important fix for getter function

Reviewed-on: #23

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,6 +4,7 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,210 @@
+#include "CommandExecutor.h"
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+CommandExecutor::CommandExecutor(const size_t maxSize):
+readVec(maxSize) {
+    waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+    if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+
+    currentCmd = command;
+    this->blocking = blocking;
+    this->printOutput = printOutput;
+    if(state == States::IDLE) {
+        state = States::COMMAND_LOADED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+    if(state == States::IDLE) {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    else if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+    currentCmdFile = popen(currentCmd.c_str(), "r");
+    if(currentCmdFile == nullptr) {
+        lastError = errno;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(blocking) {
+        return executeBlocking();
+    }
+    else {
+        currentFd = fileno(currentCmdFile);
+        waiter.fd = currentFd;
+    }
+    state = States::PENDING;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+    if(state == States::PENDING) {
+        // Attempt to close process, irrespective of if it is running or not
+        if(currentCmdFile != nullptr) {
+            pclose(currentCmdFile);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+    if(lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << funcName << " pclose failed with code " << lastError << ": " <<
+                strerror(lastError) << std::endl;
+#else
+        sif::printError("%s pclose failed with code %d: %s\n",
+                funcName, lastError, strerror(lastError));
+#endif
+    }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
+        DynamicFIFO<uint16_t>* sizesFifo) {
+    this->ringBuffer = ringBuffer;
+    this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& bytesRead) {
+    if(blocking) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    switch(state) {
+    case(States::IDLE):
+    case(States::COMMAND_LOADED): {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case(States::PENDING): {
+        break;
+    }
+    }
+
+    int result = poll(&waiter, 1, 0);
+    switch(result) {
+    case(0): {
+        return HasReturnvaluesIF::RETURN_OK;
+        break;
+    }
+    case(1): {
+        if (waiter.revents & POLLIN) {
+            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+            if(readBytes == 0) {
+                // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: No bytes read "
+                        "after poll event.." << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+                break;
+            }
+            else if(readBytes > 0) {
+                bytesRead = true;
+                if(printOutput) {
+                    // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                    sif::info << currentCmd << " | " << readVec.data();
+#else
+                    sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+                }
+                if(ringBuffer != nullptr) {
+                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
+                            readVec.data()), readBytes);
+                }
+                if(sizesFifo != nullptr) {
+                    if(not sizesFifo->full()) {
+                        sizesFifo->insert(readBytes);
+                    }
+                }
+                return BYTES_READ;
+            }
+            else {
+                // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
+                        strerror(errno) << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+            }
+        }
+        else if(waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+            sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+            return COMMAND_ERROR;
+        }
+        else if(waiter.revents & POLLHUP) {
+            int result = pclose(currentCmdFile);
+            if(result != 0) {
+                lastError = result;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            state = States::IDLE;
+            currentCmdFile = nullptr;
+            currentFd = 0;
+            return EXECUTION_FINISHED;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+    CommandExecutor::close();
+    currentCmdFile = nullptr;
+    currentFd = 0;
+    state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+    return this->lastError;
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const {
+    return state;
+}
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+        std::string output(readVec.data());
+        if(printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << output;
+#else
+            sif::printInfo("%s | %s", currentCmd, output);
+#endif
+        }
+        if(ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+        }
+        if(sizesFifo != nullptr) {
+            if(not sizesFifo->full()) {
+                sizesFifo->insert(output.size());
+            }
+        }
+    }
+    int result = pclose(currentCmdFile);
+    if(result != 0) {
+        lastError = result;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,134 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+class SimpleRingBuffer;
+template <typename T> class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+public:
+    enum class States {
+        IDLE,
+        COMMAND_LOADED,
+        PENDING
+    };
+
+    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+    //! [EXPORT] : [COMMENT] Execution of the current command has finished
+    static constexpr ReturnValue_t EXECUTION_FINISHED =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+    //! to load another command but a command is still pending
+    static constexpr ReturnValue_t COMMAND_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+    static constexpr ReturnValue_t BYTES_READ =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static constexpr ReturnValue_t COMMAND_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+    //! [EXPORT] : [COMMENT]
+    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+    /**
+     * Constructor. Is initialized with maximum size of internal buffer to read data from the
+     * executed process.
+     * @param maxSize
+     */
+    CommandExecutor(const size_t maxSize);
+
+    /**
+     * Load a new command which should be executed
+     * @param command
+     * @param blocking
+     * @param printOutput
+     * @return
+     */
+    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+    /**
+     * Execute the loaded command.
+     * @return
+     *  - In blocking mode, it will return RETURN_FAILED if
+     *    the result of the system call was not 0. The error value can be accessed using
+     *    getLastError
+     *  - In non-blocking mode, this call will start
+     *    the execution and then return RETURN_OK
+     */
+    ReturnValue_t execute();
+    /**
+     * Only used in non-blocking mode. Checks the currently running command.
+     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+     * @return
+     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+     *    check again after this
+     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+     *  - EXECUTION_FINISHED if the process was executed successfully
+     *  - COMMAND_ERROR internal poll error
+     */
+    ReturnValue_t check(bool& bytesRead);
+    /**
+     * Abort the current command. Should normally not be necessary, check can be used to find
+     * out whether command execution was successful
+     * @return RETURN_OK
+     */
+    ReturnValue_t close();
+
+    States getCurrentState() const;
+    int getLastError() const;
+    void printLastError(std::string funcName) const;
+
+    /**
+     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+     * read from the started process
+     * @param ringBuffer
+     * @param sizesFifo
+     */
+    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+    /**
+     * Reset the executor. This calls close internally and then reset the state machine so new
+     * commands can be loaded and executed
+     */
+    void reset();
+private:
+    std::string currentCmd;
+    bool blocking = true;
+    FILE* currentCmdFile = nullptr;
+    int currentFd = 0;
+    bool printOutput = true;
+    std::vector<char> readVec;
+    struct pollfd waiter {};
+    SimpleRingBuffer* ringBuffer = nullptr;
+    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+    States state = States::IDLE;
+    int lastError = 0;
+
+    ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

src/fsfw/FSFW.h.in

@@ -18,6 +18,10 @@
 
 // FSFW core defines
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
 #ifndef FSFW_CPP_OSTREAM_ENABLED
 #define FSFW_CPP_OSTREAM_ENABLED            1
 #endif /* FSFW_CPP_OSTREAM_ENABLED */

src/fsfw/container/SimpleRingBuffer.h

@@ -5,8 +5,7 @@
 #include <cstddef>
 
 /**
- * @brief     Circular buffer implementation, useful for buffering
- *          into data streams.
+ * @brief     Circular buffer implementation, useful for buffering into data streams.
  * @details
  * Note that the deleteData() has to be called to increment the read pointer.
  * This class allocated dynamically, so
@@ -20,8 +19,8 @@ public:
      * @param size
      * @param overwriteOld If the ring buffer is overflowing at a write
      * operation, the oldest data will be overwritten.
-     * @param maxExcessBytes These additional bytes will be allocated in addtion
-     * to the specified size to accomodate contiguous write operations
+     * @param maxExcessBytes These additional bytes will be allocated in addition
+     * to the specified size to accommodate continuous write operations
      * with getFreeElement.
      *
      */
@@ -32,10 +31,10 @@ public:
      * @param buffer
      * @param size
      * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * If the ring buffer is overflowing at a write operation, the oldest data
      * will be overwritten.
      * @param maxExcessBytes
-     * If the buffer can accomodate additional bytes for contigous write
+     * If the buffer can accommodate additional bytes for contiguous write
      * operations with getFreeElement, this is the maximum allowed additional
      * size
      */
@@ -48,7 +47,7 @@ public:
      * Write to circular buffer and increment write pointer by amount.
      * @param data
      * @param amount
-     * @return -@c RETURN_OK if write operation was successfull
+     * @return -@c RETURN_OK if write operation was successful
      * -@c RETURN_FAILED if
      */
     ReturnValue_t writeData(const uint8_t* data, size_t amount);
@@ -108,7 +107,7 @@ public:
      * Delete data by incrementing read pointer.
      * @param amount
      * @param deleteRemaining
-     * If the amount specified is larger than the remaing size to read and this
+     * If the amount specified is larger than the remaining size to read and this
      * is set to true, the remaining amount will be deleted as well
      * @param trueAmount [out]
      * If deleteRemaining was set to true, the amount deleted will be assigned

src/fsfw/devicehandlers/AssemblyBase.h

@@ -7,7 +7,7 @@
 
 /**
  * @brief   Base class to implement reconfiguration and failure handling for
- *          redundant devices by monitoring their modes health states.
+ *          redundant devices by monitoring their modes and health states.
  * @details
  * Documentation: Dissertation Baetz p.156, 157.
  *

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,9 +85,10 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return - @c RETURN_OK if data was sent successfull
-	 * 		   - Everything else triggers falure event with
-	 * 		     returnvalue as parameter 1
+	 * @return
+	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
+	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -334,8 +334,7 @@ protected:
      *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
      *       have been set.
      *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-     *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
-     *       to finish the command handling.
+     *       be used if no reply is expected
      *  - Anything else triggers an event with the return code as a parameter as well as a
      *    step reply failed with the return code
      */

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,7 +120,8 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/globalfunctions/PeriodicOperationDivider.cpp

@@ -2,43 +2,42 @@
 
 
 PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
-		bool resetAutomatically): resetAutomatically(resetAutomatically),
-		counter(divider), divider(divider) {
+        bool resetAutomatically): resetAutomatically(resetAutomatically),
+        counter(divider), divider(divider) {
 }
 
 bool PeriodicOperationDivider::checkAndIncrement() {
-	bool opNecessary = check();
-	if(opNecessary) {
-		if(resetAutomatically) {
-			counter = 0;
-		}
-		return opNecessary;
-	}
-	counter ++;
-	return opNecessary;
+    counter++;
+    bool opNecessary = check();
+    if(opNecessary) {
+        if(resetAutomatically) {
+            resetCounter();
+        }
+    }
+    return opNecessary;
 }
 
 bool PeriodicOperationDivider::check() {
-	if(counter >= divider) {
-		return true;
-	}
-	return false;
+    if(counter >= divider) {
+        return true;
+    }
+    return false;
 }
 
 
 
 void PeriodicOperationDivider::resetCounter() {
-	counter = 0;
+    counter = 0;
 }
 
 void PeriodicOperationDivider::setDivider(uint32_t newDivider) {
-	divider = newDivider;
+    divider = newDivider;
 }
 
 uint32_t PeriodicOperationDivider::getCounter() const {
-	return counter;
+    return counter;
 }
 
 uint32_t PeriodicOperationDivider::getDivider() const {
-	return divider;
+    return divider;
 }

src/fsfw/globalfunctions/PeriodicOperationDivider.h

@@ -13,51 +13,51 @@
  */
 class PeriodicOperationDivider {
 public:
-	/**
-	 * Initialize with the desired divider and specify whether the internal
-	 * counter will be reset automatically.
-	 * @param divider
-	 * @param resetAutomatically
-	 */
-	PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
+    /**
+     * Initialize with the desired divider and specify whether the internal
+     * counter will be reset automatically.
+     * @param divider
+     * @param resetAutomatically
+     */
+    PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
 
 
-	/**
-	 * Check whether operation is necessary.
-	 * If an operation is necessary and the class has been
-	 * configured to be reset automatically, the counter will be reset.
-	 *
-	 * @return
-	 * -@c true if the counter is larger or equal to the divider
-	 * -@c false otherwise
-	 */
-	bool checkAndIncrement();
+    /**
+     * Check whether operation is necessary.
+     * If an operation is necessary and the class has been
+     * configured to be reset automatically, the counter will be reset.
+     *
+     * @return
+     * -@c true if the counter is larger or equal to the divider
+     * -@c false otherwise
+     */
+    bool checkAndIncrement();
 
-	/**
-	 * Checks whether an operation is necessary.
-	 * This function will not increment the counter!
-	 * @return
-	 * -@c true if the counter is larger or equal to the divider
-	 * -@c false otherwise
-	 */
-	bool check();
+    /**
+     * Checks whether an operation is necessary.
+     * This function will not increment the counter!
+     * @return
+     * -@c true if the counter is larger or equal to the divider
+     * -@c false otherwise
+     */
+    bool check();
 
-	/**
-	 * Can be used to reset the counter to 0 manually.
-	 */
-	void resetCounter();
-	uint32_t getCounter() const;
+    /**
+     * Can be used to reset the counter to 0 manually.
+     */
+    void resetCounter();
+    uint32_t getCounter() const;
 
-	/**
-	 * Can be used to set a new divider value.
-	 * @param newDivider
-	 */
-	void setDivider(uint32_t newDivider);
-	uint32_t getDivider() const;
+    /**
+     * Can be used to set a new divider value.
+     * @param newDivider
+     */
+    void setDivider(uint32_t newDivider);
+    uint32_t getDivider() const;
 private:
-	bool resetAutomatically = true;
-	uint32_t counter = 0;
-	uint32_t divider = 0;
+    bool resetAutomatically = true;
+    uint32_t counter = 0;
+    uint32_t divider = 0;
 };
 
 

src/fsfw/memory/HasFileSystemIF.h

@@ -81,7 +81,7 @@ public:
 	 * @param args Any other arguments which an implementation might require
 	 * @return
 	 */
-	virtual ReturnValue_t deleteFile(const char* repositoryPath,
+	virtual ReturnValue_t removeFile(const char* repositoryPath,
 	        const char* filename, void* args = nullptr) = 0;
 
 	/**

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,30 +1,29 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		Clock.cpp
-		BinarySemaphore.cpp
-		CountingSemaphore.cpp
-		FixedTimeslotTask.cpp
-		InternalErrorCodes.cpp
-		MessageQueue.cpp
-		Mutex.cpp
-		MutexFactory.cpp
-		PeriodicPosixTask.cpp
-		PosixThread.cpp
-		QueueFactory.cpp
-		SemaphoreFactory.cpp
-		TaskFactory.cpp
-		tcpipHelpers.cpp
-		unixUtility.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    Clock.cpp
+    BinarySemaphore.cpp
+    CountingSemaphore.cpp
+    FixedTimeslotTask.cpp
+    InternalErrorCodes.cpp
+    MessageQueue.cpp
+    Mutex.cpp
+    MutexFactory.cpp
+    PeriodicPosixTask.cpp
+    PosixThread.cpp
+    QueueFactory.cpp
+    SemaphoreFactory.cpp
+    TaskFactory.cpp
+    tcpipHelpers.cpp
+    unixUtility.cpp
 )
 
 find_package(Threads REQUIRED)
 
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-	${CMAKE_THREAD_LIBS_INIT}
-	rt
+    ${CMAKE_THREAD_LIBS_INIT}
+    rt
 )
 
 target_link_libraries(${LIB_FSFW_NAME} INTERFACE
-	${CMAKE_THREAD_LIBS_INIT}
+    ${CMAKE_THREAD_LIBS_INIT}
 )
 

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to: " << sendTo << " sent from "
-                    << sentFrom << "failed" << std::endl;
+            sif::warning << "mq_send to " << sendTo << " sent from "
+                    << sentFrom << " failed" << std::endl;
 #else
-            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/subsystem/SubsystemBase.h

@@ -62,7 +62,8 @@ protected:
 	struct ChildInfo {
 		MessageQueueId_t commandQueue;
 		Mode_t mode;
-		Submode_t submode;bool healthChanged;
+		Submode_t submode;
+		bool healthChanged;
 	};
 
 	Mode_t mode;

src/fsfw/tmtcpacket/SpacePacket.h

@@ -73,16 +73,16 @@ namespace spacepacket {
 
 constexpr uint16_t getSpacePacketIdFromApid(bool isTc, uint16_t apid,
         bool secondaryHeaderFlag = true) {
-    return (((isTc << 5) & 0x10) | ((secondaryHeaderFlag << 4) & 0x08) |
+    return ((isTc << 4) | (secondaryHeaderFlag << 3) |
             ((apid >> 8) & 0x07)) << 8 | (apid & 0x00ff);
 }
 
-constexpr uint16_t getTcSpacketIdFromApid(uint16_t apid,
+constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid,
         bool secondaryHeaderFlag = true) {
     return getSpacePacketIdFromApid(true, apid, secondaryHeaderFlag);
 }
 
-constexpr uint16_t getTmSpacketIdFromApid(uint16_t apid,
+constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid,
         bool secondaryHeaderFlag = true) {
     return getSpacePacketIdFromApid(false, apid, secondaryHeaderFlag);
 }

tests/user/testcfg/CMakeLists.txt

@@ -0,0 +1,9 @@
+target_sources(${TARGET_NAME} PRIVATE
+    ipc/MissionMessageTypes.cpp
+    pollingsequence/PollingSequenceFactory.cpp
+)
+
+# Add include paths for the executable
+target_include_directories(${TARGET_NAME} PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)