
         SerializeAdapter::deSerialize(&blockStartAddress, buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = indexType.deSerialize(buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = SerializeAdapter::deSerialize(&this->size, buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = SerializeAdapter::deSerialize(&this->storedPackets, buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     return result;
@@ -449,13 +449,13 @@ class IndexedRingMemoryArray : public SerializeIF, public ArrayList<Index<T>, ui
     // Check Next Block
     if (!isNextBlockWritable()) {
       // The Index is full and does not overwrite old
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     // Next block can be written, update Metadata
     currentWriteBlock = getNextWrite();
     currentWriteBlock->setSize(0);
     currentWriteBlock->setStoredPackets(0);
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   /**
@@ -475,21 +475,21 @@ class IndexedRingMemoryArray : public SerializeIF, public ArrayList<Index<T>, ui
       additionalInfo->serialize(buffer, size, maxSize, streamEndianness);
     }
     ReturnValue_t result = currentWriteBlock->serialize(buffer, size, maxSize, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = SerializeAdapter::serialize(&this->size, buffer, size, maxSize, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
 
     uint32_t i = 0;
-    while ((result == returnvalue::OK) && (i < this->size)) {
+    while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
       result =
           SerializeAdapter::serialize(&this->entries[i], buffer, size, maxSize, streamEndianness);
       ++i;
     }
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     uint16_t crc = Calculate_CRC(crcBuffer, (*size - oldSize));
@@ -523,44 +523,44 @@ class IndexedRingMemoryArray : public SerializeIF, public ArrayList<Index<T>, ui
    */
 
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
-    ReturnValue_t result = returnvalue::OK;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     if (additionalInfo != NULL) {
       result = additionalInfo->deSerialize(buffer, size, streamEndianness);
     }
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
 
     Index<T> tempIndex;
     result = tempIndex.deSerialize(buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     uint32_t tempSize = 0;
     result = SerializeAdapter::deSerialize(&tempSize, buffer, size, streamEndianness);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     if (this->size != tempSize) {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     uint32_t i = 0;
-    while ((result == returnvalue::OK) && (i < this->size)) {
+    while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
       result = SerializeAdapter::deSerialize(&this->entries[i], buffer, size, streamEndianness);
       ++i;
     }
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     typename IndexedRingMemoryArray<T>::Iterator cmp(&tempIndex);
     for (typename IndexedRingMemoryArray<T>::Iterator it = this->begin(); it != this->end(); ++it) {
       if (*(cmp.value) == *(it.value)) {
         currentWriteBlock = it;
-        return returnvalue::OK;
+        return HasReturnvaluesIF::RETURN_OK;
       }
     }
     // Reached if current write block iterator is not found
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   uint32_t getIndexAddress() const { return indexAddress; }

src/fsfw/container/PlacementFactory.h

@@ -40,7 +40,7 @@ class PlacementFactory {
     store_address_t tempId;
     uint8_t* pData = nullptr;
     ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T), &pData);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return nullptr;
     }
     T* temp = new (pData) T(std::forward<Args>(args)...);
@@ -51,12 +51,12 @@ class PlacementFactory {
    * This must be called by the user.
    *
    * @param thisElement Element to be destroyed
-   * @return returnvalue::OK if the element was destroyed, different errors on failure
+   * @return RETURN_OK if the element was destroyed, different errors on failure
    */
   template <typename T>
   ReturnValue_t destroy(T* thisElement) {
     if (thisElement == nullptr) {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     // Need to call destructor first, in case something was allocated by the object (shouldn't do
     // that, however).

src/fsfw/container/RingBufferBase.h

@@ -3,7 +3,7 @@
 
 #include <cstddef>
 
-#include "../returnvalues/returnvalue.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 template <uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
@@ -58,18 +58,18 @@ class RingBufferBase {
   ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
     if (getAvailableReadData(n) >= amount) {
       incrementRead(amount, n);
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     } else {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
   ReturnValue_t writeData(uint32_t amount) {
     if (availableWriteSpace() >= amount or overwriteOld) {
       incrementWrite(amount);
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     } else {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 

src/fsfw/container/SimpleRingBuffer.cpp

@@ -2,9 +2,6 @@
 
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-
 SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, size_t maxExcessBytes)
     : RingBufferBase<>(0, size, overwriteOld), maxExcessBytes(maxExcessBytes) {
   if (maxExcessBytes > size) {
@@ -32,14 +29,14 @@ ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t** writePointer, size_t am
     size_t amountTillWrap = writeTillWrap();
     if (amountTillWrap < amount) {
       if ((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
-        return returnvalue::FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
       }
       excessBytes = amount - amountTillWrap;
     }
     *writePointer = &buffer[write];
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   } else {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
 
@@ -51,19 +48,6 @@ void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
 }
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, size_t amount) {
-  if (data == nullptr) {
-    return returnvalue::FAILED;
-  }
-  if (amount > getMaxSize()) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "SimpleRingBuffer::writeData: Amount of data too large" << std::endl;
-#else
-    sif::printError("SimpleRingBuffer::writeData: Amount of data too large\n");
-#endif
-#endif
-    return returnvalue::FAILED;
-  }
   if (availableWriteSpace() >= amount or overwriteOld) {
     size_t amountTillWrap = writeTillWrap();
     if (amountTillWrap >= amount) {
@@ -74,9 +58,9 @@ ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, size_t amount) {
       memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
     }
     incrementWrite(amount);
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   } else {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
 
