Merge pull request 'Allow creating regular threads' (#140) from allow_creating_regular_threads into develop

Reviewed-on: #140

CHANGELOG.md

@@ -8,17 +8,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v6.0.0]
+# [v6.0.0] 2023-02-10
 
 ## Fixes
 
-- Add monotonic watchdog Clock API and use it in `Countdown` and `Stopwatch` class.
-- Bugfix in `Service11TelecommandScheduling` which allowed commands
-  time tagged in the past to be inserted.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/738
+- Mode Service: Add allowed subservice
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
 - `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
   on mode announcements, duplicate mode reply generated on announce commands, and the mode read
   subservice not working properly.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
 - Memory leak fixes for the TCP/IP TMTC bridge.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
 - `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
@@ -27,16 +26,20 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
   only the X scaling factor was used.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
-- Bugfix for RM3100 MGM sensors. Z value was previously calculated
-  with bytes of the X value.
+- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
 - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
   to false correctly because the `read` and `write` calls were missing.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
 - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
   of the correct unsegmented flags (0b11) as specified in the standard.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
 - TC Scheduler Service 11: Add size and CRC check for contained TC.
+  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
 - Only delete health table entry in `HealthHelper` destructor if
   health table was set.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
   Also properly reset the reply size for successfull transfers and erroneous transfers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
@@ -46,6 +49,36 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `TcpTmTcServer.cpp`: The server was actually not able to handle
   CCSDS packets which were clumped together. This has been fixed now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
+- `CServiceHealthCommanding`: Add announce all health info implementation
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+- various fixes related to linux Unittests and memory leaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
+- small fix to allow teardown handling
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
+- fix compiler warning for fixed array list copy ctor
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
+- missing include
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
+- defaultconfig did not build anymore
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
+- hotfix
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
+- small fix for helper
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
+- missing retval conv
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
+- DHB Countdown Bug
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
+- doc corrections
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
+- better error printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
+- include correction
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
+- better warning for missing include paths
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
+- Service 11 regression
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
 
 ## Added
 
@@ -64,17 +97,36 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
+- publish documentation for development and master branch
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
+- Add Linux HAL options
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
+- Expand SerializeIF
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
+- PUS Service 11: Additional Safety Check
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
+- improvements for auto-formatter script
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
+- provide a weak print char impl
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
+
+## Removed
+
+- now that doc server is up, remove markdown files
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
+- remove bsp specific code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
 
 ## Changes
 
 - `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
   service ID customizable now. `CServiceHealthCommanding` expects configuration struct
   `HealthServiceCfg` now
-  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
 - Moved some container returnvalues to dedicated header and namespace
-  to they can be used without template specification.
+  so they can be used without template specification.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
   `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
@@ -104,18 +156,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
   a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
-- Move some generic `StorageManagerIF` implementations from `LocalPool` to
-  interface itself so it can be re-used more easily. Also add new
-  abstract function `bool hasDataAtId(store_address_t storeId) const`.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
   - Make functions `const` where it makes sense
   - Add `const char* getName const` abstract function
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
-- Move some generic `StorageManagerIF` implementations from `LocalPool` to
-  interface itself so it can be re-used more easily. Also add new
-  abstract function `bool hasDataAtId(store_address_t storeId) const`.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
+- Generic TMTC Bridge Update
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
+- comment tweak to event parser can read everything
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
+- CMakeLists file updates
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
+- improve srv20 error messages
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
+- I2C Linux: remove duplicate printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
+- printout handling improvements
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
+- vec getter, reset for content
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
+- updates for source sequence counter
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
+- SP reader getPacketData is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
+- refactoring of serial drivers for linux
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
+- Local Pool Update Remove Add Data Ignore Fault Argument
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
+- Switch to new documentation server
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
+- Windows Tweaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
+- Refactor Local Pool API
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
+- group MGM data in local pool vectors
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
+
 
 ## CFDP
 
@@ -135,17 +210,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
      implementation without an extra component
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
 
-## HAL
-
-- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
-- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
-- SPI: Getter functions for SPI speed and mode.
-
-# [v5.0.0] 25.07.2022
+# [v5.0.0] 2022-07-25
 
