compile DleParser

Reviewed-on: #99
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -25,11 +25,8 @@ 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
-  - Place `Version` class outside of `fsfw` namespace. It is generic
   - 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
@@ -45,13 +42,40 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   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: 
+
+### HAL
+
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+- 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
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+
+### Time
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
+https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
+
 - `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)
 
+### Power 
+
+- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
+  also specify a `ReturnValue_t` return type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
+  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
@@ -60,11 +84,32 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
+  can make good use of it and it usually makes the code faster and/or smaller.
+  After some more research:
+  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
+  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
+  because if an application linking against the FSFW does not use LTO, there can be compile
+  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
+  can be seen in the multiple CMake issues for it: 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
+  Easiest solution for now: Keep this option OFF by default.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - 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 generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
+  (ETL) dependency.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
 - Added ETL dependency and improved library dependency management
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
+- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- New typedef for switcher type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - `Subsystem`: New API to add table and sequence entries
 
 ## HAL

CMakeLists.txt

@@ -1,48 +1,110 @@
 cmake_minimum_required(VERSION 3.13)
-set(LIB_FSFW_NAME fsfw)
-project(${LIB_FSFW_NAME})
 
-if(NOT CMAKE_CXX_STANDARD)
+set(MSG_PREFIX "fsfw |")
-    set(CMAKE_CXX_STANDARD 17)
+
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
+# Add the cmake folder so the FindSphinx module is found
-elseif(${CMAKE_CXX_STANDARD} LESS 17)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
+list(APPEND CMAKE_MODULE_PATH
-endif()
+     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
+list(APPEND CMAKE_MODULE_PATH
+     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
+
+# ##############################################################################
+# Version file handling  #
+# ##############################################################################
 
 set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
-# Add the cmake folder so the FindSphinx module is found
+set(FSFW_GIT_VER_HANDLING_OK FALSE)
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
+# Version handling
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-set(MSG_PREFIX "fsfw |")
+  message(STATUS "${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")
+    list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
+    list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
+    list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
+    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
+    if(NOT FSFW_VERSION)
+      set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_SUBVERSION)
+      set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_REVISION)
+      set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+    endif()
+    set(FSFW_GIT_VER_HANDLING_OK TRUE)
+  else()
+    set(FSFW_GIT_VER_HANDLING_OK FALSE)
+  endif()
+endif()
+if(NOT FSFW_GIT_VER_HANDLING_OK)
+  set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+  set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+  set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+endif()
 
-set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
+set(LIB_FSFW_NAME fsfw)
-    "ETL library major version requirement"
+project(${LIB_FSFW_NAME}
-)
+        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
-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
+if(NOT CMAKE_CXX_STANDARD)
-    "Catch2 library major version requirement"
+  set(CMAKE_CXX_STANDARD 17)
-)
+  set(CMAKE_CXX_STANDARD_REQUIRED True)
-set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
+elseif(${CMAKE_CXX_STANDARD} LESS 17)
-    "Catch2 library exact version requirement"
+  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_NAME etl)
+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")
+
+# Keep this off by default for now. See PR:
+# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
+# keeping this on by default is problematic
+option(
+  FSFW_ENABLE_IPO
+  "Enable interprocedural optimization or link-time optimization if available"
+  OFF)
+if(FSFW_ENABLE_IPO)
+  include(CheckIPOSupported)
+  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
+  if(NOT IPO_SUPPORTED)
+    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+  endif()
+endif()
 
 option(FSFW_GENERATE_SECTIONS
-    "Generate function and data sections. Required to remove unused code" ON
+       "Generate function and data sections. Required to remove unused code" ON)
-)
 if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@@ -66,95 +128,77 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
-
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
 add_library(${LIB_FSFW_NAME})
 
-set(FSFW_GIT_VER_HANDLING_OK FALSE)
+if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-# Version handling
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
+                                                TRUE)
-    message(STATUS "${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")
-        list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
-        list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
-        list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
-        list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
-        if(NOT FSFW_VERSION)
-            set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-        endif()
-        if(NOT FSFW_SUBVERSION)
-            set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-        endif()
-        if(NOT FSFW_REVISION)
-            set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
-        endif()
-        set(FSFW_GIT_VER_HANDLING_OK TRUE)
-   else()
-        set(FSFW_GIT_VER_HANDLING_OK FALSE)
-   endif()
-endif()
-if(NOT FSFW_GIT_VER_HANDLING_OK)
-    set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-    set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-    set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
 endif()
 
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
+  message(
+    STATUS
+      "${MSG_PREFIX} 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} CONFIG QUIET)
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+    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 ${FSFW_CATCH2_LIB_VERSION})
-        )
 
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
   set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
   configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
+  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                  TRUE)
+  endif()
 
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
     message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
+                   "will be compiled with coverage data as well")
-        )
     set(CMAKE_BUILD_TYPE "Debug")
     include(CodeCoverage)
   endif()
 endif()
 
-message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
+message(STATUS "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
-    message(STATUS
+  message(
-        "No ETL installation was found with find_package. Installing and providing "
+    STATUS
-        "etl with FindPackage"
+      "${MSG_PREFIX} 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}
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
-    )
+
   list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
@@ -167,8 +211,8 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
   endif()
   if(TARGET Catch2)
-        # Fixes regression -preview4, to be confirmed in later releases
+    # Fixes regression -preview4, to be confirmed in later releases Related
-        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
 endif()
@@ -178,33 +222,30 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-    ${CMAKE_CURRENT_BINARY_DIR}
+target_include_directories(${LIB_FSFW_NAME}
-)
+                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+  message(
+    WARNING
+      "${MSG_PREFIX} 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" 
+    set(FSFW_OSAL
-			CACHE STRING 
+        "linux"
-			"OS abstraction layer used in the FSFW"
+        CACHE STRING "OS abstraction layer used in the FSFW")
-		)
   elseif(WIN32)
-		set(FSFW_OSAL  "host" 
+    set(FSFW_OSAL
-			CACHE STRING "OS abstraction layer used in the FSFW"
+        "host"
-		)
+        CACHE STRING "OS abstraction layer used in the FSFW")
   endif()
-
 endif()
 
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
@@ -218,14 +259,13 @@ elseif(FSFW_OSAL MATCHES linux)
 elseif(FSFW_OSAL MATCHES freertos)
   set(FSFW_OS_NAME "FreeRTOS")
   set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
-        ${LIB_OS_NAME}
-    )
 elseif(FSFW_OSAL STREQUAL rtems)
   set(FSFW_OS_NAME "RTEMS")
   set(FSFW_OSAL_RTEMS ON)
 else()
-    message(WARNING
+  message(
+    WARNING
       "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
   )
   set(FSFW_OS_NAME "Host")
@@ -235,7 +275,9 @@ endif()
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 
-message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
+message(
+  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
+)
 
 add_subdirectory(src)
 add_subdirectory(tests)
@@ -253,95 +295,86 @@ if(FSFW_BUILD_UNITTESTS)
       include(CodeCoverage)
 
       # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
+      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+                         "${COVERAGE_COMPILER_FLAGS}")
-            )
 
       # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+      target_compile_options(${FSFW_TEST_TGT}
-                "${COVERAGE_COMPILER_FLAGS}"
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-            )
+      target_compile_options(${LIB_FSFW_NAME}
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
 
       # Exclude directories here
       if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
+        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
-                    "--exclude-throw-branches"
+                                  "--exclude-unreachable-branches")
-                    "--exclude-unreachable-branches"
+        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
-                )
-                set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
-                )
       elseif(UNIX)
         set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+            "/usr/include/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
+            "/usr/bin/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
+            "Catch2/*"
-                )
+            "/usr/local/include/*"
+            "*/fsfw_tests/*"
+            "*/catch2-src/*"
+            "*/fsfw_hal/*")
       endif()
 
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
+      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-                -fprofile-arcs
+                          -ftest-coverage)
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-            )
+                          -ftest-coverage)
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
+      # Need to specify this as an interface, otherwise there will the compile
-                -fprofile-arcs
+      # issues
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-            )
+                          -ftest-coverage)
-            # Need to specify this as an interface, otherwise there will the compile issues
-            target_link_options(${LIB_FSFW_NAME} INTERFACE
-                -fprofile-arcs
-                -ftest-coverage
-            )
 
       if(WIN32)
         setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
       else()
         setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
       endif()
     endif()
   endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
+                                                 ${LIB_FSFW_NAME})
 endif()
 
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
-# If this is not given, we include the default configuration and emit a warning.
+# this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
   set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
   if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
+    message(
-        message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
+      WARNING
+        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+    message(
+      WARNING
+        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
   endif()
   add_subdirectory(${DEF_CONF_PATH})
   set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
-# FSFW might be part of a possibly complicated folder structure, so we 
+# FSFW might be part of a possibly complicated folder structure, so we extract
-# extract the absolute path of the fsfwconfig folder.
+# the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
   set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+                         BASE_DIR ${CMAKE_SOURCE_DIR})
-	)
 endif()
 
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
   if(IS_ABSOLUTE ${INCLUDE_PATH})
     set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
   else()
-        get_filename_component(CURR_ABS_INC_PATH
+    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+                           ${CMAKE_SOURCE_DIR})
   endif()
 
   if(CMAKE_VERBOSE)
@@ -374,23 +407,19 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
         -Wcast-qual # Warn if the constness is cast away
         -Wstringop-overflow=4
         # -Wstack-protector # Emits a few false positives for low level access
-          # -Wconversion # Creates many false positives
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
-          # -Warith-conversion # Use with Wconversion to find more implicit conversions
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
-          # -fanalyzer # Should be used to look through problems
+        # be used to look through problems
     )
   endif()
 
   if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
-            "-ffunction-sections"
+                                                    "-fdata-sections")
-            "-fdata-sections"
-        )
   endif()
 
   if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
+    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
-            "Wl,--gc-sections"
-        )
   endif()
 
   if(FSFW_WARNING_SHADOW_LOCAL_GCC)
@@ -404,42 +433,31 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+target_include_directories(
-	${CMAKE_SOURCE_DIR}
+  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
+                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
 
-# Includes path required to compile FSFW itself as well
+# Includes path required to compile FSFW itself as well We assume that the
-# We assume that the fsfwconfig folder uses include relative to the project
+# fsfwconfig folder uses include relative to the project root here!
-# root here!
+target_include_directories(
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${CMAKE_SOURCE_DIR}
+                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
 
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
-	${FSFW_WARNING_FLAGS}
+                                                ${COMPILER_FLAGS})
-	${COMPILER_FLAGS}
-)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-    ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
-    ${FSFW_ADDITIONAL_LINK_LIBS}
-)
 
-string(CONCAT POST_BUILD_COMMENT
+string(
+  CONCAT
+    POST_BUILD_COMMENT
     "######################################################################\n"
     "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
     "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
+    "######################################################################\n")
-)
 