@@ -89,7 +73,7 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount, bool incr
       // more data available than amount specified.
       amount = availableData;
     } else {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
   if (trueAmount != nullptr) {
@@ -105,7 +89,7 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount, bool incr
   if (incrementReadPtr) {
     deleteData(amount, readRemaining);
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t SimpleRingBuffer::getExcessBytes() const { return excessBytes; }
@@ -124,12 +108,12 @@ ReturnValue_t SimpleRingBuffer::deleteData(size_t amount, bool deleteRemaining,
     if (deleteRemaining) {
       amount = availableData;
     } else {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
   if (trueAmount != nullptr) {
     *trueAmount = amount;
   }
   incrementRead(amount, READ_PTR);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/container/SimpleRingBuffer.h

@@ -47,8 +47,8 @@ class SimpleRingBuffer : public RingBufferBase<> {
    * Write to circular buffer and increment write pointer by amount.
    * @param data
    * @param amount
-   * @return -@c returnvalue::OK if write operation was successful
-   * -@c returnvalue::FAILED if
+   * @return -@c RETURN_OK if write operation was successful
+   * -@c RETURN_FAILED if
    */
   ReturnValue_t writeData(const uint8_t* data, size_t amount);
 
@@ -95,8 +95,8 @@ class SimpleRingBuffer : public RingBufferBase<> {
    * If readRemaining was set to true, the true amount read will be assigned
    * to the passed value.
    * @return
-   * - @c returnvalue::OK if data was read successfully
-   * - @c returnvalue::FAILED if not enough data was available and readRemaining
+   * - @c RETURN_OK if data was read successfully
+   * - @c RETURN_FAILED if not enough data was available and readRemaining
    *      was set to false.
    */
   ReturnValue_t readData(uint8_t* data, size_t amount, bool incrementReadPtr = false,

src/fsfw/controller/ControllerBase.cpp

@@ -13,16 +13,14 @@ 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); }
 
 ReturnValue_t ControllerBase::initialize() {
   ReturnValue_t result = SystemObject::initialize();
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
 
@@ -30,7 +28,7 @@ ReturnValue_t ControllerBase::initialize() {
   if (parentId != objects::NO_OBJECT) {
     auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
     if (parent == nullptr) {
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
     }
     parentQueue = parent->getCommandQueue();
 
@@ -38,16 +36,16 @@ ReturnValue_t ControllerBase::initialize() {
   }
 
   result = healthHelper.initialize(parentQueue);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
 
   result = modeHelper.initialize(parentQueue);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@@ -55,19 +53,19 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
 void ControllerBase::handleQueue() {
   CommandMessage command;
   ReturnValue_t result;
-  for (result = commandQueue->receiveMessage(&command); result == returnvalue::OK;
+  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = modeHelper.handleModeCommand(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
 
     result = healthHelper.handleHealthCommand(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
     result = handleCommandMessage(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
     command.setToUnknownCommand();
@@ -98,21 +96,17 @@ void ControllerBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
   handleQueue();
   performControlOperation();
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 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:
     case EXTERNAL_CONTROL:
       healthHelper.setHealth(health);
-      return returnvalue::OK;
+      return RETURN_OK;
     default:
       return INVALID_HEALTH_STATE;
   }
@@ -123,4 +117,4 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 
 void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
-ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
+ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }

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"
@@ -19,11 +18,10 @@
 class ControllerBase : public HasModesIF,
                        public HasHealthIF,
                        public ExecutableObjectIF,
-                       public SystemObject {
+                       public SystemObject,
+                       public HasReturnvaluesIF {
  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 +40,6 @@ 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 HasReturnvaluesIF::RETURN_OK;
 }
 
 object_id_t ExtendedControllerBase::getObjectId() const { return SystemObject::getObjectId(); }
@@ -24,7 +23,7 @@ uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
 
 ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *message) {
   ReturnValue_t result = actionHelper.handleActionMessage(message);
-  if (result == returnvalue::OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   return poolManager.handleHousekeepingMessage(message);
@@ -33,30 +32,30 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
 void ExtendedControllerBase::handleQueue() {
   CommandMessage command;
   ReturnValue_t result;
-  for (result = commandQueue->receiveMessage(&command); result == returnvalue::OK;
+  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = actionHelper.handleActionMessage(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
 
     result = modeHelper.handleModeCommand(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
 
     result = healthHelper.handleHealthCommand(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
 
     result = poolManager.handleHousekeepingMessage(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
 
     result = handleCommandMessage(&command);
-    if (result == returnvalue::OK) {
+    if (result == RETURN_OK) {
       continue;
     }
     command.setToUnknownCommand();
@@ -66,11 +65,11 @@ void ExtendedControllerBase::handleQueue() {
 
 ReturnValue_t ExtendedControllerBase::initialize() {
   ReturnValue_t result = ControllerBase::initialize();
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   result = actionHelper.initialize(commandQueue);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -87,7 +86,7 @@ ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
   /* We do this after performing control operation because variables will be set changed
   in this function. */
   poolManager.performHkOperation();
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 MessageQueueId_t ExtendedControllerBase::getCommandQueue() const { return commandQueue->getId(); }