Merge remote-tracking branch 'origin/develop' into mueller/improve-ss-dhb-logic

Reviewed-on: #113

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -425,21 +425,31 @@ ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
   store_address_t storeId;
   uint8_t* dataPtr = nullptr;
   ReturnValue_t result =
-      fp.tcStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
+      fp.tmStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
   if (result != OK) {
-    // TODO: Error handling and event, this is a non CFDP specific error (most likely store is full)
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler:sendFinishedPdu: Getting store slot failed" << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::STORE_ERROR, result, 0);
     return result;
   }
   size_t serLen = 0;
   result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
   if (result != OK) {
-    // TODO: Error printout, this really should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Serializing Finished PDU failed"
+                 << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::SERIALIZATION_ERROR, result, 0);
     return result;
   }
   TmTcMessage msg(storeId);
   result = fp.msgQueue->sendMessage(fp.packetDest.getReportReceptionQueue(), &msg);
   if (result != OK) {
-    // TODO: Error handling and event, this is a non CFDP specific error (most likely store is full)
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Sending PDU failed" << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::MSG_QUEUE_ERROR, result, 0);
     return result;
   }
   fsmRes.packetsSent++;

src/fsfw/cfdp/handler/defs.h

@@ -5,5 +5,15 @@ namespace cfdp {
 
 enum class CfdpStates { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
 
-}
+static constexpr uint8_t SSID = SUBSYSTEM_ID::CFDP;
+
+namespace events {
+
+static constexpr Event STORE_ERROR = event::makeEvent(SSID, 0, severity::LOW);
+static constexpr Event MSG_QUEUE_ERROR = event::makeEvent(SSID, 1, severity::LOW);
+static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
+
+}  // namespace events
+
+}  // namespace cfdp
 #endif  // FSFW_CFDP_HANDLER_DEFS_H

src/fsfw/cfdp/pdu/FinishedPduCreator.cpp

@@ -17,7 +17,7 @@ ReturnValue_t FinishPduCreator::serialize(uint8_t **buffer, size_t *size, size_t
   if (result != returnvalue::OK) {
     return result;
   }
-  if (*size + 1 >= maxSize) {
+  if (*size + 1 > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
   }
   **buffer = finishInfo.getConditionCode() << 4 | finishInfo.getDeliveryCode() << 2 |

src/fsfw/container/FixedMap.h

@@ -7,6 +7,13 @@
 #include "../returnvalues/returnvalue.h"
 #include "ArrayList.h"
 
+namespace mapdefs {
+static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
+static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
+static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+}  // namespace mapdefs
+
 /**
  * @brief    Map implementation for maps with a pre-defined size.
  * @details
@@ -24,11 +31,6 @@ class FixedMap : public SerializeIF {
                 "derived class from SerializeIF to be serialize-able");
 
  public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
-  static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
-  static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
-  static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
-
  private:
   static const key_t EMPTY_SLOT = -1;
   ArrayList<std::pair<key_t, T>, uint32_t> theMap;
@@ -76,10 +78,10 @@ class FixedMap : public SerializeIF {
 
   ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) {
     if (exists(key) == returnvalue::OK) {
-      return KEY_ALREADY_EXISTS;
+      return mapdefs::KEY_ALREADY_EXISTS;
     }
     if (_size == theMap.maxSize()) {
-      return MAP_FULL;
+      return mapdefs::MAP_FULL;
     }
     theMap[_size].first = key;
     theMap[_size].second = value;
@@ -93,7 +95,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); }
 
   ReturnValue_t exists(key_t key) const {
-    ReturnValue_t result = KEY_DOES_NOT_EXIST;
+    ReturnValue_t result = mapdefs::KEY_DOES_NOT_EXIST;
     if (findIndex(key) < _size) {
       result = returnvalue::OK;
     }
@@ -103,7 +105,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t erase(Iterator* iter) {
     uint32_t i;
     if ((i = findIndex((*iter).value->first)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return mapdefs::KEY_DOES_NOT_EXIST;
     }
     theMap[i] = theMap[_size - 1];
     --_size;
@@ -114,7 +116,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t erase(key_t key) {
     uint32_t i;
     if ((i = findIndex(key)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return mapdefs::KEY_DOES_NOT_EXIST;
     }
     theMap[i] = theMap[_size - 1];
     --_size;

src/fsfw/controller/ControllerBase.cpp

@@ -4,11 +4,10 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/subsystem/SubsystemBase.h"
+#include "fsfw/subsystem/helper.h"
 
-ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
-                               size_t commandQueueDepth)
+ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
     : SystemObject(setObjectId),
-      parentId(parentId),
       mode(MODE_OFF),
       submode(SUBMODE_NONE),
       modeHelper(this),
@@ -21,33 +20,15 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
 ReturnValue_t ControllerBase::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
+  ReturnValue_t result = modeHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  MessageQueueId_t parentQueue = 0;
-  if (parentId != objects::NO_OBJECT) {
-    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == nullptr) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  result = healthHelper.initialize(parentQueue);
+  result = healthHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  result = modeHelper.initialize(parentQueue);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return returnvalue::OK;
+  return SystemObject::initialize();
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@@ -120,3 +101,13 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
+
+const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& ControllerBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+}

src/fsfw/controller/ControllerBase.h

@@ -6,6 +6,9 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/modes/ModeHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+#include "fsfw/subsystem/ModeTreeChildIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -18,13 +21,18 @@
 class ControllerBase : public HasModesIF,
                        public HasHealthIF,
                        public ExecutableObjectIF,
+                       public ModeTreeChildIF,
+                       public ModeTreeConnectionIF,
                        public SystemObject {
  public:
   static const Mode_t MODE_NORMAL = 2;
 
-  ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
+  ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
 
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /** SystemObject override */
   ReturnValue_t initialize() override;
 
@@ -38,6 +46,8 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t performOperation(uint8_t opCode) override;
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
 
  protected:
   /**
@@ -56,8 +66,6 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override = 0;
 
-  const object_id_t parentId;
-
   Mode_t mode;
 
   Submode_t submode;

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -1,8 +1,7 @@
 #include "fsfw/controller/ExtendedControllerBase.h"
 
-ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
-                                               size_t commandQueueDepth)
-    : ControllerBase(objectId, parentId, commandQueueDepth),
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth)
+    : ControllerBase(objectId, commandQueueDepth),
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 

src/fsfw/controller/ExtendedControllerBase.h

@@ -17,7 +17,7 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasActionsIF,
                                public HasLocalDataPoolIF {
  public:
-  ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
+  ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth = 3);
   ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/devicehandlers/AssemblyBase.h"
 
-AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth)
-    : SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
+AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
+    : SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
       internalState(STATE_NONE),
       recoveryState(RECOVERY_IDLE),
       recoveringDevice(childrenMap.end()),

src/fsfw/devicehandlers/AssemblyBase.h

@@ -41,7 +41,7 @@ class AssemblyBase : public SubsystemBase {
   static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
 
-  AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
+  AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
   virtual ~AssemblyBase();
 
  protected:

src/fsfw/devicehandlers/ChildHandlerBase.cpp

@@ -3,17 +3,12 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-                                   CookieIF* cookie, object_id_t hkDestination,
-                                   uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-                                   object_id_t parent, FailureIsolationBase* customFdir,
-                                   size_t cmdQueueSize)
+                                   CookieIF* cookie, HasModeTreeChildrenIF& parent,
+                                   FailureIsolationBase* customFdir, size_t cmdQueueSize)
     : DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
                         (customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
-      parentId(parent),
-      childHandlerFdir(setObjectId) {
-  this->setHkDestination(hkDestination);
-  this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
-}
+      parent(parent),
+      childHandlerFdir(setObjectId) {}
 
 ChildHandlerBase::~ChildHandlerBase() {}
 
@@ -23,21 +18,5 @@ ReturnValue_t ChildHandlerBase::initialize() {
     return result;
   }
 
-  MessageQueueId_t parentQueue = 0;
-
-  if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == NULL) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  healthHelper.setParentQueue(parentQueue);
-
-  modeHelper.setParentQueue(parentQueue);
-
-  return returnvalue::OK;
+  return DeviceHandlerBase::connectModeTreeParent(parent);
 }

src/fsfw/devicehandlers/ChildHandlerBase.h

@@ -1,22 +1,23 @@
 #ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 #define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
+#include <fsfw/subsystem/HasModeTreeChildrenIF.h>
+
 #include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
 
 class ChildHandlerBase : public DeviceHandlerBase {
  public:
   ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie,
-                   object_id_t hkDestination, uint32_t thermalStatePoolId,
-                   uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
-                   FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
+                   HasModeTreeChildrenIF& parent, FailureIsolationBase* customFdir = nullptr,
+                   size_t cmdQueueSize = 20);
 
   virtual ~ChildHandlerBase();
 
   virtual ReturnValue_t initialize();
 
  protected:
-  const uint32_t parentId;
+  HasModeTreeChildrenIF& parent;
   ChildHandlerFDIR childHandlerFdir;
 };
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,4 +1,4 @@
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "DeviceHandlerBase.h"
 
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
@@ -12,6 +12,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
+#include "fsfw/subsystem/helper.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -132,14 +133,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
         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);
   if (communicationInterface == nullptr) {
@@ -467,7 +460,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
   info.expectedReplies = 0;
   info.isExecuting = false;
   info.sendReplyTo = NO_COMMANDER;
-  info.useAlternativeReplyId = alternativeReplyId;
+  info.useAlternativeReplyId = useAlternativeReply;
   info.alternativeReplyId = alternativeReplyId;
   auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
   if (resultPair.second) {
@@ -1578,8 +1571,6 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
 
 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;
 }
@@ -1601,3 +1592,24 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
     }
   }
 }
+
+ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+}
+
+const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
+                                              ReturnValue_t result) {
+  auto commandIter = deviceCommandMap.find(action);
+  if (commandIter == deviceCommandMap.end()) {
+    return MessageQueueIF::NO_QUEUE;
+  }
+  commandIter->second.isExecuting = false;
+  actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
+  return returnvalue::OK;
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -21,6 +21,7 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/util/dataWrapper.h"
@@ -84,6 +85,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                           public HasModesIF,
                           public HasHealthIF,
                           public HasActionsIF,
+                          public ModeTreeChildIF,
+                          public ModeTreeConnectionIF,
                           public ReceivesParameterMessagesIF,
                           public HasLocalDataPoolIF {
   friend void(Factory::setStaticFrameworkObjectIds)();
@@ -104,7 +107,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                     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);
 
@@ -121,6 +123,10 @@ class DeviceHandlerBase : public DeviceHandlerIF,
       lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
       lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
       uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
+
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /**
    * @brief   Helper function to ease device handler development.
    * This will instruct the transition to MODE_ON immediately
@@ -166,7 +172,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return returnvalue::OK for successful execution
    */
-  virtual ReturnValue_t performOperation(uint8_t counter) override;
+  ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -176,14 +182,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
    *          This function will be called by the executing task.
    * @return
    */
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
   /** Destructor. */
   virtual ~DeviceHandlerBase();
@@ -200,6 +206,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual object_id_t getObjectId() const override;
 
   /**
+   * This is a helper method for classes which are parent nodes in the mode tree.
+   * It registers the passed queue as the destination for mode and health messages.
    * @param parentQueueId
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
@@ -399,6 +407,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
   MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
+  ReturnValue_t finishAction(bool success, DeviceCommandId_t action, ReturnValue_t result);
+
   /**
    * Helper function to get pending command. This is useful for devices
    * like SPI sensors to identify the last sent command.
@@ -959,6 +969,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   LocalDataPoolManager *getHkManagerHandle() override;
 
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
+
   /**
    * Returns the delay cycle count of a reply.
    * A count != 0 indicates that the command is already executed.
@@ -1138,6 +1151,22 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t doSendReadHook();
 
+  /**
+   * Send a RMAP getRead command.
+   *
+   * The size of the getRead command is #maxDeviceReplyLen.
+   * This is always executed, independently from the current mode.
+   */
+  virtual void doSendRead(void);
+  /**
+   * Check the getRead reply and the contained data.
+   *
+   * If data was received scanForReply() and, if successful, handleReply()
+   * are called. If the current mode is @c MODE_RAW, the received packet
+   * is sent to the commanding object via commandQueue.
+   */
+  virtual void doGetRead();
+
  private:
   /**
    * State a cookie is in.
@@ -1273,21 +1302,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * - if the action was successful, the reply timout counter is initialized
    */
   void doGetWrite(void);
-  /**
-   * Send a RMAP getRead command.
-   *
-   * The size of the getRead command is #maxDeviceReplyLen.
-   * This is always executed, independently from the current mode.
-   */
-  void doSendRead(void);
-  /**
-   * Check the getRead reply and the contained data.
-   *
-   * If data was received scanForReply() and, if successful, handleReply()
-   * are called. If the current mode is @c MODE_RAW, the received packet
-   * is sent to the commanding object via commandQueue.
-   */
-  void doGetRead(void);
 
   /**
    * @brief Resets replies which use a timeout to detect missed replies.

src/fsfw/events/fwSubsystemIdRanges.h

@@ -33,6 +33,7 @@ enum : uint8_t {
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,
   MGM_RM3100 = 107,
+  CFDP = 108,
 
   FW_SUBSYSTEM_ID_RANGE
 };

src/fsfw/filesystem/HasFileSystemIF.h

@@ -40,6 +40,7 @@ class HasFileSystemIF {
   //! [EXPORT] : P1: Can be file system specific error code
   static constexpr ReturnValue_t GENERIC_FILE_ERROR = MAKE_RETURN_CODE(0);
   static constexpr ReturnValue_t GENERIC_DIR_ERROR = MAKE_RETURN_CODE(1);
+  static constexpr ReturnValue_t FILESYSTEM_INACTIVE = MAKE_RETURN_CODE(2);
   static constexpr ReturnValue_t GENERIC_RENAME_ERROR = MAKE_RETURN_CODE(3);
 
   //! [EXPORT] : File system is currently busy

src/fsfw/globalfunctions/DleParser.cpp

@@ -3,159 +3,94 @@
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <cstdio>
+#include <fstream>
+#include <iostream>
 
 DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-                     BufPair decodedBuf, UserHandler handler, void* args)
+                     BufPair decodedBuf)
     : 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
-  }
-}
+      decodedBuf(decodedBuf) {}
 
-ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
-  if (data == nullptr or len == 0 or handler == nullptr) {
+ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
+  if (data == nullptr or len == 0) {
     return returnvalue::FAILED;
   }
-  size_t copyIntoRingBufFromHere = 0;
-  size_t copyAmount = len;
-  size_t startIdx = 0;
-  ReturnValue_t result = returnvalue::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;
+  return decodeRingBuf.writeData(data, len);
+}
+
+ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
+  ctx.setType(DleParser::ContextType::NONE);
+  size_t availableData = decodeRingBuf.getAvailableReadData();
+  if (availableData == 0) {
+    return NO_PACKET_FOUND;
+  }
+  if (availableData > encodedBuf.second) {
+    ErrorInfo info;
+    info.len = decodeRingBuf.getAvailableReadData();
+    setErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = decodeRingBuf.readData(encodedBuf.first, availableData);
+  if (result != returnvalue::OK) {
+    ErrorInfo info;
+    info.res = result;
+    setErrorContext(ErrorTypes::RING_BUF_ERROR, info);
+    return result;
+  }
+  bool stxFound = false;
+  size_t stxIdx = 0;
+  for (size_t vectorIdx = 0; vectorIdx < availableData; vectorIdx++) {
+    // handle STX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::STX_CHAR) {
+      if (not stxFound) {
+        stxFound = true;
+        stxIdx = vectorIdx;
       } else {
-        // Maybe print warning, should not happen
-        decodeRingBuf.clear();
+        // might be lost packet, so we should advance the read pointer
+        // without skipping the STX
+        readSize = vectorIdx;
         ErrorInfo info;
-        info.len = idx;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
-        handler(ctx);
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
+        setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
       }
-      startFound = true;
-      startFoundInThisPacket = true;
-    } else if (data[idx] == DleEncoder::ETX_CHAR) {
-      if (startFoundInThisPacket) {
-        size_t readLen = 0;
+    }
+    // handle ETX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::ETX_CHAR) {
+      if (stxFound) {
+        // This is propably a packet, so we decode it.
         size_t decodedLen = 0;
-        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
-                                decodedBuf.second, &decodedLen);
+        size_t dummy = 0;
+
+        ReturnValue_t result =
+            decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
+                           decodedBuf.first, decodedBuf.second, &decodedLen);
         if (result == returnvalue::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) {
+          readSize = ++vectorIdx;
+          return returnvalue::OK;
+        } else {
+          // invalid packet, skip.
+          readSize = ++vectorIdx;
           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 != returnvalue::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 == returnvalue::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;
-          }
+          setErrorContext(ErrorTypes::DECODE_ERROR, info);
+          return POSSIBLE_PACKET_LOSS;
         }
       } else {
-        // End data without preceeding STX
+        // might be lost packet, so we should advance the read pointer
+        readSize = ++vectorIdx;
         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;
-        }
+        info.len = 0;
+        setErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
       }
-      startFoundInThisPacket = false;
-      startFound = false;
     }
   }
-  if (copyAmount > 0) {
-    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
-    if (result != returnvalue::OK) {
-      ErrorInfo info;
-      info.res = result;
-      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-      handler(ctx);
-    }
-  }
-  return returnvalue::OK;
+  return NO_PACKET_FOUND;
 }
 
 void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
@@ -169,8 +104,12 @@ void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* arg
 #endif
 }
 
-void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
-  switch (err) {
+void DleParser::defaultErrorHandler() {
+  if (ctx.getType() != DleParser::ContextType::ERROR) {
+    errorPrinter("No error");
+    return;
+  }
+  switch (ctx.error.first) {
     case (ErrorTypes::NONE): {
       errorPrinter("No error");
       break;
@@ -186,8 +125,9 @@ void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
     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) {
+      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu",
+               ctx.decodedPacket.second);
+      if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
         errorPrinter("Encoded buf too small", opt);
       } else {
         errorPrinter("Decoding buf too small", opt);
@@ -218,13 +158,16 @@ void DleParser::errorPrinter(const char* str, const char* opt) {
 #endif
 }
 
-void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
+void DleParser::setErrorContext(ErrorTypes err, ErrorInfo info) {
   ctx.setType(ContextType::ERROR);
   ctx.error.first = err;
   ctx.error.second = info;
 }
 
-void DleParser::reset() {
-  startFound = false;
-  decodeRingBuf.clear();
+ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
+  return decodeRingBuf.deleteData(bytesRead);
 }
+
+const DleParser::Context& DleParser::getContext() { return ctx; }
+
+void DleParser::reset() { decodeRingBuf.clear(); }

src/fsfw/globalfunctions/DleParser.h

@@ -18,9 +18,11 @@
  */
 class DleParser {
  public:
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
   using BufPair = std::pair<uint8_t*, size_t>;
 
-  enum class ContextType { PACKET_FOUND, ERROR };
+  enum class ContextType { NONE, PACKET_FOUND, ERROR };
 
   enum class ErrorTypes {
     NONE,
@@ -41,7 +43,7 @@ class DleParser {
 
   struct Context {
    public:
-    Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
+    Context() { setType(ContextType::PACKET_FOUND); }
 
     void setType(ContextType type) {
       this->type = type;
@@ -58,14 +60,11 @@ class DleParser {
 
     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
@@ -79,7 +78,7 @@ class DleParser {
    * @param args Arbitrary user argument
    */
   DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-            BufPair decodedBuf, UserHandler handler, void* args);
+            BufPair decodedBuf);
 
   /**
    * This function allows to pass new data into the parser. It then scans for DLE packets
@@ -88,8 +87,13 @@ class DleParser {
    * @param len
    * @return
    */
-  ReturnValue_t passData(uint8_t* data, size_t len);
+  ReturnValue_t passData(const uint8_t* data, size_t len);
 
+  ReturnValue_t parseRingBuf(size_t& bytesRead);
+
+  ReturnValue_t confirmBytesRead(size_t bytesRead);
+
+  const Context& getContext();
   /**
    * Example found packet handler
    * function call
@@ -104,11 +108,11 @@ class DleParser {
    *  - 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);
+  void defaultErrorHandler();
 
   static void errorPrinter(const char* str, const char* opt = nullptr);
 
-  void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
+  void setErrorContext(ErrorTypes err, ErrorInfo ctx);
   /**
    * Resets the parser by resetting the internal states and clearing the decoding ring buffer
    */
@@ -119,7 +123,5 @@ class DleParser {
   DleEncoder& decoder;
   BufPair encodedBuf;
   BufPair decodedBuf;
-  UserHandler handler = nullptr;
   Context ctx;
-  bool startFound = false;
 };

src/fsfw/modes/ModeMessage.cpp

@@ -24,3 +24,13 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
   message->setParameter(reason);
   message->setParameter2(0);
 }
+
+void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
+  Command_t cmd;
+  if (recursive) {
+    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
+  } else {
+    cmd = CMD_MODE_ANNOUNCE;
+  }
+  message.setCommand(cmd);
+}

src/fsfw/modes/ModeMessage.h

@@ -1,43 +1,42 @@
 #ifndef FSFW_MODES_MODEMESSAGE_H_
 #define FSFW_MODES_MODEMESSAGE_H_
 
-#include "../ipc/CommandMessage.h"
+#include "fsfw/ipc/CommandMessage.h"
 
 typedef uint32_t Mode_t;
 typedef uint8_t Submode_t;
 
 class ModeMessage {
- private:
-  ModeMessage();
-
  public:
   static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
-  static const Command_t CMD_MODE_COMMAND =
-      MAKE_COMMAND_ID(0x01);  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
-                              //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
-                              //! as this will break the subsystem mode machine!!
-  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
-      0xF1);  //!> Command to set the specified Mode, regardless of external control flag, replies
-              //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
-              //! replies, as this will break the subsystem mode machine!!
-  static const Command_t REPLY_MODE_REPLY =
-      MAKE_COMMAND_ID(0x02);  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
-  static const Command_t REPLY_MODE_INFO =
-      MAKE_COMMAND_ID(0x03);  //!> Unrequested info about the current mode (used for composites to
-                              //! inform their container of a changed mode)
-  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
-      0x04);  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
-  static const Command_t REPLY_WRONG_MODE_REPLY =
-      MAKE_COMMAND_ID(0x05);  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
-                              //! and a transition started but was aborted; the parameters contain
-                              //! the mode that was reached
-  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
-      0x06);  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
-  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
-      0x07);  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
-  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
-      MAKE_COMMAND_ID(0x08);  //!> Command to trigger an ModeInfo Event and to send this command to
-                              //! every child. This command does NOT have a reply.
+  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
+  //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
+  //! as this will break the subsystem mode machine!!
+  static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);
+  //!> Command to set the specified Mode, regardless of external control flag, replies
+  //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
+  //! replies, as this will break the subsystem mode machine!!
+  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);
+  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+  static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);
+  //!> Unrequested info about the current mode (used for composites to
+  //! inform their container of a changed mode)
+  static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);
+  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
+  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04);
+  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
+  //! and a transition started but was aborted; the parameters contain
+  //! the mode that was reached
+  static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);
+  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
+  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);
+  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
+  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);
+  //!> Command to trigger an ModeInfo Event and to send this command to
+  //! every child. This command does NOT have a reply.
+  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
+
+  ModeMessage() = delete;
 
   static Mode_t getMode(const CommandMessage* message);
   static Submode_t getSubmode(const CommandMessage* message);
@@ -45,6 +44,7 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
+  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -20,6 +20,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
     case (Subservice::COMMAND_MODE_ANNCOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -53,15 +54,26 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                         const uint8_t *tcData, size_t tcDataLen,
                                                         uint32_t *state, object_id_t objectId) {
-  ModePacket modeCommandPacket;
-  ReturnValue_t result =
-      modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
-    return result;
+  ReturnValue_t result = returnvalue::OK;
+  if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE or
+      subservice == Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY) {
+    bool recursive = true;
+    if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) {
+      recursive = false;
+    }
+    ModeMessage::setModeAnnounceMessage(*message, recursive);
+  } else {
+    ModePacket modeCommandPacket;
+    ReturnValue_t result =
+        modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+                                modeCommandPacket.getSubmode());
   }
 
-  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-                              modeCommandPacket.getSubmode());
   return result;
 }
 

src/fsfw/pus/Service5EventReporting.cpp

@@ -15,8 +15,8 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
   auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
   psbParams.name = "PUS 5 Event Reporting";
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth,
-    MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service5EventReporting::~Service5EventReporting() {

src/fsfw/pus/servicepackets/Service200Packets.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 #define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 
-#include "../../modes/ModeMessage.h"
-#include "../../serialize/SerialLinkedListAdapter.h"
-#include "../../serialize/SerializeIF.h"
+#include "fsfw/modes/ModeMessage.h"
+#include "fsfw/serialize/SerialLinkedListAdapter.h"
+#include "fsfw/serialize/SerializeIF.h"
 
 /**
  * @brief Subservice 1, 2, 3, 4, 5

src/fsfw/subsystem/CMakeLists.txt

@@ -1,3 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp
+                                        helper.cpp)
 
 add_subdirectory(modes)

src/fsfw/subsystem/HasModeTreeChildrenIF.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
+#define FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
+
+#include "ModeTreeChildIF.h"
+
+class HasModeTreeChildrenIF {
+ public:
+  virtual ~HasModeTreeChildrenIF() = default;
+  virtual ReturnValue_t registerChild(const ModeTreeChildIF& child) = 0;
+  virtual MessageQueueId_t getCommandQueue() const = 0;
+};
+
+#endif  // FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_

src/fsfw/subsystem/ModeTreeChildIF.h

@@ -0,0 +1,15 @@
+#ifndef FSFW_SUBSYSTEM_MODETREECHILDIF_H_
+#define FSFW_SUBSYSTEM_MODETREECHILDIF_H_
+
+#include <fsfw/health/HasHealthIF.h>
+#include <fsfw/modes/HasModesIF.h>
+
+class ModeTreeChildIF {
+ public:
+  virtual ~ModeTreeChildIF() = default;
+  virtual object_id_t getObjectId() const = 0;
+  virtual const HasHealthIF* getOptHealthIF() const = 0;
+  virtual const HasModesIF& getModeIF() const = 0;
+};
+
+#endif /* FSFW_SUBSYSTEM_MODETREECHILDIF_H_ */

src/fsfw/subsystem/ModeTreeConnectionIF.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
+#define FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
+
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+
+class ModeTreeConnectionIF {
+ public:
+  virtual ~ModeTreeConnectionIF() = default;
+  virtual ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) = 0;
+  virtual ModeTreeChildIF& getModeTreeChildIF() = 0;
+};
+
+#endif /* FSFW_SRC_FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ */

src/fsfw/subsystem/Subsystem.cpp

@@ -9,9 +9,9 @@
 #include "fsfw/serialize/SerialLinkedListAdapter.h"
 #include "fsfw/serialize/SerializeElement.h"
 
-Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+Subsystem::Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                      uint32_t maxNumberOfTables)
-    : SubsystemBase(setObjectId, parent, 0),
+    : SubsystemBase(setObjectId, 0),
       isInTransition(false),
       childrenChangedHealth(false),
       currentTargetTable(),
@@ -36,6 +36,13 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
 
   for (; iter.value != nullptr; ++iter) {
     if (!existsModeTable(iter->getTableId())) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      using namespace std;
+      sif::warning << "Subsystem::checkSequence: "
+                   << "Object " << setfill('0') << hex << "0x" << setw(8) << getObjectId()
+                   << setw(0) << ": Mode table for mode ID "
+                   << "0x" << setw(8) << iter->getTableId() << " does not exist" << dec << endl;
+#endif
       return TABLE_DOES_NOT_EXIST;
     } else {
       ReturnValue_t result = checkTable(getTable(iter->getTableId()));

src/fsfw/subsystem/Subsystem.h

@@ -66,8 +66,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    */
-  Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
-            uint32_t maxNumberOfTables);
+  Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
   virtual ~Subsystem();
 
   ReturnValue_t addSequence(SequenceEntry sequence);

src/fsfw/subsystem/SubsystemBase.cpp

@@ -1,16 +1,17 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
+#include "fsfw/FSFW.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/subsystem/helper.h"
 
-SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode,
+SubsystemBase::SubsystemBase(object_id_t setObjectId, Mode_t initialMode,
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
       healthHelper(this, setObjectId),
-      modeHelper(this),
-      parentId(parent) {
+      modeHelper(this) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -18,36 +19,6 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
-ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
-  ChildInfo info;
-
-  HasModesIF* child = ObjectManager::instance()->get<HasModesIF>(objectId);
-  // This is a rather ugly hack to have the changedHealth info for all
-  // children available.
-  HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
-  if (child == nullptr) {
-    if (healthChild == nullptr) {
-      return CHILD_DOESNT_HAVE_MODES;
-    } else {
-      info.commandQueue = healthChild->getCommandQueue();
-      info.mode = MODE_OFF;
-    }
-  } else {
-    // intentional to force an initial command during system startup
-    info.commandQueue = child->getCommandQueue();
-    info.mode = HasModesIF::MODE_UNDEFINED;
-  }
-
-  info.submode = SUBMODE_NONE;
-  info.healthChanged = false;
-
-  auto resultPair = childrenMap.emplace(objectId, info);
-  if (not resultPair.second) {
-    return COULD_NOT_INSERT_CHILD;
-  }
-  return returnvalue::OK;
-}
-
 ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter,
                                                     Submode_t targetSubmode) {
   std::map<object_id_t, ChildInfo>::iterator childIter;
@@ -87,7 +58,8 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     if ((iter = childrenMap.find(object)) == childrenMap.end()) {
       // illegal table entry, should only happen due to misconfigured mode table
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << std::hex << getObjectId() << ": invalid mode table entry" << std::endl;
+      sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
+                 << std::endl;
 #endif
       continue;
     }
@@ -158,36 +130,15 @@ ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bo
 MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t SubsystemBase::initialize() {
-  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
-  ReturnValue_t result = SystemObject::initialize();
-
+  ReturnValue_t result = modeHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == nullptr) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  result = healthHelper.initialize(parentQueue);
-
+  result = healthHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
-  result = modeHelper.initialize(parentQueue);
-
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return returnvalue::OK;
+  return SystemObject::initialize();
 }
 
 ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
@@ -240,8 +191,14 @@ ReturnValue_t SubsystemBase::handleModeReply(CommandMessage* message) {
 }
 
 ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter) {
-  for (; tableIter.value != NULL; ++tableIter) {
+  for (; tableIter.value != nullptr; ++tableIter) {
     if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      using namespace std;
+      sif::warning << "SubsystemBase::checkTable: Could not find Object " << setfill('0') << hex
+                   << "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8)
+                   << setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl;
+#endif
       return TABLE_CONTAINS_INVALID_OBJECT_ID;
     }
   }
@@ -326,4 +283,33 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
 
+ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+}
+
+object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); }
+
 void SubsystemBase::modeChanged() {}
+
+ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
+  ChildInfo info;
+
+  const HasModesIF& modeChild = child.getModeIF();
+  // intentional to force an initial command during system startup
+  info.commandQueue = modeChild.getCommandQueue();
+  info.mode = HasModesIF::MODE_UNDEFINED;
+  info.submode = SUBMODE_NONE;
+  info.healthChanged = false;
+
+  auto resultPair = childrenMap.emplace(child.getObjectId(), info);
+  if (not resultPair.second) {
+    return COULD_NOT_INSERT_CHILD;
+  }
+  return returnvalue::OK;
+}
+
+const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }

src/fsfw/subsystem/SubsystemBase.h

@@ -3,14 +3,16 @@
 
 #include <map>
 
-#include "../container/HybridIterator.h"
-#include "../health/HasHealthIF.h"
-#include "../health/HealthHelper.h"
-#include "../ipc/MessageQueueIF.h"
-#include "../modes/HasModesIF.h"
-#include "../objectmanager/SystemObject.h"
-#include "../returnvalues/returnvalue.h"
-#include "../tasks/ExecutableObjectIF.h"
+#include "fsfw/container/HybridIterator.h"
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 #include "modes/HasModeSequenceIF.h"
 
 /**
@@ -27,6 +29,9 @@
 class SubsystemBase : public SystemObject,
                       public HasModesIF,
                       public HasHealthIF,
+                      public HasModeTreeChildrenIF,
+                      public ModeTreeConnectionIF,
+                      public ModeTreeChildIF,
                       public ExecutableObjectIF {
  public:
   static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
@@ -36,32 +41,34 @@ class SubsystemBase : public SystemObject,
   static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04);
   static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID = MAKE_RETURN_CODE(0x05);
 
-  SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode = 0,
-                uint16_t commandQueueDepth = 8);
+  SubsystemBase(object_id_t setObjectId, Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
   virtual ~SubsystemBase();
 
   virtual MessageQueueId_t getCommandQueue() const override;
 
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /**
    * Function to register the child objects.
    * Performs a checks if the child does implement HasHealthIF and/or HasModesIF
    *
-   * 	Also adds them to the internal childrenMap.
+   *    Also adds them to the internal childrenMap.
    *
    * @param objectId
    * @return returnvalue::OK if successful
-   * 		   CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
-   * 		   COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
+   *           CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
+   *           COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
    */
-  ReturnValue_t registerChild(object_id_t objectId);
+  ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
  protected:
   struct ChildInfo {
@@ -88,8 +95,6 @@ class SubsystemBase : public SystemObject,
 
   ModeHelper modeHelper;
 
-  const object_id_t parentId;
-
   typedef std::map<object_id_t, ChildInfo> ChildrenMap;
   ChildrenMap childrenMap;
 
@@ -136,6 +141,10 @@ class SubsystemBase : public SystemObject,
 
   virtual void getMode(Mode_t *mode, Submode_t *submode) override;
 
+  object_id_t getObjectId() const override;
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
+
   virtual void setToExternalControl() override;
 
   virtual void announceMode(bool recursive) override;

src/fsfw/subsystem/helper.cpp

@@ -0,0 +1,13 @@
+#include "helper.h"
+
+ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent,
+                                              const ModeTreeChildIF& child,
+                                              HealthHelper& healthHelper, ModeHelper& modeHelper) {
+  ReturnValue_t result = parent.registerChild(child);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  healthHelper.setParentQueue(parent.getCommandQueue());
+  modeHelper.setParentQueue(parent.getCommandQueue());
+  return returnvalue::OK;
+}

src/fsfw/subsystem/helper.h

@@ -0,0 +1,14 @@
+#ifndef FSFW_SUBSYSTEM_HELPER_H_
+#define FSFW_SUBSYSTEM_HELPER_H_
+
+#include "HasModeTreeChildrenIF.h"
+#include "fsfw/health/HealthHelper.h"
+
+namespace modetree {
+
+ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child,
+                                    HealthHelper& healthHelper, ModeHelper& modeHelper);
+
+}
+
+#endif /* FSFW_SRC_FSFW_SUBSYSTEM_HELPER_H_ */

src/fsfw/tmtcpacket/ccsds/SpacePacketCreator.cpp

@@ -14,6 +14,7 @@ SpacePacketCreator::SpacePacketCreator(ccsds::PacketType packetType, bool secHea
     : params(SpacePacketParams(PacketId(packetType, secHeaderFlag, apid),
                                PacketSeqCtrl(seqFlags, seqCount), dataLen)) {
   params.version = version;
+  checkFieldValidity();
 }
 
 uint16_t SpacePacketCreator::getPacketIdRaw() const { return params.packetId.raw(); }

src/fsfw/tmtcservices/AcceptsTelemetryIF.h

@@ -21,9 +21,9 @@ class AcceptsTelemetryIF {
    * 			receiving message queue.
    * @return	The telemetry reception message queue id.
    */
-  virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) = 0;
+  [[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const = 0;
 
-  virtual MessageQueueId_t getReportReceptionQueue() { return getReportReceptionQueue(0); }
+  [[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue() const { return getReportReceptionQueue(0); }
 };
 
 #endif /* FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_ */

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -245,7 +245,7 @@ void TmTcBridge::registerCommDisconnect() {
   }
 }
 
-MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
+MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) const {
   return tmTcReceptionQueue->getId();
 }
 

src/fsfw/tmtcservices/TmTcBridge.h

@@ -65,7 +65,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
   /** AcceptsTelemetryIF override */
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
 
   /** AcceptsTelecommandsIF override */
   uint32_t getIdentifier() const override;

src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -214,7 +214,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 }
 
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
-  gpioMapIter = gpioMap.find(gpioId);
+  auto gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
@@ -244,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
 }
 
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
-  gpioMapIter = gpioMap.find(gpioId);
+  auto gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
@@ -295,7 +295,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
 }
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
-  gpioMapIter = gpioMap.find(gpioId);
+  auto gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
@@ -377,7 +377,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
                                                     gpio::GpioTypes expectedType,
                                                     GpioMap& mapToAdd) {
   // Cross check with private map
-  gpioMapIter = gpioMap.find(gpioIdToCheck);
+  auto gpioMapIter = gpioMap.find(gpioIdToCheck);
   if (gpioMapIter != gpioMap.end()) {
     auto& gpioType = gpioMapIter->second->gpioType;
     bool eraseDuplicateDifferentType = false;

src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -44,7 +44,6 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 
   // Holds the information and configuration of all used GPIOs
   GpioUnorderedMap gpioMap;
-  GpioUnorderedMapIter gpioMapIter;
 
   /**
    * @brief	This functions drives line of a GPIO specified by the GPIO ID.

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -41,7 +41,7 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
 
   i2cAddress = i2cCookie->getAddress();
 
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
     size_t maxReplyLen = i2cCookie->getMaxReplyLen();
     I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
@@ -89,7 +89,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
@@ -140,20 +140,19 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
 #endif
-    i2cDeviceMapIter->second.replyLen = 0;
     return NULLPOINTER;
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
                << "registered in i2cDeviceMap" << std::endl;
 #endif
-    i2cDeviceMapIter->second.replyLen = 0;
     return returnvalue::FAILED;
   }
+  i2cDeviceMapIter->second.replyLen = 0;
 
   deviceFile = i2cCookie->getDeviceFile();
   UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
@@ -162,7 +161,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
   }
   result = openDevice(deviceFile, i2cAddress, &fd);
   if (result != returnvalue::OK) {
-    i2cDeviceMapIter->second.replyLen = 0;
     return result;
   }
 
@@ -183,7 +181,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 #else
 #endif
 #endif
-    i2cDeviceMapIter->second.replyLen = 0;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
+#endif
     return returnvalue::FAILED;
   }
 
@@ -206,7 +207,7 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
@@ -216,7 +217,7 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   }
   *buffer = i2cDeviceMapIter->second.replyBuffer.data();
   *size = i2cDeviceMapIter->second.replyLen;
-
+  i2cDeviceMapIter->second.replyLen = 0;
   return returnvalue::OK;
 }
 

src/fsfw_hal/linux/i2c/I2cComIF.h

@@ -36,12 +36,10 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
-  using I2cDeviceMapIter = I2cDeviceMap::iterator;
 
   /* In this map all i2c devices will be registered with their address and
    * the appropriate file descriptor will be stored */
   I2cDeviceMap i2cDeviceMap;
-  I2cDeviceMapIter i2cDeviceMapIter;
 
   /**
    * @brief	This function opens an I2C device and binds the opened file

src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -15,18 +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)
+SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF& gpioComIF)
     : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
-  if (gpioComIF == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
-#else
-    sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-  }
-
   csMutex = MutexFactory::instance()->createMutex();
 }
 
@@ -75,7 +65,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
   /* Pull CS high in any case to be sure that device is inactive */
   gpioId_t gpioId = spiCookie->getChipSelectPin();
   if (gpioId != gpio::NO_GPIO) {
-    gpioComIF->pullHigh(gpioId);
+    gpioComIF.pullHigh(gpioId);
   }
 
   uint32_t spiSpeed = 0;
@@ -215,7 +205,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
       return result;
     }
     updateLinePolarity(fileDescriptor);
-    result = gpioComIF->pullLow(gpioId);
+    result = gpioComIF.pullLow(gpioId);
     if (result != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -256,7 +246,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   }
 
   if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    gpioComIF->pullHigh(gpioId);
+    gpioComIF.pullHigh(gpioId);
     result = csMutex->unlockMutex();
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -317,7 +307,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 #endif
       return result;
     }
-    gpioComIF->pullLow(gpioId);
+    gpioComIF.pullLow(gpioId);
   }
 
   if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
@@ -332,7 +322,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   }
 
   if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    gpioComIF->pullHigh(gpioId);
+    gpioComIF.pullHigh(gpioId);
     result = csMutex->unlockMutex();
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -397,7 +387,7 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
   return returnvalue::OK;
 }
 
-GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
+GpioIF& SpiComIF::getGpioInterface() { return gpioComIF; }
 
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
   int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));

src/fsfw_hal/linux/spi/SpiComIF.h

@@ -31,7 +31,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
       returnvalue::makeCode(spiRetvalId, 2);
 
-  SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
+  SpiComIF(object_id_t objectId, std::string devname, GpioIF& gpioComIF);
 
   ReturnValue_t initializeInterface(CookieIF* cookie) override;
   ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@@ -57,7 +57,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
                                             size_t sendLen);
 
-  GpioIF* getGpioInterface();
+  GpioIF& getGpioInterface();
   void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
   void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
 
@@ -83,7 +83,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
     std::vector<uint8_t> replyBuffer;
   };
 
-  GpioIF* gpioComIF = nullptr;
+  GpioIF& gpioComIF;
   std::string dev = "";
   /**
    * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was

src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -1,4 +1,5 @@
 #include "UartComIF.h"
+
 #include <errno.h>
 #include <fcntl.h>
 #include <termios.h>
@@ -16,7 +17,6 @@ UartComIF::~UartComIF() {}
 
 ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
   if (cookie == nullptr) {
     return NULLPOINTER;
@@ -32,7 +32,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 
   deviceFile = uartCookie->getDeviceFile();
 
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
     int fileDescriptor = configureUartPort(uartCookie);
     if (fileDescriptor < 0) {
@@ -193,7 +193,6 @@ void UartComIF::setFixedOptions(struct termios* options) {
 ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
   int fd = 0;
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
   if (sendLen == 0) {
     return returnvalue::OK;
@@ -215,7 +214,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   }
 
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
@@ -241,7 +240,6 @@ ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::
 
 ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
@@ -253,7 +251,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
 
   UartModes uartMode = uartCookie->getUartMode();
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
 
   if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
     return returnvalue::OK;
@@ -276,7 +274,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
   }
 }
 
-ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter,
                                              size_t requestLen) {
   ReturnValue_t result = returnvalue::OK;
   uint8_t maxReadCycles = uartCookie.getReadCycles();
@@ -334,7 +332,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
   return result;
 }
 
-ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter,
                                                 size_t requestLen) {
   int fd = iter->second.fileDescriptor;
   auto bufferPtr = iter->second.replyBuffer.data();
@@ -370,7 +368,6 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
 
 ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
@@ -381,7 +378,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   }
 
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
@@ -401,7 +398,6 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
 
 ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -410,7 +406,7 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIFLUSH);
@@ -421,7 +417,6 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
 
 ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -430,7 +425,7 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCOFLUSH);
@@ -441,7 +436,6 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
 
 ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -450,7 +444,7 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIOFLUSH);
@@ -458,5 +452,3 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   }
   return returnvalue::FAILED;
 }
-
-

src/fsfw_hal/linux/uart/UartComIF.h

@@ -1,15 +1,14 @@
 #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
 #define BSP_Q7S_COMIF_UARTCOMIF_H_
 
-#include "UartCookie.h"
-#include "helper.h"
-
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 
 #include <unordered_map>
 #include <vector>
 
+#include "UartCookie.h"
+#include "helper.h"
 
 /**
  * @brief 	This is the communication interface to access serial ports on linux based operating
@@ -64,7 +63,6 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
-  using UartDeviceMapIter = UartDeviceMap::iterator;
 
   /**
    * The uart devie map stores informations of initialized uart ports.
@@ -103,9 +101,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
    */
   void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
 
-  ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+  ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter,
                                     size_t requestLen);
-  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMap::iterator& iter,
                                        size_t requestLen);
 };
 

src/fsfw_hal/linux/uart/UartCookie.h

@@ -1,14 +1,12 @@
 #ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
 #define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
 
-#include "helper.h"
-
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/objectmanager/SystemObjectIF.h>
 
 #include <string>
 
-
+#include "helper.h"
 
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.

src/fsfw_hal/linux/uart/helper.cpp

@@ -1,8 +1,9 @@
 #include "helper.h"
-#include "fsfw/serviceinterface.h"
 
 #include <sys/ioctl.h>
 
+#include "fsfw/serviceinterface.h"
+
 void uart::setMode(struct termios& options, UartModes mode) {
   if (mode == UartModes::NON_CANONICAL) {
     /* Disable canonical mode */
@@ -71,16 +72,14 @@ void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
       cfsetospeed(&options, B19200);
       break;
     case UartBaudRate::RATE_38400:
-      cfsetispeed(&options, B38400);
-      cfsetospeed(&options, B38400);
+      cfsetspeed(&options, B38400);
       break;
     case UartBaudRate::RATE_57600:
       cfsetispeed(&options, B57600);
       cfsetospeed(&options, B57600);
       break;
     case UartBaudRate::RATE_115200:
-      cfsetispeed(&options, B115200);
-      cfsetospeed(&options, B115200);
+      cfsetspeed(&options, B115200);
       break;
     case UartBaudRate::RATE_230400:
       cfsetispeed(&options, B230400);
@@ -145,6 +144,5 @@ void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
 }
 
 int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
-   return ioctl(serialPort, TIOCGICOUNT, &icounter);
+  return ioctl(serialPort, TIOCGICOUNT, &icounter);
 }
-

src/fsfw_hal/linux/uart/helper.h

@@ -1,8 +1,8 @@
 #ifndef FSFW_HAL_LINUX_UART_HELPER_H_
 #define FSFW_HAL_LINUX_UART_HELPER_H_
 
-#include <termios.h>
 #include <linux/serial.h>
+#include <termios.h>
 
 enum class Parity { NONE, EVEN, ODD };
 
@@ -56,7 +56,6 @@ void setBaudrate(struct termios& options, UartBaudRate baud);
 
 int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
 
-}
-
+}  // namespace uart
 
 #endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */

src/fsfw_tests/integration/assemblies/TestAssembly.cpp

@@ -2,19 +2,17 @@
 
 #include <fsfw/objectmanager/ObjectManager.h>
 
-TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
-                           object_id_t testDevice1)
-    : AssemblyBase(objectId, parentId),
-      deviceHandler0Id(testDevice0),
-      deviceHandler1Id(testDevice1) {
+TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, ModeTreeChildIF& testDevice0,
+                           ModeTreeChildIF& testDevice1)
+    : AssemblyBase(objectId, parentId), deviceHandler0(testDevice0), deviceHandler1(testDevice1) {
   ModeListEntry newModeListEntry;
-  newModeListEntry.setObject(testDevice0);
+  newModeListEntry.setObject(testDevice0.getObjectId());
   newModeListEntry.setMode(MODE_OFF);
   newModeListEntry.setSubmode(SUBMODE_NONE);
 
   commandTable.insert(newModeListEntry);
 
-  newModeListEntry.setObject(testDevice1);
+  newModeListEntry.setObject(testDevice1.getObjectId());
   newModeListEntry.setMode(MODE_OFF);
   newModeListEntry.setSubmode(SUBMODE_NONE);
 
@@ -43,8 +41,8 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
       commandTable[1].setMode(MODE_OFF);
       commandTable[1].setSubmode(SUBMODE_NONE);
       // We try to prefer 0 here but we try to switch to 1 even if it might fail
-      if (isDeviceAvailable(deviceHandler0Id)) {
-        if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
+      if (isDeviceAvailable(deviceHandler0.getObjectId())) {
+        if (childrenMap[deviceHandler0.getObjectId()].mode == MODE_ON) {
           commandTable[0].setMode(mode);
           commandTable[0].setSubmode(SUBMODE_NONE);
         } else {
@@ -53,7 +51,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
           result = NEED_SECOND_STEP;
         }
       } else {
-        if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
+        if (childrenMap[deviceHandler1.getObjectId()].mode == MODE_ON) {
           commandTable[1].setMode(mode);
           commandTable[1].setSubmode(SUBMODE_NONE);
         } else {
@@ -64,7 +62,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
       }
     } else {
       // Dual Mode Normal
-      if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
+      if (childrenMap[deviceHandler0.getObjectId()].mode == MODE_ON) {
         commandTable[0].setMode(mode);
         commandTable[0].setSubmode(SUBMODE_NONE);
       } else {
@@ -72,7 +70,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
         commandTable[0].setSubmode(SUBMODE_NONE);
         result = NEED_SECOND_STEP;
       }
-      if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
+      if (childrenMap[deviceHandler1.getObjectId()].mode == MODE_ON) {
         commandTable[1].setMode(mode);
         commandTable[1].setSubmode(SUBMODE_NONE);
       } else {
@@ -89,7 +87,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
       commandTable[1].setMode(MODE_OFF);
       commandTable[1].setSubmode(SUBMODE_NONE);
       // We try to prefer 0 here but we try to switch to 1 even if it might fail
-      if (isDeviceAvailable(deviceHandler0Id)) {
+      if (isDeviceAvailable(deviceHandler0.getObjectId())) {
         commandTable[0].setMode(MODE_ON);
         commandTable[0].setSubmode(SUBMODE_NONE);
       } else {
@@ -133,23 +131,14 @@ ReturnValue_t TestAssembly::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0Id);
-  handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1Id);
+  auto* handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0.getObjectId());
+  auto* handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1.getObjectId());
   if ((handler0 == nullptr) or (handler1 == nullptr)) {
     return returnvalue::FAILED;
   }
 
-  handler0->setParentQueue(this->getCommandQueue());
-  handler1->setParentQueue(this->getCommandQueue());
-
-  result = registerChild(deviceHandler0Id);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = registerChild(deviceHandler1Id);
-  if (result != returnvalue::OK) {
-    return result;
-  }
+  handler0->connectModeTreeParent(*this);
+  handler1->connectModeTreeParent(*this);
   return result;
 }
 

src/fsfw_tests/integration/assemblies/TestAssembly.h

@@ -7,8 +7,8 @@
 
 class TestAssembly : public AssemblyBase {
  public:
-  TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
-               object_id_t testDevice1);
+  TestAssembly(object_id_t objectId, object_id_t parentId, ModeTreeChildIF& testDevice0,
+               ModeTreeChildIF& testDevice1);
   virtual ~TestAssembly();
   ReturnValue_t initialize() override;
 
@@ -41,10 +41,8 @@ class TestAssembly : public AssemblyBase {
 
  private:
   FixedArrayList<ModeListEntry, 2> commandTable;
-  object_id_t deviceHandler0Id = 0;
-  object_id_t deviceHandler1Id = 0;
-  TestDevice* handler0 = nullptr;
-  TestDevice* handler1 = nullptr;
+  ModeTreeChildIF& deviceHandler0;
+  ModeTreeChildIF& deviceHandler1;
 
   bool isDeviceAvailable(object_id_t object);
 };

src/fsfw_tests/integration/controller/TestController.cpp

@@ -4,8 +4,8 @@
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
-TestController::TestController(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth)
-    : ExtendedControllerBase(objectId, parentId, commandQueueDepth) {}
+TestController::TestController(object_id_t objectId, size_t commandQueueDepth)
+    : ExtendedControllerBase(objectId, commandQueueDepth) {}
 
 TestController::~TestController() {}
 

src/fsfw_tests/integration/controller/TestController.h

@@ -7,7 +7,7 @@
 
 class TestController : public ExtendedControllerBase {
  public:
-  TestController(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 10);
+  TestController(object_id_t objectId, size_t commandQueueDepth = 10);
   virtual ~TestController();
 
  protected: