doc additions

Reviewed-on: #42

CHANGELOG.md

@@ -12,9 +12,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
-- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
-  compiler supports it
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
 - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
   and mode
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@@ -25,36 +22,6 @@ 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
-- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
-- 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)
-    manually now. Those should not change too often and only a small subset is needed
-  - Separate folder for easier update and for distinction
-  - Add helper functions provided by [`cmake-modules`](https://github.com/rpavlik/cmake-modules)
-    manually now. Those should not change too often and only a small subset is needed
-  - Separate folder for easier update and for distinction
-  - LICENSE file included
-  - use `int` for version numbers to allow unset or uninitialized version
-  - Initialize Version object with numbers set to -1
-  - Instead of hardcoding the git hash, it is now retrieved from git
-  - `Version` now allows specifying additional version information like the git SHA1 hash and the
-    versions since the last tag
-  - Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
-  - Version still need to be hand-updated if the FSFW is not included as a submodule for now.
-  - CMake will auto-generate a file named `versionAutogen.cpp` on each rebuild which contains
-    the version retrieved with git
-- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
-  creation call. It allows passing context information and an arbitrary user argument into
-  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-- Clock: 
-  - `timeval` to `TimeOfDay_t`
-  - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
-  - Moved the statics used by Clock in ClockCommon.cpp to this file
-  - Better check for leap seconds
-  - Added Unittests for Clock (only getter)
 
 ## Removed
 
@@ -68,25 +35,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - 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
-- Added ETL dependency and improved library dependency management
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
-- `Subsystem`: New API to add table and sequence entries
-
-## Fixed
-
-- TCP TMTC Server: `MutexGuard` was not created properly in
-  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
-- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
-  Is not currently used right now but might be used in the future
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
-- Move some CMake directives further up top so they are not ignored
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
-- Small bugfix in STM32 HAL for SPI
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
-- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
-  configuration fails, the function will exit prematurely with a dedicated error code
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
 
 # [v4.0.0]
 

CMakeLists.txt

@@ -1,85 +1,11 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(MSG_PREFIX "fsfw |")
+set(FSFW_VERSION 4)
+set(FSFW_SUBVERSION 0)
+set(FSFW_REVISION 0)
 
 # Add the cmake folder so the FindSphinx module is found
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
-
-##########################
-# Version file handling  #
-##########################
-
-set(FSFW_VERSION_MAJOR_IF_GIT_FAILS 4)
-set(FSFW_VERSION_MINOR_IF_GIT_FAILS 0)
-set(FSFW_VERSION_REVISION_IF_GIT_FAILS 0)
-
-set(FSFW_GIT_VER_HANDLING_OK FALSE)
-# Check whether we got any revision (which isn't
-# always the case, e.g. when someone downloaded a zip
-# file from Github instead of a checkout)
-message(STATUS "${MSG_PREFIX} Determining version information with git")
-include(FsfwHelpers)
-determine_version_with_git("--exclude" "docker_*")
-if(GIT_INFO)
-    set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe" FORCE)
-    list(GET FSFW_GIT_INFO 1 FSFW_VERSION_MAJOR)
-    list(GET FSFW_GIT_INFO 2 FSFW_VERSION_MINOR)
-    list(GET FSFW_GIT_INFO 3 FSFW_VERSION_REVISION)
-    list(GET FSFW_GIT_INFO 4 FSFW_VERSION_VCS_INFO)
-    if(NOT FSFW_VERSION_MAJOR)
-        set(FSFW_VERSION_MAJOR ${FSFW_VERSION_MAJOR_IF_GIT_FAILS})
-    endif()
-    if(NOT FSFW_VERSION_MINOR)
-        set(FSFW_VERSION_MINOR ${FSFW_VERSION_MINOR_IF_GIT_FAILS})
-    endif()
-    if(NOT FSFW_VERSION_REVISION)
-        set(FSFW_VERSION_REVISION ${FSFW_VERSION_REVISION_IF_GIT_FAILS})
-    endif()
-    set(FSFW_GIT_VER_HANDLING_OK TRUE)
-else()
-    set(FSFW_GIT_VER_HANDLING_OK FALSE)
-endif()
-
-if(NOT FSFW_GIT_VER_HANDLING_OK)
-    set(FSFW_VERSION_MAJOR ${FSFW_VERSION_MAJOR_IF_GIT_FAILS})
-    set(FSFW_VERSION_MINOR ${FSFW_VERSION_MINOR_IF_GIT_FAILS})
-    set(FSFW_VERSION_REVISION ${FSFW_VERSION_REVISION_IF_GIT_FAILS})
-    set(GIT_REV "N/A")
-    set(GIT_DIFF "")
-    set(GIT_BRANCH "N/A")
-endif()
-
-
-set(LIB_FSFW_NAME fsfw)
-project(${LIB_FSFW_NAME} VERSION ${FSFW_VERSION_MAJOR}.${FSFW_VERSION_MINOR}.${FSFW_VERSION_REVISION})
-
-if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 17)
-    message(FATAL_ERROR "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
-endif()
-
-set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
-
-set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
-    "ETL library major version requirement"
-)
-set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
-    "ETL library exact version requirement"
-)
-set(FSFW_ETL_LINK_TARGET etl::etl)
-
-set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
-    "Catch2 library major version requirement"
-)
-set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
-    "Catch2 library exact version requirement"
-)
-
-set(FSFW_ETL_LIB_NAME etl)
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
@@ -112,29 +38,30 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
-
+set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
+project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
-
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
+    message(STATUS "Building the FSFW unittests in addition to the static library")
     # Check whether the user has already installed Catch2 first
-    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+    find_package(Catch2 3)
     # Not installed, so use FetchContent to download and provide Catch2
     if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
         include(FetchContent)
 
         FetchContent_Declare(
             Catch2
             GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+            GIT_TAG        v3.0.0-preview4
         )
 
-        list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
+        FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
     endif()
 
     set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
@@ -145,51 +72,22 @@ if(FSFW_BUILD_UNITTESTS)
     add_executable(${FSFW_TEST_TGT})
 
     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} "
+        message(STATUS "Generating coverage data for the library")
+        message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
             "will be compiled with coverage data as well"
         )
+        include(FetchContent)
+        FetchContent_Declare(
+            cmake-modules
+            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
+        )
+        FetchContent_MakeAvailable(cmake-modules)
         set(CMAKE_BUILD_TYPE "Debug")
+        list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
         include(CodeCoverage)
     endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
-
-# Check whether the user has already installed ETL first
-find_package(${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
-        "No ETL installation was found with find_package. Installing and providing "
-        "etl with FindPackage"
-    )
-    include(FetchContent)
-
-    FetchContent_Declare(
-        ${FSFW_ETL_LIB_NAME}
-        GIT_REPOSITORY https://github.com/ETLCPP/etl
-        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
-    )
-
-    list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
-endif()
-
-# The documentation for FetchContent recommends declaring all the dependencies
-# before making them available. We make all declared dependency available here
-# after their declaration
-if(FSFW_FETCH_CONTENT_TARGETS)
-    FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
-    if(TARGET ${FSFW_ETL_LIB_NAME})
-        add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
-    endif()
-    if(TARGET Catch2)
-        # Fixes regression -preview4, to be confirmed in later releases
-        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
-        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-    endif()
-endif()
-
 set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
@@ -202,14 +100,21 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
     ${CMAKE_CURRENT_BINARY_DIR}
 )
 
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
+endif()
+
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+    message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
     set(FSFW_OSAL OS_FSFW)
 endif()
 
 if(NOT FSFW_OSAL)
-	message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+	message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
 	# Assume host OS and autodetermine from OS_FSFW
 	if(UNIX)
 		set(FSFW_OSAL  "linux" 
@@ -243,16 +148,16 @@ elseif(FSFW_OSAL STREQUAL rtems)
     set(FSFW_OSAL_RTEMS ON)
 else()
     message(WARNING
-        "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
+        "Invalid operating system for FSFW specified! Setting to host.."
     )
     set(FSFW_OS_NAME "Host")
     set(OS_FSFW "host")
 endif()
 
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
-# configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
+configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 
-message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
+message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
 add_subdirectory(src)
 add_subdirectory(tests)
@@ -336,8 +241,8 @@ endif()
 if(NOT FSFW_CONFIG_PATH)
     set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
     if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
-        message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
+        message(WARNING "Flight Software Framework configuration path not set!")
+        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
     endif()
     add_subdirectory(${DEF_CONF_PATH})
     set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
@@ -444,7 +349,6 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE
 )
 
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_ETL_LINK_TARGET}
     ${FSFW_ADDITIONAL_LINK_LIBS}
 )
 
@@ -460,18 +364,3 @@ add_custom_command(
    POST_BUILD
    COMMENT ${POST_BUILD_COMMENT}
 )
-
-# Add a custom command that produces version.cpp, plus
-# a dummy output that's not actually produced, in order
-# to force version.cmake to always be re-run before the build
-add_custom_command(
-    TARGET ${LIB_FSFW_NAME}
-    COMMAND ${CMAKE_COMMAND} -DVERSION_DIR=${FSFW_SOURCES_DIR}
-            -DVERSION_MAJOR=${FSFW_VERSION_MAJOR}
-            -DVERSION_MINOR=${FSFW_VERSION_MINOR}
-            -DVERSION_REVISION=${FSFW_VERSION_REVISION}
-            -DVERSION_VCS_INFO=${FSFW_VERSION_VCS_INFO}
-            -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/version.cmake
-    BYPRODUCTS ${FSFW_SOURCES_DIR}/versionAutogen.cpp
-    COMMENT ""
-)

README.md

@@ -11,15 +11,9 @@ with Airbus Defence and Space GmbH.
 
 ## Quick facts
 
-The framework is designed for systems, which communicate with external devices, perform control loops, 
-receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore,
-a mode and health system provides control over the states of the software and the controlled devices.
-In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 
-The FSFW provides abstraction layers for operating systems to provide a uniform operating system
-abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
-also very useful for developers to implement the same application logic on different operating
-systems with a uniform interface.
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
 
 Currently, the FSFW provides the following OSALs:
 
@@ -51,28 +45,6 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
-## Prerequisites
-
-The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
-installed and provided by the build system unless the correction version was installed.
-The current recommended version can be found inside the fsfw `CMakeLists.txt` file or by using
-`ccmake` and looking up the `FSFW_ETL_LIB_MAJOR_VERSION` variable.
-
-You can install the ETL library like this. On Linux, it might be necessary to add `sudo` before
-the install call:
-
-```cpp
-git clone https://github.com/ETLCPP/etl
-cd etl
-git checkout <currentRecommendedVersion>
-mkdir build && cd build
-cmake ..
-cmake --install .
-```
-
-It is recommended to install `20.27.2` or newer for the package version handling of
-ETL to work.
-
 ## Adding the library
 
 The following steps show how to add and use FSFW components. It is still recommended to
@@ -111,19 +83,6 @@ The FSFW also has unittests which use the [Catch2 library](https://github.com/ca
 These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
-You can install the Catch2 library, which prevents the build system to avoid re-downloading
-the dependency if the unit tests are completely rebuilt. The current recommended version
-can be found inside the fsfw `CMakeLists.txt` file or by using `ccmake` and looking up
-the `FSFW_CATCH2_LIB_VERSION` variable.
-
-```sh
-git clone https://github.com/catchorg/Catch2.git
-cd Catch2
-git checkout <currentRecommendedVersion>
-cmake -Bbuild -H. -DBUILD_TESTING=OFF
-sudo cmake --build build/ --target install
-```
-
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.

automation/Dockerfile

@@ -6,9 +6,3 @@ 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
-
-RUN git clone https://github.com/catchorg/Catch2.git && \
-	cd Catch2 && \
-	git checkout v3.0.0-preview5 && \
-	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-	cmake --build build/ --target install

automation/Jenkinsfile

@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image 'fsfw-ci:d2'}
+        docker { image 'fsfw-ci:d1'}
     }
     stages {
         stage('Clean') {

cmake/FsfwHelpers.cmake

@@ -1,32 +0,0 @@
-# Determines the git version with git describe and returns it by setting
-# the GIT_INFO list in the parent scope. The list has the following entries
-# 1. Full version string
-# 2. Major version
-# 3. Minor version
-# 4. Revision
-# 5. git SHA hash and commits since tag
-function(determine_version_with_git)
-    include(GetGitRevisionDescription)
-    git_describe(VERSION ${ARGN})
-    get_git_head_revision(GIT_BRANCH HASH_VAR)
-    string(FIND ${VERSION} "." VALID_VERSION)
-    if(VALID_VERSION EQUAL -1)
-        message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
-        return()
-    endif()
-    # Parse the version information into pieces.
-    string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
-    string(STRIP "${GIT_BRANCH}" GIT_BRANCH)
-    set(GIT_INFO ${VERSION})
-    list(APPEND GIT_INFO ${_VERSION_MAJOR})
-    list(APPEND GIT_INFO ${_VERSION_MINOR})
-    list(APPEND GIT_INFO ${_VERSION_PATCH})
-    list(APPEND GIT_INFO ${VERSION_SHA1})
-    set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
-    set(GIT_BRANCH ${GIT_BRANCH} PARENT_SCOPE)
-    message(STATUS "${MSG_PREFIX} git branch ${GIT_BRANCH}")
-    message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
-endfunction()

cmake/cmake-modules/README.md

@@ -1,7 +0,0 @@
-The files in the `bilke` folder were manually copy and pasted from the
-[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
-this because only a small subset of its provided functions are needed.
-
-The files in the `rpavlik` folder were manually copy and pasted from the
-[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
-this because only a small subset of its provided functions are needed.