 ## Changes
 

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 6)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 

scripts/check_release.py

@@ -0,0 +1,110 @@
+#! /bin/python
+
+
+import argparse
+import json
+import urllib.request
+import re
+from pathlib import Path
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="List undocumented PRs"
+    )
+    parser.add_argument("-v", "--version", type=str, required=True)
+    args = parser.parse_args()
+    
+    match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version)
+    
+    if not match:
+        print("invalid version")
+        exit(1)
+    
+    version = "v" + match.group(1)
+    
+    print("looking for milestone for " + version + " ...")
+    
+    
+    with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json:
+        milestones = json.load(milestone_json)
+        if (len(milestones) == 0):
+            print("did not find any milestone")
+            exit(1)
+        if (len(milestones) > 1):
+            print("found multiple milestons")
+        milestone_title = milestones[0]['title']
+        milestone = str(milestones[0]['id'])
+        print("Using Milestone \""+ milestone_title + "\" with id " + milestone)
+    
+    milestone_prs = []
+    
+    page = 1
+    last_count = 1;
+    while last_count != 0:
+        with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
+            pull_requests = json.load(pull_requests_json)
+            for pr in pull_requests:
+                milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']})
+            page += 1
+            last_count = len(pull_requests)
+    
+    print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
+    
+    print("looking for CHANGELOG.md ...")
+    
+    path = Path(".")
+    
+    files = list(path.glob("CHANGELOG.md"))
+    
+    if (len(files) != 1):
+        files = list(path.glob("../CHANGELOG.md"))
+        
+    if (len(files) != 1):
+        print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.")
+        exit(1)
+        
+    print("Scanning CHANGELOG.md ...")
+    
+    changelog_prs = []
+    
+    with open(files[0]) as changelog:
+        line = changelog.readline()
+        while (line):
+            #print("line: " + line)
+            match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line)
+            if (match):
+                if match.group(1) == version:
+                    #print("found version")
+                    line = changelog.readline()
+                    continue
+                else:
+                    #print("done with " + match.group(1))
+                    break
+            
+            match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line)
+            if match:
+                changelog_prs.append(match.group(1))
+                
+            line = changelog.readline()
+    
+    print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md")
+    
+    print("")
+    
+    copy_array = changelog_prs.copy()
+    print("PRs in CHANGELOG.md that are not in Milestone:")
+    for pr in milestone_prs:
+        if pr['number'] in copy_array:
+            copy_array.remove(pr['number'])
+    for pr in copy_array:
+        print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr)
+
+    print("")
+
+    print("PRs in milestone that are not in CHANGELOG.md:")
+    
+    for pr in milestone_prs:
+        if pr['number'] not in changelog_prs:
+            print("- " + pr['title'] + "\n  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number'])
+
+main()

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -70,8 +70,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(uint8_t nonDiagInvlFactor) {
-  setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation() {
   return initializeHousekeepingPoolEntriesOnce();
 }
 
@@ -661,10 +660,6 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(HousekeepingPacke
   return hkPacket.serialize(&dataPtr, serializedSize, maxSize, SerializeIF::Endianness::MACHINE);
 }
 
-void LocalDataPoolManager::setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor) {
-  this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
-}
-
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   sid_t sid = receiver.dataId.sid;
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
@@ -718,7 +713,7 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
 
   if ((LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and enable) or
       (not LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and not enable)) {
-    return REPORTING_STATUS_UNCHANGED;
+    return returnvalue::OK;
   }
 
   LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enable);

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -102,7 +102,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * @param nonDiagInvlFactor
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
+  ReturnValue_t initializeAfterTaskCreation();
 
   /**
    * @brief   This should be called in the periodic handler of the owner.
@@ -152,17 +152,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
 
-  /**
-   * Non-Diagnostics packets usually have a lower minimum sampling frequency
-   * than diagnostic packets.
-   * A factor can be specified to determine the minimum sampling frequency
-   * for non-diagnostic packets. The minimum sampling frequency of the
-   * diagnostics packets,which is usually jusst the period of the
-   * performOperation calls, is multiplied with that factor.
-   * @param factor
-   */
-  void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
-
   /**
    * @brief   The manager is also able to handle housekeeping messages.
    * @details