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
+  COMMENT ${POST_BUILD_COMMENT})
-)

cmake/cmake-modules/GetGitRevisionDescription.cmake

@@ -1,141 +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> [<additional arguments to git describe> ...])
-#
-# 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_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.
-#
-# 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 Iowa State University 2009-2010.
-# 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 ${CMAKE_CURRENT_LIST_FILE} PATH)
-
-function(get_git_head_revision _refspecvar _hashvar)
-    set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-    set(GIT_DIR "${GIT_PARENT_DIR}/.git")
-    while(NOT EXISTS "${GIT_DIR}")    # .git dir not found, search parent directories
-        set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
-        get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
-        if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
-            # We have reached the root directory, we are not in git
-            set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
-            set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
-            return()
-        endif()
-        set(GIT_DIR "${GIT_PARENT_DIR}/.git")
-    endwhile()
-    # check if this is a submodule
-    if(NOT IS_DIRECTORY ${GIT_DIR})
-        file(READ ${GIT_DIR} submodule)
-        string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
-        get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
-
-        if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
-            set(GIT_DIR ${GIT_DIR_RELATIVE})
-        else()
-            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
-        endif()
-
-    endif()
-    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
-    if(NOT EXISTS "${GIT_DATA}")
-        file(MAKE_DIRECTORY "${GIT_DATA}")
-    endif()
-
-    if(NOT EXISTS "${GIT_DIR}/HEAD")
-        return()
-    endif()
-    set(HEAD_FILE "${GIT_DATA}/HEAD")
-    configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
-
-    configure_file("${_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
-        ${hash}
-        ${ARGN}
-        WORKING_DIRECTORY
-        "${CMAKE_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_get_tag _var)
-    git_describe(out --tags ${ARGN})
-    set(${_var} "${out}" PARENT_SCOPE)
-endfunction()

cmake/cmake-modules/README.md

@@ -1,5 +1,7 @@
-The files in these folder were manually copy and pasted from the
+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 license file in included here as well.
+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/rpavlik/GetGitRevisionDescription.cmake

@@ -0,0 +1,284 @@
+# - 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

@@ -8,10 +8,12 @@
 # http://academic.cleardefinition.com
 # Iowa State University HCI Graduate Program/VRAC
 #
-# Copyright Iowa State University 2009-2010.
+# 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)
 
@@ -23,9 +25,12 @@ if(HEAD_CONTENTS MATCHES "ref")
     string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
     if(EXISTS "@GIT_DIR@/${HEAD_REF}")
         configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
+    else()
-        configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
-        set(HEAD_HASH "${HEAD_REF}")
+        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

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

@@ -0,0 +1,26 @@
+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

@@ -0,0 +1,23 @@
+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

@@ -0,0 +1,23 @@
+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.

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -252,6 +252,7 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -475,6 +475,7 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo
   localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -312,6 +312,7 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &loc
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -32,6 +32,8 @@ ReturnValue_t CommandExecutor::execute() {
   } else if (state == States::PENDING) {
     return COMMAND_PENDING;
   }
+  // Reset data in read vector
+  std::memset(readVec.data(), 0, readVec.size());
   currentCmdFile = popen(currentCmd.c_str(), "r");
   if (currentCmdFile == nullptr) {
     lastError = errno;
@@ -205,3 +207,5 @@ ReturnValue_t CommandExecutor::executeBlocking() {
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
+
+const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -109,6 +109,8 @@ class CommandExecutor {
    */
   void reset();
 
+  const std::vector<char>& getReadVector() const;
+
  private:
   std::string currentCmd;
   bool blocking = true;

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

@@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
   ReturnValue_t result;
   if (gpioCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -96,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
   std::string& label = gpioByLabel.label;
   struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                  << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "label: " + label;
@@ -108,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
   std::string& chipname = gpioByChip.chipname;
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                  << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "chipname: " + chipname;
@@ -133,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                  << ". <Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "line name: " + lineName;
@@ -153,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   lineNum = regularGpio.lineNum;
   lineHandle = gpiod_chip_get_line(chip, lineNum);
   if (!lineHandle) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
     sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                  << std::endl;
     sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+#endif
     gpiod_chip_close(chip);
     return RETURN_FAILED;
   }
@@ -175,7 +185,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
       break;
     }
     default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+#endif
       return GPIO_INVALID_INSTANCE;
     }
 
@@ -204,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+#endif
     return UNKNOWN_GPIO_ID;
   }
 

hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+class ManualCsLockWrapper : public HasReturnvaluesIF {
+ public:
+  ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie,
+                      MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING,
+                      uint32_t timeoutMs = 0)
+      : lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) {
+    if (cookie == nullptr) {
+      // TODO: Error? Or maybe throw exception..
+      return;
+    }
+    cookie->setCsLockManual(true);
+    lockResult = lock->lockMutex(type, timeoutMs);
+    if (lockResult != RETURN_OK) {
+      return;
+    }
+    gpioResult = gpioIF->pullLow(cookie->getChipSelectPin());
+  }
+
+  ~ManualCsLockWrapper() {
+    if (gpioResult == RETURN_OK) {
+      gpioIF->pullHigh(cookie->getChipSelectPin());
+    }
+    cookie->setCsLockManual(false);
+    if (lockResult == RETURN_OK) {
+      lock->unlockMutex();
+    }
+  }
+  ReturnValue_t lockResult;
+  ReturnValue_t gpioResult;
+
+ private:
+  MutexIF* lock;
+  GpioIF* gpioIF;
+  SpiCookie* cookie;
+  MutexIF::TimeoutType type;
+  uint32_t timeoutMs = 0;
+};

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

@@ -194,16 +194,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 
   bool fullDuplex = spiCookie->isFullDuplex();
   gpioId_t gpioId = spiCookie->getChipSelectPin();
+  bool csLockManual = spiCookie->getCsLockManual();
 
-  /* Pull SPI CS low. For now, no support for active high given  */
+  MutexIF::TimeoutType csType;
-  if (gpioId != gpio::NO_GPIO) {
+  dur_millis_t csTimeout = 0;
-    result = csMutex->lockMutex(timeoutType, timeoutMs);
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
     if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
 #else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
 #endif
 #endif
       return result;
@@ -249,7 +255,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     }
   }
 
-  if (gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
     gpioComIF->pullHigh(gpioId);
     result = csMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -292,12 +298,22 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     return result;
   }
 
+  bool csLockManual = spiCookie->getCsLockManual();
   gpioId_t gpioId = spiCookie->getChipSelectPin();
-  if (gpioId != gpio::NO_GPIO) {
+  MutexIF::TimeoutType csType;
-    result = csMutex->lockMutex(timeoutType, timeoutMs);
+  dur_millis_t csTimeout = 0;
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
     if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
+#else
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+#endif
 #endif
       return result;
     }
@@ -315,7 +331,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     result = HALF_DUPLEX_TRANSFER_FAILED;
   }
 
-  if (gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
     gpioComIF->pullHigh(gpioId);
     result = csMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -346,15 +362,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
+MutexIF* SpiComIF::getCsMutex() { return csMutex; }
-  if (timeoutType != nullptr) {
-    *timeoutType = this->timeoutType;
-  }
-  if (timeoutMs != nullptr) {
-    *timeoutMs = this->timeoutMs;
-  }
-  return csMutex;
-}
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
   if (spiCookie == nullptr) {
@@ -417,9 +425,7 @@ void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& spee
   }
 }
 
-const std::string& SpiComIF::getSpiDev() const {
+const std::string& SpiComIF::getSpiDev() const { return dev; }
-  return dev;
-}
 
 void SpiComIF::updateLinePolarity(int spiFd) {
   clockUpdateTransfer.len = 0;

hal/src/fsfw_hal/linux/spi/SpiComIF.h

@@ -22,15 +22,15 @@ class SpiCookie;
  */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  public:
-  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+  static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
   static constexpr ReturnValue_t OPENING_FILE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
   /* Full duplex (ioctl) transfer failure */
   static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
   /* Half duplex (read/write) transfer failure */
   static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
 
   SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
 
@@ -44,7 +44,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    * @brief   This function returns the mutex which can be used to protect the spi bus when
    *          the chip select must be driven from outside of the com if.
    */
-  MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
+  MutexIF* getCsMutex();
+  void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
 
   /**
    * Perform a regular send operation using Linux iotcl. This is public so it can be used
@@ -59,6 +60,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 
   GpioIF* getGpioInterface();
   void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
+  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
 
   /**
    * This updates the SPI clock default polarity. Only setting the mode does not update
@@ -70,7 +72,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    * @param spiFd
    */
   void updateLinePolarity(int spiFd);
-  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
 
   const std::string& getSpiDev() const;
   void performSpiWiretapping(SpiCookie* spiCookie);
@@ -90,8 +91,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    * pulled high
    */
   MutexIF* csMutex = nullptr;
-  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  // MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-  uint32_t timeoutMs = 20;
+  // uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
   spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

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

@@ -104,3 +104,17 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
   *callback = this->sendCallback;
   *args = this->callbackArgs;
 }
+
+void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
+
+bool SpiCookie::getCsLockManual() const { return manualCsLock; }
+
+void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
+  csTimeoutType = this->csTimeoutType;
+  csTimeout = this->csTimeout;
+}
+
+void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
+  this->csTimeoutType = csTimeoutType;
+  this->csTimeout = csTimeout;
+}

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

@@ -2,6 +2,8 @@
 #define LINUX_SPI_SPICOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/timemanager/clockDefinitions.h>
 #include <linux/spi/spidev.h>
 
 #include "../../common/gpio/gpioDefinitions.h"
@@ -20,6 +22,8 @@
  */
 class SpiCookie : public CookieIF {
  public:
+  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
+
   /**
    * Each SPI device will have a corresponding cookie. The cookie is used by the communication
    * interface and contains device specific information like the largest expected size to be
@@ -137,9 +141,42 @@ class SpiCookie : public CookieIF {
    */
   void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
+  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
+  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
+
+  void setCsLockManual(bool enable);
+  bool getCsLockManual() const;
+
   spi_ioc_transfer* getTransferStructHandle();
 
  private:
+  address_t spiAddress;
+  gpioId_t chipSelectPin;
+
+  spi::SpiComIfModes comIfMode;
+
+  // Required for regular mode
+  const size_t maxSize;
+  spi::SpiModes spiMode;
+  /**
+   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
+   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
+   * whole duration of the transfers.
+   */
+  bool manualCsLock = false;
+  uint32_t spiSpeed;
+  bool halfDuplex = false;
+
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
+  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
+
+  // Required for callback mode
+  spi::send_callback_function_t sendCallback = nullptr;
+  void* callbackArgs = nullptr;
+
+  struct spi_ioc_transfer spiTransferStruct = {};
+  UncommonParameters uncommonParameters;
+
   /**
    * Internal constructor which initializes every field
    * @param spiAddress
@@ -154,24 +191,6 @@ class SpiCookie : public CookieIF {
   SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
             const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
-
-  address_t spiAddress;
-  gpioId_t chipSelectPin;
-
-  spi::SpiComIfModes comIfMode;
-
-  // Required for regular mode
-  const size_t maxSize;
-  spi::SpiModes spiMode;
-  uint32_t spiSpeed;
-  bool halfDuplex = false;
-
-  // Required for callback mode
-  spi::send_callback_function_t sendCallback = nullptr;
-  void* callbackArgs = nullptr;
-
-  struct spi_ioc_transfer spiTransferStruct = {};
-  UncommonParameters uncommonParameters;
 };
 
 #endif /* LINUX_SPI_SPICOOKIE_H_ */

scripts/apply-clang-format.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-if [[ ! -f README.md ]]; then
-	cd ..
-fi
-
-find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

scripts/auto-formatter.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+  cd ..
+fi
+
+folder_list=(
+  "./src"
+  "./hal"
+  "./tests"
+)
+
+cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
+if command -v ${cmake_fmt} &> /dev/null; then
+  ${cmake_fmt} -i CMakeLists.txt
+  find ./src ${file_selectors} | xargs ${cmake_fmt}  -i
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  for dir in ${folder_list[@]}; do
+    echo "Auto-formatting ${dir} recursively"
+    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
+  done
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi

src/CMakeLists.txt

@@ -1,9 +1,6 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
 
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
+target_include_directories(${LIB_FSFW_NAME}
-    ${CMAKE_CURRENT_SOURCE_DIR}
+                           INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
-)
 
 add_subdirectory(fsfw)

src/fsfw/CMakeLists.txt

@@ -1,6 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE version.cpp)
-    version.cpp
-)
 
 # Core
 

src/fsfw/FSFWVersion.h.in

@@ -6,6 +6,6 @@ static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
 static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
 static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
 // Also contains CST (Commits since tag) information
-static const char FSFW_VERSION_CST_GIT_SHA1[] = "@FSFW_VERSION_CST_GIT_SHA1@";
+static const char FSFW_VCS_INFO[] = "@FSFW_VCS_INFO@";
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/action/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-    PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ActionHelper.cpp ActionMessage.cpp
-        ActionHelper.cpp
+                           CommandActionHelper.cpp SimpleActionHelper.cpp)
-        ActionMessage.cpp
-        CommandActionHelper.cpp
-        SimpleActionHelper.cpp
-)

src/fsfw/cfdp/CMakeLists.txt

@@ -1,7 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
-    CFDPHandler.cpp
-    CFDPMessage.cpp
-)
 
 add_subdirectory(pdu)
 add_subdirectory(tlv)

src/fsfw/cfdp/pdu/CMakeLists.txt

@@ -1,11 +1,11 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    PduConfig.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE PduConfig.cpp
           VarLenField.cpp
           HeaderSerializer.cpp
           HeaderDeserializer.cpp
           FileDirectiveDeserializer.cpp
           FileDirectiveSerializer.cpp
- 
           AckInfo.cpp
           AckPduSerializer.cpp
           AckPduDeserializer.cpp
@@ -25,8 +25,6 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
           KeepAlivePduDeserializer.cpp
           PromptPduSerializer.cpp
           PromptPduDeserializer.cpp
-
           FileDataSerializer.cpp
           FileDataDeserializer.cpp
-    FileDataInfo.cpp
+          FileDataInfo.cpp)
-)

src/fsfw/cfdp/tlv/CMakeLists.txt

@@ -1,10 +1,10 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    EntityIdTlv.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE EntityIdTlv.cpp
           FilestoreRequestTlv.cpp
           FilestoreResponseTlv.cpp
           Lv.cpp
           Tlv.cpp
           FlowLabelTlv.cpp
           MessageToUserTlv.cpp
-    FaultHandlerOverrideTlv.cpp
+          FaultHandlerOverrideTlv.cpp)
-)

src/fsfw/container/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE SharedRingBuffer.cpp
-    PRIVATE 
+                                        SimpleRingBuffer.cpp)
-        SharedRingBuffer.cpp
-        SimpleRingBuffer.cpp
-)

src/fsfw/container/FIFOBase.tpp

@@ -6,8 +6,8 @@
 #endif
 
 template <typename T>
-inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
-        maxCapacity(maxCapacity), values(values){};
+    : maxCapacity(maxCapacity), values(values){};
 
 template <typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
@@ -84,7 +84,6 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
   return maxCapacity;
 }
 
-
 template <typename T>
 inline void FIFOBase<T>::setContainer(T* data) {
   this->values = data;

src/fsfw/container/FixedOrderedMultimap.tpp

@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 
-
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
+                                                                         Iterator *storedValue) {
   if (_size == theMap.maxSize()) {
     return MAP_FULL;
   }
@@ -71,7 +71,8 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key
 }
 
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
+                                                                          size_t startAt) const {
   if (startAt >= _size) {
     return startAt + 1;
   }
@@ -105,5 +106,4 @@ inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size
   --_size;
 }
 
-
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

src/fsfw/controller/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE ControllerBase.cpp
-    ControllerBase.cpp
+                                        ExtendedControllerBase.cpp)
-    ExtendedControllerBase.cpp
-)

src/fsfw/coordinates/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE CoordinateTransformations.cpp
-	PRIVATE 
+                                        Sgp4Propagator.cpp)
-		CoordinateTransformations.cpp
-		Sgp4Propagator.cpp
-)

src/fsfw/datalinklayer/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		Clcw.cpp
+  PRIVATE Clcw.cpp
           DataLinkLayer.cpp
           Farm1StateLockout.cpp
           Farm1StateOpen.cpp
@@ -8,5 +8,4 @@ target_sources(${LIB_FSFW_NAME}
           MapPacketExtraction.cpp
           TcTransferFrame.cpp
           TcTransferFrameLocal.cpp
-		VirtualChannelReception.cpp
+          VirtualChannelReception.cpp)
-)

src/fsfw/datapool/CMakeLists.txt

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

src/fsfw/datapoollocal/CMakeLists.txt

@@ -1,10 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		LocalDataPoolManager.cpp
+  PRIVATE LocalDataPoolManager.cpp LocalDataSet.cpp LocalPoolDataSetBase.cpp
-		LocalDataSet.cpp
+          LocalPoolObjectBase.cpp SharedLocalDataSet.cpp)
-		LocalPoolDataSetBase.cpp
-		LocalPoolObjectBase.cpp
-		SharedLocalDataSet.cpp
-)
 
 add_subdirectory(internal)

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -577,6 +577,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != HasReturnvaluesIF::RETURN_OK) {
+    if(result == WRONG_HK_PACKET_TYPE) {
+      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage", WRONG_HK_PACKET_TYPE);
+    }
     HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
   } else {
     HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@@ -696,9 +699,9 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
 #else
-    sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
+    sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif
   }
 }
@@ -834,6 +837,8 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
       errorPrint = "Dataset not found";
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
+    } else if (error == WRONG_HK_PACKET_TYPE) {
+      errorPrint = "Wrong Packet Type";
     } else if (error == HasReturnvaluesIF::RETURN_FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";

src/fsfw/datapoollocal/LocalPoolVariable.tpp

@@ -6,26 +6,24 @@
 #endif
 
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
-
 
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                               pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
-                dataSet, setReadWriteMode){}
+                          setReadWriteMode) {}
-
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::read(
+inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                uint32_t timeoutMs) {
   if (hkManager == nullptr) {
     return readWithoutLock();
   }
@@ -43,19 +41,17 @@ template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_WRITE) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   if (result != RETURN_OK) {
     object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
-                false, ownerObjectId, localPoolId);
     return result;
   }
 
@@ -65,15 +61,15 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
+inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                  uint32_t timeoutMs) {
   this->setValid(setValid);
   return commit(timeoutType, timeoutMs);
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(
+inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                  uint32_t timeoutMs) {
   if (hkManager == nullptr) {
     return commitWithoutLock();
   }
@@ -91,19 +87,17 @@ template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_READ) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   if (result != RETURN_OK) {
     object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
-                false, ownerObjectId, localPoolId);
     return result;
   }
 
@@ -113,11 +107,10 @@ inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<T>::serialize(
-        size_t* size, const size_t max_size,
+    uint8_t** buffer, size_t* size, const size_t max_size,
     SerializeIF::Endianness streamEndianness) const {
-    return SerializeAdapter::serialize(&value,
+  return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
-            buffer, size ,max_size, streamEndianness);
 }
 
 template <typename T>
@@ -126,15 +119,14 @@ inline size_t LocalPoolVariable<T>::getSerializedSize() const {
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
-        size_t* size, SerializeIF::Endianness streamEndianness) {
+                                                       SerializeIF::Endianness streamEndianness) {
   return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 template <typename T>
-inline std::ostream& operator<< (std::ostream &out,
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
-        const LocalPoolVariable<T> &var) {
   out << var.value;
   return out;
 }
@@ -146,8 +138,7 @@ inline LocalPoolVariable<T>::operator T() const {
 }
 
 template <typename T>
-inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
-        const T& newValue) {
   value = newValue;
   return *this;
 }
@@ -160,8 +151,7 @@ inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
 }
 
 template <typename T>
-inline bool LocalPoolVariable<T>::operator ==(
+inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return this->value == other.value;
 }
 
@@ -170,10 +160,8 @@ inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
   return this->value == other;
 }
 
-
 template <typename T>
-inline bool LocalPoolVariable<T>::operator !=(
+inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return not(*this == other);
 }
 
@@ -182,10 +170,8 @@ inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
   return not(*this == other);
 }
 
-
 template <typename T>
-inline bool LocalPoolVariable<T>::operator <(
+inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return this->value < other.value;
 }
 
@@ -194,10 +180,8 @@ inline bool LocalPoolVariable<T>::operator <(const T &other) const {
   return this->value < other;
 }
 
-
 template <typename T>
-inline bool LocalPoolVariable<T>::operator >(
+inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return not(*this < other);
 }
 

src/fsfw/datapoollocal/LocalPoolVector.tpp

@@ -6,25 +6,26 @@
 #endif
 
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
-        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
+                                                       DataSetIF* dataSet,
-        pool_rwm_t setReadWriteMode):
+                                                       pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                                       DataSetIF* dataSet,
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                                       pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
-                dataSet, setReadWriteMode) {}
+                          setReadWriteMode) {}
 
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                          uint32_t timeoutMs) {
   MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
   return readWithoutLock();
 }
@@ -32,21 +33,19 @@ template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_WRITE) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   memset(this->value, 0, vectorSize * sizeof(T));
 
   if (result != RETURN_OK) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
+    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
-                localPoolId);
     return result;
   }
   std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
@@ -56,14 +55,15 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
 
 template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                            MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
   this->setValid(valid);
   return commit(timeoutType, timeoutMs);
 }
 
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                            uint32_t timeoutMs) {
   MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
   return commitWithoutLock();
 }
@@ -72,18 +72,16 @@ template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_READ) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   if (result != RETURN_OK) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
+    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
-                localPoolId);
     return result;
   }
   std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
@@ -100,9 +98,11 @@ inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
   // a configuration error, but I wont exit here.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
+               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
       " last value!\n");
 #endif
   return value[vectorSize - 1];
@@ -117,22 +117,23 @@ inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
   // a configuration error, but I wont exit here.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
+               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
       " last value!\n");
 #endif
   return value[vectorSize - 1];
 }
 
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
-        size_t* size, size_t maxSize,
+    uint8_t** buffer, size_t* size, size_t maxSize,
     SerializeIF::Endianness streamEndianness) const {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
   for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+    result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
-                maxSize, streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       break;
     }
@@ -147,12 +148,10 @@ inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
 
 template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
-        const uint8_t** buffer, size_t* size,
+    const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
-        SerializeIF::Endianness streamEndianness) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
   for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
-                streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       break;
     }
@@ -162,8 +161,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 template <typename T, uint16_t vectorSize>
-inline std::ostream& operator<< (std::ostream &out,
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
-        const LocalPoolVector<T, vectorSize> &var) {
   out << "Vector: [";
   for (int i = 0; i < vectorSize; i++) {
     out << var.value[i];

src/fsfw/datapoollocal/internal/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE HasLocalDpIFUserAttorney.cpp
-	PRIVATE 
+                                        HasLocalDpIFManagerAttorney.cpp)
-		HasLocalDpIFUserAttorney.cpp
-		HasLocalDpIFManagerAttorney.cpp
-)

src/fsfw/devicehandlers/CMakeLists.txt

@@ -1,11 +1,10 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		AssemblyBase.cpp
+  PRIVATE AssemblyBase.cpp
           ChildHandlerBase.cpp
           ChildHandlerFDIR.cpp
           DeviceHandlerBase.cpp
           DeviceHandlerFailureIsolation.cpp
           DeviceHandlerMessage.cpp
           DeviceTmReportingWrapper.cpp
-		HealthDevice.cpp
+          HealthDevice.cpp)
-)

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -572,6 +572,9 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
+  if (newMode == MODE_OFF) {
+    disableCommandsAndReplies();
+  }
   if (!isTransitionalMode()) {
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
@@ -1567,3 +1570,22 @@ void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
 void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
   this->powerSwitcher = switcher;
 }
+
+void DeviceHandlerBase::disableCommandsAndReplies() {
+  for (auto& command : deviceCommandMap) {
+    if (command.second.isExecuting) {
+      command.second.isExecuting = false;
+    }
+  }
+  for (auto& reply : deviceReplyMap) {
+    if (!reply.second.periodic) {
+      if (reply.second.countdown != nullptr) {
+        reply.second.countdown->timeOut();
+      }
+      else {
+        reply.second.delayCycles = 0;
+      }
+      reply.second.active = false;
+    }
+  }
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -783,11 +783,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * This is used to keep track of pending replies.
    */
   struct DeviceReplyInfo {
+    //! For Command-Reply combinations:
     //! The maximum number of cycles the handler should wait for a reply
     //! to this command.
+    //!
+    //! Reply Only:
+    //! For periodic replies, this variable will be the number of delay cycles between the replies.
+    //! For the non-periodic variant, this variable is not used as there is no meaningful
+    //! definition for delay
     uint16_t maxDelayCycles;
-    //! The currently remaining cycles the handler should wait for a reply,
+    //! This variable will be set to #maxDelayCycles if a reply is expected.
-    //! 0 means there is no reply expected
+    //! For non-periodic replies without a command, this variable is unused.
+    //! A runtime value of 0 means there is no reply is currently expected.
     uint16_t delayCycles;
     size_t replyLen = 0;  //!< Expected size of the reply.
     //! if this is !=0, the delayCycles will not be reset to 0 but to
@@ -1318,6 +1325,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
                            const char *errorPrint = nullptr);
+
+  /**
+   * @brief Disables all commands and replies when device is set to MODE_OFF
+   */
+  void disableCommandsAndReplies();
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

src/fsfw/events/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE EventManager.cpp EventMessage.cpp)
-    EventManager.cpp
-    EventMessage.cpp
-)
 
 add_subdirectory(eventmatching)

src/fsfw/events/eventmatching/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE EventIdRangeMatcher.cpp EventMatchTree.cpp
-		EventIdRangeMatcher.cpp
+                           ReporterRangeMatcher.cpp SeverityRangeMatcher.cpp)
-		EventMatchTree.cpp
-		ReporterRangeMatcher.cpp
-		SeverityRangeMatcher.cpp
-)

src/fsfw/events/fwSubsystemIdRanges.h

@@ -27,6 +27,7 @@ enum : uint8_t {
   PUS_SERVICE_6 = 86,
   PUS_SERVICE_8 = 88,
   PUS_SERVICE_9 = 89,
+  PUS_SERVICE_11 = 91,
   PUS_SERVICE_17 = 97,
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,

src/fsfw/fdir/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE EventCorrelation.cpp FailureIsolationBase.cpp
-		EventCorrelation.cpp
+                           FaultCounter.cpp)
-		FailureIsolationBase.cpp
-		FaultCounter.cpp
-)

src/fsfw/globalfunctions/CMakeLists.txt

@@ -1,5 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    arrayprinter.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE arrayprinter.cpp
           AsciiConverter.cpp
           CRC.cpp
           DleEncoder.cpp
@@ -7,7 +8,6 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
           PeriodicOperationDivider.cpp
           timevalOperations.cpp
           Type.cpp
-    bitutility.cpp
+          bitutility.cpp)
-)
 
 add_subdirectory(math)

src/fsfw/globalfunctions/DleParser.cpp

@@ -1,6 +1,5 @@
 #include "DleParser.h"
 
-#include <fsfw/globalfunctions/DleEncoder.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <cstdio>

src/fsfw/globalfunctions/DleParser.h

@@ -1,5 +1,4 @@
-#ifndef MISSION_DEVICES_DLEPARSER_H_
+#pragma once
-#define MISSION_DEVICES_DLEPARSER_H_
 
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/DleEncoder.h>
@@ -123,5 +122,3 @@ class DleParser : public HasReturnvaluesIF {
   Context ctx;
   bool startFound = false;
 };
-
-#endif /* MISSION_DEVICES_DLEPARSER_H_ */

src/fsfw/globalfunctions/math/CMakeLists.txt

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

src/fsfw/health/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE HealthHelper.cpp HealthMessage.cpp
-	PRIVATE 
+                                        HealthTable.cpp)
-		HealthHelper.cpp
-		HealthMessage.cpp
-		HealthTable.cpp	
-)

src/fsfw/health/HasHealthIF.h

@@ -16,10 +16,15 @@ class HasHealthIF {
   };
 
   static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
+  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY =
-  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
+  static constexpr ReturnValue_t INVALID_HEALTH_STATE =
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
+  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED =
+      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
+  //! P1: New Health, P2: Old Health
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);

src/fsfw/housekeeping/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE HousekeepingMessage.cpp
-	PRIVATE 
+                                        PeriodicHousekeepingHelper.cpp)
-		HousekeepingMessage.cpp
-		PeriodicHousekeepingHelper.cpp
-)

src/fsfw/internalerror/CMakeLists.txt

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

src/fsfw/ipc/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    CommandMessage.cpp
+  ${LIB_FSFW_NAME} PRIVATE CommandMessage.cpp CommandMessageCleaner.cpp
-    CommandMessageCleaner.cpp
+                           MessageQueueMessage.cpp MessageQueueBase.cpp)
-    MessageQueueMessage.cpp
-    MessageQueueBase.cpp
-)

src/fsfw/ipc/CommandMessageIF.h

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

src/fsfw/memory/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE MemoryHelper.cpp MemoryMessage.cpp
-    MemoryHelper.cpp
+                                        GenericFileSystemMessage.cpp)
-    MemoryMessage.cpp
-    GenericFileSystemMessage.cpp
-)

src/fsfw/modes/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE ModeHelper.cpp ModeMessage.cpp)
-	PRIVATE 
-		ModeHelper.cpp
-		ModeMessage.cpp
-)

src/fsfw/monitoring/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE LimitViolationReporter.cpp
-	PRIVATE 
+                                        MonitoringMessage.cpp)
-		LimitViolationReporter.cpp
-		MonitoringMessage.cpp
-)

src/fsfw/objectmanager/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE ObjectManager.cpp SystemObject.cpp)
-	PRIVATE 
-		ObjectManager.cpp
-		SystemObject.cpp
-)

src/fsfw/objectmanager/frameworkObjects.h

@@ -14,6 +14,7 @@ enum framework_objects : object_id_t {
   PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
   PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
   PUS_SERVICE_9_TIME_MGMT = 0x53000009,
+  PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
   PUS_SERVICE_17_TEST = 0x53000017,
   PUS_SERVICE_20_PARAMETERS = 0x53000020,
   PUS_SERVICE_200_MODE_MGMT = 0x53000200,

src/fsfw/osal/CMakeLists.txt

@@ -11,14 +11,12 @@ elseif(FSFW_OSAL MATCHES "host")
     add_subdirectory(windows)
   elseif(UNIX)
     # We still need to pull in some Linux specific sources
-        target_sources(${LIB_FSFW_NAME} PUBLIC
+    target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
-            linux/tcpipHelpers.cpp
-        )
   endif()
 
 else()
 
-    message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
+  message(WARNING "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)

src/fsfw/osal/common/CMakeLists.txt

@@ -1,17 +1,10 @@
 if(DEFINED WIN32 OR DEFINED UNIX)
-    target_sources(${LIB_FSFW_NAME} PRIVATE 
+  target_sources(
-        tcpipCommon.cpp
+    ${LIB_FSFW_NAME}
-        TcpIpBase.cpp
+    PRIVATE tcpipCommon.cpp TcpIpBase.cpp UdpTcPollingTask.cpp
-        UdpTcPollingTask.cpp
+            UdpTmTcBridge.cpp TcpTmTcServer.cpp TcpTmTcBridge.cpp)
-        UdpTmTcBridge.cpp
-        TcpTmTcServer.cpp
-        TcpTmTcBridge.cpp
-    )
 endif()
 
 if(WIN32)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE wsock32 ws2_32)
-        wsock32 
-        ws2_32
-    )
 endif()

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -109,8 +109,8 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
   using namespace tcpip;
   // If a connection is accepted, the corresponding socket will be assigned to the new socket
   socket_t connSocket = 0;
-  // sockaddr clientSockAddr = {};
+  sockaddr clientSockAddr = {};
-  // socklen_t connectorSockAddrLen = 0;
+  socklen_t connectorSockAddrLen = 0;
   int retval = 0;
 
   // Listen for connection requests permanently for lifetime of program
@@ -121,8 +121,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
       continue;
     }
 
-    // connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
+    connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
-    connSocket = accept(listenerTcpSocket, nullptr, nullptr);
 
     if (connSocket == INVALID_SOCKET) {
       handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@@ -137,6 +136,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
     if (retval != 0) {
       handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
     }
+
     closeSocket(connSocket);
     connSocket = 0;
   }

src/fsfw/osal/freertos/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		Clock.cpp
+  PRIVATE Clock.cpp
           FixedTimeslotTask.cpp
           BinarySemaphore.cpp
           BinSemaphUsingTask.cpp
@@ -15,18 +15,16 @@ target_sources(${LIB_FSFW_NAME}
           TaskFactory.cpp
           Timekeeper.cpp
           TaskManagement.cpp
-		QueueMapManager.cpp
+          QueueMapManager.cpp)
-)
 
 # FreeRTOS is required to link the FSFW now. It is recommended to compile
 # FreeRTOS as a static library and set LIB_OS_NAME to the target name of the
 # library.
 if(NOT LIB_OS_NAME)
-	message(STATUS
+  message(
+    STATUS
       "LIB_OS_NAME is empty. Make sure to include the FreeRTOS header path properly."
   )
 else()
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
-        ${LIB_OS_NAME}
-    )
 endif()

src/fsfw/osal/host/CMakeLists.txt

@@ -1,5 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-  Clock.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE Clock.cpp
           FixedTimeslotTask.cpp
           MessageQueue.cpp
           Mutex.cpp
@@ -9,19 +10,14 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
           QueueMapManager.cpp
           SemaphoreFactory.cpp
           TaskFactory.cpp
-  taskHelpers.cpp
+          taskHelpers.cpp)
-)
 
 if(UNIX)
   find_package(Threads REQUIRED)
 
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${CMAKE_THREAD_LIBS_INIT})
-    ${CMAKE_THREAD_LIBS_INIT}
-  )
   if(NOT APPLE)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE rt)
-      rt
-      )
   endif()
 
 endif()

src/fsfw/osal/host/FixedTimeslotTask.cpp

@@ -3,9 +3,7 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/osal/host/FixedTimeslotTask.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
@@ -22,12 +20,8 @@
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
                                      TaskStackSize setStack, TaskPeriod setPeriod,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false),
+    : FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
-      pollingSeqTable(setPeriod * 1000),
-      taskName(name),
-      period(setPeriod),
-      deadlineMissedFunc(setDeadlineMissedFunc) {
   // It is propably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
@@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-FixedTimeslotTask::~FixedTimeslotTask(void) {
+FixedTimeslotTask::~FixedTimeslotTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -80,7 +74,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void FixedTimeslotTask::taskFunctionality() {
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
   pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // A local iterator for the Polling Sequence Table is created to
@@ -106,16 +100,18 @@ void FixedTimeslotTask::taskFunctionality() {
       // we need to wait before executing the current slot
       // this gives us the time to wait:
       interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
-      delayForInterval(&currentStartTime, interval);
+      if (not delayForInterval(&currentStartTime, interval)) {
-      // TODO deadline missed check
+        if (dlmFunc != nullptr) {
+          dlmFunc();
+        }
+      }
     }
   }
 }
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
                                          int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
+  auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
   if (executableObject != nullptr) {
     pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
     return HasReturnvaluesIF::RETURN_OK;
@@ -133,10 +129,6 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
-
 bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -6,10 +6,10 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "../../tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  * @details
  * @ingroup task_handling
  */
-class FixedTimeslotTask : public FixedTimeslotTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * @brief   Standard constructor of the class.
@@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * @brief   Currently, the executed object's lifetime is not coupled with
    *          the task object's lifetime, so the destructor is empty.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
   /**
    * @brief   The method to start the task.
@@ -48,7 +48,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    *          The address of the task object is passed as an argument
    *          to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
 
   /**
    * Add timeslot to the polling sequence table.
@@ -57,47 +57,23 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * @param executionStep
    * @return
    */
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+                        int8_t executionStep) override;
 
-  ReturnValue_t checkSequence() const override;
+  ReturnValue_t sleepFor(uint32_t ms) override;
-
-  uint32_t getPeriodMs() const;
-
-  ReturnValue_t sleepFor(uint32_t ms);
 
  protected:
   using chron_ms = std::chrono::milliseconds;
 
   bool started;
-  //!< Typedef for the List of objects.
+
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  //! Polling sequence table which contains the object to execute
-  //! and information like the timeslots and the passed execution step.
-  FixedSlotSequence pollingSeqTable;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
-   * @brief   The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
 
-  /**
-   * @brief   The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief   This is the function executed in the new task's context.
    * @details
@@ -117,9 +93,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/host/PeriodicTask.cpp

@@ -3,13 +3,10 @@
 #include <chrono>
 #include <thread>
 
-#include "fsfw/ipc/MutexFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
 
 #if defined(PLATFORM_WIN)
 #include <processthreadsapi.h>
@@ -20,8 +17,8 @@
 #endif
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
   // It is probably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
@@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
   tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
-PeriodicTask::~PeriodicTask(void) {
+PeriodicTask::~PeriodicTask() {
   // Do not delete objects, we were responsible for ptrs only.
   terminateThread = true;
   if (mainThread.joinable()) {
@@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
 
   if (not originalTask->started) {
     // we have to suspend/block here until the task is started.
@@ -75,47 +72,27 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 }
 
 void PeriodicTask::taskFunctionality() {
-  for (const auto& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
   std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
   auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
       std::chrono::system_clock::now().time_since_epoch())};
-  auto nextStartTime{currentStartTime};
-
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     if (terminateThread.load()) {
       break;
     }
-    for (const auto& object : objectList) {
+    for (const auto& objectPair : objectList) {
-      object->performOperation();
+      objectPair.first->performOperation(objectPair.second);
     }
     if (not delayForInterval(&currentStartTime, periodChrono)) {
-      if (deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        this->dlmFunc();
       }
     }
   }
 }
 
-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) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  object->setTaskIF(this);
-  objectList.push_back(object);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time
@@ -156,3 +133,5 @@ bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms
   (*previousWakeTimeMs) = currentStartTime;
   return false;
 }
+
+bool PeriodicTask::isEmpty() const { return objectList.empty(); }

src/fsfw/osal/host/PeriodicTask.h

@@ -6,9 +6,9 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  *
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF {
+class PeriodicTask : public PeriodicTaskBase {
  public:
   /**
    * @brief	Standard constructor of the class.
@@ -34,12 +34,12 @@ class PeriodicTask : public PeriodicTaskIF {
    * assigned.
    */
   PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-               TaskPeriod setPeriod, void (*setDeadlineMissedFunc)());
+               TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
   /**
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -48,63 +48,21 @@ class PeriodicTask : public PeriodicTaskIF {
    * 			The address of the task object is passed as an argument
    * 			to the system call.
    */
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() 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(object_id_t object);
 
-  /**
+  ReturnValue_t sleepFor(uint32_t ms) 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
-   *  -@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);
 
+  bool isEmpty() const override;
  protected:
   using chron_ms = std::chrono::milliseconds;
   bool started;
-  //!< Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
+
-   * @brief	The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details
@@ -124,9 +82,9 @@ class PeriodicTask : public PeriodicTaskIF {
    * the checkAndRestartPeriod system call blocks the task until the next
    *  period. On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  void taskFunctionality();
 
-  bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
+  static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
 };
 
-#endif /* PERIODICTASK_H_ */
+#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */

src/fsfw/osal/host/TaskFactory.cpp

@@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 // Not used for the host implementation for now because C++ thread abstraction is used
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
 
-TaskFactory::TaskFactory() {}
+TaskFactory::TaskFactory() = default;
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 

src/fsfw/osal/host/taskHelpers.cpp

@@ -6,7 +6,7 @@
 std::mutex nameMapLock;
 std::map<std::thread::id, std::string> taskNameMap;
 
-ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
+ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) {
   std::lock_guard<std::mutex> lg(nameMapLock);
   auto returnPair = taskNameMap.emplace(threadId, taskName);
   if (not returnPair.second) {

src/fsfw/osal/host/taskHelpers.h

@@ -7,7 +7,7 @@
 
 namespace tasks {
 
-ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
+ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName);
 std::string getTaskName(std::thread::id threadId);
 
 }  // namespace tasks

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,5 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-  Clock.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE Clock.cpp
           BinarySemaphore.cpp
           CountingSemaphore.cpp
           FixedTimeslotTask.cpp
@@ -13,17 +14,12 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
           SemaphoreFactory.cpp
           TaskFactory.cpp
           tcpipHelpers.cpp
-  unixUtility.cpp
+          unixUtility.cpp)
-  )
 
 find_package(Threads REQUIRED)
 
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${CMAKE_THREAD_LIBS_INIT})
-  ${CMAKE_THREAD_LIBS_INIT}
-  )
 
 if(NOT APPLE)
-  target_link_libraries(${LIB_FSFW_NAME} PUBLIC
+  target_link_libraries(${LIB_FSFW_NAME} PUBLIC rt)
-    rt
-  )
 endif()

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -1,22 +1,21 @@
 #include "fsfw/osal/linux/FixedTimeslotTask.h"
 
-#include <limits.h>
+#include <climits>
 
-#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
-FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                                     uint32_t periodMs_)
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
-    : PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
+    : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
-
+      posixThread(name_, priority_, stackSize_),
-FixedTimeslotTask::~FixedTimeslotTask() {}
+      started(false) {}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
   return nullptr;
@@ -24,7 +23,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
-  createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -32,45 +31,25 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
   return PosixThread::sleep((uint64_t)ms * 1000000);
 }
 
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                         int8_t executionStep) {
-  ExecutableObjectIF* executableObject =
-      ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::dec << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   // Like FreeRTOS pthreads are running as soon as they are created
   if (!started) {
-    suspend();
+    posixThread.suspend();
   }
 
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
-  uint64_t interval = pst.getIntervalToNextSlotMs();
+  uint32_t interval = 0;
 
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
-    if (pst.slotFollowsImmediately()) {
+    if (pollingSeqTable.slotFollowsImmediately()) {
       // Do nothing
     } else {
       // The interval for the next polling slot is selected.
-      interval = this->pst.getIntervalToPreviousSlotMs();
+      interval = pollingSeqTable.getIntervalToPreviousSlotMs();
       // The period is checked and restarted with the new interval.
       // If the deadline was missed, the deadlineMissedFunc is called.
       if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
@@ -79,7 +58,7 @@ void FixedTimeslotTask::taskFunctionality() {
       }
     }
     // The device handler for this slot is executed and the next one is chosen.
-    this->pst.executeAndAdvance();
+    pollingSeqTable.executeAndAdvance();
   }
 }
 
@@ -87,7 +66,7 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   FixedTimeslotTask::deadlineMissedCount++;
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
+    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
                << std::endl;
 #endif
   }

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -3,11 +3,12 @@
 
 #include <pthread.h>
 
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
+#include "fsfw/tasks/definitions.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
+class FixedTimeslotTask : public FixedTimeslotTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -21,18 +22,13 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+  FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-  virtual ~FixedTimeslotTask();
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
+  ~FixedTimeslotTask() override = default;
 
-  virtual ReturnValue_t startTask();
+  ReturnValue_t startTask() override;
 
-  virtual ReturnValue_t sleepFor(uint32_t ms);
+  ReturnValue_t sleepFor(uint32_t ms) override;
-
-  virtual uint32_t getPeriodMs() const;
-
-  virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
-
-  virtual ReturnValue_t checkSequence() const;
 
   /**
    * This static function can be used as #deadlineMissedFunc.
@@ -53,9 +49,12 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  virtual void taskFunctionality();
+  [[noreturn]] virtual void taskFunctionality();
 
  private:
+  PosixThread posixThread;
+  bool started;
+
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -68,9 +67,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * arbitrary data.
    */
   static void* taskEntryPoint(void* arg);
-  FixedSlotSequence pst;
-
-  bool started;
 };
 
 #endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -1,86 +1,54 @@
-#include "fsfw/osal/linux/PeriodicPosixTask.h"
+#include "PeriodicPosixTask.h"
 
-#include <errno.h>
+#include "fsfw/serviceinterface.h"
-
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     uint32_t period_, void(deadlineMissedFunc_)())
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
-    : PosixThread(name_, priority_, stackSize_),
+    : PeriodicTaskBase(period_, dlmFunc_),
-      objectList(),
+      posixThread(name_, priority_, stackSize_),
-      started(false),
+      started(false) {}
-      periodMs(period_),
-      deadlineMissedFunc(deadlineMissedFunc_) {}
-
-PeriodicPosixTask::~PeriodicPosixTask() {
-  // Not Implemented
-}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.
-  PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
+  auto* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
   // The task's functionality is called.
   originalTask->taskFunctionality();
-  return NULL;
+  return nullptr;
-}
-
-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 FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-               << " it implements ExecutableObjectIF!" << std::endl;
-#else
-    sif::printError(
-        "PeriodicTask::addComponent: Invalid object. Make sure it "
-        "implements ExecutableObjectIF!\n");
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
-  return PosixThread::sleep((uint64_t)ms * 1000000);
+  return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
 }
 
-ReturnValue_t PeriodicPosixTask::startTask(void) {
+ReturnValue_t PeriodicPosixTask::startTask() {
+  if (isEmpty()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
   started = true;
-  PosixThread::createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void) {
+[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
   if (not started) {
-    suspend();
+    posixThread.suspend();
   }
 
-  for (auto const& object : objectList) {
+  initObjsAfterTaskCreation();
-    object->initializeAfterTaskCreation();
-  }
 
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
+  uint64_t periodMs = getPeriodMs();
   // The task's "infinite" inner loop is entered.
-  while (1) {
+  while (true) {
-    for (auto const& object : objectList) {
+    for (auto const& objOpCodePair : objectList) {
-      object->performOperation();
+      objOpCodePair.first->performOperation(objOpCodePair.second);
     }
 
     if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
-      if (this->deadlineMissedFunc != nullptr) {
+      if (dlmFunc != nullptr) {
-        this->deadlineMissedFunc();
+        dlmFunc();
       }
     }
   }
 }
-
-uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -3,12 +3,13 @@
 
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/ExecutableObjectIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
 
-class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
+class PeriodicPosixTask : public PeriodicTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -22,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
+  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
-                    void (*deadlineMissedFunc_)());
+                    TaskDeadlineMissedFunction dlmFunc_);
-  virtual ~PeriodicPosixTask();
+  ~PeriodicPosixTask() override = default;
 
   /**
    * @brief	The method to start the task.
@@ -34,42 +35,17 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() 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 RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  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;
 
  private:
-  typedef std::vector<ExecutableObjectIF*> ObjectList;  //!< Typedef for the List of objects.
+  PosixThread posixThread;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
 
   /**
    * @brief Flag to indicate that the task was started and is allowed to run
    */
   bool started;
 
-  /**
-   * @brief Period of the task in milliseconds
-   */
-  uint32_t periodMs;
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
@@ -78,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
    * executed.
    */
-  virtual void taskFunctionality(void);
+  [[noreturn]] virtual void taskFunctionality();
   /**
    * @brief	This is the entry point in a new thread.
    *
@@ -86,14 +62,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * of the child class. Needs a valid pointer to the derived class.
    */
   static void* taskEntryPoint(void* arg);
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details	This pointer stores the function that is executed if the task's deadline is missed.
-   * 			So, each may react individually on a timing failure. The pointer may be
-   * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
-   * 			of the periodic task.
-   */
-  void (*deadlineMissedFunc)();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

src/fsfw/osal/linux/PosixThread.h

@@ -35,6 +35,21 @@ class PosixThread {
    */
   void resume();
 
+  /**
+   * @brief     Function that has to be called by derived class because the
+   *        derived class pointer has to be valid as argument.
+   * @details
+   * This function creates a pthread with the given parameters. As the
+   * function requires a pointer to the derived object it has to be called
+   * after the this pointer of the derived object is valid.
+   * Sets the taskEntryPoint as function to be called by new a thread.
+   * @param fnc_ Function which will be executed by the thread.
+   * @param arg_
+   * argument of the taskEntryPoint function, needs to be this pointer
+   * of derived class
+   */
+  void createTask(void* (*fnc_)(void*), void* arg_);
+
   /**
    * Delay function similar to FreeRtos delayUntil function
    *
@@ -55,21 +70,6 @@ class PosixThread {
  protected:
   pthread_t thread;
 
-  /**
-   * @brief 	Function that has to be called by derived class because the
-   *  		derived class pointer has to be valid as argument.
-   * @details
-   * This function creates a pthread with the given parameters. As the
-   * function requires a pointer to the derived object it has to be called
-   * after the this pointer of the derived object is valid.
-   * Sets the taskEntryPoint as function to be called by new a thread.
-   * @param fnc_ Function which will be executed by the thread.
-   * @param arg_
-   * argument of the taskEntryPoint function, needs to be this pointer
-   * of derived class
-   */
-  void createTask(void* (*fnc_)(void*), void* arg_);
-
  private:
   char name[PTHREAD_MAX_NAMELEN];
   int priority;

src/fsfw/osal/linux/TaskFactory.cpp

@@ -8,21 +8,22 @@
 // TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
-TaskFactory::~TaskFactory() {}
+TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
 PeriodicTaskIF* TaskFactory::createPeriodicTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
+  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
+  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+                               deadLineMissedFunction_);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/osal/rtems/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		Clock.cpp
+  PRIVATE Clock.cpp
           CpuUsage.cpp
           InitTask.cpp
           InternalErrorCodes.cpp
@@ -14,7 +14,4 @@ target_sources(${LIB_FSFW_NAME}
           RTEMSTaskBase.cpp
           TaskFactory.cpp
           BinarySemaphore.cpp
-		SemaphoreFactory.cpp
+          SemaphoreFactory.cpp)
-)
-
-

src/fsfw/osal/windows/CMakeLists.txt

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

src/fsfw/parameters/CMakeLists.txt

@@ -1,6 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ParameterHelper.cpp ParameterMessage.cpp
-		ParameterHelper.cpp
+                           ParameterWrapper.cpp)
-		ParameterMessage.cpp
-		ParameterWrapper.cpp
-)

src/fsfw/power/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    Fuse.cpp
+  ${LIB_FSFW_NAME}
-    PowerComponent.cpp
+  PRIVATE Fuse.cpp PowerComponent.cpp PowerSensor.cpp PowerSwitcher.cpp
-    PowerSensor.cpp
+          DummyPowerSwitcher.cpp PowerSwitcherComponent.cpp)
-    PowerSwitcher.cpp
-    DummyPowerSwitcher.cpp
-    PowerSwitcherComponent.cpp
-)

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -1,8 +1,9 @@
 #include "DummyPowerSwitcher.h"
 
 DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
-                                       size_t numberOfFuses, uint32_t switchDelayMs)
+                                       size_t numberOfFuses, bool registerGlobally,
-    : SystemObject(objectId),
+                                       uint32_t switchDelayMs)
+    : SystemObject(objectId, registerGlobally),
       switcherList(numberOfSwitches),
       fuseList(numberOfFuses),
       switchDelayMs(switchDelayMs) {}
@@ -16,28 +17,28 @@ void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList
 }
 
 ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
-  if (switchNr < switcherList.capacity()) {
+  if (switchNr < switcherList.size()) {
     switcherList[switchNr] = onOff;
   }
   return RETURN_FAILED;
 }
 
 ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
-  if (fuseNr < fuseList.capacity()) {
+  if (fuseNr < fuseList.size()) {
     fuseList[fuseNr] = FUSE_ON;
   }
   return RETURN_FAILED;
 }
 
 ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
-  if (switchNr < switcherList.capacity()) {
+  if (switchNr < switcherList.size()) {
     return switcherList[switchNr];
   }
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
-  if (fuseNr < fuseList.capacity()) {
+  if (fuseNr < fuseList.size()) {
     return fuseList[fuseNr];
   }
   return HasReturnvaluesIF::RETURN_FAILED;

src/fsfw/power/DummyPowerSwitcher.h

@@ -8,10 +8,17 @@
 #include "definitions.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
+/**
+ * @brief   This component can be used to simulate a power switcher like a
+ *          Power Control Distribution Unit (PCDU)
+ * @details
+ * The dummy switcher will simply cache the commanded fuse and switch states and return them
+ * in the according switch getter functions. In that sense, it simulates an ideal PCDU.
+ */
 class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
  public:
   DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
-                     uint32_t switchDelayMs = 5000);
+                     bool registerGlobally = true, uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
   void setInitialFusesList(std::vector<ReturnValue_t> switcherList);

src/fsfw/power/PowerSensor.cpp

@@ -15,9 +15,7 @@ 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) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue();
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitcher.h

@@ -18,7 +18,8 @@ class PowerSwitcher : public HasReturnvaluesIF {
   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(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
+                power::Switch_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
   void turnOn(bool checkCurrentState = true);
   void turnOff(bool checkCurrentState = true);

src/fsfw/pus/CMakeLists.txt

@@ -1,5 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(
-    Service1TelecommandVerification.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE Service1TelecommandVerification.cpp
           Service2DeviceAccess.cpp
           Service3Housekeeping.cpp
           Service5EventReporting.cpp
@@ -8,5 +9,4 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
           Service17Test.cpp
           Service20ParameterManagement.cpp
           CService200ModeCommanding.cpp
-    CService201HealthCommanding.cpp
+          CService201HealthCommanding.cpp)
-)

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -0,0 +1,203 @@
+#ifndef MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
+#define MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
+
+#include <etl/multimap.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <fsfw/tmtcservices/TmTcMessage.h>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+/**
+ * @brief: PUS-Service 11 - Telecommand scheduling.
+ * @details:
+ * PUS-Service 11 - Telecommand scheduling.
+ * Full documentation: ECSS-E-ST-70-41C, p. 168:
+ * ST[11] time-based scheduling
+ *
+ * This service provides the capability to command pre-loaded
+ * application processes (telecommands) by releasing them at their
+ * due-time.
+ * References to telecommands are stored together with their due-timepoints
+ * and are released at their corresponding due-time.
+ *
+ * Necessary subservice functionalities are implemented.
+ * Those are:
+ * TC[11,4] activity insertion
+ * TC[11,5] activity deletion
+ * TC[11,6] filter-based activity deletion
+ * TC[11,7] activity time-shift
+ * TC[11,8] filter-based activity time-shift
+ *
+ * Groups are not supported.
+ * This service remains always enabled. Sending a disable-request has no effect.
+ */
+template <size_t MAX_NUM_TCS>
+class Service11TelecommandScheduling final : public PusServiceBase {
+ public:
+  static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11;
+
+  static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+  static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+  static constexpr ReturnValue_t INVALID_RELATIVE_TIME =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
+
+  //! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
+  //! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
+  static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+
+  // The types of PUS-11 subservices
+  enum Subservice : uint8_t {
+    ENABLE_SCHEDULING = 1,
+    DISABLE_SCHEDULING = 2,
+    RESET_SCHEDULING = 3,
+    INSERT_ACTIVITY = 4,
+    DELETE_ACTIVITY = 5,
+    FILTER_DELETE_ACTIVITY = 6,
+    TIMESHIFT_ACTIVITY = 7,
+    FILTER_TIMESHIFT_ACTIVITY = 8,
+    DETAIL_REPORT = 9,
+    TIMEBASE_SCHEDULE_DETAIL_REPORT = 10,
+    TIMESHIFT_ALL_SCHEDULE_ACTIVITIES = 15
+  };
+
+  // The types of time windows for TC[11,6] and TC[11,8], as defined in ECSS-E-ST-70-41C,
+  // requirement 8.11.3c (p. 507)
+  enum TypeOfTimeWindow : uint32_t {
+    SELECT_ALL = 0,
+    FROM_TIMETAG_TO_TIMETAG = 1,
+    FROM_TIMETAG = 2,
+    TO_TIMETAG = 3
+  };
+
+  Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId,
+                                 AcceptsTelecommandsIF* tcRecipient,
+                                 uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
+                                 bool debugMode = false);
+
+  ~Service11TelecommandScheduling() override;
+
+  void enableExpiredTcDeletion();
+  void disableExpiredTcDeletion();
+
+  /** PusServiceBase overrides */
+  ReturnValue_t handleRequest(uint8_t subservice) override;
+  ReturnValue_t performService() override;
+  ReturnValue_t initialize() override;
+
+ private:
+  struct TelecommandStruct {
+    uint64_t requestId{};
+    uint32_t seconds{};
+    store_address_t storeAddr;  // uint16
+  };
+
+  static constexpr uint16_t DEFAULT_RELEASE_TIME_MARGIN = 5;
+
+  // minimum release time offset to insert into schedule
+  const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5;
+
+  /**
+   * By default, the scheduling will be disabled. This is a standard requirement
+   */
+  bool schedulingEnabled = false;
+  bool deleteExpiredTcWhenDisabled = true;
+  bool debugMode = false;
+  StorageManagerIF* tcStore = nullptr;
+  AcceptsTelecommandsIF* tcRecipient = nullptr;
+  MessageQueueId_t recipientMsgQueueId = 0;
+
+  /**
+   * The telecommand map uses the exectution time as a Unix time stamp as
+   * the key. This is mapped to a generic telecommand struct.
+   */
+  using TelecommandMap = etl::multimap<uint32_t, TelecommandStruct, MAX_NUM_TCS>;
+  using TcMapIter = typename TelecommandMap::iterator;
+
+  TelecommandMap telecommandMap;
+
+  ReturnValue_t handleResetCommand();
+  /**
+   * @brief Logic to be performed on an incoming TC[11,4].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doInsertActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,5].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doDeleteActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,6].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doFilterDeleteActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,7].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doTimeshiftActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,8].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the
+   * class TcPacketPus.
+   * NOTE: This only works if the payload data is a TC (e.g. not for TC[11,5] which does not
+   * send a TC as payload)!
+   * @param data The Application data of the TC (get via getApplicationData()).
+   * @return requestId
+   */
+  uint64_t getRequestIdFromDataTC(const uint8_t* data) const;
+
+  /**
+   * @brief Extracts the Request ID from the Application Data directly, assuming it is packed
+   * as follows (acc. to ECSS): | source ID (uint32) | apid (uint32) | ssc (uint32) |.
+   * @param data Pointer to first byte described data
+   * @param dataSize Remaining size of data NOTE: non-const, this is modified by the function
+   * @param [out] requestId Request ID
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t getRequestIdFromData(const uint8_t*& data, size_t& dataSize, uint64_t& requestId);
+
+  /**
+   * @brief Builds the Request ID from its three elements.
+   * @param sourceId Source ID
+   * @param apid Application Process ID (APID)
+   * @param ssc Source Sequence Count
+   * @return Request ID
+   */
+  [[nodiscard]] uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
+
+  /**
+   * @brief Gets the filter range for filter TCs from a data packet
+   * @param data TC data
+   * @param dataSize TC data size
+   * @param [out] itBegin Begin of filter range
+   * @param [out] itEnd End of filter range
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t getMapFilterFromData(const uint8_t*& data, size_t& size, TcMapIter& itBegin,
+                                     TcMapIter& itEnd);
+
+  ReturnValue_t handleInvalidData(const char* ctx);
+  /**
+   * @brief Prints content of multimap. Use for simple debugging only.
+   */
+  void debugPrintMultimapContent() const;
+};
+
+#include "Service11TelecommandScheduling.tpp"
+
+#endif /* MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ */

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -0,0 +1,645 @@
+#pragma once
+
+#include <cstddef>
+
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+
+static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
+
+template <size_t MAX_NUM_TCS>
+inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduling(
+    object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient,
+    uint16_t releaseTimeMarginSeconds, bool debugMode)
+    : PusServiceBase(objectId, apid, serviceId),
+      RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
+      debugMode(debugMode),
+      tcRecipient(tcRecipient) {}
+
+template <size_t MAX_NUM_TCS>
+inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() = default;
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
+    uint8_t subservice) {
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::handleRequest: Handling request " << static_cast<int>(subservice);
+#else
+    sif::printInfo("PUS11::handleRequest: Handling request %d\n", subservice);
+#endif
+  }
+  // Get de-serialized Timestamp
+  const uint8_t *data = currentPacket.getApplicationData();
+  size_t size = currentPacket.getApplicationDataSize();
+  if (data == nullptr) {
+    return handleInvalidData("handleRequest");
+  }
+  switch (subservice) {
+    case Subservice::ENABLE_SCHEDULING: {
+      schedulingEnabled = true;
+      break;
+    }
+    case Subservice::DISABLE_SCHEDULING: {
+      schedulingEnabled = false;
+      break;
+    }
+    case Subservice::RESET_SCHEDULING: {
+      return handleResetCommand();
+    }
+    case Subservice::INSERT_ACTIVITY:
+      return doInsertActivity(data, size);
+    case Subservice::DELETE_ACTIVITY:
+      return doDeleteActivity(data, size);
+    case Subservice::FILTER_DELETE_ACTIVITY:
+      return doFilterDeleteActivity(data, size);
+    case Subservice::TIMESHIFT_ACTIVITY:
+      return doTimeshiftActivity(data, size);
+    case Subservice::FILTER_TIMESHIFT_ACTIVITY:
+      return doFilterTimeshiftActivity(data, size);
+    default:
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+  }
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
+  if (not schedulingEnabled) {
+    return RETURN_OK;
+  }
+  // get current time as UNIX timestamp
+  timeval tNow = {};
+  Clock::getClock_timeval(&tNow);
+
+  // TODO: Optionally limit the max number of released TCs per cycle?
+  // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
+  // does not work in this case as we are deleting the current element here.
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
+    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
+      if (schedulingEnabled) {
+        // release tc
+        TmTcMessage releaseMsg(it->second.storeAddr);
+        auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
+
+        if (sendRet != HasReturnvaluesIF::RETURN_OK) {
+          return sendRet;
+        }
+        if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::info << "Released TC & erased it from TC map" << std::endl;
+#else
+          sif::printInfo("Released TC & erased it from TC map\n");
+#endif
+        }
+        telecommandMap.erase(it++);
+      } else if (deleteExpiredTcWhenDisabled) {
+        telecommandMap.erase(it++);
+      }
+      continue;
+    }
+    it++;
+  }
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::initialize() {
+  ReturnValue_t res = PusServiceBase::initialize();
+  if (res != HasReturnvaluesIF::RETURN_OK) {
+    return res;
+  }
+
+  tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+  if (!tcStore) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+
+  if (tcRecipient == nullptr) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  recipientMsgQueueId = tcRecipient->getRequestQueue();
+
+  return res;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleResetCommand() {
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    ReturnValue_t result = tcStore->deleteData(it->second.storeAddr);
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      // This should not happen
+      sif::warning << "Service11TelecommandScheduling::handleRequestDeleting: Deletion failed"
+                   << std::endl;
+#else
+      sif::printWarning("Service11TelecommandScheduling::handleRequestDeleting: Deletion failed\n");
+#endif
+      triggerEvent(TC_DELETION_FAILED, (it->second.requestId >> 32) & 0xffffffff,
+                   it->second.requestId & 0xffffffff);
+    }
+  }
+  telecommandMap.clear();
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
+    const uint8_t *data, size_t size) {
+  uint32_t timestamp = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  // Insert possible if sched. time is above margin
+  // (See requirement for Time margin)
+  timeval tNow = {};
+  Clock::getClock_timeval(&tNow);
+  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
+                    "current time"
+                 << std::endl;
+#else
+    sif::printWarning(
+        "Service11TelecommandScheduling::doInsertActivity: Release time too close to current "
+        "time\n");
+#endif
+    return RETURN_FAILED;
+  }
+
+  // store currentPacket and receive the store address
+  store_address_t addr{};
+  if (tcStore->addData(&addr, data, size) != RETURN_OK ||
+      addr.raw == storeId::INVALID_STORE_ADDRESS) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
+               << std::endl;
+#else
+    sif::printError(
+        "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed\n");
+#endif
+    return RETURN_FAILED;
+  }
+
+  // insert into multimap with new store address
+  TelecommandStruct tc;
+  tc.seconds = timestamp;
+  tc.storeAddr = addr;
+  tc.requestId =
+      getRequestIdFromDataTC(data);  // TODO: Missing sanity check of the returned request id
+
+  auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
+  if (it == telecommandMap.end()) {
+    return RETURN_FAILED;
+  }
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doInsertActivity: Inserted into Multimap:" << std::endl;
+#else
+    sif::printInfo("PUS11::doInsertActivity: Inserted into Multimap:\n");
+#endif
+    debugPrintMultimapContent();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doDeleteActivity(
+    const uint8_t *data, size_t size) {
+  // Get request ID
+  uint64_t requestId;
+  ReturnValue_t result = getRequestIdFromData(data, size, requestId);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  // DEBUG
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doDeleteActivity: requestId: " << requestId << std::endl;
+#else
+    sif::printInfo("PUS11::doDeleteActivity: requestId: %d\n", requestId);
+#endif
+  }
+
+  TcMapIter tcToDelete;     // handle to the TC to be deleted, can be used if counter is valid
+  int tcToDeleteCount = 0;  // counter of all found TCs. Should be 1.
+
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    if (it->second.requestId == requestId) {
+      tcToDelete = it;
+      tcToDeleteCount++;
+    }
+  }
+
+  // check if 1 explicit TC is found via request ID
+  if (tcToDeleteCount == 0 || tcToDeleteCount > 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
+                    "Cannot explicitly delete TC"
+                 << std::endl;
+#else
+    sif::printWarning(
+        "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
+        "Cannot explicitly delete TC");
+#endif
+    return RETURN_FAILED;
+  }
+
+  // delete packet from store
+  if (tcStore->deleteData(tcToDelete->second.storeAddr) != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store"
+               << std::endl;
+#else
+    sif::printError(
+        "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store\n");
+#endif
+    return RETURN_FAILED;
+  }
+
+  telecommandMap.erase(tcToDelete);
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doDeleteActivity: Deleted TC from map" << std::endl;
+#else
+    sif::printInfo("PUS11::doDeleteActivity: Deleted TC from map\n");
+#endif
+  }
+
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterDeleteActivity(
+    const uint8_t *data, size_t size) {
+  TcMapIter itBegin;
+  TcMapIter itEnd;
+
+  ReturnValue_t result = getMapFilterFromData(data, size, itBegin, itEnd);
+  // get the filter window as map range via dedicated method
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  int deletedTCs = 0;
+  for (TcMapIter it = itBegin; it != itEnd; it++) {
+    // delete packet from store
+    if (tcStore->deleteData(it->second.storeAddr) != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC "
+                    "from Store"
+                 << std::endl;
+#else
+      sif::printError(
+          "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC from "
+          "Store\n");
+#endif
+      continue;
+    }
+    deletedTCs++;
+  }
+
+  // NOTE: Spec says this function erases all elements including itBegin but not itEnd,
+  // see here: https://www.cplusplus.com/reference/map/multimap/erase/
+  // Therefore we need to increase itEnd by 1. (Note that end() returns the "past-the-end" iterator)
+  if (itEnd != telecommandMap.end()) {
+    itEnd++;
+  }
+
+  telecommandMap.erase(itBegin, itEnd);
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doFilterDeleteActivity: Deleted " << deletedTCs << " TCs" << std::endl;
+#else
+    sif::printInfo("PUS11::doFilterDeleteActivity: Deleted %d TCs\n", deletedTCs);
+#endif
+  }
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doTimeshiftActivity(
+    const uint8_t *data, size_t size) {
+  // Get relative time
+  uint32_t relativeTime = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (relativeTime == 0) {
+    return INVALID_RELATIVE_TIME;
+  }
+  // TODO further check sanity of the relative time?
+
+  // Get request ID
+  uint64_t requestId;
+  result = getRequestIdFromData(data, size, requestId);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doTimeshiftActivity: requestId: " << requestId << std::endl;
+#else
+    sif::printInfo("PUS11::doTimeshiftActivity: requestId: %d\n", requestId);
+#endif
+  }
+
+  // NOTE: Despite having C++17 ETL multimap has no member function extract :(
+
+  TcMapIter tcToTimeshiftIt;
+  int tcToTimeshiftCount = 0;
+
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    if (it->second.requestId == requestId) {
+      tcToTimeshiftIt = it;
+      tcToTimeshiftCount++;
+    }
+  }
+
+  if (tcToTimeshiftCount == 0 || tcToTimeshiftCount > 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 "
+                    "TCs found. No explicit timeshifting "
+                    "possible"
+                 << std::endl;
+
+#else
+    sif::printWarning(
+        "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 TCs found. "
+        "No explicit timeshifting possible\n");
+#endif
+    return TIMESHIFTING_NOT_POSSIBLE;
+  }
+
+  // temporarily hold the item
+  TelecommandStruct tempTc(tcToTimeshiftIt->second);
+  uint32_t tempKey = tcToTimeshiftIt->first + relativeTime;
+
+  // delete old entry from the mm
+  telecommandMap.erase(tcToTimeshiftIt);
+
+  // and then insert it again as new entry
+  telecommandMap.insert(std::make_pair(tempKey, tempTc));
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doTimeshiftActivity: Shifted TC" << std::endl;
+#else
+    sif::printDebug("PUS11::doTimeshiftActivity: Shifted TC\n");
+#endif
+    debugPrintMultimapContent();
+  }
+
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimeshiftActivity(
+    const uint8_t *data, size_t size) {
+  // Get relative time
+  uint32_t relativeTime = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (relativeTime == 0) {
+    return INVALID_RELATIVE_TIME;
+  }
+
+  // Do time window
+  TcMapIter itBegin;
+  TcMapIter itEnd;
+  result = getMapFilterFromData(data, size, itBegin, itEnd);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  int shiftedItemsCount = 0;
+  for (auto it = itBegin; it != itEnd;) {
+    // temporarily hold the item
+    TelecommandStruct tempTc(it->second);
+    uint32_t tempKey = it->first + relativeTime;
+
+    // delete the old entry from the mm
+    telecommandMap.erase(it++);
+
+    // and then insert it again as new entry
+    telecommandMap.insert(std::make_pair(tempKey, tempTc));
+    shiftedItemsCount++;
+  }
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doFilterTimeshiftActivity: shiftedItemsCount: " << shiftedItemsCount
+              << std::endl;
+#else
+    sif::printInfo("PUS11::doFilterTimeshiftActivity: shiftedItemsCount: %d\n", shiftedItemsCount);
+#endif
+    debugPrintMultimapContent();
+  }
+
+  if (shiftedItemsCount > 0) {
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+template <size_t MAX_NUM_TCS>
+inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromDataTC(
+    const uint8_t *data) const {
+  TcPacketPus mask(data);
+
+  uint32_t sourceId = mask.getSourceId();
+  uint16_t apid = mask.getAPID();
+  uint16_t sequenceCount = mask.getPacketSequenceCount();
+
+  return buildRequestId(sourceId, apid, sequenceCount);
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromData(
+    const uint8_t *&data, size_t &dataSize, uint64_t &requestId) {
+  uint32_t srcId = 0;
+  uint16_t apid = 0;
+  uint16_t ssc = 0;
+
+  ReturnValue_t result = SerializeAdapter::deSerialize(&srcId, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&apid, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&ssc, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  requestId = buildRequestId(srcId, apid, ssc);
+
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::buildRequestId(uint32_t sourceId,
+                                                                            uint16_t apid,
+                                                                            uint16_t ssc) const {
+  auto sourceId64 = static_cast<uint64_t>(sourceId);
+  auto apid64 = static_cast<uint64_t>(apid);
+  auto ssc64 = static_cast<uint64_t>(ssc);
+
+  return (sourceId64 << 32) | (apid64 << 16) | ssc64;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFromData(
+    const uint8_t *&data, size_t &dataSize, TcMapIter &itBegin, TcMapIter &itEnd) {
+  // get filter type first
+  uint32_t typeRaw = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&typeRaw, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  if (typeRaw > 3) {
+    return INVALID_TYPE_TIME_WINDOW;
+  }
+  auto type = static_cast<TypeOfTimeWindow>(typeRaw);
+
+  // we now have the type of delete activity - so now we set the range to delete,
+  // according to the type of time window.
+  // NOTE: Blocks are used in this switch-case statement so that timestamps can be
+  // cleanly redefined for each case.
+  switch (type) {
+    case TypeOfTimeWindow::SELECT_ALL: {
+      itBegin = telecommandMap.begin();
+      itEnd = telecommandMap.end();
+      break;
+    }
+
+    case TypeOfTimeWindow::FROM_TIMETAG: {
+      uint32_t fromTimestamp = 0;
+      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, DEF_END);
+      if (result != RETURN_OK) {
+        return result;
+      }
+
+      itBegin = telecommandMap.begin();
+      while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
+        itBegin++;
+      }
+
+      itEnd = telecommandMap.end();
+      break;
+    }
+
+    case TypeOfTimeWindow::TO_TIMETAG: {
+      uint32_t toTimestamp;
+      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, DEF_END);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      itBegin = telecommandMap.begin();
+      itEnd = telecommandMap.begin();
+      while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
+        itEnd++;
+      }
+      break;
+    }
+
+    case TypeOfTimeWindow::FROM_TIMETAG_TO_TIMETAG: {
+      uint32_t fromTimestamp;
+      uint32_t toTimestamp;
+
+      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize,
+                                             SerializeIF::Endianness::BIG);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize,
+                                             SerializeIF::Endianness::BIG);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      itBegin = telecommandMap.begin();
+      itEnd = telecommandMap.begin();
+
+      while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
+        itBegin++;
+      }
+      while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
+        itEnd++;
+      }
+      break;
+    }
+
+    default:
+      return RETURN_FAILED;
+  }
+
+  // additional security check, this should never be true
+  if (itBegin->first > itEnd->first) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#else
+    sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
+#endif
+    return RETURN_FAILED;
+  }
+
+  // the map range should now be set according to the sent filter.
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidData(
+    const char *ctx) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service11TelecommandScheduling:: " << ctx << ": Invalid buffer" << std::endl;
+#else
+  sif::printWarning("Service11TelecommandScheduling::%s: Invalid buffer\n", ctx);
+#endif
+#endif
+  return RETURN_FAILED;
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent() const {
+  for ([[maybe_unused]] const auto &dit : telecommandMap) {
+#if FSFW_DISABLE_PRINTOUT == 0
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
+               << std::endl;
+    sif::debug << "[" << dit.first << "]: Request ID: " << dit.second.requestId << " | "
+               << "Store Address: " << dit.second.storeAddr.raw << std::endl;
+#else
+    sif::printDebug(
+        "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
+    for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
+      sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit->first,
+                      dit->second.requestId, dit->second.storeAddr);
+    }
+#endif
+#endif
+  }
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::enableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = true;
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::disableExpiredTcDeletion() {
+  deleteExpiredTcWhenDisabled = false;
+}

src/fsfw/pus/Service3Housekeeping.cpp

@@ -208,7 +208,7 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
       ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
       HousekeepingMessage::getHkRequestFailureReply(reply, &error);
       failureParameter2 = error;
-      return CommandingServiceBase::EXECUTION_COMPLETE;
+      return RETURN_FAILED;
     }
 
     default:
@@ -248,19 +248,23 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
     case (HousekeepingMessage::HK_REQUEST_FAILURE): {
       break;
     }
+    case(CommandMessage::REPLY_REJECTED): {
+      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
+          "rejected with error code" << reply->getParameter() << std::endl;
+      break;
+    }
 
     default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
-                      "command "
+                      "command " << command << "" << std::endl;
-                   << command << "!" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu!\n",
+          "reply command %hu\n",
           command);
 #endif
-      return;
+      break;
     }
   }
 
@@ -275,6 +279,7 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
         "Could not generate reply!\n");
 #endif
   }
+  CommandingServiceBase::handleUnrequestedReply(reply);
 }
 
 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }

src/fsfw/pus/Service5EventReporting.cpp

@@ -85,7 +85,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // In addition to the default PUSServiceBase initialization, this service needs
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
     return RETURN_FAILED;
   }

src/fsfw/returnvalues/FwClassIds.h

@@ -72,6 +72,7 @@ enum : uint8_t {
   DLE_ENCODER,                    // DLEE
   PUS_SERVICE_3,                  // PUS3
   PUS_SERVICE_9,                  // PUS9
+  PUS_SERVICE_11,                 // PUS11
   FILE_SYSTEM,                    // FILS
   LINUX_OSAL,                     // UXOS
   HAL_SPI,                        // HSPI

src/fsfw/rmap/CMakeLists.txt

@@ -1,7 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE RMAP.cpp RMAPCookie.cpp
-	PRIVATE 
+                                        RmapDeviceCommunicationIF.cpp)
-		RMAP.cpp
-		RMAPCookie.cpp
-		RmapDeviceCommunicationIF.cpp
-)
-