some more fixes

CHANGELOG.md

@@ -29,10 +29,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   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
+  - Add helper functions provided by [`cmake-modules`](https://github.com/rpavlik/cmake-modules)
+    manually now. Those should not change too often and only a small subset is needed
+  - Separate folder for easier update and for distinction
   - LICENSE file included
   - use `int` for version numbers to allow unset or uninitialized version
   - Initialize Version object with numbers set to -1
@@ -41,6 +43,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
     versions since the last tag
   - Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
   - Version still need to be hand-updated if the FSFW is not included as a submodule for now.
+  - CMake will auto-generate a file named `versionAutogen.cpp` on each rebuild which contains
+    the version retrieved with git
 - IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
@@ -60,6 +64,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
@@ -67,17 +72,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
 - `Subsystem`: New API to add table and sequence entries
 
-## HAL
-
-- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
-- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
-- SPI: Getter functions for SPI speed and mode.
-- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
-
 ## Fixed
 
 - TCP TMTC Server: `MutexGuard` was not created properly in

CMakeLists.txt

@@ -1,22 +1,68 @@
 cmake_minimum_required(VERSION 3.13)
+
+set(MSG_PREFIX "fsfw |")
+
+# Add the cmake folder so the FindSphinx module is found
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
+
+##########################
+# Version file handling  #
+##########################
+
+set(FSFW_VERSION_MAJOR_IF_GIT_FAILS 4)
+set(FSFW_VERSION_MINOR_IF_GIT_FAILS 0)
+set(FSFW_VERSION_REVISION_IF_GIT_FAILS 0)
+
+set(FSFW_GIT_VER_HANDLING_OK FALSE)
+# Check whether we got any revision (which isn't
+# always the case, e.g. when someone downloaded a zip
+# file from Github instead of a checkout)
+message(STATUS "${MSG_PREFIX} Determining version information with git")
+include(FsfwHelpers)
+determine_version_with_git("--exclude" "docker_*")
+if(GIT_INFO)
+    set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe" FORCE)
+    list(GET FSFW_GIT_INFO 1 FSFW_VERSION_MAJOR)
+    list(GET FSFW_GIT_INFO 2 FSFW_VERSION_MINOR)
+    list(GET FSFW_GIT_INFO 3 FSFW_VERSION_REVISION)
+    list(GET FSFW_GIT_INFO 4 FSFW_VERSION_VCS_INFO)
+    if(NOT FSFW_VERSION_MAJOR)
+        set(FSFW_VERSION_MAJOR ${FSFW_VERSION_MAJOR_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_VERSION_MINOR)
+        set(FSFW_VERSION_MINOR ${FSFW_VERSION_MINOR_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_VERSION_REVISION)
+        set(FSFW_VERSION_REVISION ${FSFW_VERSION_REVISION_IF_GIT_FAILS})
+    endif()
+    set(FSFW_GIT_VER_HANDLING_OK TRUE)
+else()
+    set(FSFW_GIT_VER_HANDLING_OK FALSE)
+endif()
+
+if(NOT FSFW_GIT_VER_HANDLING_OK)
+    set(FSFW_VERSION_MAJOR ${FSFW_VERSION_MAJOR_IF_GIT_FAILS})
+    set(FSFW_VERSION_MINOR ${FSFW_VERSION_MINOR_IF_GIT_FAILS})
+    set(FSFW_VERSION_REVISION ${FSFW_VERSION_REVISION_IF_GIT_FAILS})
+    set(GIT_REV "N/A")
+    set(GIT_DIFF "")
+    set(GIT_BRANCH "N/A")
+endif()
+
+
 set(LIB_FSFW_NAME fsfw)
-project(${LIB_FSFW_NAME})
+project(${LIB_FSFW_NAME} VERSION ${FSFW_VERSION_MAJOR}.${FSFW_VERSION_MINOR}.${FSFW_VERSION_REVISION})
 
 if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
     set(CMAKE_CXX_STANDARD_REQUIRED True)
 elseif(${CMAKE_CXX_STANDARD} LESS 17)
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
+    message(FATAL_ERROR "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
 endif()
 
-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
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
-set(MSG_PREFIX "fsfw |")
+set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
     "ETL library major version requirement"
@@ -72,42 +118,11 @@ set(FSFW_DUMMY_TGT fsfw-dummy)
 
 add_library(${LIB_FSFW_NAME})
 
-set(FSFW_GIT_VER_HANDLING_OK FALSE)
-# Version handling
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-    message(STATUS "${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")
     # 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")
@@ -139,10 +154,10 @@ if(FSFW_BUILD_UNITTESTS)
     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")
 
 # Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
     message(STATUS
@@ -150,11 +165,13 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
         "etl with FindPackage"
     )
     include(FetchContent)
+
     FetchContent_Declare(
         ${FSFW_ETL_LIB_NAME}
         GIT_REPOSITORY https://github.com/ETLCPP/etl
         GIT_TAG        ${FSFW_ETL_LIB_VERSION}
     )
+
     list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
@@ -233,7 +250,7 @@ else()
 endif()
 
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
-configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
+# configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 
 message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
 
@@ -443,3 +460,18 @@ add_custom_command(
    POST_BUILD
    COMMENT ${POST_BUILD_COMMENT}
 )
+
+# Add a custom command that produces version.cpp, plus
+# a dummy output that's not actually produced, in order
+# to force version.cmake to always be re-run before the build
+add_custom_command(
+    TARGET ${LIB_FSFW_NAME}
+    COMMAND ${CMAKE_COMMAND} -DVERSION_DIR=${FSFW_SOURCES_DIR}
+            -DVERSION_MAJOR=${FSFW_VERSION_MAJOR}
+            -DVERSION_MINOR=${FSFW_VERSION_MINOR}
+            -DVERSION_REVISION=${FSFW_VERSION_REVISION}
+            -DVERSION_VCS_INFO=${FSFW_VERSION_VCS_INFO}
+            -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/version.cmake
+    BYPRODUCTS ${FSFW_SOURCES_DIR}/versionAutogen.cpp
+    COMMENT ""
+)

cmake/FsfwHelpers.cmake

@@ -8,6 +8,7 @@
 function(determine_version_with_git)
     include(GetGitRevisionDescription)
     git_describe(VERSION ${ARGN})
+    get_git_head_revision(GIT_BRANCH HASH_VAR)
     string(FIND ${VERSION} "." VALID_VERSION)
     if(VALID_VERSION EQUAL -1)
         message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
@@ -18,11 +19,14 @@ function(determine_version_with_git)
     string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
     string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
     string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
+    string(STRIP "${GIT_BRANCH}" GIT_BRANCH)
     set(GIT_INFO ${VERSION})
     list(APPEND GIT_INFO ${_VERSION_MAJOR})
     list(APPEND GIT_INFO ${_VERSION_MINOR})
     list(APPEND GIT_INFO ${_VERSION_PATCH})
     list(APPEND GIT_INFO ${VERSION_SHA1})
     set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
+    set(GIT_BRANCH ${GIT_BRANCH} PARENT_SCOPE)
+    message(STATUS "${MSG_PREFIX} git branch ${GIT_BRANCH}")
     message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
 endfunction()

cmake/cmake-modules/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)
 
@@ -22,10 +24,13 @@ if(HEAD_CONTENTS MATCHES "ref")
     # named branch
     string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
     if(EXISTS "@GIT_DIR@/${HEAD_REF}")
-    configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
-        configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-        set(HEAD_HASH "${HEAD_REF}")
+        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+    else()
+        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
+        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
+        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
+            set(HEAD_HASH "${CMAKE_MATCH_1}")
+        endif()
     endif()
 else()
     # detached HEAD
@@ -33,6 +38,6 @@ else()
 endif()
 
 if(NOT HEAD_HASH)
-file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
-string(STRIP "${HEAD_HASH}" HEAD_HASH)
+    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
+    string(STRIP "${HEAD_HASH}" HEAD_HASH)
 endif()

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

@@ -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.