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -250,9 +250,8 @@ void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
 bool LocalPoolDataSetBase::getReportingEnabled() const { return reportingEnabled; }
 
 void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
-                                                    dur_millis_t minimumPeriodicInterval,
-                                                    uint8_t nonDiagIntervalFactor) {
-  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
+                                                    dur_millis_t minimumPeriodicInterval) {
+  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval);
 }
 
 void LocalPoolDataSetBase::setChanged(bool changed) { this->changed = changed; }

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

@@ -191,8 +191,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    */
   bool reportingEnabled = false;
 
-  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
-                                uint8_t nonDiagIntervalFactor = 5);
+  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval);
 
   /**
    * If the valid state of a dataset is always relevant to the whole

src/fsfw/datapoollocal/internal/LocalPoolDataSetAttorney.h

@@ -12,10 +12,8 @@ class LocalPoolDataSetAttorney {
   static bool isDiagnostics(LocalPoolDataSetBase& set) { return set.isDiagnostics(); }
 
   static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
-                                       uint32_t minimumPeriodicIntervalMs,
-                                       uint8_t nonDiagIntervalFactor = 5) {
-    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
-                                 nonDiagIntervalFactor);
+                                       uint32_t minimumPeriodicIntervalMs) {
+    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs);
   }
 
   static void setReportingEnabled(LocalPoolDataSetBase& set, bool enabled) {

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -49,6 +49,7 @@ class DeviceCommunicationIF {
   // is this needed if there is no open/close call?
   static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
+  static constexpr ReturnValue_t BUSY = MAKE_RETURN_CODE(0x07);
 
   virtual ~DeviceCommunicationIF() {}
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -567,7 +567,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
     continueToNormal = false;
     // TODO: Check whether the following two lines are okay to do so.
     transitionSourceMode = MODE_ON;
-    transitionSourceSubMode = submode;
+    transitionSourceSubMode = newSubmode;
     mode = _MODE_TO_NORMAL;
     return;
   }

src/fsfw/events/fwSubsystemIdRanges.h

@@ -10,7 +10,7 @@ enum : uint8_t {
   CDH = 28,
   TCS_1 = 59,
   PCDU_1 = 42,
-  PCDU_2 = 43,
+  POWER_SWITCH_IF = 43,
   HEATER = 50,
   T_SENSORS = 52,
   FDIR = 70,

src/fsfw/housekeeping/PeriodicHousekeepingHelper.cpp

@@ -8,10 +8,8 @@ PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* own
     : owner(owner) {}
 
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
-                                            dur_millis_t minimumPeriodicInterval,
-                                            uint8_t nonDiagIntervalFactor) {
+                                            dur_millis_t minimumPeriodicInterval) {
   this->minimumPeriodicInterval = minimumPeriodicInterval;
-  this->nonDiagIntervalFactor = nonDiagIntervalFactor;
   collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
   /* This will cause a checkOpNecessary call to be true immediately. I think it's okay
       if a HK packet is generated immediately instead of waiting one generation cycle. */
@@ -36,42 +34,17 @@ uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
   if (owner == nullptr) {
     return 0;
   }
-  bool isDiagnostics = owner->isDiagnostics();
 
   /* Avoid division by zero */
   if (minimumPeriodicInterval == 0) {
-    if (isDiagnostics) {
-      /* Perform operation each cycle */
-      return 1;
-    } else {
-      return nonDiagIntervalFactor;
-    }
+    /* Perform operation each cycle */
+    return 1;
+
   } else {
     dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
     uint32_t divisor = minimumPeriodicInterval;
-    if (not isDiagnostics) {
-      /* We need to multiply the divisor because non-diagnostics only
-      allow a multiple of the minimum periodic interval */
-      divisor *= nonDiagIntervalFactor;
-    }
     uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
-    if (not isDiagnostics) {
-      /* Now we need to multiply the calculated ticks with the factor as as well
-      because the minimum tick count to generate a non-diagnostic is the factor itself.
 
-      Example calculation for non-diagnostic with
-      0.4 second interval and 0.2 second task interval.
-      Resultant tick count of 5 is equal to operation each second.
-
-      Examle calculation for non-diagnostic with  2.0 second interval and 0.2 second
-      task interval.
-      Resultant tick count of 10 is equal to operatin every 2 seconds.
-
-      Example calculation for diagnostic with 0.4 second interval and 0.3
-      second task interval. Resulting tick count of 2 is equal to operation
-      every 0.6 seconds. */
-      ticks *= nonDiagIntervalFactor;
-    }
     return ticks;
   }
 }

src/fsfw/housekeeping/PeriodicHousekeepingHelper.h

@@ -11,8 +11,7 @@ class PeriodicHousekeepingHelper {
  public:
   PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
 
-  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval,
-                  uint8_t nonDiagIntervalFactor);
+  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval);
 
   void changeCollectionInterval(float newInterval);
   float getCollectionIntervalInSeconds() const;
@@ -20,7 +19,6 @@ class PeriodicHousekeepingHelper {
 
  private:
   LocalPoolDataSetBase* owner = nullptr;
-  uint8_t nonDiagIntervalFactor = 0;
 
   uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
   float intervalTicksToSeconds(uint32_t collectionInterval) const;

src/fsfw/osal/host/TaskFactory.cpp

@@ -20,16 +20,18 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(
-    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
+                                                TaskStackSize stackSize_,
+                                                TaskPeriod periodInSeconds_,
+                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                                void* args) {
   return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                           deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -7,10 +7,15 @@
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
+                                     PosixThreadArgs* args)
     : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
-      posixThread(name_, priority_, stackSize_),
-      started(false) {}
+      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
+      started(false) {
+  if (args != nullptr) {
+    posixThread.setSchedPolicy(args->policy);
+  }
+}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -23,7 +23,8 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
    * @param deadlineMissedFunc_
    */
   FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
+                    PosixThreadArgs* args);
   ~FixedTimeslotTask() override = default;
 
   ReturnValue_t startTask() override;

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -4,10 +4,15 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_,
+                                     PosixThreadArgs* args)
     : PeriodicTaskBase(period_, dlmFunc_),
-      posixThread(name_, priority_, stackSize_),
-      started(false) {}
+      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
+      started(false) {
+  if (args != nullptr) {
+    posixThread.setSchedPolicy(args->policy);
+  }
+}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -24,7 +24,7 @@ class PeriodicPosixTask : public PeriodicTaskBase {
    * @param deadlineMissedFunc_
    */
   PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
-                    TaskDeadlineMissedFunction dlmFunc_);
+                    TaskDeadlineMissedFunction dlmFunc_, PosixThreadArgs* args);
   ~PeriodicPosixTask() override = default;
 
   /**

src/fsfw/osal/linux/PosixThread.cpp

@@ -7,8 +7,9 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_)
-    : thread(0), priority(priority_), stackSize(stackSize_) {
+PosixThread::PosixThread(const char* name_, SchedulingPolicy schedPolciy, int priority_,
+                         size_t stackSize_)
+    : thread(0), schedPolicy(schedPolciy), priority(priority_), stackSize(stackSize_) {
   name[0] = '\0';
   std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
@@ -178,20 +179,30 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 #ifndef FSFW_USE_REALTIME_FOR_LINUX
 #error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
 #endif
+  if (schedPolicy == SchedulingPolicy::RR) {
+    // RR -> This needs root privileges for the process
 #if FSFW_USE_REALTIME_FOR_LINUX == 1
-  // FIFO -> This needs root privileges for the process
-  status = pthread_attr_setschedpolicy(&attributes, SCHED_FIFO);
-  if (status != 0) {
-    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
+    status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
+    if (status != 0) {
+      utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
+    }
+    sched_param scheduleParams;
+    scheduleParams.sched_priority = priority;
+    status = pthread_attr_setschedparam(&attributes, &scheduleParams);
+    if (status != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "PosixThread: Setting priority failed" << std::endl;
+#endif
+    }
+#else
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning
+        << "Real time priorities are only allowed if FSFW_USE_REALTIME_FOR_LINUX is set to 1"
+        << std::endl;
+#endif
+#endif
   }
 
-  sched_param scheduleParams;
-  scheduleParams.__sched_priority = priority;
-  status = pthread_attr_setschedparam(&attributes, &scheduleParams);
-  if (status != 0) {
-    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
-  }
-#endif
   // Set Signal Mask for suspend until startTask is called
   sigset_t waitSignal;
   sigemptyset(&waitSignal);
@@ -243,3 +254,5 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
     utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
   }
 }
+
+void PosixThread::setSchedPolicy(SchedulingPolicy policy) { this->schedPolicy = policy; }

src/fsfw/osal/linux/PosixThread.h

@@ -9,10 +9,15 @@
 
 #include "../../returnvalues/returnvalue.h"
 
+enum SchedulingPolicy { REGULAR, RR };
+struct PosixThreadArgs {
+  SchedulingPolicy policy = SchedulingPolicy::REGULAR;
+};
+
 class PosixThread {
  public:
   static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
-  PosixThread(const char* name_, int priority_, size_t stackSize_);
+  PosixThread(const char* name_, SchedulingPolicy schedPolicy, int priority_, size_t stackSize_);
   virtual ~PosixThread();
   /**
    * Set the Thread to sleep state
@@ -20,6 +25,9 @@ class PosixThread {
    * @return Returns Failed if sleep fails
    */
   static ReturnValue_t sleep(uint64_t ns);
+
+  void setSchedPolicy(SchedulingPolicy policy);
+
   /**
    * @brief Function to suspend the task until SIGUSR1 was received
    *
@@ -72,6 +80,7 @@ class PosixThread {
 
  private:
   char name[PTHREAD_MAX_NAMELEN];
+  SchedulingPolicy schedPolicy;
   int priority;
   size_t stackSize = 0;
 

src/fsfw/osal/linux/TaskFactory.cpp

@@ -12,18 +12,20 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(
-    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
+                                                TaskStackSize stackSize_,
+                                                TaskPeriod periodInSeconds_,
+                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                                void* args) {
   return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_);
+                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_);
+                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/osal/rtems/SemaphoreFactory.cpp

@@ -1,5 +1,5 @@
 #include "fsfw/osal/rtems/BinarySemaphore.h"
-//#include "fsfw/osal/rtems/CountingSemaphore.h"
+// #include "fsfw/osal/rtems/CountingSemaphore.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/SemaphoreFactory.h"

src/fsfw/power/Fuse.h

@@ -32,7 +32,7 @@ class Fuse : public SystemObject,
     gp_id_t poolIdPower;
   };
 
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
   //! PSS detected that current on a fuse is totally out of bounds.
   static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
   //! PSS detected a fuse that went off.

src/fsfw/power/PowerSwitchIF.h

@@ -28,7 +28,9 @@ class PowerSwitchIF {
   static const ReturnValue_t SWITCH_TIMEOUT = MAKE_RETURN_CODE(2);
   static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
   static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
+  static const ReturnValue_t SWITCH_UNKNOWN = MAKE_RETURN_CODE(5);
+
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
   //!< Someone detected that a switch went off which shouldn't. Severity:
   //!< Low, Parameter1: switchId1, Parameter2: switchId2
   static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
@@ -50,6 +52,7 @@ class PowerSwitchIF {
    * @return
    *     - @c SWITCH_ON if the specified switch is on.
    *     - @c SWITCH_OFF if the specified switch is off.
+   *     - @c SWITCH_UNKNOWN if the state of the specified switch is unknown.
    *     - @c returnvalue::FAILED if an error occured
    */
   virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -2,6 +2,7 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/subsystem/helper.h>
 
 PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
                                                power::Switch_t pwrSwitch)
@@ -28,6 +29,9 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
       continue;
     }
   }
+  if (getHealth() == FAULTY) {
+    performFaultyOperation();
+  }
   if (switcher.active()) {
     switcher.doStateMachine();
     auto currState = switcher.getState();
@@ -111,9 +115,11 @@ const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this;
 const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
 
 ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return parent.registerChild(*this);
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
 }
 
 object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
 
 ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }
+
+void PowerSwitcherComponent::performFaultyOperation() {}

src/fsfw/power/PowerSwitcherComponent.h

@@ -1,5 +1,4 @@
-#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
-#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
+#pragma once
 