cmake/cmake-modules/bilke/CodeCoverage.cmake

@@ -1,719 +0,0 @@
-# Copyright (c) 2012 - 2017, Lars Bilke
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without modification,
-# are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice, this
-#    list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-#    this list of conditions and the following disclaimer in the documentation
-#    and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its contributors
-#    may be used to endorse or promote products derived from this software without
-#    specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-# CHANGES:
-#
-# 2012-01-31, Lars Bilke
-# - Enable Code Coverage
-#
-# 2013-09-17, Joakim Söderberg
-# - Added support for Clang.
-# - Some additional usage instructions.
-#
-# 2016-02-03, Lars Bilke
-# - Refactored functions to use named parameters
-#
-# 2017-06-02, Lars Bilke
-# - Merged with modified version from github.com/ufz/ogs
-#
-# 2019-05-06, Anatolii Kurotych
-# - Remove unnecessary --coverage flag
-#
-# 2019-12-13, FeRD (Frank Dana)
-# - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor
-#   of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments.
-# - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY
-# - All setup functions: accept BASE_DIRECTORY, EXCLUDE list
-# - Set lcov basedir with -b argument
-# - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be
-#   overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().)
-# - Delete output dir, .info file on 'make clean'
-# - Remove Python detection, since version mismatches will break gcovr
-# - Minor cleanup (lowercase function names, update examples...)
-#
-# 2019-12-19, FeRD (Frank Dana)
-# - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets
-#
-# 2020-01-19, Bob Apthorpe
-# - Added gfortran support
-#
-# 2020-02-17, FeRD (Frank Dana)
-# - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters
-#   in EXCLUDEs, and remove manual escaping from gcovr targets
-#
-# 2021-01-19, Robin Mueller
-# - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run
-# - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional
-#   flags to the gcovr command
-#
-# 2020-05-04, Mihchael Davis
-#     - Add -fprofile-abs-path to make gcno files contain absolute paths
-#     - Fix BASE_DIRECTORY not working when defined
-#     - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines
-#
-# 2021-05-10, Martin Stump
-#     - Check if the generator is multi-config before warning about non-Debug builds
-#
-# 2022-02-22, Marko Wehle
-#     - Change gcovr output from -o <filename> for --xml <filename> and --html <filename> output respectively.
-#       This will allow for Multiple Output Formats at the same time by making use of GCOVR_ADDITIONAL_ARGS, e.g. GCOVR_ADDITIONAL_ARGS "--txt".
-#
-# USAGE:
-#
-# 1. Copy this file into your cmake modules path.
-#
-# 2. Add the following line to your CMakeLists.txt (best inside an if-condition
-#    using a CMake option() to enable it just optionally):
-#      include(CodeCoverage)
-#
-# 3. Append necessary compiler flags for all supported source files:
-#      append_coverage_compiler_flags()
-#    Or for specific target:
-#      append_coverage_compiler_flags_to_target(YOUR_TARGET_NAME)
-#
-# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
-#
-# 4. If you need to exclude additional directories from the report, specify them
-#    using full paths in the COVERAGE_EXCLUDES variable before calling
-#    setup_target_for_coverage_*().
-#    Example:
-#      set(COVERAGE_EXCLUDES
-#          '${PROJECT_SOURCE_DIR}/src/dir1/*'
-#          '/path/to/my/src/dir2/*')
-#    Or, use the EXCLUDE argument to setup_target_for_coverage_*().
-#    Example:
-#      setup_target_for_coverage_lcov(
-#          NAME coverage
-#          EXECUTABLE testrunner
-#          EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*")
-#
-# 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set
-#     relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR)
-#     Example:
-#       set(COVERAGE_EXCLUDES "dir1/*")
-#       setup_target_for_coverage_gcovr_html(
-#           NAME coverage
-#           EXECUTABLE testrunner
-#           BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src"
-#           EXCLUDE "dir2/*")
-#
-# 5. Use the functions described below to create a custom make target which
-#    runs your test executable and produces a code coverage report.
-#
-# 6. Build a Debug build:
-#      cmake -DCMAKE_BUILD_TYPE=Debug ..
-#      make
-#      make my_coverage_target
-#
-
-include(CMakeParseArguments)
-
-option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE)
-
-# Check prereqs
-find_program( GCOV_PATH gcov )
-find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
-find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
-find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
-find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
-find_program( CPPFILT_PATH NAMES c++filt )
-
-if(NOT GCOV_PATH)
-    message(FATAL_ERROR "gcov not found! Aborting...")
-endif() # NOT GCOV_PATH
-
-get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
-list(GET LANGUAGES 0 LANG)
-
-if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
-    if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3)
-        message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
-    endif()
-elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
-    if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang")
-        # Do nothing; exit conditional without error if true
-    elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU")
-        # Do nothing; exit conditional without error if true
-    else()
-        message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
-    endif()
-endif()
-
-set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage"
-    CACHE INTERNAL "")
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-    include(CheckCXXCompilerFlag)
-    check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path)
-    if(HAVE_fprofile_abs_path)
-        set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path")
-    endif()
-endif()
-
-set(CMAKE_Fortran_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the Fortran compiler during coverage builds."
-    FORCE )
-set(CMAKE_CXX_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the C++ compiler during coverage builds."
-    FORCE )
-set(CMAKE_C_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the C compiler during coverage builds."
-    FORCE )
-set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used for linking binaries during coverage builds."
-    FORCE )
-set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
-    FORCE )
-mark_as_advanced(
-    CMAKE_Fortran_FLAGS_COVERAGE
-    CMAKE_CXX_FLAGS_COVERAGE
-    CMAKE_C_FLAGS_COVERAGE
-    CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
-
-get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG))
-    message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
-endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)
-
-if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU")
-    link_libraries(gcov)
-endif()
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_lcov(
-#     NAME testrunner_coverage                    # New target name
-#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES testrunner                     # Dependencies to build first
-#     BASE_DIRECTORY "../"                        # Base directory for report
-#                                                 #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"           # Patterns to exclude (can be relative
-#                                                 #  to BASE_DIRECTORY, with CMake 3.4+)
-#     NO_DEMANGLE                                 # Don't demangle C++ symbols
-#                                                 #  even if c++filt is found
-# )
-function(setup_target_for_coverage_lcov)
-
-    set(options NO_DEMANGLE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT LCOV_PATH)
-        message(FATAL_ERROR "lcov not found! Aborting...")
-    endif() # NOT LCOV_PATH
-
-    if(NOT GENHTML_PATH)
-        message(FATAL_ERROR "genhtml not found! Aborting...")
-    endif() # NOT GENHTML_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(LCOV_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND LCOV_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES LCOV_EXCLUDES)
-
-    # Conditional arguments
-    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
-      set(GENHTML_EXTRA_ARGS "--demangle-cpp")
-    endif()
-     
-    # Setting up commands which will be run to generate coverage data.
-    # Cleanup lcov
-    set(LCOV_CLEAN_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory . 
-        -b ${BASEDIR} --zerocounters
-    )
-    # Create baseline to make sure untouched files show up in the report
-    set(LCOV_BASELINE_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b 
-        ${BASEDIR} -o ${Coverage_NAME}.base
-    )
-    # Run tests
-    set(LCOV_EXEC_TESTS_CMD 
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )    
-    # Capturing lcov counters and generating report
-    set(LCOV_CAPTURE_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b 
-        ${BASEDIR} --capture --output-file ${Coverage_NAME}.capture
-    )
-    # add baseline counters
-    set(LCOV_BASELINE_COUNT_CMD
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base 
-        -a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total
-    ) 
-    # filter collected data to final coverage report
-    set(LCOV_FILTER_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove 
-        ${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info
-    )    
-    # Generate HTML output
-    set(LCOV_GEN_HTML_CMD
-        ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o 
-        ${Coverage_NAME} ${Coverage_NAME}.info
-    )
-    
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-        message(STATUS "Command to clean up lcov: ")
-        string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}")
-        message(STATUS "${LCOV_CLEAN_CMD_SPACED}")
-
-        message(STATUS "Command to create baseline: ")
-        string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}")
-        message(STATUS "${LCOV_BASELINE_CMD_SPACED}")
-
-        message(STATUS "Command to run the tests: ")
-        string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}")
-        message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to capture counters and generate report: ")
-        string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}")
-        message(STATUS "${LCOV_CAPTURE_CMD_SPACED}")
-
-        message(STATUS "Command to add baseline counters: ")
-        string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}")
-        message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}")
-
-        message(STATUS "Command to filter collected data: ")
-        string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}")
-        message(STATUS "${LCOV_FILTER_CMD_SPACED}")
-
-        message(STATUS "Command to generate lcov HTML output: ")
-        string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}")
-        message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}")
-    endif()
-
-    # Setup target
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${LCOV_CLEAN_CMD}
-        COMMAND ${LCOV_BASELINE_CMD} 
-        COMMAND ${LCOV_EXEC_TESTS_CMD}
-        COMMAND ${LCOV_CAPTURE_CMD}
-        COMMAND ${LCOV_BASELINE_COUNT_CMD}
-        COMMAND ${LCOV_FILTER_CMD} 
-        COMMAND ${LCOV_GEN_HTML_CMD}
-
-        # Set output files as GENERATED (will be removed on 'make clean')
-        BYPRODUCTS
-            ${Coverage_NAME}.base
-            ${Coverage_NAME}.capture
-            ${Coverage_NAME}.total
-            ${Coverage_NAME}.info
-            ${Coverage_NAME}/index.html
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
-    )
-
-    # Show where to find the lcov info report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
-    )
-
-endfunction() # setup_target_for_coverage_lcov
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_gcovr_xml(
-#     NAME ctest_coverage                    # New target name
-#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES executable_target         # Dependencies to build first
-#     BASE_DIRECTORY "../"                   # Base directory for report
-#                                            #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
-#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
-# )
-# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
-# GCVOR command.
-function(setup_target_for_coverage_gcovr_xml)
-
-    set(options NONE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT GCOVR_PATH)
-        message(FATAL_ERROR "gcovr not found! Aborting...")
-    endif() # NOT GCOVR_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(GCOVR_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
-
-    # Combine excludes to several -e arguments
-    set(GCOVR_EXCLUDE_ARGS "")
-    foreach(EXCLUDE ${GCOVR_EXCLUDES})
-        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
-        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
-    endforeach()
-    
-    # Set up commands which will be run to generate coverage data
-    # Run tests
-    set(GCOVR_XML_EXEC_TESTS_CMD
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )
-    # Running gcovr
-    set(GCOVR_XML_CMD
-        ${GCOVR_PATH} --xml ${Coverage_NAME}.xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
-        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
-    )
-    
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-
-        message(STATUS "Command to run tests: ")
-        string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}")
-        message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to generate gcovr XML coverage data: ")
-        string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}")
-        message(STATUS "${GCOVR_XML_CMD_SPACED}")
-    endif()
-
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${GCOVR_XML_EXEC_TESTS_CMD}
-        COMMAND ${GCOVR_XML_CMD}
-        
-        BYPRODUCTS ${Coverage_NAME}.xml
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Running gcovr to produce Cobertura code coverage report."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
-    )
-endfunction() # setup_target_for_coverage_gcovr_xml
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_gcovr_html(
-#     NAME ctest_coverage                    # New target name
-#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES executable_target         # Dependencies to build first
-#     BASE_DIRECTORY "../"                   # Base directory for report
-#                                            #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
-#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
-# )
-# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
-# GCVOR command.
-function(setup_target_for_coverage_gcovr_html)
-
-    set(options NONE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT GCOVR_PATH)
-        message(FATAL_ERROR "gcovr not found! Aborting...")
-    endif() # NOT GCOVR_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(GCOVR_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
-
-    # Combine excludes to several -e arguments
-    set(GCOVR_EXCLUDE_ARGS "")
-    foreach(EXCLUDE ${GCOVR_EXCLUDES})
-        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
-        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
-    endforeach()
-
-    # Set up commands which will be run to generate coverage data
-    # Run tests
-    set(GCOVR_HTML_EXEC_TESTS_CMD
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )
-    # Create folder
-    set(GCOVR_HTML_FOLDER_CMD
-        ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
-    )
-    # Running gcovr
-    set(GCOVR_HTML_CMD
-        ${GCOVR_PATH} --html ${Coverage_NAME}/index.html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
-        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
-    )
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-
-        message(STATUS "Command to run tests: ")
-        string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}")
-        message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to create a folder: ")
-        string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}")
-        message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}")
-
-        message(STATUS "Command to generate gcovr HTML coverage data: ")
-        string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}")
-        message(STATUS "${GCOVR_HTML_CMD_SPACED}")
-    endif()
-
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD}
-        COMMAND ${GCOVR_HTML_FOLDER_CMD}
-        COMMAND ${GCOVR_HTML_CMD}
-
-        BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html  # report directory
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Running gcovr to produce HTML code coverage report."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
-    )
-
-endfunction() # setup_target_for_coverage_gcovr_html
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_fastcov(
-#     NAME testrunner_coverage                    # New target name
-#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES testrunner                     # Dependencies to build first
-#     BASE_DIRECTORY "../"                        # Base directory for report
-#                                                 #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/" "src/dir2/"             # Patterns to exclude.
-#     NO_DEMANGLE                                 # Don't demangle C++ symbols
-#                                                 #  even if c++filt is found
-#     SKIP_HTML                                   # Don't create html report
-#     POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json  # E.g. for stripping source dir from file paths
-# )
-function(setup_target_for_coverage_fastcov)
-
-    set(options NO_DEMANGLE SKIP_HTML)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT FASTCOV_PATH)
-        message(FATAL_ERROR "fastcov not found! Aborting...")
-    endif()
-
-    if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH)
-        message(FATAL_ERROR "genhtml not found! Aborting...")
-    endif()
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (Patterns, not paths, for fastcov)
-    set(FASTCOV_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES})
-        list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES FASTCOV_EXCLUDES)
-
-    # Conditional arguments
-    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
-        set(GENHTML_EXTRA_ARGS "--demangle-cpp")
-    endif()
-
-    # Set up commands which will be run to generate coverage data
-    set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS})
-
-    set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
-        --search-directory ${BASEDIR}
-        --process-gcno
-        --output ${Coverage_NAME}.json
-        --exclude ${FASTCOV_EXCLUDES}
-        --exclude ${FASTCOV_EXCLUDES}
-    )
-    
-    set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH}
-        -C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info
-    )
-
-    if(Coverage_SKIP_HTML)
-        set(FASTCOV_HTML_CMD ";")
-    else()
-        set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS}
-            -o ${Coverage_NAME} ${Coverage_NAME}.info
-        )
-    endif()
-
-    set(FASTCOV_POST_CMD ";")
-    if(Coverage_POST_CMD)
-        set(FASTCOV_POST_CMD ${Coverage_POST_CMD})
-    endif()
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):")
-
-        message("   Running tests:")
-        string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}")
-        message("     ${FASTCOV_EXEC_TESTS_CMD_SPACED}")
-
-        message("   Capturing fastcov counters and generating report:")
-        string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}")
-        message("     ${FASTCOV_CAPTURE_CMD_SPACED}")
-
-        message("   Converting fastcov .json to lcov .info:")
-        string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}")
-        message("     ${FASTCOV_CONVERT_CMD_SPACED}")
-
-        if(NOT Coverage_SKIP_HTML)
-            message("   Generating HTML report: ")
-            string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}")
-            message("     ${FASTCOV_HTML_CMD_SPACED}")
-        endif()
-        if(Coverage_POST_CMD)
-            message("   Running post command: ")
-            string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}")
-            message("     ${FASTCOV_POST_CMD_SPACED}")
-        endif()
-    endif()
-
-    # Setup target
-    add_custom_target(${Coverage_NAME}
-
-        # Cleanup fastcov
-        COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
-            --search-directory ${BASEDIR}
-            --zerocounters
-
-        COMMAND ${FASTCOV_EXEC_TESTS_CMD}
-        COMMAND ${FASTCOV_CAPTURE_CMD}
-        COMMAND ${FASTCOV_CONVERT_CMD}
-        COMMAND ${FASTCOV_HTML_CMD}
-        COMMAND ${FASTCOV_POST_CMD}
-
-        # Set output files as GENERATED (will be removed on 'make clean')
-        BYPRODUCTS
-             ${Coverage_NAME}.info
-             ${Coverage_NAME}.json
-             ${Coverage_NAME}/index.html  # report directory
-
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report."
-    )
-
-    set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.")
-    if(NOT Coverage_SKIP_HTML)
-        string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.")
-    endif()
-    # Show where to find the fastcov info report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG}
-    )
-
-endfunction() # setup_target_for_coverage_fastcov
-
-function(append_coverage_compiler_flags)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
-endfunction() # append_coverage_compiler_flags
-
-# Setup coverage for specific library
-function(append_coverage_compiler_flags_to_target name)
-    target_compile_options(${name}
-        PRIVATE ${COVERAGE_COMPILER_FLAGS})
-endfunction()

cmake/cmake-modules/bilke/LICENSE_1_0.txt

@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake

@@ -1,284 +0,0 @@
-# - Returns a version string from Git
-#
-# These functions force a re-configure on each git commit so that you can
-# trust the values of the variables in your build system.
-#
-#  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
-#
-# Returns the refspec and sha hash of the current head revision
-#
-#  git_describe(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the source tree, and adjusting
-# the output so that it tests false if an error occurs.
-#
-#  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the working tree (--dirty option),
-# and adjusting the output so that it tests false if an error occurs.
-#
-#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe --exact-match on the source tree,
-# and adjusting the output so that it tests false if there was no exact
-# matching tag.
-#
-#  git_local_changes(<var>)
-#
-# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
-# Uses the return code of "git diff-index --quiet HEAD --".
-# Does not regard untracked files.
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-#
-# Copyright 2009-2013, Iowa State University.
-# Copyright 2013-2020, Ryan Pavlik
-# Copyright 2013-2020, Contributors
-# SPDX-License-Identifier: BSL-1.0
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-
-if(__get_git_revision_description)
-    return()
-endif()
-set(__get_git_revision_description YES)
-
-# We must run the following at "include" time, not at function call time,
-# to find the path to this module rather than the path to a calling list file
-get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
-
-# Function _git_find_closest_git_dir finds the next closest .git directory
-# that is part of any directory in the path defined by _start_dir.
-# The result is returned in the parent scope variable whose name is passed
-# as variable _git_dir_var. If no .git directory can be found, the
-# function returns an empty string via _git_dir_var.
-#
-# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
-# neither foo nor bar contain a file/directory .git. This wil return
-# C:/bla/.git
-#
-function(_git_find_closest_git_dir _start_dir _git_dir_var)
-    set(cur_dir "${_start_dir}")
-    set(git_dir "${_start_dir}/.git")
-    while(NOT EXISTS "${git_dir}")
-        # .git dir not found, search parent directories
-        set(git_previous_parent "${cur_dir}")
-        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
-        if(cur_dir STREQUAL git_previous_parent)
-            # We have reached the root directory, we are not in git
-            set(${_git_dir_var}
-                ""
-                PARENT_SCOPE)
-            return()
-        endif()
-        set(git_dir "${cur_dir}/.git")
-    endwhile()
-    set(${_git_dir_var}
-        "${git_dir}"
-        PARENT_SCOPE)
-endfunction()
-
-function(get_git_head_revision _refspecvar _hashvar)
-    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
-
-    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
-        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
-    else()
-        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
-    endif()
-    if(NOT "${GIT_DIR}" STREQUAL "")
-        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
-             "${GIT_DIR}")
-        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
-            # We've gone above the CMake root dir.
-            set(GIT_DIR "")
-        endif()
-    endif()
-    if("${GIT_DIR}" STREQUAL "")
-        set(${_refspecvar}
-            "GITDIR-NOTFOUND"
-            PARENT_SCOPE)
-        set(${_hashvar}
-            "GITDIR-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    # Check if the current source dir is a git submodule or a worktree.
-    # In both cases .git is a file instead of a directory.
-    #
-    if(NOT IS_DIRECTORY ${GIT_DIR})
-        # The following git command will return a non empty string that
-        # points to the super project working tree if the current
-        # source dir is inside a git submodule.
-        # Otherwise the command will return an empty string.
-        #
-        execute_process(
-            COMMAND "${GIT_EXECUTABLE}" rev-parse
-                    --show-superproject-working-tree
-            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-            OUTPUT_VARIABLE out
-            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-        if(NOT "${out}" STREQUAL "")
-            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
-            file(READ ${GIT_DIR} submodule)
-            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
-                                 ${submodule})
-            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
-            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
-            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
-                                   ABSOLUTE)
-            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
-        else()
-            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
-            file(READ ${GIT_DIR} worktree_ref)
-            # The .git directory contains a path to the worktree information directory
-            # inside the parent git repo of the worktree.
-            #
-            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
-                                 ${worktree_ref})
-            string(STRIP ${git_worktree_dir} git_worktree_dir)
-            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
-            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
-        endif()
-    else()
-        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
-    endif()
-    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
-    if(NOT EXISTS "${GIT_DATA}")
-        file(MAKE_DIRECTORY "${GIT_DATA}")
-    endif()
-
-    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
-        return()
-    endif()
-    set(HEAD_FILE "${GIT_DATA}/HEAD")
-    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
-
-    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
-                   "${GIT_DATA}/grabRef.cmake" @ONLY)
-    include("${GIT_DATA}/grabRef.cmake")
-
-    set(${_refspecvar}
-        "${HEAD_REF}"
-        PARENT_SCOPE)
-    set(${_hashvar}
-        "${HEAD_HASH}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_describe _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var}
-            "HEAD-HASH-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    # TODO sanitize
-    #if((${ARGN}" MATCHES "&&") OR
-    #   (ARGN MATCHES "||") OR
-    #   (ARGN MATCHES "\\;"))
-    #   message("Please report the following error to the project!")
-    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
-    #endif()
-
-    #message(STATUS "Arguments to execute_process: ${ARGN}")
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_describe_working_tree _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_get_exact_tag _var)
-    git_describe(out --exact-match ${ARGN})
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_local_changes _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var}
-            "HEAD-HASH-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(res EQUAL 0)
-        set(${_var}
-            "CLEAN"
-            PARENT_SCOPE)
-    else()
-        set(${_var}
-            "DIRTY"
-            PARENT_SCOPE)
-    endif()
-endfunction()

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in

@@ -1,43 +0,0 @@
-#
-# Internal file for GetGitRevisionDescription.cmake
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-# Iowa State University HCI Graduate Program/VRAC
-#
-# Copyright 2009-2012, Iowa State University
-# Copyright 2011-2015, Contributors
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-# SPDX-License-Identifier: BSL-1.0
-
-set(HEAD_HASH)
-
-file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
-
-string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
-if(HEAD_CONTENTS MATCHES "ref")
-    # named branch
-    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
-    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
-        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    else()
-        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
-        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
-        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
-            set(HEAD_HASH "${CMAKE_MATCH_1}")
-        endif()
-    endif()
-else()
-    # detached HEAD
-    configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
-endif()
-
-if(NOT HEAD_HASH)
-    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
-    string(STRIP "${HEAD_HASH}" HEAD_HASH)
-endif()

cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt

@@ -1,26 +0,0 @@
-Copyright (c) <year> <owner>. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its contributors
-may be used to endorse or promote products derived from this software without
-specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
-USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt

@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute, execute,
-and transmit the Software, and to prepare derivative works of the Software,
-and to permit third-parties to whom the Software is furnished to do so, all
-subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer, must
-be included in all copies of the Software, in whole or in part, and all derivative
-works of the Software, unless such copies or derivative works are solely in
-the form of machine-executable object code generated by a source language
-processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
-FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
-COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
-OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.

cmake/cmake-modules/rpavlik/LICENSE_1_0.txt

@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.

cmake/version.cmake

@@ -1,38 +0,0 @@
-if(NOT DEFINED VERSION_MAJOR)
-    message(WARNING "version.cmake | No VERSION_MAJOR variable passed. Setting to 0")
-    set(VERSION_MAJOR 0)
-endif()
-if(NOT DEFINED VERSION_MINOR)
-    message(WARNING "version.cmake | No VERSION_MINOR variable passed. Setting to 0")
-    set(VERSION_MINOR 0)
-endif()
-if(NOT DEFINED VERSION_REVISION)
-    message(WARNING "version.cmake | No VERSION_REVISION variable passed. Setting to 0")
-    set(VERSION_REVISION 0)
-endif()
-if(NOT DEFINED VERSION_VCS_INFO)
-    set(VERSION_VCS_INFO "")
-endif()
-
-set(VERSION_TO_SET "#include \"version.h\"
-
-namespace fsfw {
-
-const int FSFW_VERSION_MAJOR = ${VERSION_MAJOR};
-const int FSFW_VERSION_MINOR = ${VERSION_MINOR};
-const int FSFW_VERSION_REVISION = ${VERSION_MINOR};
-const char FSFW_VCS_INFO[] = \"${VERSION_VCS_INFO}\";
-
-};
-")
-
-if(EXISTS ${VERSION_DIR}/versionAutogen.cpp)
-    file(READ ${VERSION_DIR}/versionAutogen.cpp OLD_VERSION)
-else()
-    set(OLD_VERSION "")
-endif()
-
-if (NOT "${VERSION_TO_SET}" STREQUAL "${OLD_VERSION}")
-    message(STATUS "Updating versionAutogen.cpp file")
-    file(WRITE ${VERSION_DIR}/versionAutogen.cpp "${VERSION_TO_SET}")
-endif()

docs/getting_started.rst

@@ -19,29 +19,6 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
-Prerequisites
--------------------
-
-The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
-installed and provided by the build system unless the correction version was installed.
-The current recommended version can be found inside the fsfw ``CMakeLists.txt`` file or by using
-``ccmake`` and looking up the ``FSFW_ETL_LIB_MAJOR_VERSION`` variable.
-
-You can install the ETL library like this. On Linux, it might be necessary to add ``sudo`` before
-the install call:
-
-.. code-block:: console
-
-   git clone https://github.com/ETLCPP/etl
-   cd etl
-   git checkout <currentRecommendedVersion>
-   mkdir build && cd build
-   cmake ..
-   cmake --install .
-
-It is recommended to install ``20.27.2`` or newer for the package version handling of
-ETL to work.
-
 Adding the library
 -------------------
 
@@ -83,20 +60,6 @@ The FSFW also has unittests which use the `Catch2 library`_.
 These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
-You can install the Catch2 library, which prevents the build system to avoid re-downloading
-the dependency if the unit tests are completely rebuilt. The current recommended version
-can be found inside the fsfw ``CMakeLists.txt`` file or by using ``ccmake`` and looking up
-the ``FSFW_CATCH2_LIB_VERSION`` variable.
-
-.. code-block:: console
-
-   git clone https://github.com/catchorg/Catch2.git
-   cd Catch2
-   git checkout <currentRecommendedVersion>
-   cmake -Bbuild -H. -DBUILD_TESTING=OFF
-   sudo cmake --build build/ --target install
-
-
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -1,8 +1,11 @@
 #include "MgmLIS3MDLHandler.h"
 
-#include <cmath>
-
 #include "fsfw/datapool/PoolReadGuard.h"
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
+
+#include <cmath>
 
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, uint32_t transitionDelay)

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -12,14 +12,9 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
 if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
 endif()
+	add_subdirectory(spi)
+	add_subdirectory(i2c)
 	add_subdirectory(uart)
-	# Adding those does not really make sense on Apple systems which
-	# are generally host systems. It won't even compile as the headers
-	# are missing
-	if(NOT APPLE)
-		add_subdirectory(i2c)
-		add_subdirectory(spi)
-	endif()
 endif()
 
 add_subdirectory(uio)

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -44,7 +44,6 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-  ReturnValue_t result = RETURN_OK;
   for (auto& gpioConfig : mapToAdd) {
     auto& gpioType = gpioConfig.second->gpioType;
     switch (gpioType) {
@@ -56,7 +55,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        result = configureGpioByChip(gpioConfig.first, *regularGpio);
+        configureGpioByChip(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
@@ -64,7 +63,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        result = configureGpioByLabel(gpioConfig.first, *regularGpio);
+        configureGpioByLabel(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
@@ -72,7 +71,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        result = configureGpioByLineName(gpioConfig.first, *regularGpio);
+        configureGpioByLineName(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::CALLBACK): {
@@ -84,11 +83,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                                gpioCallback->initValue, gpioCallback->callbackArgs);
       }
     }
-    if (result != RETURN_OK) {
-      return GPIO_INIT_FAILED;
-    }
   }
-  return result;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -29,8 +29,6 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
   static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
-  static constexpr ReturnValue_t GPIO_INIT_FAILED =
-      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
 
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();

hal/src/fsfw_hal/linux/spi/SpiCookie.cpp

@@ -1,4 +1,4 @@
-#include "SpiCookie.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                      const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -148,16 +148,16 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
   /* Clear size bits */
   options->c_cflag &= ~CSIZE;
   switch (uartCookie->getBitsPerWord()) {
-    case BitsPerWord::BITS_5:
+    case 5:
       options->c_cflag |= CS5;
       break;
-    case BitsPerWord::BITS_6:
+    case 6:
       options->c_cflag |= CS6;
       break;
-    case BitsPerWord::BITS_7:
+    case 7:
       options->c_cflag |= CS7;
       break;
-    case BitsPerWord::BITS_8:
+    case 8:
       options->c_cflag |= CS8;
       break;
     default:
@@ -193,128 +193,126 @@ void UartComIF::setFixedOptions(struct termios* options) {
 
 void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
   switch (uartCookie->getBaudrate()) {
-    case UartBaudRate::RATE_50:
+    case 50:
       cfsetispeed(options, B50);
       cfsetospeed(options, B50);
       break;
-    case UartBaudRate::RATE_75:
+    case 75:
       cfsetispeed(options, B75);
       cfsetospeed(options, B75);
       break;
-    case UartBaudRate::RATE_110:
+    case 110:
       cfsetispeed(options, B110);
       cfsetospeed(options, B110);
       break;
-    case UartBaudRate::RATE_134:
+    case 134:
       cfsetispeed(options, B134);
       cfsetospeed(options, B134);
       break;
-    case UartBaudRate::RATE_150:
+    case 150:
       cfsetispeed(options, B150);
       cfsetospeed(options, B150);
       break;
-    case UartBaudRate::RATE_200:
+    case 200:
       cfsetispeed(options, B200);
       cfsetospeed(options, B200);
       break;
-    case UartBaudRate::RATE_300:
+    case 300:
       cfsetispeed(options, B300);
       cfsetospeed(options, B300);
       break;
-    case UartBaudRate::RATE_600:
+    case 600:
       cfsetispeed(options, B600);
       cfsetospeed(options, B600);
       break;
-    case UartBaudRate::RATE_1200:
+    case 1200:
       cfsetispeed(options, B1200);
       cfsetospeed(options, B1200);
       break;
-    case UartBaudRate::RATE_1800:
+    case 1800:
       cfsetispeed(options, B1800);
       cfsetospeed(options, B1800);
       break;
-    case UartBaudRate::RATE_2400:
+    case 2400:
       cfsetispeed(options, B2400);
       cfsetospeed(options, B2400);
       break;
-    case UartBaudRate::RATE_4800:
+    case 4800:
       cfsetispeed(options, B4800);
       cfsetospeed(options, B4800);
       break;
-    case UartBaudRate::RATE_9600:
+    case 9600:
       cfsetispeed(options, B9600);
       cfsetospeed(options, B9600);
       break;
-    case UartBaudRate::RATE_19200:
+    case 19200:
       cfsetispeed(options, B19200);
       cfsetospeed(options, B19200);
       break;
-    case UartBaudRate::RATE_38400:
+    case 38400:
       cfsetispeed(options, B38400);
       cfsetospeed(options, B38400);
       break;
-    case UartBaudRate::RATE_57600:
+    case 57600:
       cfsetispeed(options, B57600);
       cfsetospeed(options, B57600);
       break;
-    case UartBaudRate::RATE_115200:
+    case 115200:
       cfsetispeed(options, B115200);
       cfsetospeed(options, B115200);
       break;
-    case UartBaudRate::RATE_230400:
+    case 230400:
       cfsetispeed(options, B230400);
       cfsetospeed(options, B230400);
       break;
-#ifndef __APPLE__
-    case UartBaudRate::RATE_460800:
+    case 460800:
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
       break;
-    case UartBaudRate::RATE_500000:
+    case 500000:
       cfsetispeed(options, B500000);
       cfsetospeed(options, B500000);
       break;
-    case UartBaudRate::RATE_576000:
+    case 576000:
       cfsetispeed(options, B576000);
       cfsetospeed(options, B576000);
       break;
-    case UartBaudRate::RATE_921600:
+    case 921600:
       cfsetispeed(options, B921600);
       cfsetospeed(options, B921600);
       break;
-    case UartBaudRate::RATE_1000000:
+    case 1000000:
       cfsetispeed(options, B1000000);
       cfsetospeed(options, B1000000);
       break;
-    case UartBaudRate::RATE_1152000:
+    case 1152000:
       cfsetispeed(options, B1152000);
       cfsetospeed(options, B1152000);
       break;
-    case UartBaudRate::RATE_1500000:
+    case 1500000:
       cfsetispeed(options, B1500000);
       cfsetospeed(options, B1500000);
       break;
-    case UartBaudRate::RATE_2000000:
+    case 2000000:
       cfsetispeed(options, B2000000);
       cfsetospeed(options, B2000000);
       break;
-    case UartBaudRate::RATE_2500000:
+    case 2500000:
       cfsetispeed(options, B2500000);
       cfsetospeed(options, B2500000);
       break;
-    case UartBaudRate::RATE_3000000:
+    case 3000000:
       cfsetispeed(options, B3000000);
       cfsetospeed(options, B3000000);
       break;
-    case UartBaudRate::RATE_3500000:
+    case 3500000:
       cfsetispeed(options, B3500000);
       cfsetospeed(options, B3500000);
       break;
-    case UartBaudRate::RATE_4000000:
+    case 4000000:
       cfsetispeed(options, B4000000);
       cfsetospeed(options, B4000000);
       break;
-#endif  // ! __APPLE__
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -3,7 +3,7 @@
 #include <fsfw/serviceinterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-                       UartBaudRate baudrate, size_t maxReplyLen)
+                       uint32_t baudrate, size_t maxReplyLen)
     : handlerId(handlerId),
       deviceFile(deviceFile),
       uartMode(uartMode),
@@ -12,7 +12,7 @@ UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes
 
 UartCookie::~UartCookie() {}
 
-UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
+uint32_t UartCookie::getBaudrate() const { return baudrate; }
 
 size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
 
@@ -24,9 +24,23 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
 Parity UartCookie::getParity() const { return parity; }
 
-void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
+void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
+  switch (bitsPerWord_) {
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+      break;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#endif
+      return;
+  }
+  bitsPerWord = bitsPerWord_;
+}
 
-BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
+uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
 
 StopBits UartCookie::getStopBits() const { return stopBits; }
 

hal/src/fsfw_hal/linux/uart/UartCookie.h

@@ -12,41 +12,6 @@ enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
 
 enum class UartModes { CANONICAL, NON_CANONICAL };
 
-enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
-
-enum class UartBaudRate {
-  RATE_50,
-  RATE_75,
-  RATE_110,
-  RATE_134,
-  RATE_150,
-  RATE_200,
-  RATE_300,
-  RATE_600,
-  RATE_1200,
-  RATE_1800,
-  RATE_2400,
-  RATE_4800,
-  RATE_9600,
-  RATE_19200,
-  RATE_38400,
-  RATE_57600,
-  RATE_115200,
-  RATE_230400,
-  RATE_460800,
-  RATE_500000,
-  RATE_576000,
-  RATE_921600,
-  RATE_1000000,
-  RATE_1152000,
-  RATE_1500000,
-  RATE_2000000,
-  RATE_2500000,
-  RATE_3000000,
-  RATE_3500000,
-  RATE_4000000
-};
-
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
  *          The constructor only requests for common options like the baudrate. Other options can
@@ -62,23 +27,25 @@ class UartCookie : public CookieIF {
    * @param uartMode      Specify the UART mode. The canonical mode should be used if the
    *                      messages are separated by a delimited character like '\n'. See the
    *                      termios documentation for more information
-   * @param baudrate      The baudrate to use for input and output.
+   * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
+   *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
+   *                      38400, 57600, 115200, 230400, 460800
    * @param maxReplyLen   The maximum size an object using this cookie expects
    * @details
    * Default configuration: No parity
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-             UartBaudRate baudrate, size_t maxReplyLen);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
+             size_t maxReplyLen);
 
   virtual ~UartCookie();
 
-  UartBaudRate getBaudrate() const;
+  uint32_t getBaudrate() const;
   size_t getMaxReplyLen() const;
   std::string getDeviceFile() const;
   Parity getParity() const;
-  BitsPerWord getBitsPerWord() const;
+  uint8_t getBitsPerWord() const;
   StopBits getStopBits() const;
   UartModes getUartMode() const;
   object_id_t getHandlerId() const;
@@ -109,7 +76,7 @@ class UartCookie : public CookieIF {
   /**
    * Function two set number of bits per UART frame.
    */
-  void setBitsPerWord(BitsPerWord bitsPerWord_);
+  void setBitsPerWord(uint8_t bitsPerWord_);
 
   /**
    * Function to specify the number of stopbits.
@@ -130,10 +97,10 @@ class UartCookie : public CookieIF {
   std::string deviceFile;
   const UartModes uartMode;
   bool flushInput = false;
-  UartBaudRate baudrate;
+  uint32_t baudrate;
   size_t maxReplyLen = 0;
   Parity parity = Parity::NONE;
-  BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
+  uint8_t bitsPerWord = 8;
   uint8_t readCycles = 1;
   StopBits stopBits = StopBits::ONE_STOP_BIT;
   bool replySizeFixed = true;

hal/src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -21,7 +21,7 @@ using mspCb = void (*)(void);
 namespace spi {
 
 struct MspCfgBase {
-  MspCfgBase() {}
+  MspCfgBase();
   MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
              mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
       : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}

src/fsfw/CMakeLists.txt

@@ -1,6 +1,5 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
     version.cpp
-    versionAutogen.cpp
 )
 
 # Core

src/fsfw/FSFWVersion.h.in

@@ -0,0 +1,9 @@
+#ifndef FSFW_VERSION_H_
+#define FSFW_VERSION_H_
+
+// Versioning is kept in project CMakeLists.txt file
+#define FSFW_VERSION_MAJOR @FSFW_VERSION@
+#define FSFW_VERSION_MINOR @FSFW_SUBVERSION@
+#define FSFW_VERSION_REVISION @FSFW_REVISION@
+
+#endif /* FSFW_VERSION_H_ */

src/fsfw/cfdp/CFDPHandler.cpp

@@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0;
 
 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  requestQueue = QueueFactory::instance()->createMessageQueue(
+      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   distributor = dist;
 }
 

src/fsfw/cfdp/pdu/HeaderSerializer.h

@@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF {
   cfdp::WidthInBytes getLenEntityIds() const override;
   cfdp::WidthInBytes getLenSeqNum() const override;
   cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override;
-  bool hasSegmentMetadataFlag() const override;
+  bool hasSegmentMetadataFlag() const;
   void setSegmentationControl(cfdp::SegmentationControl);
 
   void getSourceId(cfdp::EntityId& sourceId) const override;

src/fsfw/container/FixedArrayList.h

@@ -2,7 +2,6 @@
 #define FIXEDARRAYLIST_H_
 
 #include <cmath>
-#include <limits>
 
 #include "ArrayList.h"
 /**
@@ -10,8 +9,10 @@
  */
 template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
-  static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
+#if !defined(_MSC_VER)
+  static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
                 "count_t is not large enough to hold MAX_SIZE");
+#endif
  private:
   T data[MAX_SIZE];
 

src/fsfw/container/HybridIterator.h

@@ -10,23 +10,16 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
   HybridIterator() {}
 
   HybridIterator(typename LinkedElement<T>::Iterator *iter)
-      : LinkedElement<T>::Iterator(*iter), linked(true) {
-    if (iter != nullptr) {
-      value = iter->value;
-    }
-  }
+      : LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {}
 
-  HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
-    if (start != nullptr) {
-      value = start->value;
-    }
-  }
+  HybridIterator(LinkedElement<T> *start)
+      : LinkedElement<T>::Iterator(start), value(start->value), linked(true) {}
 
   HybridIterator(typename ArrayList<T, count_t>::Iterator start,
                  typename ArrayList<T, count_t>::Iterator end)
       : ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) {
     if (value == this->end) {
-      value = nullptr;
+      value = NULL;
     }
   }
 

src/fsfw/controller/ControllerBase.cpp

@@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/controller/ControllerBase.h

@@ -55,7 +55,7 @@ class ControllerBase : public HasModesIF,
   virtual void performControlOperation() = 0;
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override = 0;
+                                         uint32_t *msToReachTheMode) = 0;
 
   const object_id_t parentId;
 
@@ -80,9 +80,9 @@ class ControllerBase : public HasModesIF,
 
   /** Mode helpers */
   virtual void modeChanged(Mode_t mode, Submode_t submode);
-  virtual void startTransition(Mode_t mode, Submode_t submode) override;
-  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
-  virtual void setToExternalControl() override;
+  virtual void startTransition(Mode_t mode, Submode_t submode);
+  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  virtual void setToExternalControl();
   virtual void announceMode(bool recursive);
   /** HK helpers */
   virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);

src/fsfw/datapool/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	PoolDataSetBase.cpp
-	PoolEntry.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE 
+    PoolDataSetBase.cpp
+    PoolEntry.cpp
 )

src/fsfw/datapool/PoolDataSetBase.h

@@ -109,7 +109,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
    */
   virtual ReturnValue_t unlockDataPool() override;
 
-  virtual uint16_t getFillCount() const override;
+  virtual uint16_t getFillCount() const;
 
   /* SerializeIF implementations */
   virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -787,10 +787,6 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   // Serialize set packet into store.
   size_t size = 0;
   result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    ipcStore->deleteData(storeId);
-    return result;
-  }
   if (expectedSize != size) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
@@ -805,10 +801,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
     HousekeepingMessage::setHkStuctureReportReply(&reply, sid, storeId);
   }
 
-  result = hkQueue->reply(&reply);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    ipcStore->deleteData(storeId);
-  }
+  hkQueue->reply(&reply);
   return result;
 }
 

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -94,14 +94,13 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount) / 8.0);
   uint8_t *validityPtr = nullptr;
-#if defined(_MSC_VER) || defined(__clang__)
-  // Use a std::vector here because MSVC will (rightly) not create a fixed size array
-  // with a non constant size specifier. The Apple compiler (LLVM) will not accept
-  // the  initialization of a variable sized array
-  std::vector<uint8_t> validityMask(validityMaskSize, 0);
+#ifdef _MSC_VER
+  /* Use a std::vector here because MSVC will (rightly) not create a fixed size array
+  with a non constant size specifier */
+  std::vector<uint8_t> validityMask(validityMaskSize);
   validityPtr = validityMask.data();
 #else
-  uint8_t validityMask[validityMaskSize] = {};
+  uint8_t validityMask[validityMaskSize] = {0};
   validityPtr = validityMask;
 #endif
   uint8_t validBufferIndex = 0;

src/fsfw/datapoollocal/LocalPoolObjectBase.h

@@ -23,8 +23,8 @@ class LocalPoolObjectBase : public PoolVariableIF, public HasReturnvaluesIF, pub
   LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr,
                       pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
-  void setReadWriteMode(pool_rwm_t newReadWriteMode) override;
-  pool_rwm_t getReadWriteMode() const override;
+  void setReadWriteMode(pool_rwm_t newReadWriteMode);
+  pool_rwm_t getReadWriteMode() const;
 
   bool isValid() const override;
   void setValid(bool valid) override;

src/fsfw/devicehandlers/AssemblyBase.cpp

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

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,7 +12,8 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices.
+ * otherwise be needed for the handling of redundant devices. However, it can also be used to
+ * manage the mode keeping and recovery of non-redundant devices
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -26,11 +27,9 @@
  *
  * Important:
  *
- * The implementation must call registerChild(object_id_t child)
- * for all commanded children during initialization.
+ * The implementation must call #registerChild for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
- *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -47,13 +46,14 @@ class AssemblyBase : public SubsystemBase {
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination
-   * Can be done by setting #commandsOutstanding correctly,
-   * or using executeTable()
+   * Command children to reach [mode,submode] combination. Can be done by setting
+   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
+   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
+   * a recovery might be on-going and the device needs to be commanded to off first.
    * @param mode
    * @param submode
    * @return
-   *    - @c RETURN_OK if ok
+   *    - @c RETURN_OK if OK
    *    - @c NEED_SECOND_STEP if children need to be commanded again
    */
   virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
@@ -120,8 +120,19 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  virtual void performChildOperation();
+  /**
+   * @brief Default periodic handler
+   * @details
+   * This is the default periodic handler which will be called by the SubsystemBase
+   * performOperation. It performs the child transitions or reacts to changed health/mode states
+   * of children objects
+   */
+  virtual void performChildOperation() override;
 
+  /**
+   * This function handles changed mode or health states of children
+   * @return
+   */
   bool handleChildrenChanged();
 