cmake/version.cmake

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

hal/src/fsfw_hal/common/gpio/GpioIF.h

@@ -46,9 +46,9 @@ class GpioIF : public HasReturnvaluesIF {
    *          an ouput or input gpio.
    *
    * @param gpioId    A unique number which specifies the GPIO to read.
-   * @param gpioState State of GPIO will be written to this reference
+   * @param gpioState State of GPIO will be written to this pointer.
    */
-  virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0;
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };
 
 #endif /* COMMON_GPIO_GPIOIF_H_ */

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -9,7 +9,7 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
 
 enum class Direction : int { IN = 0, OUT = 1 };
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -375,16 +375,13 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
 
 ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
                                                          size_t commandDataLen) {
-  if (commandData == nullptr) {
-    return INVALID_COMMAND_PARAMETER;
-  }
   triggerEvent(CHANGE_OF_SETUP_PARAMETER);
   uint32_t size = 2;
   commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
   if (commandDataLen > 1) {
     return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
   }
-  switch (commandData[0]) {
+  switch (*commandData) {
     case (MGMLIS3MDL::ON): {
       commandBuffer[1] = registers[0] | (1 << 7);
       break;

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface.h"
 
-UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                              std::string diagnosticPrefix)
     : fileDescriptor(fileDescriptor) {
   if (fileDescriptor == nullptr) {

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -15,7 +15,7 @@ class UnixFileGuard {
 
   static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
 
-  UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                 std::string diagnosticPrefix = "");
 
   virtual ~UnixFileGuard();

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

@@ -1,27 +0,0 @@
-#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
-#define FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
-
-#include "fsfw_hal/common/gpio/GpioIF.h"
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
-
-/**
- * @brief   Additional abstraction layer for handling GPIOs.
- *
- * @author  J. Meier
- */
-class Gpio {
- public:
-  Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) {
-    if (gpioIF == nullptr) {
-      sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl;
-    }
-  }
-  ReturnValue_t pullHigh() { return gpioIF->pullHigh(gpioId); }
-  ReturnValue_t pullLow() { return gpioIF->pullLow(gpioId); }
-
- private:
-  gpioId_t gpioId = gpio::NO_GPIO;
-  GpioIF* gpioIF = nullptr;
-};
-
-#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ */

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

@@ -280,7 +280,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
   return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -299,10 +299,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
-    if (gpioState == gpio::Levels::FAILED) {
-      return GPIO_GET_VALUE_FAILED;
-    }
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {

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

@@ -31,16 +31,14 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
   static constexpr ReturnValue_t GPIO_INIT_FAILED =
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
-  // Will be returned if getting the line value failed. Error type will be set to errno in this case
-  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
+
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();
 
   ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
   ReturnValue_t pullHigh(gpioId_t gpioId) override;
   ReturnValue_t pullLow(gpioId_t gpioId) override;
-  ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
  private:
   static const size_t MAX_CHIPNAME_LENGTH = 11;

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -170,20 +170,18 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 
   int readLen = read(fd, replyBuffer, requestLen);
   if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    if (readLen < 0) {
-      sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
-                   << "device failed with error code " << errno << " | " << strerror(errno)
-                   << std::endl;
-    } else {
-      sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
-                   << requestLen << " bytes" << std::endl;
-    }
-#else
-#endif
+#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+               << "device failed with error code " << errno << ". Description"
+               << " of error: " << strerror(errno) << std::endl;
+    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
+               << " bytes" << std::endl;
 #endif
     i2cDeviceMapIter->second.replyLen = 0;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 

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

@@ -15,8 +15,8 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/utility.h"
 
-SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
-    : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
+    : SystemObject(objectId), gpioComIF(gpioComIF) {
   if (gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
   }
 
-  csMutex = MutexFactory::instance()->createMutex();
+  spiMutex = MutexFactory::instance()->createMutex();
 }
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
@@ -85,7 +85,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
   spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
 
   int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+                           "SpiComIF::initializeInterface");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
@@ -181,7 +182,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   int retval = 0;
   /* Prepare transfer */
   int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  std::string device = spiCookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
@@ -197,7 +199,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 
   /* Pull SPI CS low. For now, no support for active high given  */
   if (gpioId != gpio::NO_GPIO) {
-    result = csMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -208,7 +210,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
       return result;
     }
-    updateLinePolarity(fileDescriptor);
     ReturnValue_t result = gpioComIF->pullLow(gpioId);
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -220,8 +221,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
       return result;
     }
-  } else {
-    updateLinePolarity(fileDescriptor);
   }
 
   /* Execute transfer */
@@ -251,7 +250,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 
   if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
@@ -279,8 +278,9 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  std::string device = spiCookie->getSpiDevice();
   int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
@@ -294,7 +294,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 
   gpioId_t gpioId = spiCookie->getChipSelectPin();
   if (gpioId != gpio::NO_GPIO) {
-    result = csMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
@@ -317,7 +317,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 
   if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
@@ -353,7 +353,7 @@ MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeout
   if (timeoutMs != nullptr) {
     *timeoutMs = this->timeoutMs;
   }
-  return csMutex;
+  return spiMutex;
 }
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
@@ -401,29 +401,11 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
-}
-
-void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
-  uint8_t tmpMode = 0;
-  int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
-  }
-  mode = static_cast<spi::SpiModes>(tmpMode);
-
-  retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
-  }
-}
-
-const std::string& SpiComIF::getSpiDev() const {
-  return dev;
-}
-
-void SpiComIF::updateLinePolarity(int spiFd) {
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
   clockUpdateTransfer.len = 0;
-  int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
   }

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

@@ -32,7 +32,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
       HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
 
-  SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
+  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
   ReturnValue_t initializeInterface(CookieIF* cookie) override;
   ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@@ -59,20 +59,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 
   GpioIF* getGpioInterface();
   void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-
-  /**
-   * This updates the SPI clock default polarity. Only setting the mode does not update
-   * the line state, which can be an issue on mode switches because the clock line will
-   * switch the state after the chip select is pulled low.
-   *
-   * It is recommended to call this function after #setSpiSpeedAndMode and after locking the
-   * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
-   * @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);
 
   ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@@ -84,12 +70,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   GpioIF* gpioComIF = nullptr;
-  std::string dev = "";
-  /**
-   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
-   * pulled high
-   */
-  MutexIF* csMutex = nullptr;
+
+  MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
   spi_ioc_transfer clockUpdateTransfer = {};

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

@@ -1,25 +1,26 @@
 #include "SpiCookie.h"
 
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {}
+
+SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
                      spi::SpiModes spiMode, uint32_t spiSpeed)
-    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                nullptr, nullptr) {}
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
 
-SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
-                     uint32_t spiSpeed)
-    : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
-
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
-                     spi::SpiModes spiMode, uint32_t spiSpeed,
-                     spi::send_callback_function_t callback, void* args)
-    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                callback, args) {}
-
-SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                      const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
                      spi::send_callback_function_t callback, void* args)
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, callback, args) {}
+
+SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
+                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
     : spiAddress(spiAddress),
       chipSelectPin(chipSelect),
+      spiDevice(spiDev),
       comIfMode(comIfMode),
       maxSize(maxSize),
       spiMode(spiMode),
@@ -49,6 +50,8 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
 
 address_t SpiCookie::getSpiAddress() const { return spiAddress; }
 
+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
+
 void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
 
 void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }

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

@@ -29,22 +29,23 @@ class SpiCookie : public CookieIF {
    * @param spiDev
    * @param maxSize
    */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);
 
   /**
    * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
    * slave select or if CS logic is performed with decoders.
    */
-  SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);
 
   /**
    * Use the callback mode of the SPI communication interface. The user can pass the callback
    * function here or by using the setter function #setCallbackMode
    */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
+            void* args);
 
   /**
    * Get the callback function
@@ -54,6 +55,7 @@ class SpiCookie : public CookieIF {
   void getCallback(spi::send_callback_function_t* callback, void** args);
 
   address_t getSpiAddress() const;
+  std::string getSpiDevice() const;
   gpioId_t getChipSelectPin() const;
   size_t getMaxBufferSize() const;
 