 #include <fsfw/health/HasHealthIF.h>
 #include <fsfw/health/HealthHelper.h>
@@ -37,9 +36,11 @@ class PowerSwitcherComponent : public SystemObject,
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
   ModeTreeChildIF &getModeTreeChildIF() override;
 
+ protected:
+  PowerSwitcher switcher;
+
  private:
   MessageQueueIF *queue = nullptr;
-  PowerSwitcher switcher;
 
   Mode_t mode = MODE_OFF;
   Submode_t submode = 0;
@@ -49,24 +50,23 @@ class PowerSwitcherComponent : public SystemObject,
 
   void setMode(Mode_t newMode, Submode_t newSubmode);
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
   ReturnValue_t initialize() override;
 
-  MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
   void getMode(Mode_t *mode, Submode_t *submode) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
+  virtual void performFaultyOperation();
   void setToExternalControl() override;
   void announceMode(bool recursive) override;
 
   ReturnValue_t setHealth(HealthState health) override;
   HasHealthIF::HealthState getHealth() override;
 
-  object_id_t getObjectId() const override;
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
+  [[nodiscard]] object_id_t getObjectId() const override;
+  [[nodiscard]] const HasHealthIF *getOptHealthIF() const override;
+  [[nodiscard]] const HasModesIF &getModeIF() const override;
 };
-
-#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/pus/CServiceHealthCommanding.cpp

@@ -10,9 +10,23 @@
 CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
     : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
                             args.numParallelCommands, args.commandTimeoutSeconds),
-      healthTable(args.table),
+      healthTableId(args.table),
       maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
 
+ReturnValue_t CServiceHealthCommanding::initialize() {
+  ReturnValue_t result = CommandingServiceBase::initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
+  if (healthTable == nullptr) {
+    return returnvalue::FAILED;
+  }
+
+  return returnvalue::OK;
+}
+
 ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_SET_HEALTH):
@@ -91,14 +105,6 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message,
         return EXECUTION_COMPLETE;
       }
       return result;
-      while (true) {
-        ReturnValue_t result = iterateHealthTable(false);
-        if (result != returnvalue::OK) {
-          break;
-        }
-      }
-
-      return returnvalue::OK;
     }
     default: {
       // Should never happen, subservice was already checked
@@ -145,7 +151,7 @@ void CServiceHealthCommanding::doPeriodicOperation() {
 ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
   std::pair<object_id_t, HasHealthIF::HealthState> pair;
 
-  ReturnValue_t result = healthTable.iterate(&pair, reset);
+  ReturnValue_t result = healthTable->iterate(&pair, reset);
   if (result != returnvalue::OK) {
     return result;
   } else {

src/fsfw/pus/CServiceHealthCommanding.h

@@ -6,7 +6,7 @@
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 
 struct HealthServiceCfg {
-  HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
+  HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable,
                    uint16_t maxNumHealthInfoPerCycle)
       : objectId(objectId),
         apid(apid),
@@ -14,7 +14,7 @@ struct HealthServiceCfg {
         maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
   object_id_t objectId;
   uint16_t apid;
-  HealthTable &table;
+  object_id_t table;
   uint16_t maxNumHealthInfoPerCycle;
   uint8_t service = 201;
   uint8_t numParallelCommands = 4;
@@ -40,6 +40,8 @@ class CServiceHealthCommanding : public CommandingServiceBase {
   CServiceHealthCommanding(HealthServiceCfg args);
   ~CServiceHealthCommanding() override = default;
 
+  ReturnValue_t initialize() override;
+
  protected:
   /* CSB abstract function implementations */
   ReturnValue_t isValidSubservice(uint8_t subservice) override;
@@ -57,7 +59,8 @@ class CServiceHealthCommanding : public CommandingServiceBase {
   void doPeriodicOperation() override;
 
  private:
-  HealthTable &healthTable;
+  const object_id_t healthTableId;
+  HealthTable *healthTable;
   uint16_t maxNumHealthInfoPerCycle = 0;
   bool reportAllHealth = false;
   ReturnValue_t iterateHealthTable(bool reset);