   /**
@@ -134,12 +145,37 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
+  /**
+   * Core transition handler. The default implementation will only do something if
+   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
+   * from the #doPerformTransition call were executed successfully.
+   *
+   * Unless a second step was requested, the function will then use #checkChildrenState to
+   * determine whether the target mode was reached.
+   *
+   * There is some special handling for certain (internal) modes:
+   *  - A second step is necessary. #commandChildren will be performed again
+   *  - The device health was overwritten. #commandChildren will be called
+   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
+   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
+  /**
+   * Calls #doStartTransition and triggers an informative event as well that the mode will
+   * change
+   * @param mode
+   * @param submode
+   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
+  /**
+   * This function starts the transition by setting the internal #targetSubmode and #targetMode
+   * variables and then calling the #commandChildren function.
+   * @param mode
+   * @param submode
+   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -160,7 +196,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  bool checkAndHandleRecovery();
+  virtual bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -168,6 +204,8 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
+
+  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -48,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
                         HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
-  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@@ -126,6 +124,17 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != RETURN_OK) {
     return result;
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
+  }
+
+  if(this->parent != objects::NO_OBJECT) {
+    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
+    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
+    if(modeIF != nullptr and healthIF != nullptr) {
+      setParentQueue(modeIF->getCommandQueue());
+    }
+  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -410,7 +419,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
     DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
     size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
   // No need to check, as we may try to insert multiple times.
-  insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
+  insertInCommandMap(deviceCommand);
   if (hasDifferentReplyId) {
     return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
   } else {
@@ -437,15 +446,11 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   }
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand,
-                                                    bool useAlternativeReply,
-                                                    DeviceCommandId_t alternativeReplyId) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
   DeviceCommandInfo info;
   info.expectedReplies = 0;
   info.isExecuting = false;
   info.sendReplyTo = NO_COMMANDER;
-  info.useAlternativeReplyId = alternativeReplyId;
-  info.alternativeReplyId = alternativeReplyId;
   auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -455,20 +460,12 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
 }
 
 size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
-  DeviceCommandId_t replyId = NO_COMMAND_ID;
-  DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
-  if (command->second.useAlternativeReplyId) {
-    replyId = command->second.alternativeReplyId;
-  } else {
-    replyId = commandId;
-  }
-  DeviceReplyIter iter = deviceReplyMap.find(replyId);
+  DeviceReplyIter iter = deviceReplyMap.find(commandId);
   if (iter != deviceReplyMap.end()) {
-    if (iter->second.delayCycles != 0) {
-      return iter->second.replyLen;
-    }
+    return iter->second.replyLen;
+  } else {
+    return 0;
   }
-  return 0;
 }
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
@@ -663,9 +660,7 @@ void DeviceHandlerBase::doGetWrite() {
 
     // We need to distinguish here, because a raw command never expects a reply.
     //(Could be done in eRIRM, but then child implementations need to be careful.
-    DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
-    result = enableReplyInReplyMap(command, 1, command->second.useAlternativeReplyId,
-                                   command->second.alternativeReplyId);
+    result = enableReplyInReplyMap(cookieInfo.pendingCommand);
   } else {
     // always generate a failure event, so that FDIR knows what's up
     triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, cookieInfo.pendingCommand->first);
@@ -1399,6 +1394,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
+Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
+
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1421,7 +1418,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, SUBMODE_NONE);
+    startTransition(MODE_ON, getInitialSubmode());
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -1505,3 +1502,9 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
+
+void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
+
+void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
+
+void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { this->powerSwitcher = switcher; }

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
+  void setCustomFdir(FailureIsolationBase* fdir);
+  void setParent(object_id_t parent);
+  void setPowerSwitcher(PowerSwitchIF* switcher);
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -163,7 +166,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return RETURN_OK for successful execution
    */
-  virtual ReturnValue_t performOperation(uint8_t counter) override;
+  virtual ReturnValue_t performOperation(uint8_t counter);
 
   /**
    * @brief  Initializes the device handler
@@ -173,7 +176,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  virtual ReturnValue_t initialize() override;
+  virtual ReturnValue_t initialize();
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
@@ -478,9 +481,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @return - @c RETURN_OK when the command was successfully inserted,
    *         - @c RETURN_FAILED else.
    */
-  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
-                                   bool useAlternativeReply = false,
-                                   DeviceCommandId_t alternativeReplyId = 0);
+  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
 
   /**
    * Enables a periodic reply for a given command. It sets to delay cycles to the specified
@@ -649,6 +650,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
+  /**
+   * @brief Can be overwritten by a child to specify the initial submode when device has been set
+   *        to startup immediately.
+   */
+  virtual Submode_t getInitialSubmode();
+
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -753,8 +760,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     //! if this is != NO_COMMANDER, DHB was commanded externally and shall
     //! report everything to commander.
     MessageQueueId_t sendReplyTo;
-    bool useAlternativeReplyId;
-    DeviceCommandId_t alternativeReplyId;
   };
   using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo>;
   /**
@@ -822,6 +827,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
+  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -1058,12 +1064,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param parameter1	Optional parameter 1
    * @param parameter2	Optional parameter 2
    */
-  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
+  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
   /**
    * Same as triggerEvent, but for forwarding if object is used as proxy.
    */
-  virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
-                            uint32_t parameter2 = 0) const override;
+  virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
 
   /**
    * Checks if current mode is transitional mode.

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

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

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -109,6 +109,7 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
+  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 

src/fsfw/devicehandlers/HealthDevice.cpp

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

src/fsfw/events/EventManager.cpp

@@ -18,8 +18,9 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
-                                                                  EventMessage::EVENT_MESSAGE_SIZE);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(
+      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 EventManager::~EventManager() {
@@ -46,9 +47,20 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
-    if (iter->second.match(message)) {
-      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
+  for (auto& listener : listenerList) {
+    if (listener.second.match(message)) {
+      ReturnValue_t result =
+          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
+                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
+                   << result << std::setfill(' ') << std::endl;
+#else
+        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
+                        listener.first, result);
+#endif
+      }
     }
   }
   unlockMutex();
@@ -189,4 +201,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
+void EventManager::printListeners() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
+  for (auto& listener : listenerList) {
+    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
+  }
+  sif::info << std::dec << std::setfill(' ');
+#else
+  sif::printInfo("Event manager listener MQ IDs:\n");
+  for (auto& listener : listenerList) {
+    sif::printInfo("0x%08x\n", listener.first);
+  }
+#endif
+}
+
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -42,6 +42,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
+  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -9,8 +9,9 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
+  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -51,11 +52,12 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object"
-                 << "invalid." << std::endl;
-#endif
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
+      sif::error << "FailureIsolationBase::intialize: Parent object "
+                 << "invalid" << std::endl;
+      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
+#else
+      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
+      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return RETURN_FAILED;

src/fsfw/fdir/FailureIsolationBase.h

@@ -14,13 +14,12 @@ class FailureIsolationBase : public HasReturnvaluesIF,
                              public HasParametersIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  static const Event FDIR_CHANGED_STATE =
-      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
-                                      //!< (oldState) to par1 (newState).
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
-      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
-      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.
+  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
+  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
+  //! FDIR tries to restart device. Par1: event that caused recovery.
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
+  //! FDIR turns off device. Par1: event that caused recovery.
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
 
   FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                        uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);

src/fsfw/globalfunctions/matching/MatchTree.h

@@ -25,7 +25,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
       : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
   MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
   virtual ~MatchTree() {}
-  virtual bool match(T number) override { return matchesTree(number); }
+  virtual bool match(T number) { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
     if (iter == this->end()) {
@@ -179,9 +179,6 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
   virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; }
 
   bool matchSubtree(iterator iter, T number) {
-    if (iter == nullptr) {
-      return false;
-    }
     bool isMatch = iter->match(number);
     if (isMatch) {
       if (iter.left() == this->end()) {

src/fsfw/globalfunctions/matching/RangeMatcher.h

@@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF<T> {
   RangeMatcher(T lowerBound, T upperBound, bool inverted = false)
       : inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {}
 
-  bool match(T input) override {
+  bool match(T input) {
     if (inverted) {
       return !doMatch(input);
     } else {

src/fsfw/health/HasHealthIF.h

@@ -23,19 +23,15 @@ class HasHealthIF {
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  static const Event OVERWRITING_HEALTH =
-      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
-                                     //!< satellite alive.
-  static const Event TRYING_RECOVERY =
-      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
-                                         //!< power-cycle). No parameters.
-  static const Event RECOVERY_STEP =
-      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
-                                         //!< 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_DONE = MAKE_EVENT(
-      12,
-      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
-
+  //! Assembly overwrites health information of children to keep satellite alive.
+  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
+  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
+  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
+  //! Recovery is ongoing. Comes twice during recovery.
+  //! P1: 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
+  //! Recovery was completed. Not necessarily successful. No parameters.
+  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,11 +7,13 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
-      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
+  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@@ -36,15 +38,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured!" << std::endl;
-      sif::debug << "Queue errors: " << newQueueHits << std::endl;
-      sif::debug << "TM errors: " << newTmHits << std::endl;
-      sif::debug << "Store errors: " << newStoreHits << std::endl;
+                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
+                 << newStoreHits << std::endl;
 #else
-      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
-      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
-      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
-      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
+      sif::printDebug(
+          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
+          "| %lu\n",
+          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
+          static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }

src/fsfw/ipc/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    CommandMessage.cpp
-    CommandMessageCleaner.cpp
-    MessageQueueMessage.cpp
-    MessageQueueBase.cpp
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CommandMessage.cpp
+		CommandMessageCleaner.cpp
+		MessageQueueMessage.cpp
 )

src/fsfw/ipc/MessageQueueBase.cpp

@@ -1,54 +0,0 @@
-#include "MessageQueueBase.h"
-
-MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* args)
-    : id(id) {
-  this->defaultDest = defaultDest;
-  if (args != nullptr) {
-    this->args = *args;
-  }
-}
-
-MessageQueueBase::~MessageQueueBase() {}
-
-ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId(), false);
-}
-
-ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
-  if (this->last != MessageQueueIF::NO_QUEUE) {
-    return sendMessageFrom(this->last, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
-ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
-                                               MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  *receivedFrom = this->last;
-  return status;
-}
-
-MessageQueueId_t MessageQueueBase::getLastPartner() const { return last; }
-
-MessageQueueId_t MessageQueueBase::getId() const { return id; }
-
-MqArgs& MessageQueueBase::getMqArgs() { return args; }
-
-void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  this->defaultDest = defaultDestination;
-}
-
-MessageQueueId_t MessageQueueBase::getDefaultDestination() const { return defaultDest; }
-
-bool MessageQueueBase::isDefaultDestinationSet() const { return (defaultDest != NO_QUEUE); }
-
-ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                            bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), false);
-}
-
-ReturnValue_t MessageQueueBase::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                                  MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDest, message, sentFrom, ignoreFault);
-}

src/fsfw/ipc/MessageQueueBase.h

@@ -1,40 +0,0 @@
-#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
-#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
-
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/ipc/definitions.h>
-
-class MessageQueueBase : public MessageQueueIF {
- public:
-  MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
-  virtual ~MessageQueueBase();
-
-  // Default implementations for MessageQueueIF where possible
-  virtual MessageQueueId_t getLastPartner() const override;
-  virtual MessageQueueId_t getId() const override;
-  virtual MqArgs& getMqArgs() override;
-  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-  virtual MessageQueueId_t getDefaultDestination() const override;
-  virtual bool isDefaultDestinationSet() const override;
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                    bool ignoreFault) override;
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                                       MessageQueueId_t* receivedFrom) override;
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-                                          bool ignoreFault = false) override;
-
-  // OSAL specific, forward the abstract function
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
-
- protected:
-  MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
-  MqArgs args = {};
-};
-
-#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

src/fsfw/ipc/MessageQueueIF.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
-#include <fsfw/ipc/definitions.h>
-
 #include <cstdint>
 
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -46,8 +44,8 @@ class MessageQueueIF {
   virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
 
   /**
-   * @brief	This function reads available messages from the message queue and returns the
-   * sender.
+   * @brief	This function reads available messages from the message queue
+   *          and returns the sender.
    * @details
    * It works identically to the other receiveMessage call, but in addition
    * returns the sender's queue id.
@@ -80,16 +78,19 @@ class MessageQueueIF {
    */
   virtual ReturnValue_t flush(uint32_t* count) = 0;
   /**
-   * @brief	This method returns the message queue ID of the last communication partner.
+   * @brief	This method returns the message queue
+   *          id of the last communication partner.
    */
   virtual MessageQueueId_t getLastPartner() const = 0;
   /**
-   * @brief	This method returns the message queue ID  of this class's message queue.
+   * @brief	This method returns the message queue
+   *          id of this class's message queue.
    */
   virtual MessageQueueId_t getId() const = 0;
 
   /**
-   * @brief	With the sendMessage call, a queue message is sent to a receiving queue.
+   * @brief	With the sendMessage call, a queue message
+   *          is sent to a receiving queue.
    * @details
    * This method takes the message provided, adds the sentFrom information
    * and passes it on to the destination provided with an operating system
@@ -128,7 +129,8 @@ class MessageQueueIF {
                                     bool ignoreFault = false) = 0;
 
   /**
-   * @brief	The sendToDefaultFrom method sends a queue message to the default destination.
+   * @brief	The sendToDefaultFrom method sends a queue message
+   *          to the default destination.
    * @details
    * In all other aspects, it works identical to the sendMessage method.
    * @param message
@@ -162,8 +164,6 @@ class MessageQueueIF {
   virtual MessageQueueId_t getDefaultDestination() const = 0;
 
   virtual bool isDefaultDestinationSet() const = 0;
-
-  virtual MqArgs& getMqArgs() = 0;
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

src/fsfw/ipc/definitions.h

@@ -1,13 +1,11 @@
 #ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
 #define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
-
 #include <fsfw/objectmanager/SystemObjectIF.h>
-#include <fsfw/objectmanager/frameworkObjects.h>
 
 struct MqArgs {
   MqArgs(){};
   MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
-  object_id_t objectId = objects::NO_OBJECT;
+  object_id_t objectId = 0;
   void* args = nullptr;
 };
 

src/fsfw/modes/HasModesIF.h

@@ -19,32 +19,33 @@ class HasModesIF {
   static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  static const Event CHANGING_MODE =
-      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
-                                      //!< p2: target submode
-  static const Event MODE_INFO = MAKE_EVENT(
-      1,
-      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
+  //! An object announces changing the mode. p1: target mode. p2: target submode
+  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
+  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
+  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
   static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
   static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
   static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  static const Event OBJECT_IN_INVALID_MODE =
-      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
-                                     //!< mode it should never be in.
-  static const Event FORCING_MODE = MAKE_EVENT(
-      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
-                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
-  static const Event MODE_CMD_REJECTED =
-      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
-                                     //!< called object id, Par2: return code.
+  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
+  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
+  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
+  //! p1: target mode. p2: target submode
+  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
+  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
+  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
 
-  static const Mode_t MODE_ON =
-      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
-          //!< sent by the device handler itself, but direct commands van be commanded and will be
-          //!< interpreted
-  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
-                                     //!< this mode is a mode change to on.
-  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".
+  //! The device is powered and ready to perform operations. In this mode, no commands are
+  //! sent by the device handler itself, but direct commands van be commanded and will be
+  //! interpreted
+  static constexpr Mode_t MODE_ON = 1;
+  //! The device is powered off. The only command accepted in this mode is a mode change to on.
+  static constexpr Mode_t MODE_OFF = 0;
+
+  static constexpr Mode_t MODE_INVALID = -1;
+  static constexpr Mode_t MODE_UNDEFINED = -2;
+
+  //! To avoid checks against magic number "0".
+  static const Submode_t SUBMODE_NONE = 0;
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -34,7 +34,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   SerializeElement<T> limitValue;
   SerializeElement<ReturnValue_t> oldState;
   SerializeElement<ReturnValue_t> newState;
-  uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {};
+  uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
   SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
   TimeStamperIF* timeStamper;
   MonitoringReportContent()
@@ -46,6 +46,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
         limitValue(0),
         oldState(0),
         newState(0),
+        rawTimestamp({0}),
         timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
         timeStamper(NULL) {
     setAllNext();

src/fsfw/objectmanager/ObjectManager.cpp

@@ -95,13 +95,16 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << var
-                 << " failed to "
-                    "initialize with code 0x"
-                 << result << std::dec << std::setfill(' ') << std::endl;
+                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
+                 << std::dec << std::setfill(' ') << std::endl;
+#else
+      sif::printError(
+          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
+          it.first);
+#endif
 #endif
       errorCount++;
     }

src/fsfw/objectmanager/SystemObject.h

@@ -48,10 +48,9 @@ class SystemObject : public SystemObjectIF {
   virtual ~SystemObject();
   object_id_t getObjectId() const override;
   virtual ReturnValue_t initialize() override;
-  virtual ReturnValue_t checkObjectConnections() override;
+  virtual ReturnValue_t checkObjectConnections();
 
-  virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
-                            uint32_t parameter2 = 0) const override;
+  virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
 };
 
 #endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -19,8 +19,6 @@
 #include <ws2tcpip.h>
 #elif defined(PLATFORM_UNIX)
 #include <netdb.h>
-
-#include <utility>
 #endif
 
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
@@ -31,7 +29,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(std::move(customTcpServerPort)),
+      tcpConfig(customTcpServerPort),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -105,7 +103,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
 
 TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
 
-[[noreturn]] ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
+ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
   using namespace tcpip;
   // If a connection is accepted, the corresponding socket will be assigned to the new socket
   socket_t connSocket = 0;
@@ -140,6 +138,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
     closeSocket(connSocket);
     connSocket = 0;
   }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
@@ -160,7 +159,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 #endif
 
   while (true) {
-    ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
+    int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
                       receptionBuffer.capacity(), tcpConfig.tcpFlags);
     if (retval == 0) {
       size_t availableReadData = ringBuffer.getAvailableReadData();
@@ -253,17 +252,17 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
   return result;
 }
 
-const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
+std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
 
-void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
-  this->validPacketIds = std::move(validPacketIds_);
+void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
+  this->validPacketIds = validPacketIds;
 }
 
 TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() { return tcpConfig; }
 
 ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
   // Access to the FIFO is mutex protected because it is filled by the bridge
-  MutexGuard mg(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
+  MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
   store_address_t storeId;
   while ((not tmtcBridge->tmFifo->empty()) and
          (tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
@@ -284,7 +283,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
 #endif
       arrayprinter::print(storeAccessor.data(), storeAccessor.size());
     }
-    ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
+    int retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
                       storeAccessor.size(), tcpConfig.tcpTmFlags);
     if (retval == static_cast<int>(storeAccessor.size())) {
       // Packet sent, clear FIFO entry
@@ -340,9 +339,6 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   size_t foundSize = 0;
   size_t readLen = 0;
   while (readLen < readAmount) {
-    if(spacePacketParser == nullptr) {
-      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     result =
         spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
     switch (result) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -17,7 +17,6 @@
 #endif
 
 #include <string>
-#include <utility>
 #include <vector>
 
 class TcpTmTcBridge;
@@ -45,7 +44,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   struct TcpConfig {
    public:
-    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
+    TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
 
     /**
      * Passed to the recv call
@@ -85,7 +84,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
                 size_t ringBufferSize = RING_BUFFER_SIZE,
                 std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
-  ~TcpTmTcServer() override;
+  virtual ~TcpTmTcServer();
 
   void enableWiretapping(bool enable);
 
@@ -98,10 +97,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
 
   ReturnValue_t initialize() override;
-  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  [[nodiscard]] const std::string& getTcpPort() const;
+  std::string getTcpPort() const;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -116,7 +115,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   ReceptionModes receptionMode;
   TcpConfig tcpConfig;
-  struct sockaddr tcpAddress = {};
+  struct sockaddr tcpAddress;
   socket_t listenerTcpSocket = 0;
 
   MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

src/fsfw/osal/common/UdpTcPollingTask.cpp

@@ -16,13 +16,11 @@
 //! Debugging preprocessor define.
 #define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0
 
-const timeval UdpTcPollingTask::DEFAULT_TIMEOUT = {0, 500000};
-
 UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge,
                                    size_t maxRecvSize, double timeoutSeconds)
     : SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) {
-  if (maxRecvSize > 0) {
-    this->frameSize = maxRecvSize;
+  if (frameSize > 0) {
+    this->frameSize = frameSize;
   } else {
     this->frameSize = DEFAULT_MAX_RECV_SIZE;
   }
@@ -33,20 +31,22 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
   receptionBuffer.resize(this->frameSize);
 
   if (timeoutSeconds == -1) {
-    receptionTimeout = UdpTcPollingTask::DEFAULT_TIMEOUT;
+    receptionTimeout = DEFAULT_TIMEOUT;
   } else {
     receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
   }
 }
 
-[[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
+UdpTcPollingTask::~UdpTcPollingTask() {}
+
+ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
   /* Sender Address is cached here. */
-  struct sockaddr senderAddress {};
+  struct sockaddr senderAddress;
   socklen_t senderAddressSize = sizeof(senderAddress);
 
   /* Poll for new UDP datagrams in permanent loop. */
   while (true) {
-    ssize_t bytesReceived =
+    int bytesReceived =
         recvfrom(this->serverSocket, reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
                  receptionFlags, &senderAddress, &senderAddressSize);
     if (bytesReceived == SOCKET_ERROR) {
@@ -70,6 +70,7 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
     }
     tmtcBridge->checkAndSetClientAddress(senderAddress);
   }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
@@ -154,7 +155,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
 #endif
   }
 #elif defined(PLATFORM_UNIX)
-  timeval tval{};
+  timeval tval;
   tval = timevalOperations::toTimeval(timeoutSeconds);
   int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
   if (result == -1) {

src/fsfw/osal/common/UdpTcPollingTask.h

@@ -21,11 +21,11 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
  public:
   static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
   //! 0.5  default milliseconds timeout for now.
-  static const timeval DEFAULT_TIMEOUT;
+  static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
 
   UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize = 0,
                    double timeoutSeconds = -1);
-  ~UdpTcPollingTask() override = default;
+  virtual ~UdpTcPollingTask();
 
   /**
    * Turn on optional timeout for UDP polling. In the default mode,
@@ -34,9 +34,9 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
    */
   void setTimeout(double timeoutSeconds);
 
-  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
-  ReturnValue_t initialize() override;
-  ReturnValue_t initializeAfterTaskCreation() override;
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  virtual ReturnValue_t initialize() override;
+  virtual ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -51,7 +51,7 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl
   std::vector<uint8_t> receptionBuffer;
 
   size_t frameSize = 0;
-  timeval receptionTimeout{};
+  timeval receptionTimeout;
 
   ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
 };

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -20,13 +20,13 @@
 const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             const std::string &udpServerPort_, object_id_t tmStoreId,
+                             std::string udpServerPort, object_id_t tmStoreId,
                              object_id_t tcStoreId)
     : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
-  if (udpServerPort_.empty()) {
-    udpServerPort = DEFAULT_SERVER_PORT;
+  if (udpServerPort == "") {
+    this->udpServerPort = DEFAULT_SERVER_PORT;
   } else {
-    udpServerPort = udpServerPort_;
+    this->udpServerPort = udpServerPort;
   }
 
   mutex = MutexFactory::instance()->createMutex();
@@ -117,8 +117,8 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
   tcpip::printAddress(&clientAddress);
 #endif
 
-  ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
-                             &clientAddress, clientAddressLen);
+  int bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
+                         &clientAddress, clientAddressLen);
   if (bytesSent == SOCKET_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;
@@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) {
   clientAddressLen = sizeof(clientAddress);
 }
 
-void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) {
-  timeoutType = timeoutType_;
-  mutexTimeoutMs = timeoutMs;
+void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) {
+  this->timeoutType = timeoutType;
+  this->mutexTimeoutMs = timeoutMs;
 }

src/fsfw/osal/common/UdpTmTcBridge.h

@@ -29,10 +29,10 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
   /* The ports chosen here should not be used by any other process. */
   static const std::string DEFAULT_SERVER_PORT;
 
-  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
+  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, std::string udpServerPort = "",
+                object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
-  ~UdpTmTcBridge() override;
+  virtual ~UdpTmTcBridge();
 
   /**
    * Set properties of internal mutex.
@@ -46,12 +46,12 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
   std::string getUdpPort() const;
 
  protected:
-  ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
+  virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
 
  private:
   std::string udpServerPort;
 
-  struct sockaddr clientAddress = {};
+  struct sockaddr clientAddress;
   socklen_t clientAddressLen = 0;
 
   //! Access to the client address is mutex protected as it is set by another task.

src/fsfw/osal/freertos/Clock.cpp

@@ -11,6 +11,9 @@
 // TODO sanitize input?
 // TODO much of this code can be reused for tick-only systems
 
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = nullptr;
+
 uint32_t Clock::getTicksPerSecond(void) { return 1000; }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {

src/fsfw/osal/freertos/MessageQueue.cpp

@@ -5,8 +5,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
-      maxMessageSize(maxMessageSize) {
+    : maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -16,10 +15,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
 #else
     sif::printError("MessageQueue::MessageQueue: Creation failed\n");
     sif::printError("Specified Message Depth: %d\n", messageDepth);
-    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
+    sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
 #endif
   }
-  QueueMapManager::instance()->addMessageQueue(handle, &id);
+  QueueMapManager::instance()->addMessageQueue(handle, &queueId);
 }
 
 MessageQueue::~MessageQueue() {
@@ -30,6 +29,28 @@ MessageQueue::~MessageQueue() {
 
 void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; }
 
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        bool ignoreFault) {
+  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+  return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+                                              MessageQueueId_t sentFrom, bool ignoreFault) {
+  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
+    return sendMessageFrom(this->lastPartner, message, this->getId());
+  } else {
+    return NO_REPLY_PARTNER;
+  }
+}
+
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
@@ -51,16 +72,27 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+                                           MessageQueueId_t* receivedFrom) {
+  ReturnValue_t status = this->receiveMessage(message);
+  if (status == HasReturnvaluesIF::RETURN_OK) {
+    *receivedFrom = this->lastPartner;
+  }
+  return status;
+}
+
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
   if (result == pdPASS) {
-    this->last = message->getSender();
+    this->lastPartner = message->getSender();
     return HasReturnvaluesIF::RETURN_OK;
   } else {
     return MessageQueueIF::EMPTY;
   }
 }
 
+MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
+
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   // TODO FreeRTOS does not support flushing partially
   // Is always successful
@@ -68,6 +100,17 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+MessageQueueId_t MessageQueue::getId() const { return queueId; }
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+  defaultDestinationSet = true;
+  this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
+
+bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
+
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/freertos/MessageQueue.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
-#include <fsfw/ipc/MessageQueueBase.h>
-
 #include "FreeRTOS.h"
 #include "TaskManagement.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
@@ -35,7 +33,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueBase {
+class MessageQueue : public MessageQueueIF {
   friend class MessageQueueSenderIF;
 
  public:
@@ -77,15 +75,40 @@ class MessageQueue : public MessageQueueBase {
    */
   void switchSystemContext(CallContext callContext);
 
-  QueueHandle_t getNativeQueueHandle();
+  /** MessageQueueIF implementation */
+  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                            bool ignoreFault = false) override;
 
-  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
+  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+
+  ReturnValue_t reply(MessageQueueMessageIF* message) override;
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
+
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
+                                          MessageQueueId_t sentFrom = NO_QUEUE,
+                                          bool ignoreFault = false) override;
+
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+                               MessageQueueId_t* receivedFrom) override;
+
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+
   ReturnValue_t flush(uint32_t* count) override;
 
+  MessageQueueId_t getLastPartner() const override;
+
+  MessageQueueId_t getId() const override;
+
+  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+
+  MessageQueueId_t getDefaultDestination() const override;
+
+  bool isDefaultDestinationSet() const override;
+
+  QueueHandle_t getNativeQueueHandle();
+
  protected:
   /**
    * @brief 	Implementation to be called from any send Call within
@@ -115,8 +138,12 @@ class MessageQueue : public MessageQueueBase {
   static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
  private:
+  bool defaultDestinationSet = false;
   QueueHandle_t handle;
+  MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
 
+  MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
   const size_t maxMessageSize;
   //! Stores the current system context
   CallContext callContext = CallContext::TASK;

src/fsfw/osal/freertos/PeriodicTask.cpp

@@ -97,11 +97,7 @@ void PeriodicTask::taskFunctionality() {
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
+  if (newObject == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
                   "it implement ExecutableObjectIF"
@@ -109,8 +105,8 @@ ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  objectList.push_back(object);
-  object->setTaskIF(this);
+  objectList.push_back(newObject);
+  newObject->setTaskIF(this);
 
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/osal/freertos/PeriodicTask.h

@@ -63,16 +63,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object) override;
 
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
   uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;

src/fsfw/osal/host/CMakeLists.txt

@@ -1,27 +1,24 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-  Clock.cpp
-  FixedTimeslotTask.cpp
-  MessageQueue.cpp
-  Mutex.cpp
-  MutexFactory.cpp
-  PeriodicTask.cpp
-  QueueFactory.cpp
-  QueueMapManager.cpp
-  SemaphoreFactory.cpp
-  TaskFactory.cpp
-  taskHelpers.cpp
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		FixedTimeslotTask.cpp
+		MessageQueue.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PeriodicTask.cpp
+		QueueFactory.cpp
+		QueueMapManager.cpp
+		SemaphoreFactory.cpp
+		TaskFactory.cpp
+		taskHelpers.cpp
 )
 
 if(UNIX)
-  find_package(Threads REQUIRED)
-
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_THREAD_LIBS_INIT}
-  )
-  if(NOT APPLE)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-      rt
-      )
-  endif()
-
+	find_package(Threads REQUIRED)
+	
+	target_link_libraries(${LIB_FSFW_NAME} 
+	PRIVATE
+		rt
+		${CMAKE_THREAD_LIBS_INIT}
+	)
 endif()

src/fsfw/osal/host/Clock.cpp

@@ -2,7 +2,6 @@
 
 #include <chrono>
 
-#include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -12,6 +11,9 @@
 #include <fstream>
 #endif
 
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
+
 using SystemClock = std::chrono::system_clock;
 
 uint32_t Clock::getTicksPerSecond(void) {
@@ -125,13 +127,6 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
   auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
   auto fraction = now - seconds;
   time_t tt = SystemClock::to_time_t(now);
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
   struct tm* timeInfo;
   timeInfo = gmtime(&tt);
   time->year = timeInfo->tm_year + 1900;

src/fsfw/osal/host/MessageQueue.cpp

@@ -9,11 +9,9 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
-      messageSize(maxMessageSize),
-      messageDepth(messageDepth) {
+    : messageSize(maxMessageSize), messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
-  auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
+  auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
   if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
@@ -25,11 +23,42 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
 
 MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); }
 
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        bool ignoreFault) {
+  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+  return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+                                              MessageQueueId_t sentFrom, bool ignoreFault) {
+  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
+    return sendMessageFrom(this->lastPartner, message, this->getId());
+  } else {
+    return MessageQueueIF::NO_REPLY_PARTNER;
+  }
+}
+
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+                                           MessageQueueId_t* receivedFrom) {
+  ReturnValue_t status = this->receiveMessage(message);
+  if (status == HasReturnvaluesIF::RETURN_OK) {
+    *receivedFrom = this->lastPartner;
+  }
+  return status;
+}
+
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (messageQueue.empty()) {
     return MessageQueueIF::EMPTY;
@@ -39,10 +68,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
             message->getBuffer());
   messageQueue.pop();
   // The last partner is the first uint32_t field in the message
-  this->last = message->getSender();
+  this->lastPartner = message->getSender();
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
+
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   *count = messageQueue.size();
   // Clears the queue.
@@ -50,6 +81,17 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+MessageQueueId_t MessageQueue::getId() const { return mqId; }
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+  defaultDestinationSet = true;
+  this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
+
+bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
+
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/host/MessageQueue.h

@@ -5,7 +5,6 @@
 #include <queue>
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
-#include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MutexIF.h"
@@ -35,7 +34,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueBase {
+class MessageQueue : public MessageQueueIF {
   friend class MessageQueueSenderIF;
 
  public:
@@ -70,12 +69,121 @@ class MessageQueue : public MessageQueueBase {
    */
   virtual ~MessageQueue();
 
-  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
+  /**
+   * @brief	This operation sends a message to the given destination.
+   * @details	It directly uses the sendMessage call of the MessageQueueSender
+   * parent, but passes its queue id as "sentFrom" parameter.
+   * @param sendTo	This parameter specifies the message queue id of the
+   *  destination message queue.
+   * @param message	A pointer to a previously created message, which is sent.
+   * @param ignoreFault If set to true, the internal software fault counter
+   * is not incremented if queue is full.
+   */
+  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                            bool ignoreFault = false) override;
+  /**
+   * @brief	This operation sends a message to the default destination.
+   * @details	As in the sendMessage method, this function uses the
+   * sendToDefault call of the MessageQueueSender parent class and adds its
+   * queue id as "sentFrom" information.
+   * @param message	A pointer to a previously created message, which is sent.
+   */
+  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  /**
+   * @brief	This operation sends a message to the last communication partner.
+   * @details	This operation simplifies answering an incoming message by using
+   * the stored lastPartner information as destination. If there was no
+   * message received yet (i.e. lastPartner is zero), an error code is returned.
+   * @param message	A pointer to a previously created message, which is sent.
+   */
+  ReturnValue_t reply(MessageQueueMessageIF* message) override;
+
+  /**
+   * @brief	With the sendMessage call, a queue message is sent to a
+   * 			receiving queue.
+   * @details
+   * This method takes the message provided, adds the sentFrom information and
+   * passes it on to the destination provided with an operating system call.
+   *  The OS's return value is returned.
+   * @param sendTo	This parameter specifies the message queue id to send
+   * the message to.
+   * @param message	This is a pointer to a previously created message,
+   * which is sent.
+   * @param sentFrom	The sentFrom information can be set to inject the
+   * sender's queue id into the message. This variable is set to zero by
+   * default.
+   * @param ignoreFault If set to true, the internal software fault counter
+   * is not incremented if queue is full.
+   */
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
+
+  /**
+   * @brief	The sendToDefault method sends a queue message to the default
+   * 			destination.
+   * @details
+   * In all other aspects, it works identical to the sendMessage method.
+   * @param message	This is a pointer to a previously created message,
+   * which is sent.
+   * @param sentFrom	The sentFrom information can be set to inject the
+   * sender's queue id into the message. This variable is set to zero by
+   * default.
+   */
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
+                                          MessageQueueId_t sentFrom = NO_QUEUE,
+                                          bool ignoreFault = false) override;
+
+  /**
+   * @brief	This function reads available messages from the message queue
+   * 			and returns the sender.
+   * @details
+   * It works identically to the other receiveMessage call, but in  addition
+   * returns the sender's queue id.
+   * @param message	A pointer to a message in which the received data is stored.
+   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+   */
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+                               MessageQueueId_t* receivedFrom) override;
+
+  /**
+   * @brief	This function reads available messages from the message queue.
+   * @details
+   * If data is available it is stored in the passed message pointer.
+   * The message's original content is overwritten and the sendFrom
+   * information is stored in the lastPartner attribute. Else, the lastPartner
+   * information remains untouched, the message's content is cleared and the
+   * function returns immediately.
+   * @param message	A pointer to a message in which the received data is stored.
+   */
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+  /**
+   * Deletes all pending messages in the queue.
+   * @param count The number of flushed messages.
+   * @return RETURN_OK on success.
+   */
   ReturnValue_t flush(uint32_t* count) override;
+  /**
+   * @brief	This method returns the message queue id of the last
+   * 			communication partner.
+   */
+  MessageQueueId_t getLastPartner() const override;
+  /**
+   * @brief	This method returns the message queue id of this class's
+   * 			message queue.
+   */
+  MessageQueueId_t getId() const override;
+
+  /**
+   * @brief	This method is a simple setter for the default destination.
+   */
+  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+  /**
+   * @brief	This method is a simple getter for the default destination.
+   */
+  MessageQueueId_t getDefaultDestination() const override;
+
+  bool isDefaultDestinationSet() const override;
 
   ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout);
   ReturnValue_t unlockQueue();
@@ -105,14 +213,23 @@ class MessageQueue : public MessageQueueBase {
                                                    MessageQueueId_t sentFrom = NO_QUEUE,
                                                    bool ignoreFault = false);
 
+  // static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
  private:
   std::queue<std::vector<uint8_t>> messageQueue;
+  /**
+   * @brief	The class stores the queue id it got assigned.
+   * 			If initialization fails, the queue id is set to zero.
+   */
+  MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE;
   size_t messageSize = 0;
   size_t messageDepth = 0;
 
   MutexIF* queueLock;
 
+  bool defaultDestinationSet = false;
   MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

src/fsfw/osal/host/PeriodicTask.cpp

@@ -102,15 +102,11 @@ void PeriodicTask::taskFunctionality() {
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
+  if (newObject == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  object->setTaskIF(this);
-  objectList.push_back(object);
+  newObject->setTaskIF(this);
+  objectList.push_back(newObject);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

src/fsfw/osal/host/PeriodicTask.h

@@ -59,16 +59,6 @@ class PeriodicTask : public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object);
 
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object pointer to the object to add.
-   * @return
-   *  -@c RETURN_OK on success
-   *  -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object);
-
   uint32_t getPeriodMs() const;
 
   ReturnValue_t sleepFor(uint32_t ms);

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,29 +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
-  )
+    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} PUBLIC
-  ${CMAKE_THREAD_LIBS_INIT}
-  )
-
-if(NOT APPLE)
-  target_link_libraries(${LIB_FSFW_NAME} PUBLIC
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_THREAD_LIBS_INIT}
     rt
-  )
-endif()
+)
+
+target_link_libraries(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_THREAD_LIBS_INIT}
+)
+

src/fsfw/osal/linux/Clock.cpp

@@ -8,9 +8,11 @@
 
 #include <fstream>
 
-#include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
+
 uint32_t Clock::getTicksPerSecond(void) {
   uint32_t ticks = sysconf(_SC_CLK_TCK);
   return ticks;
@@ -115,13 +117,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
     // TODO errno
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
+
   struct tm* timeInfo;
   timeInfo = gmtime(&timeUnix.tv_sec);
   time->year = timeInfo->tm_year + 1900;

src/fsfw/osal/linux/MessageQueue.cpp

@@ -12,9 +12,12 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+    : id(MessageQueueIF::NO_QUEUE),
+      lastPartner(MessageQueueIF::NO_QUEUE),
+      defaultDestination(MessageQueueIF::NO_QUEUE),
       maxMessageSize(maxMessageSize) {
   mq_attr attributes;
+  this->id = 0;
   // Set attributes
   attributes.mq_curmsgs = 0;
   attributes.mq_maxmsg = messageDepth;
@@ -34,6 +37,9 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
     // Successful mq_open call
     this->id = tempId;
   }
+  if (args != nullptr) {
+    this->mqArgs = *args;
+  }
 }
 
 MessageQueue::~MessageQueue() {
@@ -47,6 +53,30 @@ MessageQueue::~MessageQueue() {
   }
 }
 
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        bool ignoreFault) {
+  return sendMessageFrom(sendTo, message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+  return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+  if (this->lastPartner != 0) {
+    return sendMessageFrom(this->lastPartner, message, this->getId());
+  } else {
+    return NO_REPLY_PARTNER;
+  }
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+                                           MessageQueueId_t* receivedFrom) {
+  ReturnValue_t status = this->receiveMessage(message);
+  *receivedFrom = this->lastPartner;
+  return status;
+}
+
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -69,7 +99,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()),
                           message->getMaximumMessageSize(), &messagePriority);
   if (status > 0) {
-    this->last = message->getSender();
+    this->lastPartner = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -137,6 +167,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   }
 }
 
+MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
+
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   mq_attr attrib;
   int status = mq_getattr(id, &attrib);
@@ -183,11 +215,26 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+MessageQueueId_t MessageQueue::getId() const { return this->id; }
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+  this->defaultDestination = defaultDestination;
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+                                              MessageQueueId_t sentFrom, bool ignoreFault) {
+  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
+}
+
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
+MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
+
+bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
+
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,

src/fsfw/osal/linux/MessageQueue.h

@@ -1,7 +1,6 @@
 #ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 #define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 
-#include <fsfw/ipc/MessageQueueBase.h>
 #include <mqueue.h>
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
@@ -27,7 +26,7 @@
  * makes use of the operating system calls provided.
  *	@ingroup message_queue
  */
-class MessageQueue : public MessageQueueBase {
+class MessageQueue : public MessageQueueIF {
   friend class MessageQueueSenderIF;
 
  public:
@@ -46,22 +45,103 @@ class MessageQueue : public MessageQueueBase {
   MessageQueue(uint32_t messageDepth = 3,
                size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
                MqArgs* args = nullptr);
-
-  /** Copying message queues forbidden */
-  MessageQueue(const MessageQueue&) = delete;
-  MessageQueue& operator=(const MessageQueue&) = delete;
-
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
+  /**
+   * @brief	This operation sends a message to the given destination.
+   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
+   * its queue id as "sentFrom" parameter.
+   * @param sendTo	This parameter specifies the message queue id of the destination message
+   * queue.
+   * @param message	A pointer to a previously created message, which is sent.
+   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
+   * queue is full.
+   */
+  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                    bool ignoreFault = false);
+  /**
+   * @brief	This operation sends a message to the default destination.
+   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
+   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
+   * information.
+   * @param message	A pointer to a previously created message, which is sent.
+   */
+  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
+  /**
+   * @brief	This operation sends a message to the last communication partner.
+   * @details	This operation simplifies answering an incoming message by using the stored
+   * 			lastParnter information as destination. If there was no message received yet
+   * 			(i.e. lastPartner is zero), an error code is returned.
+   * @param message	A pointer to a previously created message, which is sent.
+   */
+  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-  ReturnValue_t flush(uint32_t* count) override;
-  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                MessageQueueId_t sentFrom, bool ignoreFault = false) override;
+  /**
+   * @brief	This function reads available messages from the message queue and returns the
+   * sender.
+   * @details	It works identically to the other receiveMessage call, but in addition returns the
+   * 			sender's queue id.
+   * @param message	A pointer to a message in which the received data is stored.
+   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+   */
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
+
+  /**
+   * @brief	This function reads available messages from the message queue.
+   * @details	If data is available it is stored in the passed message pointer. The message's
+   * 			original content is overwritten and the sendFrom information is stored in
+   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
+   * content is cleared and the function returns immediately.
+   * @param message	A pointer to a message in which the received data is stored.
+   */
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
+  /**
+   * Deletes all pending messages in the queue.
+   * @param count The number of flushed messages.
+   * @return RETURN_OK on success.
+   */
+  ReturnValue_t flush(uint32_t* count);
+  /**
+   * @brief	This method returns the message queue id of the last communication partner.
+   */
+  MessageQueueId_t getLastPartner() const;
+  /**
+   * @brief	This method returns the message queue id of this class's message queue.
+   */
+  MessageQueueId_t getId() const;
+  /**
+   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
+   * \param sendTo	This parameter specifies the message queue id to send the message to.
+   * \param message	This is a pointer to a previously created message, which is sent.
+   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
+   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
+   * internal software fault counter is not incremented if queue is full.
+   */
+  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom, bool ignoreFault = false);
+  /**
+   * \brief	The sendToDefault method sends a queue message to the default destination.
+   * \details	In all other aspects, it works identical to the sendMessage method.
+   * \param message	This is a pointer to a previously created message, which is sent.
+   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
+   * message. This variable is set to zero by default.
+   */
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
+                                          MessageQueueId_t sentFrom = NO_QUEUE,
+                                          bool ignoreFault = false);
+  /**
+   * \brief	This method is a simple setter for the default destination.
+   */
+  void setDefaultDestination(MessageQueueId_t defaultDestination);
+  /**
+   * \brief	This method is a simple getter for the default destination.
+   */
+  MessageQueueId_t getDefaultDestination() const;
+
+  bool isDefaultDestinationSet() const;
 
  protected:
   /**
@@ -80,10 +160,33 @@ class MessageQueue : public MessageQueueBase {
                                                    bool ignoreFault = false);
 
  private:
+  /**
+   * @brief	The class stores the queue id it got assigned from the operating system in this
+   * attribute. If initialization fails, the queue id is set to zero.
+   */
+  MessageQueueId_t id;
+  /**
+   * @brief	In this attribute, the queue id of the last communication partner is stored
+   * 			to allow for replying.
+   */
+  MessageQueueId_t lastPartner;
+  /**
+   * @brief	The message queue's name -a user specific information for the operating system-  is
+   * 			generated automatically with the help of this static counter.
+   */
+  /**
+   * \brief	This attribute stores a default destination to send messages to.
+   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
+   * 			be set in the constructor or by a setter call to setDefaultDestination.
+   */
+  MessageQueueId_t defaultDestination;
+
   /**
    * The name of the message queue, stored for unlinking
    */
-  char name[16] = {};
+  char name[16];
+
+  MqArgs mqArgs = {};
 
   static uint16_t queueCounter;
   const size_t maxMessageSize;

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -28,11 +28,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 
 ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
+  if (newObject == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
                << " it implements ExecutableObjectIF!" << std::endl;
@@ -43,8 +39,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  objectList.push_back(object);
-  object->setTaskIF(this);
+  objectList.push_back(newObject);
+  newObject->setTaskIF(this);
 
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -42,14 +42,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object) override;
 
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object pointer to the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
   uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;

src/fsfw/osal/rtems/Clock.cpp

@@ -6,6 +6,9 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = nullptr;
+
 uint32_t Clock::getTicksPerSecond(void) {
   rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
   return static_cast<uint32_t>(ticks_per_second);

src/fsfw/osal/rtems/MessageQueue.cpp

@@ -7,8 +7,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
-    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
-      internalErrorReporter(nullptr) {
+    : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =
       rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id));
@@ -17,19 +16,43 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs
     sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec
                << " failed with status:" << (uint32_t)status << std::endl;
 #endif
-    this->id = MessageQueueIF::NO_QUEUE;
+    this->id = 0;
   }
 }
 
 MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); }
 
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        bool ignoreFault) {
+  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+  return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+  if (this->lastPartner != 0) {
+    return sendMessage(this->lastPartner, message, this->getId());
+  } else {
+    return NO_REPLY_PARTNER;
+  }
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+                                           MessageQueueId_t* receivedFrom) {
+  ReturnValue_t status = this->receiveMessage(message);
+  *receivedFrom = this->lastPartner;
+  return status;
+}
+
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   size_t size = 0;
   rtems_status_code status =
       rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1);
   if (status == RTEMS_SUCCESSFUL) {
     message->setMessageSize(size);
-    this->last = message->getSender();
+    this->lastPartner = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -42,11 +65,19 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   return convertReturnCode(status);
 }
 
+MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
+
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   rtems_status_code status = rtems_message_queue_flush(id, count);
   return convertReturnCode(status);
 }
 
+MessageQueueId_t MessageQueue::getId() const { return this->id; }
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+  this->defaultDestination = defaultDestination;
+}
+
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   message->setSender(sentFrom);
@@ -72,6 +103,15 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
   return returnCode;
 }
 
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+                                              MessageQueueId_t sentFrom, bool ignoreFault) {
+  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
+
+bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
+
 ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) {
   switch (inValue) {
     case RTEMS_SUCCESSFUL:

src/fsfw/osal/rtems/MessageQueue.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
-#include <fsfw/ipc/MessageQueueBase.h>
-
 #include "RtemsBasic.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
@@ -22,7 +20,7 @@
  *as well as sending and receiving messages, the class makes use of the operating system calls
  *provided. \ingroup message_queue
  */
-class MessageQueue : public MessageQueueBase {
+class MessageQueue : public MessageQueueIF {
  public:
   /**
    * @brief	The constructor initializes and configures the message queue.
@@ -39,24 +37,130 @@ class MessageQueue : public MessageQueueBase {
   MessageQueue(size_t message_depth = 3,
                size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
                MqArgs* args = nullptr);
-
-  /** Copying message queues forbidden */
-  MessageQueue(const MessageQueue&) = delete;
-  MessageQueue& operator=(const MessageQueue&) = delete;
-
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
+  /**
+   * @brief	This operation sends a message to the given destination.
+   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
+   * its queue id as "sentFrom" parameter.
+   * @param sendTo	This parameter specifies the message queue id of the destination message
+   * queue.
+   * @param message	A pointer to a previously created message, which is sent.
+   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
+   * queue is full.
+   */
+  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                            bool ignoreFault = false);
+  /**
+   * @brief	This operation sends a message to the default destination.
+   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
+   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
+   * information.
+   * @param message	A pointer to a previously created message, which is sent.
+   */
+  ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
+  /**
+   * @brief	This operation sends a message to the last communication partner.
+   * @details	This operation simplifies answering an incoming message by using the stored
+   * 			lastParnter information as destination. If there was no message received yet
+   * 			(i.e. lastPartner is zero), an error code is returned.
+   * @param message	A pointer to a previously created message, which is sent.
+   */
+  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
-  ReturnValue_t flush(uint32_t* count) override;
-  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                MessageQueueId_t sentFrom = NO_QUEUE,
-                                bool ignoreFault = false) override;
+  /**
+   * @brief	This function reads available messages from the message queue and returns the
+   * sender.
+   * @details	It works identically to the other receiveMessage call, but in addition returns the
+   * 			sender's queue id.
+   * @param message	A pointer to a message in which the received data is stored.
+   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+   */
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
+
+  /**
+   * @brief	This function reads available messages from the message queue.
+   * @details	If data is available it is stored in the passed message pointer. The message's
+   * 			original content is overwritten and the sendFrom information is stored in
+   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
+   * content is cleared and the function returns immediately.
+   * @param message	A pointer to a message in which the received data is stored.
+   */
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
+  /**
+   * Deletes all pending messages in the queue.
+   * @param count The number of flushed messages.
+   * @return RETURN_OK on success.
+   */
+  ReturnValue_t flush(uint32_t* count);
+  /**
+   * @brief	This method returns the message queue id of the last communication partner.
+   */
+  MessageQueueId_t getLastPartner() const;
+  /**
+   * @brief	This method returns the message queue id of this class's message queue.
+   */
+  MessageQueueId_t getId() const;
+  /**
+   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
+   * \details	This method takes the message provided, adds the sentFrom information and passes
+   * 			it on to the destination provided with an operating system call. The OS's
+   * return value is returned.
+   * \param sendTo	This parameter specifies the message queue id to send the message to.
+   * \param message	This is a pointer to a previously created message, which is sent.
+   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
+   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
+   * internal software fault counter is not incremented if queue is full.
+   */
+  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom = NO_QUEUE,
+                                        bool ignoreFault = false);
+  /**
+   * \brief	The sendToDefault method sends a queue message to the default destination.
+   * \details	In all other aspects, it works identical to the sendMessage method.
+   * \param message	This is a pointer to a previously created message, which is sent.
+   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
+   * message. This variable is set to zero by default.
+   */
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
+                                          MessageQueueId_t sentFrom = NO_QUEUE,
+                                          bool ignoreFault = false);
+  /**
+   * \brief	This method is a simple setter for the default destination.
+   */
+  void setDefaultDestination(MessageQueueId_t defaultDestination);
+  /**
+   * \brief	This method is a simple getter for the default destination.
+   */
+  MessageQueueId_t getDefaultDestination() const;
+
+  bool isDefaultDestinationSet() const;
 
  private:
+  /**
+   * @brief	The class stores the queue id it got assigned from the operating system in this
+   * attribute. If initialization fails, the queue id is set to zero.
+   */
+  MessageQueueId_t id;
+  /**
+   * @brief	In this attribute, the queue id of the last communication partner is stored
+   * 			to allow for replying.
+   */
+  MessageQueueId_t lastPartner;
+  /**
+   * @brief	The message queue's name -a user specific information for the operating system-  is
+   * 			generated automatically with the help of this static counter.
+   */
+  /**
+   * \brief	This attribute stores a default destination to send messages to.
+   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
+   * 			be set in the constructor or by a setter call to setDefaultDestination.
+   */
+  MessageQueueId_t defaultDestination;
+
   /**
    * \brief	This attribute stores a reference to the internal error reporter for reporting full
    * queues. \details	In the event of a full destination queue, the reporter will be notified. The

src/fsfw/osal/rtems/PeriodicTask.cpp

@@ -68,15 +68,11 @@ void PeriodicTask::taskFunctionality() {
 
 ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
   ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
+  if (newObject == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  objectList.push_back(object);
-  object->setTaskIF(this);
+  objectList.push_back(newObject);
+  newObject->setTaskIF(this);
 
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/osal/rtems/PeriodicTask.h

@@ -59,14 +59,6 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
    */
   ReturnValue_t addComponent(object_id_t object) override;
 
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object pointer to the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF *object) override;
-
   uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;

src/fsfw/parameters/HasParametersIF.h

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

src/fsfw/parameters/ParameterWrapper.cpp

@@ -211,9 +211,13 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (data == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or "
+                    "data pointer not set"
+                 << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
+    sif::printWarning(
+        "ParameterWrapper::copyFrom: Called on read-only variable "
+        "or data pointer not set\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return READONLY;
@@ -222,9 +226,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (from->readonlyData == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Source not set\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return SOURCE_NOT_SET;
@@ -233,9 +237,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (type != from->type) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return DATATYPE_MISSMATCH;
@@ -245,9 +249,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (rows == 0 or columns == 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return COLUMN_OR_ROWS_ZERO;

src/fsfw/power/Fuse.h

@@ -34,14 +34,14 @@ class Fuse : public SystemObject,
   };
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(
-      1, severity::LOW);  //!< PSS detected that current on a fuse is totally out of bounds.
-  static const Event FUSE_WENT_OFF =
-      MAKE_EVENT(2, severity::LOW);  //!< PSS detected a fuse that went off.
-  static const Event POWER_ABOVE_HIGH_LIMIT =
-      MAKE_EVENT(4, severity::LOW);  //!< PSS detected a fuse that violates its limits.
-  static const Event POWER_BELOW_LOW_LIMIT =
-      MAKE_EVENT(5, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  //! 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.
+  static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
+  //! PSS detected a fuse that violates its limits.
+  static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
 
   typedef std::list<PowerComponentIF *> DeviceList;
   Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,
@@ -54,7 +54,7 @@ class Fuse : public SystemObject,
 
   ReturnValue_t check();
   uint8_t getFuseId() const;
-  ReturnValue_t initialize() override;
+  ReturnValue_t initialize();
   DeviceList devices;
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override;

src/fsfw/power/PowerSensor.cpp

@@ -15,7 +15,9 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitchIF.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_POWER_POWERSWITCHIF_H_
 #define FSFW_POWER_POWERSWITCHIF_H_
 
+#include "definitions.h"
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 /**
@@ -37,7 +38,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    * @param switchNr
    * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
    */
-  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0;
+  virtual void sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) const = 0;
   /**
    * Sends a command to the Power Unit to enable a certain fuse.
    */
@@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    *     - @c SWITCH_OFF if the specified switch is off.
    *     - @c RETURN_FAILED if an error occured
    */
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
   /**
    * get state of a fuse.
    * @param fuseNr

src/fsfw/power/PowerSwitcher.cpp

@@ -1,19 +1,12 @@
+#include "definitions.h"
 #include "fsfw/power/PowerSwitcher.h"
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
-                             PowerSwitcher::State_t setStartState)
-    : state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
-
-ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
-  power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
-  if (power == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
+PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                             power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
+    : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
   SwitchReturn_t result = howManySwitches();
@@ -62,8 +55,15 @@ void PowerSwitcher::turnOff() {
   state = WAIT_OFF;
 }
 
+bool PowerSwitcher::active() {
+  if(state == WAIT_OFF or state == WAIT_ON) {
+    return true;
+  }
+  return false;
+}
+
 PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
-  if (secondSwitch == NO_SWITCH) {
+  if (secondSwitch == power::NO_SWITCH) {
     return ONE_SWITCH;
   } else {
     return TWO_SWITCHES;

src/fsfw/power/PowerSwitcher.h

@@ -14,28 +14,28 @@ class PowerSwitcher : public HasReturnvaluesIF {
     SWITCH_IS_OFF,
     SWITCH_IS_ON,
   };
-  State_t state;
+
   static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
   static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
   static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-  PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
-  ReturnValue_t initialize(object_id_t powerSwitchId);
   void turnOn();
   void turnOff();
+  bool active();
   void doStateMachine();
   State_t getState();
   ReturnValue_t checkSwitchState();
   uint32_t getSwitchDelay();
-  uint8_t getFirstSwitch() const;
-  uint8_t getSecondSwitch() const;
+  power::Switch_t getFirstSwitch() const;
+  power::Switch_t getSecondSwitch() const;
 
  private:
-  uint8_t firstSwitch;
-  uint8_t secondSwitch;
   PowerSwitchIF* power = nullptr;
+  State_t state;
+  power::Switch_t firstSwitch = power::NO_SWITCH;
+  power::Switch_t secondSwitch = power::NO_SWITCH;
 
-  static const uint8_t NO_SWITCH = 0xFF;
   enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 };
   ReturnValue_t getStateOfSwitches();
   void commandSwitches(ReturnValue_t onOff);

src/fsfw/power/definitions.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace power {
+
+using Switch_t = uint8_t;
+static constexpr Switch_t NO_SWITCH = 0xFF;
+
+}
+
+#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -13,6 +13,8 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
     : CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
 }
 
+CService201HealthCommanding::~CService201HealthCommanding() {}
+
 ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_SET_HEALTH):
@@ -41,8 +43,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
 }
 
 ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
-  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+    MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
+  HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
   if (destination == nullptr) {
     return CommandingServiceBase::INVALID_OBJECT;
   }
@@ -75,10 +77,6 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
       HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
       break;
     }
-    default: {
-      // Should never happen, subservice was already checked
-      result = RETURN_FAILED;
-    }
   }
   return result;
 }
@@ -97,9 +95,10 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 }
 
 // Not used for now, health state already reported by event
-[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
-  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
+  prepareHealthSetReply(reply);
+  uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);
   return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
 }

src/fsfw/pus/CService201HealthCommanding.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
-#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "../tmtcservices/CommandingServiceBase.h"
 
 /**
  * @brief   Custom PUS service to set health of all objects
@@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
  public:
   CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                               uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  ~CService201HealthCommanding() override = default;
+  virtual ~CService201HealthCommanding();
 
  protected:
   /* CSB abstract function implementations */
@@ -38,10 +38,12 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             bool *isStep) override;
 
  private:
-  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
-                                                     const object_id_t *objectId);
+  ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
+                                        size_t tcDataLen);
+  ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
+                                                     object_id_t *objectId);
 
-  [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+  ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 
   enum Subservice {
     //! [EXPORT] : [TC] Set health of target object