@@ -152,11 +154,12 @@ class SpiCookie : public CookieIF {
    * @param args
    */
   SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
 
   address_t spiAddress;
   gpioId_t chipSelectPin;
+  std::string spiDevice;
 
   spi::SpiComIfModes comIfMode;
 

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

@@ -2,8 +2,8 @@
 
 #include <fsfw/serviceinterface.h>
 
-UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-                       size_t maxReplyLen, UartModes uartMode)
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+                       UartBaudRate baudrate, size_t maxReplyLen)
     : handlerId(handlerId),
       deviceFile(deviceFile),
       uartMode(uartMode),

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

@@ -69,8 +69,8 @@ class UartCookie : public CookieIF {
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-             size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+             UartBaudRate baudrate, size_t maxReplyLen);
 
   virtual ~UartCookie();
 

src/fsfw/CMakeLists.txt

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

src/fsfw/FSFWVersion.h.in

@@ -1,11 +0,0 @@
-#ifndef FSFW_VERSION_H_
-#define FSFW_VERSION_H_
-
-// Versioning is managed in project CMakeLists.txt file
-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@";
-
-#endif /* FSFW_VERSION_H_ */

src/fsfw/action/CommandActionHelper.h

@@ -16,8 +16,8 @@ class CommandActionHelper {
  public:
   CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
-                              const uint8_t* data = nullptr, uint32_t size = 0);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
+                              uint32_t size);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);

src/fsfw/cfdp/CFDPHandler.cpp

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

src/fsfw/container/FixedArrayList.h

@@ -12,7 +12,6 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
   static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
-
  private:
   T data[MAX_SIZE];
 

src/fsfw/controller/ControllerBase.cpp

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

src/fsfw/datapool/CMakeLists.txt

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

src/fsfw/datapool/PoolEntry.cpp

@@ -7,26 +7,24 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 template <typename T>
-PoolEntry<T>::PoolEntry(uint8_t len, bool setValid) : length(len), valid(setValid) {
-  this->address = new T[this->length]();
-  std::memset(this->address, 0, this->getByteSize());
-}
-
-template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValues, bool setValid)
-    : length(static_cast<uint8_t>(initValues.size())), valid(setValid) {
-  this->address = new T[this->length]();
-  if (initValues.size() > 0) {
-    std::copy(initValues.begin(), initValues.end(), this->address);
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
+    : length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
+  this->address = new T[this->length];
+  if (initValue.size() == 0) {
+    std::memset(this->address, 0, this->getByteSize());
+  } else {
+    std::copy(initValue.begin(), initValue.end(), this->address);
   }
 }
 
 template <typename T>
-PoolEntry<T>::PoolEntry(const T* initValue, uint8_t setLength, bool setValid)
+PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
     : length(setLength), valid(setValid) {
-  this->address = new T[this->length]();
+  this->address = new T[this->length];
   if (initValue != nullptr) {
     std::memcpy(this->address, initValue, this->getByteSize());
+  } else {
+    std::memset(this->address, 0, this->getByteSize());
   }
 }
 

src/fsfw/datapool/PoolEntry.h

@@ -33,9 +33,6 @@ class PoolEntry : public PoolEntryIF {
                 "instead! The ECSS standard defines a boolean as a one bit "
                 "field. Therefore it is preferred to store a boolean as an "
                 "uint8_t");
-
-  PoolEntry(uint8_t len = 1, bool setValid = false);
-
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
    * 			potential initialization values are copied to that space.
@@ -52,7 +49,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(std::initializer_list<T> initValue, bool setValid = false);
+  PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
 
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
@@ -65,7 +62,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
+  PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
 
   //! Explicitely deleted copy ctor, copying is not allowed.
   PoolEntry(const PoolEntry&) = delete;

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

@@ -162,7 +162,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
   object_id_t getCreatorObjectId();
 
   bool getReportingEnabled() const;
-  void setReportingEnabled(bool enabled);
 
   /**
    * Returns the current periodic HK generation interval this set
@@ -190,6 +189,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    * Used for periodic generation.
    */
   bool reportingEnabled = false;
+  void setReportingEnabled(bool enabled);
 
   void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
                                 uint8_t nonDiagIntervalFactor = 5);

src/fsfw/devicehandlers/AssemblyBase.cpp

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

src/fsfw/devicehandlers/AssemblyBase.h

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

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -39,9 +39,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -49,6 +48,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
                         HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@@ -124,18 +126,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != RETURN_OK) {
     return result;
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
-
-  if (this->parent != objects::NO_OBJECT) {
-    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
-    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
-    if (modeIF != nullptr and healthIF != nullptr) {
-      setParentQueue(modeIF->getCommandQueue());
-    }
-  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -243,28 +233,17 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
-  bool timedOut = false;
   for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
-    if (replyPair.second.countdown != nullptr && replyPair.second.active) {
-      if (replyPair.second.countdown->hasTimedOut()) {
-        timedOut = true;
-      }
-    }
-    if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
+    if (replyPair.second.delayCycles != 0) {
       replyPair.second.delayCycles--;
       if (replyPair.second.delayCycles == 0) {
         if (replyPair.second.periodic) {
           replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
         }
-        timedOut = true;
+        replyToReply(replyPair.first, replyPair.second, TIMEOUT);
+        missedReply(replyPair.first);
       }
     }
-    if (timedOut) {
-      replyToReply(replyPair.first, replyPair.second, TIMEOUT);
-      missedReply(replyPair.first);
-      timedOut = false;
-      replyPair.second.active = false;
-    }
   }
 }
 
@@ -373,12 +352,14 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -427,22 +408,20 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
     DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
-    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
-    Countdown* countdown) {
+    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
   // No need to check, as we may try to insert multiple times.
   insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
   if (hasDifferentReplyId) {
-    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
+    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
   } else {
-    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
-                            countdown);
+    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
   }
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
                                                   uint16_t maxDelayCycles,
                                                   LocalPoolDataSetBase* dataSet, size_t replyLen,
-                                                  bool periodic, Countdown* countdown) {
+                                                  bool periodic) {
   DeviceReplyInfo info;
   info.maxDelayCycles = maxDelayCycles;
   info.periodic = periodic;
@@ -450,10 +429,6 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   info.replyLen = replyLen;
   info.dataSet = dataSet;
   info.command = deviceCommandMap.end();
-  info.countdown = countdown;
-  if (info.periodic) {
-    info.active = true;
-  }
   auto resultPair = deviceReplyMap.emplace(replyId, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -489,8 +464,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
   }
   DeviceReplyIter iter = deviceReplyMap.find(replyId);
   if (iter != deviceReplyMap.end()) {
-    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
-        (iter->second.active && iter->second.countdown != nullptr)) {
+    if (iter->second.delayCycles != 0) {
       return iter->second.replyLen;
     }
   }
@@ -834,18 +808,17 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
 
   DeviceReplyInfo* info = &(iter->second);
 
-  if ((info->delayCycles != 0 && info->countdown == nullptr) ||
-      (info->active && info->countdown != nullptr)) {
+  if (info->delayCycles != 0) {
     result = interpretDeviceReply(foundId, receivedData);
 
     if (result == IGNORE_REPLY_DATA) {
       return;
     }
 
-    if (info->active && info->countdown != nullptr) {
-      disableTimeoutControlledReply(info);
-    } else if (info->delayCycles != 0) {
-      disableDelayCyclesControlledReply(info);
+    if (info->periodic) {
+      info->delayCycles = info->maxDelayCycles;
+    } else {
+      info->delayCycles = 0;
     }
 
     if (result != RETURN_OK) {
@@ -864,24 +837,6 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
   }
 }
 
-void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
-  if (info->periodic) {
-    info->countdown->resetTimer();
-  } else {
-    info->active = false;
-    info->countdown->timeOut();
-  }
-}
-
-void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
-  if (info->periodic) {
-    info->delayCycles = info->maxDelayCycles;
-  } else {
-    info->delayCycles = 0;
-    info->active = false;
-  }
-}
-
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
                                                 size_t* len) {
   size_t lenTmp;
@@ -1007,10 +962,6 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
     info->delayCycles = info->maxDelayCycles;
     info->command = command;
     command->second.expectedReplies = expectedReplies;
-    if (info->countdown != nullptr) {
-      info->countdown->resetTimer();
-    }
-    info->active = true;
     return RETURN_OK;
   } else {
     return NO_REPLY_EXPECTED;
@@ -1245,8 +1196,7 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 bool DeviceHandlerBase::isAwaitingReply() {
   std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
   for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
-    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
-        (iter->second.active && iter->second.countdown != nullptr)) {
+    if (iter->second.delayCycles != 0) {
       return true;
     }
   }
@@ -1401,8 +1351,6 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
   DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
   if (iter == deviceReplyMap.end()) {
     return 0;
-  } else if (iter->second.countdown != nullptr) {
-    return 0;
   }
   return iter->second.delayCycles;
 }
@@ -1451,8 +1399,6 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1475,7 +1421,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -1559,11 +1505,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -103,9 +103,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setParent(object_id_t parent);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -451,9 +448,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
-   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *                  to provide a pointer to a Countdown object which will signal the timeout
-   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
@@ -461,8 +455,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                                            LocalPoolDataSetBase *replyDataSet = nullptr,
                                            size_t replyLen = 0, bool periodic = false,
                                            bool hasDifferentReplyId = false,
-                                           DeviceCommandId_t replyId = 0,
-                                           Countdown *countdown = nullptr);
+                                           DeviceCommandId_t replyId = 0);
   /**
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
@@ -472,15 +465,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
-   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *                  to provide a pointer to a Countdown object which will signal the timeout
-   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
   ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
                                  LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
-                                 bool periodic = false, Countdown *countdown = nullptr);
+                                 bool periodic = false);
 
   /**
    * @brief   A simple command to add a command to the commandList.
@@ -659,12 +649,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -799,11 +783,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     LocalPoolDataSetBase *dataSet = nullptr;
     //! The command that expects this reply.
     DeviceCommandMap::iterator command;
-    //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
-    //! is also possible specify a countdown
-    Countdown *countdown = nullptr;
-    //! will be set to true when reply is enabled
-    bool active = false;
   };
 
   using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@@ -843,7 +822,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -1266,17 +1244,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   void doGetRead(void);
 
-  /**
-   * @brief Handles disabling of replies which use a timeout to detect missed replies.
-   */
-  void disableTimeoutControlledReply(DeviceReplyInfo *info);
-
-  /**
-   * @brief Handles disabling of replies which use a number of maximum delay cycles to detect
-   *        missed replies.
-   */
-  void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
-
   /**
    * Retrive data from the #IPCStore.
    *

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

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

src/fsfw/devicehandlers/DeviceHandlerIF.h

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

src/fsfw/devicehandlers/HealthDevice.cpp

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

src/fsfw/events/EventManager.cpp

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

src/fsfw/events/EventManager.h

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

src/fsfw/fdir/FailureIsolationBase.cpp

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

src/fsfw/fdir/FailureIsolationBase.h

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

src/fsfw/globalfunctions/CMakeLists.txt

@@ -1,13 +1,13 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    arrayprinter.cpp
-    AsciiConverter.cpp
-    CRC.cpp
-    DleEncoder.cpp
-    DleParser.cpp
-    PeriodicOperationDivider.cpp
-    timevalOperations.cpp
-    Type.cpp
-    bitutility.cpp
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		arrayprinter.cpp
+		AsciiConverter.cpp
+		CRC.cpp
+		DleEncoder.cpp
+		PeriodicOperationDivider.cpp
+		timevalOperations.cpp
+		Type.cpp
+		bitutility.cpp
 )
 
 add_subdirectory(math)

src/fsfw/globalfunctions/DleParser.cpp

@@ -1,231 +0,0 @@
-#include "DleParser.h"
-
-#include <fsfw/globalfunctions/DleEncoder.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-
-#include <cstdio>
-
-DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-                     BufPair decodedBuf, UserHandler handler, void* args)
-    : decodeRingBuf(decodeRingBuf),
-      decoder(decoder),
-      encodedBuf(encodedBuf),
-      decodedBuf(decodedBuf),
-      handler(handler),
-      ctx(args) {
-  if (handler == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
-#else
-    sif::printError("DleParser::DleParser: Invalid user handler\n");
-#endif
-  }
-}
-
-ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
-  if (data == nullptr or len == 0 or handler == nullptr) {
-    return RETURN_FAILED;
-  }
-  size_t copyIntoRingBufFromHere = 0;
-  size_t copyAmount = len;
-  size_t startIdx = 0;
-  ReturnValue_t result = RETURN_OK;
-  bool startFoundInThisPacket = false;
-  for (size_t idx = 0; idx < len; idx++) {
-    if (data[idx] == DleEncoder::STX_CHAR) {
-      if (not startFound and not startFoundInThisPacket) {
-        startIdx = idx;
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      } else {
-        // Maybe print warning, should not happen
-        decodeRingBuf.clear();
-        ErrorInfo info;
-        info.len = idx;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
-        handler(ctx);
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      }
-      startFound = true;
-      startFoundInThisPacket = true;
-    } else if (data[idx] == DleEncoder::ETX_CHAR) {
-      if (startFoundInThisPacket) {
-        size_t readLen = 0;
-        size_t decodedLen = 0;
-        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
-                                decodedBuf.second, &decodedLen);
-        if (result == HasReturnvaluesIF::RETURN_OK) {
-          ctx.setType(ContextType::PACKET_FOUND);
-          ctx.decodedPacket.first = decodedBuf.first;
-          ctx.decodedPacket.second = decodedLen;
-          this->handler(ctx);
-        } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        } else {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        }
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      } else if (startFound) {
-        // ETX found but STX was found in another mini packet. Reconstruct the full packet
-        // to decode it
-        result = decodeRingBuf.writeData(data, idx + 1);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-          handler(ctx);
-        }
-        size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
-        if (fullEncodedLen > encodedBuf.second) {
-          ErrorInfo info;
-          info.len = fullEncodedLen;
-          prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
-          handler(ctx);
-          decodeRingBuf.clear();
-        } else {
-          size_t decodedLen = 0;
-          size_t readLen = 0;
-          decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
-          result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
-                                  decodedBuf.second, &decodedLen);
-          if (result == HasReturnvaluesIF::RETURN_OK) {
-            if (this->handler != nullptr) {
-              ctx.setType(ContextType::PACKET_FOUND);
-              ctx.decodedPacket.first = decodedBuf.first;
-              ctx.decodedPacket.second = decodedLen;
-              this->handler(ctx);
-            }
-          } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-            handler(ctx);
-          } else {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
-            handler(ctx);
-          }
-          decodeRingBuf.clear();
-          startFound = false;
-          startFoundInThisPacket = false;
-          if ((idx + 1) < len) {
-            copyIntoRingBufFromHere = idx + 1;
-            copyAmount = len - idx - 1;
-          } else {
-            copyAmount = 0;
-          }
-        }
-      } else {
-        // End data without preceeding STX
-        ErrorInfo info;
-        info.len = idx + 1;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
-        handler(ctx);
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      }
-      startFoundInThisPacket = false;
-      startFound = false;
-    }
-  }
-  if (copyAmount > 0) {
-    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      ErrorInfo info;
-      info.res = result;
-      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-      handler(ctx);
-    }
-  }
-  return RETURN_OK;
-}
-
-void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
-            << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
-#endif
-#endif
-}
-
-void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
-  switch (err) {
-    case (ErrorTypes::NONE): {
-      errorPrinter("No error");
-      break;
-    }
-    case (ErrorTypes::DECODE_ERROR): {
-      errorPrinter("Decode Error");
-      break;
-    }
-    case (ErrorTypes::RING_BUF_ERROR): {
-      errorPrinter("Ring Buffer Error");
-      break;
-    }
-    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
-    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
-      char opt[64];
-      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len);
-      if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
-        errorPrinter("Encoded buf too small", opt);
-      } else {
-        errorPrinter("Decoding buf too small", opt);
-      }
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
-      errorPrinter("Consecutive STX chars detected");
-      break;
-    }
-    case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
-      errorPrinter("Consecutive ETX chars detected");
-      break;
-    }
-  }
-}
-
-void DleParser::errorPrinter(const char* str, const char* opt) {
-  if (opt == nullptr) {
-    opt = "";
-  }
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
-#else
-  sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
-#endif
-#endif
-}
-
-void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
-  ctx.setType(ContextType::ERROR);
-  ctx.error.first = err;
-  ctx.error.second = info;
-}
-
-void DleParser::reset() {
-  startFound = false;
-  decodeRingBuf.clear();
-}

src/fsfw/globalfunctions/DleParser.h

@@ -1,127 +0,0 @@
-#ifndef MISSION_DEVICES_DLEPARSER_H_
-#define MISSION_DEVICES_DLEPARSER_H_
-
-#include <fsfw/container/SimpleRingBuffer.h>
-#include <fsfw/globalfunctions/DleEncoder.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
-#include <cstddef>
-#include <utility>
-
-/**
- * @brief This base helper class can be used to extract DLE encoded packets from a data stream
- * @details
- * The core API of the parser takes received packets which can contains DLE packets. The parser
- * can deal with DLE packets split across multiple packets. It does so by using a dedicated
- * decoding ring buffer. The user can process received packets and detect errors by
- * overriding two provided virtual methods. This also allows detecting multiple DLE packets
- * inside one passed packet.
- */
-class DleParser : public HasReturnvaluesIF {
- public:
-  using BufPair = std::pair<uint8_t*, size_t>;
-
-  enum class ContextType { PACKET_FOUND, ERROR };
-
-  enum class ErrorTypes {
-    NONE,
-    ENCODED_BUF_TOO_SMALL,
-    DECODING_BUF_TOO_SMALL,
-    DECODE_ERROR,
-    RING_BUF_ERROR,
-    CONSECUTIVE_STX_CHARS,
-    CONSECUTIVE_ETX_CHARS
-  };
-
-  union ErrorInfo {
-    size_t len;
-    ReturnValue_t res;
-  };
-
-  using ErrorPair = std::pair<ErrorTypes, ErrorInfo>;
-
-  struct Context {
-   public:
-    Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
-
-    void setType(ContextType type) {
-      if (type == ContextType::PACKET_FOUND) {
-        error.first = ErrorTypes::NONE;
-        error.second.len = 0;
-      } else {
-        decodedPacket.first = nullptr;
-        decodedPacket.second = 0;
-      }
-    }
-
-    ContextType getType() const { return type; }
-
-    BufPair decodedPacket = {};
-    ErrorPair error;
-    void* userArgs;
-
-   private:
-    ContextType type;
-  };
-
-  using UserHandler = void (*)(const Context& ctx);
-
-  /**
-   * Base class constructor
-   * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
-   * split across multiple packets
-   * @param decoder Decoder instance
-   * @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold
-   * the largest expected encoded DLE packet size
-   * @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the
-   * largest expected decoded DLE packet size
-   * @param handler Function which will be called on a found packet
-   * @param args Arbitrary user argument
-   */
-  DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-            BufPair decodedBuf, UserHandler handler, void* args);
-
-  /**
-   * This function allows to pass new data into the parser. It then scans for DLE packets
-   * automatically and inserts (part of) the packet into a ring buffer if necessary.
-   * @param data
-   * @param len
-   * @return
-   */
-  ReturnValue_t passData(uint8_t* data, size_t len);
-
-  /**
-   * Example found packet handler
-   * function call
-   * @param packet Decoded packet
-   * @param len Length of detected packet
-   */
-  void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args);
-  /**
-   * Will be called if an error occured in the #passData call
-   * @param err
-   * @param ctx Context information depending on the error type
-   *  - For buffer length errors, will be set to the detected packet length which is too large
-   *  - For decode or ring buffer errors, will be set to the result returned from the failed call
-   */
-  static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx);
-
-  static void errorPrinter(const char* str, const char* opt = nullptr);
-
-  void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
-  /**
-   * Resets the parser by resetting the internal states and clearing the decoding ring buffer
-   */
-  void reset();
-
- private:
-  SimpleRingBuffer& decodeRingBuf;
-  DleEncoder& decoder;
-  BufPair encodedBuf;
-  BufPair decodedBuf;
-  UserHandler handler = nullptr;
-  Context ctx;
-  bool startFound = false;
-};
-
-#endif /* MISSION_DEVICES_DLEPARSER_H_ */

src/fsfw/health/HasHealthIF.h

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

src/fsfw/internalerror/InternalErrorReporter.cpp

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

src/fsfw/modes/HasModesIF.h

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

src/fsfw/objectmanager/ObjectManager.cpp

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

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -161,7 +161,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 
   while (true) {
     ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
-                          receptionBuffer.capacity(), tcpConfig.tcpFlags);
+                      receptionBuffer.capacity(), tcpConfig.tcpFlags);
     if (retval == 0) {
       size_t availableReadData = ringBuffer.getAvailableReadData();
       if (availableReadData > lastRingBufferSize) {
@@ -285,7 +285,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
       arrayprinter::print(storeAccessor.data(), storeAccessor.size());
     }
     ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
-                          storeAccessor.size(), tcpConfig.tcpTmFlags);
+                      storeAccessor.size(), tcpConfig.tcpTmFlags);
     if (retval == static_cast<int>(storeAccessor.size())) {
       // Packet sent, clear FIFO entry
       tmtcBridge->tmFifo->pop();
@@ -340,7 +340,7 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   size_t foundSize = 0;
   size_t readLen = 0;
   while (readLen < readAmount) {
-    if (spacePacketParser == nullptr) {
+    if(spacePacketParser == nullptr) {
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     result =

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -46,8 +46,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   FixedTimeslotTask::deadlineMissedCount++;
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
+    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
+               << std::endl;
 #endif
   }
 }

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -87,8 +87,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   FixedTimeslotTask::deadlineMissedCount++;
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
+    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
+               << std::endl;
 #endif
   }
 }

src/fsfw/osal/rtems/FixedTimeslotTask.cpp

@@ -50,8 +50,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
   FixedTimeslotTask::deadlineMissedCount++;
   if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
-                 << std::endl;
+    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
+               << std::endl;
 #endif
   }
 }

src/fsfw/parameters/HasParametersIF.h

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

src/fsfw/parameters/ParameterWrapper.cpp

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

src/fsfw/power/CMakeLists.txt

@@ -1,8 +1,7 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    Fuse.cpp
-    PowerComponent.cpp
-    PowerSensor.cpp
-    PowerSwitcher.cpp
-    DummyPowerSwitcher.cpp
-    PowerSwitcherComponent.cpp
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Fuse.cpp
+		PowerComponent.cpp
+		PowerSensor.cpp
+		PowerSwitcher.cpp
 )

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -1,46 +0,0 @@
-#include "DummyPowerSwitcher.h"
-
-DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
-                                       size_t numberOfFuses, uint32_t switchDelayMs)
-    : SystemObject(objectId),
-      switcherList(numberOfSwitches),
-      fuseList(numberOfFuses),
-      switchDelayMs(switchDelayMs) {}
-
-void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
-  this->switcherList = switcherList;
-}
-
-void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
-  this->fuseList = fuseList;
-}
-
-ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
-  if (switchNr < switcherList.capacity()) {
-    switcherList[switchNr] = onOff;
-  }
-  return RETURN_FAILED;
-}
-
-ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
-  if (fuseNr < fuseList.capacity()) {
-    fuseList[fuseNr] = FUSE_ON;
-  }
-  return RETURN_FAILED;
-}
-
-ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
-  if (switchNr < switcherList.capacity()) {
-    return switcherList[switchNr];
-  }
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
-  if (fuseNr < fuseList.capacity()) {
-    return fuseList[fuseNr];
-  }
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return switchDelayMs; }

src/fsfw/power/DummyPowerSwitcher.h

@@ -1,31 +0,0 @@
-#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
-#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
-
-#include <cstddef>
-#include <vector>
-
-#include "PowerSwitchIF.h"
-#include "definitions.h"
-#include "fsfw/objectmanager/SystemObject.h"
-
-class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
- public:
-  DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
-                     uint32_t switchDelayMs = 5000);
-
-  void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
-  void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
-
-  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
-  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
-  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
-  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
-  virtual uint32_t getSwitchDelayMs(void) const override;
-
- private:
-  std::vector<ReturnValue_t> switcherList;
-  std::vector<ReturnValue_t> fuseList;
-  uint32_t switchDelayMs = 5000;
-};
-
-#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */

src/fsfw/power/Fuse.h

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

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(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitchIF.h

@@ -3,7 +3,6 @@
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "definitions.h"
 /**
  *
  * @brief   This interface defines a connection to a device that is capable of
@@ -38,11 +37,11 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    * @param switchNr
    * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
    */
-  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) = 0;
+  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0;
   /**
    * Sends a command to the Power Unit to enable a certain fuse.
    */
-  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0;
+  virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0;
 
   /**
    * get the state of the Switches.
@@ -52,7 +51,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    *     - @c SWITCH_OFF if the specified switch is off.
    *     - @c RETURN_FAILED if an error occured
    */
-  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
+  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0;
   /**
    * get state of a fuse.
    * @param fuseNr

src/fsfw/power/PowerSwitcher.cpp

@@ -1,12 +1,19 @@
 #include "fsfw/power/PowerSwitcher.h"
 
-#include "definitions.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
-                             power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
-    : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
+PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
+                             PowerSwitcher::State_t setStartState)
+    : state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
+
+ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
+  power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
+  if (power == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
   SwitchReturn_t result = howManySwitches();
@@ -45,37 +52,18 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
   return;
 }
 
-void PowerSwitcher::turnOn(bool checkCurrentState) {
-  if (checkCurrentState) {
-    if (getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
-      state = SWITCH_IS_ON;
-      return;
-    }
-  }
+void PowerSwitcher::turnOn() {
   commandSwitches(PowerSwitchIF::SWITCH_ON);
   state = WAIT_ON;
 }
 
-void PowerSwitcher::turnOff(bool checkCurrentState) {
-  if (checkCurrentState) {
-    if (getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
-      state = SWITCH_IS_OFF;
-      return;
-    }
-  }
+void PowerSwitcher::turnOff() {
   commandSwitches(PowerSwitchIF::SWITCH_OFF);
   state = WAIT_OFF;
 }
 
-bool PowerSwitcher::active() {
-  if (state == WAIT_OFF or state == WAIT_ON) {
-    return true;
-  }
-  return false;
-}
-
 PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
-  if (secondSwitch == power::NO_SWITCH) {
+  if (secondSwitch == NO_SWITCH) {
     return ONE_SWITCH;
   } else {
     return TWO_SWITCHES;

src/fsfw/power/PowerSwitcher.h

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

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -1,107 +0,0 @@
-#include "PowerSwitcherComponent.h"
-
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/power/PowerSwitchIF.h>
-
-PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
-                                               power::Switch_t pwrSwitch)
-    : SystemObject(objectId),
-      switcher(pwrSwitcher, pwrSwitch),
-      modeHelper(this),
-      healthHelper(this, objectId) {
-  queue = QueueFactory::instance()->createMessageQueue();
-}
-
-ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
-  ReturnValue_t result;
-  CommandMessage command;
-
-  for (result = queue->receiveMessage(&command); result == RETURN_OK;
-       result = queue->receiveMessage(&command)) {
-    result = healthHelper.handleHealthCommand(&command);
-    if (result == RETURN_OK) {
-      continue;
-    }
-
-    result = modeHelper.handleModeCommand(&command);
-    if (result == RETURN_OK) {
-      continue;
-    }
-  }
-  if (switcher.active()) {
-    switcher.doStateMachine();
-    auto currState = switcher.getState();
-    if (currState == PowerSwitcher::SWITCH_IS_OFF) {
-      setMode(MODE_OFF, 0);
-    } else if (currState == PowerSwitcher::SWITCH_IS_ON) {
-      setMode(MODE_ON, 0);
-    }
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t PowerSwitcherComponent::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  result = healthHelper.initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  return SystemObject::initialize();
-}
-
-MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
-
-void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
-  *mode = this->mode;
-  *submode = this->submode;
-}
-
-ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
-  healthHelper.setHealth(health);
-  return RETURN_OK;
-}
-
-ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                       uint32_t *msToReachTheMode) {
-  *msToReachTheMode = 5000;
-  if (mode != MODE_ON and mode != MODE_OFF) {
-    return TRANS_NOT_ALLOWED;
-  }
-  return RETURN_OK;
-}
-
-void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) {
-  if (mode == MODE_OFF) {
-    switcher.turnOff(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
-      setMode(MODE_OFF, 0);
-    }
-  } else if (mode == MODE_ON) {
-    switcher.turnOn(true);
-    switcher.doStateMachine();
-    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
-      setMode(MODE_ON, 0);
-    }
-  }
-}
-
-void PowerSwitcherComponent::setToExternalControl() {
-  healthHelper.setHealth(HasHealthIF::EXTERNAL_CONTROL);
-}
-
-void PowerSwitcherComponent::announceMode(bool recursive) {
-  triggerEvent(MODE_INFO, mode, submode);
-}
-
-void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
-  this->mode = newMode;
-  this->submode = newSubmode;
-  modeHelper.modeChanged(mode, submode);
-  announceMode(false);
-}
-
-HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }

src/fsfw/power/PowerSwitcherComponent.h

@@ -1,62 +0,0 @@
-#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
-#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
-
-#include <fsfw/health/HasHealthIF.h>
-#include <fsfw/health/HealthHelper.h>
-#include <fsfw/modes/HasModesIF.h>
-#include <fsfw/modes/ModeHelper.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/power/PowerSwitcher.h>
-#include <fsfw/power/definitions.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-
-class PowerSwitchIF;
-
-/**
- * @brief Allows to create an power switch object with its own mode and health
- * @details
- * This basic component allows to create an object which is solely responsible for managing a
- * switch. It also has a mode and a health by implementing the respective interface components
- * which allows integrating this component into a system mode tree.
- *
- * Commanding this component to MODE_OFF will cause the switcher to turn the switch off while
- * commanding in to MODE_ON will cause the switcher to turn the switch on.
- */
-class PowerSwitcherComponent : public SystemObject,
-                               public HasReturnvaluesIF,
-                               public ExecutableObjectIF,
-                               public HasModesIF,
-                               public HasHealthIF {
- public:
-  PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
-                         power::Switch_t pwrSwitch);
-
- private:
-  MessageQueueIF *queue = nullptr;
-  PowerSwitcher switcher;
-
-  Mode_t mode = MODE_OFF;
-  Submode_t submode = 0;
-
-  ModeHelper modeHelper;
-  HealthHelper healthHelper;
-
-  void setMode(Mode_t newMode, Submode_t newSubmode);
-
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
-
-  ReturnValue_t initialize() override;
-
-  MessageQueueId_t getCommandQueue() const override;
-  void getMode(Mode_t *mode, Submode_t *submode) override;
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t *msToReachTheMode) override;
-  void startTransition(Mode_t mode, Submode_t submode) override;
-  void setToExternalControl() override;
-  void announceMode(bool recursive) override;
-
-  ReturnValue_t setHealth(HealthState health) override;
-  HasHealthIF::HealthState getHealth() override;
-};
-
-#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/power/definitions.h

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

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -97,8 +97,7 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 }
 
 // Not used for now, health state already reported by event
-[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
-    const CommandMessage *reply) {
+[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
   auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
   auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);

src/fsfw/pus/CService201HealthCommanding.h

@@ -39,7 +39,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
 
  private:
   static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
-                                                            const object_id_t *objectId);
+                                                     const object_id_t *objectId);
 
   [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -16,9 +16,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
       apid(apid),
       serviceId(serviceId),
       targetDestination(targetDestination) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {

src/fsfw/pus/Service3Housekeeping.cpp

@@ -214,11 +214,11 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << std::endl;
+                   << "reply command " << command << "!" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
           command);
 #endif
       return CommandingServiceBase::INVALID_REPLY;

src/fsfw/pus/Service5EventReporting.cpp

@@ -12,9 +12,7 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
                                                uint32_t messageQueueDepth)
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -38,6 +36,9 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -86,7 +87,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
+  if (manager == NULL) {
     return RETURN_FAILED;
   }
   // register Service 5 as listener for events

src/fsfw/pus/Service5EventReporting.h

@@ -41,7 +41,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
+                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
   virtual ~Service5EventReporting();
 
   /***

src/fsfw/pus/Service9TimeManagement.h

@@ -6,10 +6,10 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event CLOCK_SET =
+      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  static constexpr Event CLOCK_SET_FAILURE =
+      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 

src/fsfw/subsystem/Subsystem.h

@@ -33,12 +33,8 @@ struct SequenceEntry : public TableSequenceBase {
 };
 
 /**
- * @brief   This class extends the SubsystemBase to perform the management of mode tables
- *          and mode sequences
+ * @brief   TODO: documentation missing
  * @details
- * This class is able to use mode tables and sequences to command all its children into the
- * right mode. Fallback sequences can be used to handle failed transitions or have a fallback
- * in case a component can't keep its current mode.
  */
 class Subsystem : public SubsystemBase, public HasModeSequenceIF {
  public:

src/fsfw/subsystem/SubsystemBase.cpp

@@ -8,13 +8,11 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
+      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+                                                                CommandMessage::MAX_MESSAGE_SIZE)),
       healthHelper(this, setObjectId),
       modeHelper(this),
-      parentId(parent) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
+      parentId(parent) {}
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
@@ -33,9 +31,8 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
       info.mode = MODE_OFF;
     }
   } else {
-    // intentional to force an initial command during system startup
     info.commandQueue = child->getCommandQueue();
-    info.mode = HasModesIF::MODE_UNDEFINED;
+    info.mode = -1;  // intentional to force an initial command during system startup
   }
 
   info.submode = SUBMODE_NONE;

src/fsfw/subsystem/SubsystemBase.h

@@ -15,14 +15,7 @@
 
 /**
  * @defgroup subsystems Subsystem Objects
- * All Subsystem and Assemblies can derive from this class. It contains helper classes to
- * perform mode and health handling, which allows OBSW developers to build a mode tree for
- * the whole satellite.
- *
- * Aside from setting up a mode tree and being able to executing mode tables, this class does not
- * provide an implementation on what to do with the features. To build a mode tree, helper classes
- * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
- * class.
+ * Contains all Subsystem and Assemblies
  */
 class SubsystemBase : public SystemObject,
                       public HasModesIF,
@@ -103,7 +96,6 @@ class SubsystemBase : public SystemObject,
                                        Submode_t targetSubmode);
 
   /**
-   * This function takes care of sending all according mode commands specified inside a mode table.
    * We need to know the target Submode, as children are able to inherit the submode
    * Still, we have a default for all child implementations which do not use submode inheritance
    */

src/fsfw/tcdistribution/TcDistributor.cpp

@@ -5,9 +5,7 @@
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
-  auto mqArgs = MqArgs(objectId);
-  tcQueue = QueueFactory::instance()->createMessageQueue(
-      DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
 }
 
 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }

src/fsfw/thermal/AbstractTemperatureSensor.cpp

@@ -4,13 +4,14 @@
 
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                      ThermalModuleIF *thermalModule)
-    : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
-  if (thermalModule != nullptr) {
+    : SystemObject(setObjectid),
+      commandQueue(NULL),
+      healthHelper(this, setObjectid),
+      parameterHelper(this) {
+  if (thermalModule != NULL) {
     thermalModule->registerSensor(this);
   }
-  auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
 AbstractTemperatureSensor::~AbstractTemperatureSensor() {

src/fsfw/thermal/AbstractTemperatureSensor.h

@@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
   HasHealthIF::HealthState getHealth();
 
  protected:
-  MessageQueueIF* commandQueue = nullptr;
+  MessageQueueIF* commandQueue;
   HealthHelper healthHelper;
   ParameterHelper parameterHelper;
 

src/fsfw/thermal/Heater.cpp

@@ -12,9 +12,7 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
       switch1(switch1),
       heaterOnCountdown(10800000) /*about two orbits*/,
       parameterHelper(this) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue();
 }
 
 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }

src/fsfw/timemanager/Countdown.cpp

@@ -1,11 +1,7 @@
 #include "fsfw/timemanager/Countdown.h"
 
-Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
-  if (startImmediately) {
-    setTimeout(initialTimeout);
-  } else {
-    timeout = initialTimeout;
-  }
+Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
+  setTimeout(initialTimeout);
 }
 
 Countdown::~Countdown() {}

src/fsfw/timemanager/Countdown.h

@@ -26,9 +26,8 @@ class Countdown {
    * Otherwise a call to hasTimedOut might return True.
    *
    * @param initialTimeout Countdown duration in milliseconds
-   * @param startImmediately  Set to false if countdown should not be started immediately
    */
-  Countdown(uint32_t initialTimeout = 0, bool startImmediately = true);
+  Countdown(uint32_t initialTimeout = 0);
   ~Countdown();
   /**
    * Call to set a new countdown duration.

src/fsfw/tmstorage/TmStoreBackendIF.h

@@ -33,47 +33,50 @@ class TmStoreBackendIF : public HasParametersIF {
   static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
-  //! Initiating sending data to store failed. Low, par1:
-  //! returnCode, par2: integer (debug info)
-  static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
-  //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW);
-  //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW);
-  //! Data was requested, but access failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW);
-  //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
-  static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW);
-  //! Storing data failed. May simply be a full store. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW);
-  //! Dumping retrieved data failed. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW);
-  //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
-  //! Store was not initialized. Starts empty. Info, parameters both zero.
-  static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW);
-  //! Data was read out, but it is inconsistent. Low par1:
-  //! Memory address of corruption, par2: integer (debug info)
-  static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO);
-
-  static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW);
-  //! Info event indicating the store will be initialized, either at boot or after IOB switch.
-  //! Info. pars: 0
-  static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO);
-  //! Info event indicating the store was successfully initialized, either at boot or after
-  //! IOB switch. Info. pars: 0
-  static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO);
-  //! Info event indicating that dumping finished successfully.
-  //! par1: Number of dumped packets. par2: APID/SSC (16bits each)
-  static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO);
-  //! Info event indicating that deletion finished successfully.
-  //! par1:Number of deleted packets. par2: APID/SSC (16bits each)
-  static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO);
-  //! Info event indicating that something went wrong during deletion. pars: 0
-  static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW);
-  //! Info that the a auto catalog report failed
-  static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);
+  static const Event STORE_SEND_WRITE_FAILED =
+      MAKE_EVENT(0, severity::LOW);  //!< Initiating sending data to store failed. Low, par1:
+                                     //!< returnCode, par2: integer (debug info)
+  static const Event STORE_WRITE_FAILED = MAKE_EVENT(
+      1, severity::LOW);  //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_SEND_READ_FAILED =
+      MAKE_EVENT(2, severity::LOW);  //!< Initiating reading data from store failed. Low, par1:
+                                     //!< returnCode, par2: 0
+  static const Event STORE_READ_FAILED = MAKE_EVENT(
+      3, severity::LOW);  //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
+  static const Event UNEXPECTED_MSG =
+      MAKE_EVENT(4, severity::LOW);  //!< An unexpected TM packet or data message occurred. Low,
+                                     //!< par1: 0, par2: integer (debug info)
+  static const Event STORING_FAILED = MAKE_EVENT(
+      5, severity::LOW);  //!< Storing data failed. May simply be a full store. Low, par1:
+                          //!< returnCode, par2: integer (sequence count of failed packet).
+  static const Event TM_DUMP_FAILED =
+      MAKE_EVENT(6, severity::LOW);  //!< Dumping retrieved data failed. Low, par1: returnCode,
+                                     //!< par2: integer (sequence count of failed packet).
+  static const Event STORE_INIT_FAILED =
+      MAKE_EVENT(7, severity::LOW);  //!< Corrupted init data or read error. Low, par1: returnCode,
+                                     //!< par2: integer (debug info)
+  static const Event STORE_INIT_EMPTY = MAKE_EVENT(
+      8, severity::INFO);  //!< Store was not initialized. Starts empty. Info, parameters both zero.
+  static const Event STORE_CONTENT_CORRUPTED =
+      MAKE_EVENT(9, severity::LOW);  //!< Data was read out, but it is inconsistent. Low par1:
+                                     //!< Memory address of corruption, par2: integer (debug info)
+  static const Event STORE_INITIALIZE =
+      MAKE_EVENT(10, severity::INFO);  //!< Info event indicating the store will be initialized,
+                                       //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event INIT_DONE = MAKE_EVENT(
+      11, severity::INFO);  //!< Info event indicating the store was successfully initialized,
+                            //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event DUMP_FINISHED = MAKE_EVENT(
+      12, severity::INFO);  //!< Info event indicating that dumping finished successfully. par1:
+                            //!< Number of dumped packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FINISHED = MAKE_EVENT(
+      13, severity::INFO);  //!< Info event indicating that deletion finished successfully. par1:
+                            //!< Number of deleted packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FAILED = MAKE_EVENT(
+      14,
+      severity::LOW);  //!< Info event indicating that something went wrong during deletion. pars: 0
+  static const Event AUTO_CATALOGS_SENDING_FAILED =
+      MAKE_EVENT(15, severity::INFO);  //!< Info that the a auto catalog report failed
 
   virtual ~TmStoreBackendIF() {}
 

src/fsfw/tmtcpacket/SpacePacket.h

@@ -25,7 +25,7 @@ class SpacePacket : public SpacePacketBase {
    * @param apid Sets the packet's APID field. The default value describes an idle packet.
    * @param sequenceCount ets the packet's Source Sequence Count field.
    */
-  SpacePacket(uint16_t packetDataLength = 0, bool isTelecommand = false,
+  SpacePacket(uint16_t packetDataLength, bool isTelecommand = false,
               uint16_t apid = APID_IDLE_PACKET, uint16_t sequenceCount = 0);
   /**
    * The class's default destructor.

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -20,10 +20,8 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
       service(service),
       timeoutSeconds(commandTimeoutSeconds),
       commandMap(numberOfParallelCommands) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
-  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
-  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
 
 void CommandingServiceBase::setPacketSource(object_id_t packetSource) {

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -13,9 +13,7 @@ object_id_t PusServiceBase::packetDestination = 0;
 
 PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
     : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
 }
 
 PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -5,10 +5,10 @@
 
 class SourceSequenceCounter {
  private:
-  uint16_t sequenceCount = 0;
+  uint16_t sequenceCount;
 
  public:
-  SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
+  SourceSequenceCounter() : sequenceCount(0) {}
   void increment() {
     sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
   }
@@ -19,20 +19,6 @@ class SourceSequenceCounter {
   void reset(uint16_t toValue = 0) {
     sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
   }
-  SourceSequenceCounter& operator++(int) {
-    this->increment();
-    return *this;
-  }
-  SourceSequenceCounter& operator--(int) {
-    this->decrement();
-    return *this;
-  }
-  SourceSequenceCounter& operator=(const uint16_t& newCount) {
-    sequenceCount = newCount;
-    return *this;
-  }
-
-  operator uint16_t() { return this->get(); }
 };
 
 #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -15,9 +15,7 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
       tcDestination(tcDestination)
 
 {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
-      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@@ -174,18 +172,15 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
   }
 
   if (tmFifo->full()) {
-    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-                      "of stored packet IDs reached!"
-                   << std::endl;
+    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+                    "of stored packet IDs reached!"
+                 << std::endl;
 #else
-      sif::printWarning(
-          "TmTcBridge::storeDownlinkData: TM downlink max. number "
-          "of stored packet IDs reached!\n");
+    sif::printWarning(
+        "TmTcBridge::storeDownlinkData: TM downlink max. number "
+        "of stored packet IDs reached!\n");
 #endif
-      warningSwitch = true;
-    }
     if (overwriteOld) {
       tmFifo->retrieve(&storeId);
       tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -72,8 +72,6 @@ class TmTcBridge : public AcceptsTelemetryIF,
   virtual uint16_t getIdentifier() override;
   virtual MessageQueueId_t getRequestQueue() override;
 
-  bool warningSwitch = true;
-
  protected:
   //! Cached for initialize function.
   object_id_t tmStoreId = objects::NO_OBJECT;

src/fsfw/version.cpp

@@ -2,8 +2,6 @@
 
 #include <cstdio>
 
-#include "fsfw/FSFWVersion.h"
-
 #ifdef major
 #undef major
 #endif
@@ -12,19 +10,21 @@
 #undef minor
 #endif
 
-const Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION,
-                                    FSFW_VERSION_CST_GIT_SHA1};
+const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
+                                          FSFW_VERSION_REVISION, FSFW_VCS_INFO};
 
-Version::Version(int major, int minor, int revision, const char* addInfo)
+fsfw::Version::Version(int major, int minor, int revision, const char* addInfo)
     : major(major), minor(minor), revision(revision), addInfo(addInfo) {}
 
-void Version::getVersion(char* str, size_t maxLen) const {
+void fsfw::Version::getVersion(char* str, size_t maxLen) const {
   size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
   if (addInfo != nullptr) {
     snprintf(str + len, maxLen - len, "-%s", addInfo);
   }
 }
 
+namespace fsfw {
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 std::ostream& operator<<(std::ostream& os, const Version& v) {
   os << v.major << "." << v.minor << "." << v.revision;
@@ -34,3 +34,5 @@ std::ostream& operator<<(std::ostream& os, const Version& v) {
   return os;
 }
 #endif
+
+}  // namespace fsfw

src/fsfw/version.h

@@ -8,6 +8,8 @@
 #endif
 #include <cstdint>
 
+namespace fsfw {
+
 class Version {
  public:
   Version(int major, int minor, int revision, const char* addInfo = nullptr);
@@ -55,9 +57,12 @@ class Version {
   void getVersion(char* str, size_t maxLen) const;
 };
 
-namespace fsfw {
+extern const int FSFW_VERSION_MAJOR;
+extern const int FSFW_VERSION_MINOR;
+extern const int FSFW_VERSION_REVISION;
+extern const char FSFW_VCS_INFO[];
 
-extern const Version FSFW_VERSION;
+extern const fsfw::Version FSFW_VERSION;
 
 }  // namespace fsfw
 

src/fsfw/versionAutogen.cpp

@@ -0,0 +1,10 @@
+#include "version.h"
+
+namespace fsfw {
+
+const int FSFW_VERSION_MAJOR = 4;
+const int FSFW_VERSION_MINOR = 0;
+const int FSFW_VERSION_REVISION = 0;
+const char FSFW_VCS_INFO[] = "292-g42ac1af4";
+
+};

tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp

@@ -73,7 +73,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
     // This ensures that the tests do not block indefinitely
     usleep(500);
-    REQUIRE(limitIdx < 50000);
+    REQUIRE(limitIdx < 500);
   }
   limitIdx = 0;
   CHECK(bytesHaveBeenRead == true);