src/fsfw/rmap/rmapStructs.h

@@ -10,11 +10,11 @@
 
 //////////////////////////////////////////////////////////////////////////////////
 // RMAP command bits
-//#define RMAP_COMMAND_BIT_INCREMENT	2
-//#define RMAP_COMMAND_BIT_REPLY		3
-//#define RMAP_COMMAND_BIT_WRITE		5
-//#define RMAP_COMMAND_BIT_VERIFY		4
-//#define RMAP_COMMAND_BIT			6
+// #define RMAP_COMMAND_BIT_INCREMENT	2
+// #define RMAP_COMMAND_BIT_REPLY		3
+// #define RMAP_COMMAND_BIT_WRITE		5
+// #define RMAP_COMMAND_BIT_VERIFY		4
+// #define RMAP_COMMAND_BIT			6
 
 namespace RMAPIds {
 
@@ -32,14 +32,14 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C
 static const uint8_t RMAP_REPLY_WRITE =
     ((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY));
 static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY));
-//#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
+// #define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
 //| (1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY	((1<<RMAP_COMMAND_BIT) |
 //(1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define
-// RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
+//  RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
 
-//#define RMAP_REPLY_WRITE			((1<<RMAP_COMMAND_BIT_WRITE) |
+// #define RMAP_REPLY_WRITE			((1<<RMAP_COMMAND_BIT_WRITE) |
 //(1<<RMAP_COMMAND_BIT_REPLY))
-//#define RMAP_REPLY_WRITE_VERIFY		((1<<RMAP_COMMAND_BIT_WRITE) |
+// #define RMAP_REPLY_WRITE_VERIFY		((1<<RMAP_COMMAND_BIT_WRITE) |
 //(1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define RMAP_REPLY_READ
 //((1<<RMAP_COMMAND_BIT_REPLY))
 
@@ -49,9 +49,9 @@ static const uint8_t RMAP_COMMAND_HEADER_LEN = 16;
 static const uint8_t RMAP_WRITE_REPLY_HEADER_LEN = 8;
 static const uint8_t RMAP_READ_REPLY_HEADER_LEN = 12;
 static const uint8_t RMAP_DATA_FOOTER_SIZE = 1;  // SIZE OF CRC
-//#define RMAP_COMMAND_HEADER_LEN		16
-//#define RMAP_WRITE_REPLY_HEADER_LEN	8
-//#define RMAP_READ_REPLY_HEADER_LEN	12
+// #define RMAP_COMMAND_HEADER_LEN		16
+// #define RMAP_WRITE_REPLY_HEADER_LEN	8
+// #define RMAP_READ_REPLY_HEADER_LEN	12
 
 }  // namespace RMAPIds
 

src/fsfw/storagemanager/PoolManager.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/FSFW.h"
 
 PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPoolConfig)
-    : LocalPool(setObjectId, localPoolConfig, true) {
+    : LocalPool(setObjectId, localPoolConfig, true, true) {
   mutex = MutexFactory::instance()->createMutex();
 }
 

src/fsfw/tasks/TaskFactory.h

@@ -47,7 +47,8 @@ class TaskFactory {
    */
   PeriodicTaskIF* createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
                                      TaskStackSize stackSize_, TaskPeriod periodInSeconds_,
-                                     TaskDeadlineMissedFunction deadLineMissedFunction_);
+                                     TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                     void* args = nullptr);
 
   /**
    * The meaning for the variables for fixed timeslot tasks is the same as for periodic tasks.
@@ -62,7 +63,8 @@ class TaskFactory {
   FixedTimeslotTaskIF* createFixedTimeslotTask(TaskName name_, TaskPriority taskPriority_,
                                                TaskStackSize stackSize_,
                                                TaskPeriod periodInSeconds_,
-                                               TaskDeadlineMissedFunction deadLineMissedFunction_);
+                                               TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                               void* args = nullptr);
 
   /**
    * Function to be called to delete a task

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -112,8 +112,9 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
     if (i2cCookie->errorCounter < 3) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                    "device from " << deviceFile << " with error code "
-                 << errno << ". Error description: " << strerror(errno) << std::endl;
+                    "device from "
+                 << deviceFile << " with error code " << errno
+                 << ". Error description: " << strerror(errno) << std::endl;
 #endif
     }
     return returnvalue::FAILED;

src/fsfw_hal/linux/serial/SerialComIF.cpp

@@ -88,11 +88,11 @@ int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
     return fd;
   }
 
-  uart::setParity(options, uartCookie->getParity());
+  serial::setParity(options, uartCookie->getParity());
   setStopBitOptions(&options, uartCookie);
   setDatasizeOptions(&options, uartCookie);
   setFixedOptions(&options);
-  uart::setMode(options, uartCookie->getUartMode());
+  serial::setMode(options, uartCookie->getUartMode());
   if (uartCookie->getInputShouldBeFlushed()) {
     tcflush(fd, TCIFLUSH);
   }
@@ -101,7 +101,7 @@ int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
   options.c_cc[VTIME] = 0;
   options.c_cc[VMIN] = 0;
 
-  uart::setBaudrate(options, uartCookie->getBaudrate());
+  serial::setBaudrate(options, uartCookie->getBaudrate());
 
   /* Save option settings */
   if (tcsetattr(fd, TCSANOW, &options) != 0) {

src/fsfw_hal/linux/serial/helper.cpp

@@ -3,7 +3,7 @@
 
 #include "fsfw/serviceinterface.h"
 
-void uart::setMode(struct termios& options, UartModes mode) {
+void serial::setMode(struct termios& options, UartModes mode) {
   if (mode == UartModes::NON_CANONICAL) {
     /* Disable canonical mode */
     options.c_lflag &= ~ICANON;
@@ -12,7 +12,7 @@ void uart::setMode(struct termios& options, UartModes mode) {
   }
 }
 
-void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
+void serial::setBaudrate(struct termios& options, UartBaudRate baud) {
   switch (baud) {
     case UartBaudRate::RATE_50:
       cfsetspeed(&options, B50);
@@ -114,7 +114,7 @@ void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
   }
 }
 
-void uart::setBitsPerWord(struct termios& options, BitsPerWord bits) {
+void serial::setBitsPerWord(struct termios& options, BitsPerWord bits) {
   options.c_cflag &= ~CSIZE;  // Clear all the size bits
   if (bits == BitsPerWord::BITS_5) {
     options.c_cflag |= CS5;
@@ -127,11 +127,11 @@ void uart::setBitsPerWord(struct termios& options, BitsPerWord bits) {
   }
 }
 
-void uart::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
+void serial::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
 
-void uart::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
+void serial::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
 
-void uart::setParity(struct termios& options, Parity parity) {
+void serial::setParity(struct termios& options, Parity parity) {
   /* Clear parity bit */
   options.c_cflag &= ~PARENB;
   switch (parity) {
@@ -148,11 +148,11 @@ void uart::setParity(struct termios& options, Parity parity) {
   }
 }
 
-int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
+int serial::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
   return ioctl(serialPort, TIOCGICOUNT, &icounter);
 }
 
-void uart::setStopbits(struct termios& options, StopBits bits) {
+void serial::setStopbits(struct termios& options, StopBits bits) {
   if (bits == StopBits::TWO_STOP_BITS) {
     // Use two stop bits
     options.c_cflag |= CSTOPB;
@@ -161,3 +161,7 @@ void uart::setStopbits(struct termios& options, StopBits bits) {
     options.c_cflag &= ~CSTOPB;
   }
 }
+
+void serial::flushRxBuf(int fd) { tcflush(fd, TCIFLUSH); }
+
+void serial::flushTxRxBuf(int fd) { tcflush(fd, TCIOFLUSH); }

src/fsfw_hal/linux/serial/helper.h

@@ -45,7 +45,7 @@ enum class UartBaudRate {
   RATE_4000000
 };
 
-namespace uart {
+namespace serial {
 
 void setMode(struct termios& options, UartModes mode);
 /**
@@ -64,8 +64,11 @@ void setParity(struct termios& options, Parity parity);
 
 void ignoreCtrlLines(struct termios& options);
 
+void flushRxBuf(int fd);
+void flushTxRxBuf(int fd);
+
 int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
 
-}  // namespace uart
+}  // namespace serial
 
 #endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */