fixing merge again

Reviewed-on: fsfw/fsfw#747

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "automation/msvc-wine"]
+	path = automation/msvc-wine
+	url = https://github.com/mstorsjo/msvc-wine

CHANGELOG.md

@@ -8,21 +8,71 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v6.0.0]
+## Fixes
+
+- PUS Health Service: Size check for set health command.
+  Perform operation completion for announce health command.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
+- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
+- Small tweak for version getter
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
+
+## Added
+
+- add CFDP subsystem ID
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
+
+## Changed
+- Bump ETL version to 20.35.14
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
+- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Assert that `FixedArrayList` is larger than 0 at compile time.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
+
+## Added
+
+- `EventManager`: Add function to print all listeners.
+
+## Changed
+
+- `EventManager`: Queue depth is configurable now
+
+# [v6.0.0] 2023-02-10
 
 ## Fixes
 
+- Mode Service: Add allowed subservice
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
 - `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
   on mode announcements, duplicate mode reply generated on announce commands, and the mode read
   subservice not working properly.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
+- Memory leak fixes for the TCP/IP TMTC bridge.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
+- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
+  seconds instead of uptime.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
+  only the X scaling factor was used.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
+- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
 - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
   to false correctly because the `read` and `write` calls were missing.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
 - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
   of the correct unsegmented flags (0b11) as specified in the standard.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
 - TC Scheduler Service 11: Add size and CRC check for contained TC.
+  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
 - Only delete health table entry in `HealthHelper` destructor if
   health table was set.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
   Also properly reset the reply size for successfull transfers and erroneous transfers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
@@ -32,22 +82,82 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `TcpTmTcServer.cpp`: The server was actually not able to handle
   CCSDS packets which were clumped together. This has been fixed now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
+- `CServiceHealthCommanding`: Add announce all health info implementation
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+- various fixes related to linux Unittests and memory leaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
+- small fix to allow teardown handling
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
+- fix compiler warning for fixed array list copy ctor
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
+- missing include
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
+- defaultconfig did not build anymore
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
+- hotfix
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
+- small fix for helper
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
+- missing retval conv
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
+- DHB Countdown Bug
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
+- doc corrections
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
+- better error printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
+- include correction
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
+- better warning for missing include paths
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
+- Service 11 regression
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
 
 ## Added
 
+- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
+- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
+- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
+  option on the TCP server. CTOR prototype has changed and expects an explicit
+  TCP configuration struct to be passed.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
 - `DleParser` helper class to parse DLE encoded packets from a byte stream.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
 - `UioMapper` is able to resolve symlinks now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
+- publish documentation for development and master branch
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
+- Add Linux HAL options
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
+- Expand SerializeIF
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
+- PUS Service 11: Additional Safety Check
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
+- improvements for auto-formatter script
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
+- provide a weak print char impl
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
+
+## Removed
+
+- now that doc server is up, remove markdown files
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
+- remove bsp specific code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
 
 ## Changes
 
+- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
+  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
+  `HealthServiceCfg` now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
 - Moved some container returnvalues to dedicated header and namespace
-  to they can be used without template specification.
+  so they can be used without template specification.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
   `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
@@ -77,18 +187,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
   a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
-- Move some generic `StorageManagerIF` implementations from `LocalPool` to
-  interface itself so it can be re-used more easily. Also add new
-  abstract function `bool hasDataAtId(store_address_t storeId) const`.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
   - Make functions `const` where it makes sense
   - Add `const char* getName const` abstract function
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
-- Move some generic `StorageManagerIF` implementations from `LocalPool` to
+- Generic TMTC Bridge Update
-  interface itself so it can be re-used more easily. Also add new
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
-  abstract function `bool hasDataAtId(store_address_t storeId) const`.
+- comment tweak to event parser can read everything
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
+- CMakeLists file updates
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
+- improve srv20 error messages
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
+- I2C Linux: remove duplicate printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
+- printout handling improvements
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
+- vec getter, reset for content
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
+- updates for source sequence counter
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
+- SP reader getPacketData is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
+- refactoring of serial drivers for linux
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
+- Local Pool Update Remove Add Data Ignore Fault Argument
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
+- Switch to new documentation server
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
+- Windows Tweaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
+- Refactor Local Pool API
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
+- group MGM data in local pool vectors
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
+
 
 ## CFDP
 
@@ -108,7 +241,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
      implementation without an extra component
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
 
-# [v5.0.0] 25.07.2022
+# [v5.0.0] 2022-07-25
 
 ## Changes
 

CMakeLists.txt

@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################
 
-set(FSFW_VERSION_IF_GIT_FAILS 5)
+set(FSFW_VERSION_IF_GIT_FAILS 6)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
@@ -64,6 +64,13 @@ elseif(${CMAKE_CXX_STANDARD} LESS 17)
       "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+  # Manually tweak MSVC to emit (about) the same warnings as clang and gcc on linux
+  # needs to be done here using add_compile_definitions() (as opposed to target_compile_definitions()) to be available for all binaries and libraries
+  add_compile_options("/permissive-" /wd4267 /wd4244 /wd4244 /wd4305 /wd4805 /wd4267 /wd4646 /wd4065 /wd4996 /Dand=&& /Dor=|| /Dnot=!)
+  add_compile_definitions(NOMINMAX)
+endif()
+
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_NAME etl)
@@ -72,7 +79,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.35.14
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -153,12 +160,12 @@ if(FSFW_BUILD_TESTS)
       "${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})
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
     message(
       STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
     )
     include(FetchContent)
 
@@ -174,6 +181,27 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
+  if(FSFW_OSAL MATCHES "freertos")
+    message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
+    include(FetchContent)
+
+    set(FreeRTOS_PORT posix)
+
+    FetchContent_Declare(
+      FreeRTOS
+      GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
+      GIT_TAG develop
+      GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
+
+    FetchContent_MakeAvailable(FreeRTOS)
+
+    set(LIB_OS_NAME FreeRTOS)
+    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
+    set(THREADS_PREFER_PTHREAD_FLAG ON)
+    find_package(Threads REQUIRED)
+    target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@@ -201,8 +229,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
+      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
-      "etl with FindPackage")
+  )
   include(FetchContent)
 
   FetchContent_Declare(
@@ -226,6 +254,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
+
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -360,6 +389,9 @@ if(FSFW_BUILD_TESTS)
   endif()
   target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                  ${LIB_FSFW_NAME})
+  if(FSFW_OSAL MATCHES "freertos")
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
+  endif()
 endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
@@ -447,8 +479,8 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 
 endif()
 
-if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-  set(COMPILER_FLAGS "/permissive-")
+  set(FSFW_WARNING_FLAGS -Wall -Wno-gnu-anonymous-struct)
 endif()
 
 # Required include paths to compile the FSFW

automation/Dockerfile

@@ -5,7 +5,7 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
+RUN apt-get --yes install ca-certificates clang cmake doxygen g++ gcc git graphviz iputils-ping lcov make msitools nano ninja-build pip python3 python3-simplejson python3-six qemu-system-arm rsync valgrind wget winbind
 
 RUN python3 -m pip install sphinx breathe
 
@@ -21,8 +21,36 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
         cmake -B build . && \
         cmake --install build/
 
+        
+# install our own rtems build
+RUN wget -qO- https://buggy.irs.uni-stuttgart.de/rtems_releases/rtems6-12.2.1.tar.bz2 | tar -xj -C /opt/
+ENV PATH="$PATH:/opt/rtems/6/bin"
+
+# install modern wine for MSVC, removing a conflicting file
+RUN dpkg --add-architecture i386 && \
+    mkdir -pm755 /etc/apt/keyrings && \
+    wget -O /etc/apt/keyrings/winehq-archive.key https://dl.winehq.org/wine-builds/winehq.key && \
+    wget -NP /etc/apt/sources.list.d/ https://dl.winehq.org/wine-builds/ubuntu/dists/focal/winehq-focal.sources && \
+    apt-get update && \
+    apt-get --yes install winehq-stable
+# silence wine
+ENV WINEDEBUG=-all 
+
+
+# install MSVC using https://github.com/mstorsjo/msvc-wine
+# see msvc-wine/LICENSE.txt
+COPY msvc-wine/lowercase msvc-wine/fixinclude msvc-wine/install.sh msvc-wine/vsdownload.py ./
+COPY msvc-wine/wrappers/* ./wrappers/
+RUN PYTHONUNBUFFERED=1 ./vsdownload.py --accept-license --dest /opt/msvc && \
+    ./install.sh /opt/msvc && \
+    rm lowercase fixinclude install.sh vsdownload.py && \
+    rm -rf wrappers
+RUN wine64 wineboot --init && \
+    while pgrep wineserver > /dev/null; do sleep 1; done
+
+
 #ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+RUN addgroup -q --gid 117 jenkins && adduser -q --uid 114 --gid 117 jenkins
 
 #add documentation server to known hosts
 RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

automation/Jenkinsfile

@@ -1,48 +1,76 @@
 pipeline {
     environment {
-        BUILDDIR = 'cmake-build-tests'
+        BUILDDIR_HOST = 'cmake-build-tests-host'
+        BUILDDIR_LINUX = 'cmake-build-tests-linux'
+        BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
+        BUILDDIR_RTEMS = 'cmake-build-tests-rtems'
+        BUILDDIR_WIN = 'cmake-build-tests-windows'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
-            image 'fsfw-ci:d6'
+            image 'fsfw-ci:d9'
-            args '--network host'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
         }
     }
     stages {
-        stage('Clean') {
+        stage('x64-linux-clang-host') {
             steps {
-                sh 'rm -rf $BUILDDIR'
+                sh 'rm -rf $BUILDDIR_HOST'
-            }
+
-        }
+                dir(BUILDDIR_HOST) {
-        stage('Configure') {
+                    sh 'CC=clang CXX=clang++ cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                }
-            }
-        }
-        stage('Build') {
-            steps {
-                dir(BUILDDIR) {
                     sh 'cmake --build . -j4'
-                }
-            }
-        }
-        stage('Unittests') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                }
-            }
-        }
-        stage('Valgrind') {
-            steps {
-                dir(BUILDDIR) {
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
+        stage('x64-linux-gcc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_LINUX'
+
+                dir(BUILDDIR_LINUX) {
+                    sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+        stage('x64-FreeRTOS-gcc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_FREERTOS'
+
+                dir(BUILDDIR_FREERTOS) {
+                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh './fsfw-tests'
+                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+        stage('aarch64-rtems6-gcc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_RTEMS'
+
+                dir(BUILDDIR_RTEMS) {
+                    sh 'cmake -DFSFW_OSAL=rtems -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_TOOLCHAIN_FILE=../cmake/aarch64-rtems6-gcc.cmake ..'
+                    sh 'cmake --build . -j4'
+                    sh 'qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -semihosting -machine virt,gic-version=3 -cpu cortex-a72 -m 4000  -kernel fsfw-tests'
+                }
+            }
+        }
+        stage('x64-windows-msvc-host') {
+            steps {
+                sh 'rm -rf $BUILDDIR_WIN'
+
+                dir(BUILDDIR_WIN) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../cmake/x64-windows-msvc.cmake -GNinja ..'
+                    sh 'cmake --build . -j4'
+                    sh 'wine64 fsfw-tests.exe'
+                }
+            }
+        }
         stage('Documentation') {
             when {
                 branch 'development'
@@ -55,7 +83,7 @@ pipeline {
                         sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
                     }
                 }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                     sshagent(credentials: ['documentation-buildfix']) {
                         sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
                     }
@@ -74,7 +102,7 @@ pipeline {
                         sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
                     }
                 }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                     sshagent(credentials: ['documentation-buildfix']) {
                         sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
                     }

cmake/Platform/a72_lp64_qemu.cmake

@@ -0,0 +1,3 @@
+add_compile_options("-mcpu=cortex-a72" "-I/opt/rtems/6/aarch64-rtems6/a72_lp64_qemu/lib/include")
+
+add_link_options("-B/opt/rtems/6/aarch64-rtems6/a72_lp64_qemu/lib" "-qrtems")

cmake/aarch64-rtems6-gcc.cmake

@@ -0,0 +1,33 @@
+## the name of the target operating system
+set(CMAKE_SYSTEM_NAME a72_lp64_qemu)
+
+set(CMAKE_SYSTEM_PROCESSOR a72)
+
+# which compilers to use for C and C++
+set(CMAKE_C_COMPILER   aarch64-rtems6-gcc)
+set(CMAKE_CXX_COMPILER aarch64-rtems6-g++)
+
+# built in tests fail
+set(CMAKE_C_COMPILER_WORKS 1)
+set(CMAKE_CXX_COMPILER_WORKS 1)
+
+# adjust the default behavior of the FIND_XXX() commands:
+# search programs in the host environment
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+
+# search headers and libraries in the target environment
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+
+# ignore host installed libraries
+# makes find_package() ignore the <package>Config.cmake files
+set(CMAKE_IGNORE_PATH /usr/local)
+
+
+# supress errors
+add_compile_definitions("__STDC_VERSION__")
+
+# make newlib behave like glib with an intercepted cmath
+add_compile_options("-I${CMAKE_SOURCE_DIR}/unittests/testcfg/rtems/include")
+

cmake/x64-windows-msvc.cmake

@@ -0,0 +1,27 @@
+set(CMAKE_SYSTEM_NAME Windows)
+
+# which compilers to use for C and C++
+set(CMAKE_C_COMPILER   /opt/msvc/bin/x64/cl)
+set(CMAKE_CXX_COMPILER /opt/msvc/bin/x64/cl)
+
+# built in tests fail
+set(CMAKE_C_COMPILER_WORKS ON)
+set(CMAKE_CXX_COMPILER_WORKS ON)
+
+# fails somewhere caused by wine
+# overriding internal variable DO NOT TRY THIS AT HOME!
+set(CMAKE_C_ABI_COMPILED ON)
+set(CMAKE_CXX_ABI_COMPILED ON)
+
+# adjust the default behavior of the FIND_XXX() commands:
+# search programs in the host environment
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+
+# search headers and libraries in the target environment
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+
+# ignore host installed libraries
+# makes find_package() ignore the <package>Config.cmake files
+set(CMAKE_IGNORE_PATH /usr/local)

scripts/check_release.py

@@ -0,0 +1,110 @@
+#! /bin/python
+
+
+import argparse
+import json
+import urllib.request
+import re
+from pathlib import Path
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="List undocumented PRs"
+    )
+    parser.add_argument("-v", "--version", type=str, required=True)
+    args = parser.parse_args()
+    
+    match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version)
+    
+    if not match:
+        print("invalid version")
+        exit(1)
+    
+    version = "v" + match.group(1)
+    
+    print("looking for milestone for " + version + " ...")
+    
+    
+    with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json:
+        milestones = json.load(milestone_json)
+        if (len(milestones) == 0):
+            print("did not find any milestone")
+            exit(1)
+        if (len(milestones) > 1):
+            print("found multiple milestons")
+        milestone_title = milestones[0]['title']
+        milestone = str(milestones[0]['id'])
+        print("Using Milestone \""+ milestone_title + "\" with id " + milestone)
+    
+    milestone_prs = []
+    
+    page = 1
+    last_count = 1;
+    while last_count != 0:
+        with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
+            pull_requests = json.load(pull_requests_json)
+            for pr in pull_requests:
+                milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']})
+            page += 1
+            last_count = len(pull_requests)
+    
+    print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
+    
+    print("looking for CHANGELOG.md ...")
+    
+    path = Path(".")
+    
+    files = list(path.glob("CHANGELOG.md"))
+    
+    if (len(files) != 1):
+        files = list(path.glob("../CHANGELOG.md"))
+        
+    if (len(files) != 1):
+        print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.")
+        exit(1)
+        
+    print("Scanning CHANGELOG.md ...")
+    
+    changelog_prs = []
+    
+    with open(files[0]) as changelog:
+        line = changelog.readline()
+        while (line):
+            #print("line: " + line)
+            match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line)
+            if (match):
+                if match.group(1) == version:
+                    #print("found version")
+                    line = changelog.readline()
+                    continue
+                else:
+                    #print("done with " + match.group(1))
+                    break
+            
+            match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line)
+            if match:
+                changelog_prs.append(match.group(1))
+                
+            line = changelog.readline()
+    
+    print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md")
+    
+    print("")
+    
+    copy_array = changelog_prs.copy()
+    print("PRs in CHANGELOG.md that are not in Milestone:")
+    for pr in milestone_prs:
+        if pr['number'] in copy_array:
+            copy_array.remove(pr['number'])
+    for pr in copy_array:
+        print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr)
+
+    print("")
+
+    print("PRs in milestone that are not in CHANGELOG.md:")
+    
+    for pr in milestone_prs:
+        if pr['number'] not in changelog_prs:
+            print("- " + pr['title'] + "\n  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number'])
+
+main()

src/fsfw/cfdp/FileSize.h

@@ -21,7 +21,7 @@ struct FileSize : public SerializeIF {
     this->largeFile = isLarge;
     return serialize(buffer, size, maxSize, streamEndianness);
   }
-
+  using SerializeIF::serialize;
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override {
     if (not largeFile) {

src/fsfw/cfdp/VarLenFields.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
 
-cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
+cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, uint64_t value) : VarLenField() {
   ReturnValue_t result = this->setValue(width, value);
   if (result != returnvalue::OK) {
 #if FSFW_DISABLE_PRINTOUT == 0
@@ -20,7 +20,7 @@ cfdp::VarLenField::VarLenField() : width(cfdp::WidthInBytes::ONE_BYTE) { value.o
 
 cfdp::WidthInBytes cfdp::VarLenField::getWidth() const { return width; }
 
-ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value_) {
+ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, uint64_t value_) {
   switch (widthInBytes) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       if (value_ > UINT8_MAX) {
@@ -51,7 +51,7 @@ ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_
   return returnvalue::OK;
 }
 
-size_t cfdp::VarLenField::getValue() const {
+uint64_t cfdp::VarLenField::getValue() const {
   switch (width) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       return value.oneByte;

src/fsfw/cfdp/VarLenFields.h

@@ -25,13 +25,13 @@ class VarLenField : public SerializeIF {
   template <typename T>
   explicit VarLenField(UnsignedByteField<T> byteField);
 
-  VarLenField(cfdp::WidthInBytes width, size_t value);
+  VarLenField(cfdp::WidthInBytes width, uint64_t value);
 
   bool operator==(const VarLenField &other) const;
   bool operator!=(const VarLenField &other) const;
   bool operator<(const VarLenField &other) const;
 
-  ReturnValue_t setValue(cfdp::WidthInBytes, size_t value);
+  ReturnValue_t setValue(cfdp::WidthInBytes, uint64_t value);
 
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override;
@@ -42,7 +42,7 @@ class VarLenField : public SerializeIF {
                             Endianness streamEndianness);
 
   [[nodiscard]] cfdp::WidthInBytes getWidth() const;
-  [[nodiscard]] size_t getValue() const;
+  [[nodiscard]] uint64_t getValue() const;
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   friend std::ostream &operator<<(std::ostream &os, const VarLenField &id) {
@@ -53,6 +53,7 @@ class VarLenField : public SerializeIF {
 #endif
 
  private:
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/definitions.h

@@ -9,6 +9,11 @@
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 
+// Thanks, windows
+#ifdef NO_ERROR
+#undef NO_ERROR
+#endif
+
 namespace cfdp {
 
 static constexpr char CFDP_VERSION_2_NAME[] = "CCSDS 727.0-B-5";

src/fsfw/cfdp/pdu/EofInfo.cpp

@@ -42,6 +42,6 @@ size_t EofInfo::getSerializedSize(bool fssLarge) {
   return size;
 }
 
-ReturnValue_t EofInfo::setFileSize(size_t fileSize, bool isLarge) {
+ReturnValue_t EofInfo::setFileSize(uint64_t fileSize, bool isLarge) {
   return this->fileSize.setFileSize(fileSize, isLarge);
 }

src/fsfw/cfdp/pdu/EofInfo.h

@@ -21,7 +21,7 @@ struct EofInfo {
   void setChecksum(uint32_t checksum);
   void setConditionCode(cfdp::ConditionCode conditionCode);
   void setFaultLoc(EntityIdTlv* faultLoc);
-  ReturnValue_t setFileSize(size_t size, bool isLarge);
+  ReturnValue_t setFileSize(uint64_t size, bool isLarge);
 
  private:
   cfdp::ConditionCode conditionCode;

src/fsfw/cfdp/pdu/FinishedPduReader.cpp

@@ -1,5 +1,10 @@
 #include "FinishedPduReader.h"
 
+// Thanks, windows
+#ifdef NO_ERROR
+#undef NO_ERROR
+#endif
+
 FinishPduReader::FinishPduReader(const uint8_t* pduBuf, size_t maxSize, FinishedInfo& info)
     : FileDirectiveReader(pduBuf, maxSize), finishedInfo(info) {}
 

src/fsfw/cfdp/tlv/EntityIdTlv.h

@@ -23,6 +23,7 @@ class EntityIdTlv : public TlvIF {
    */
   ReturnValue_t deSerialize(cfdp::Tlv& tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/tlv/FilestoreRequestTlv.h

@@ -26,6 +26,7 @@ class FilestoreRequestTlv : public cfdp::FilestoreTlvBase {
    */
   ReturnValue_t deSerialize(cfdp::Tlv &tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/tlv/FilestoreResponseTlv.h

@@ -29,6 +29,7 @@ class FilestoreResponseTlv : public cfdp::FilestoreTlvBase {
    */
   ReturnValue_t deSerialize(const cfdp::Tlv& tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 

src/fsfw/container/FixedArrayList.h

@@ -12,6 +12,7 @@ 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");
+  static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");
 
  private:
   T data[MAX_SIZE];

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -364,6 +364,10 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
                            ReturnValue_t errorCode = returnvalue::FAILED,
                            const char* errorPrint = nullptr);
+
+ private:
+  using ProvidesDataPoolSubscriptionIF::subscribeForPeriodicPacket;
+  using ProvidesDataPoolSubscriptionIF::subscribeForUpdatePacket;
 };
 
 template <class T>

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -322,8 +322,7 @@ void DeviceHandlerBase::doStateMachine() {
       if (mode != currentMode) {
         break;
       }
-      uint32_t currentUptime;
+      uint32_t currentUptime = Clock::getUptime_ms();
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= childTransitionDelay) {
 #if FSFW_VERBOSE_LEVEL >= 1 && FSFW_OBJ_EVENT_TRANSLATION == 0
         char printout[60];
@@ -347,8 +346,7 @@ void DeviceHandlerBase::doStateMachine() {
       setMode(_MODE_WAIT_ON);
       break;
     case _MODE_WAIT_ON: {
-      uint32_t currentUptime;
+      uint32_t currentUptime = Clock::getUptime_ms();
-      Clock::getUptime(&currentUptime);
       if (powerSwitcher != nullptr and
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
@@ -367,8 +365,7 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
-      uint32_t currentUptime;
+      uint32_t currentUptime = Clock::getUptime_ms();
-      Clock::getUptime(&currentUptime);
 
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
@@ -578,7 +575,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
-  Clock::getUptime(&timeoutStart);
+  timeoutStart = Clock::getUptime_ms();
 
   if (mode == MODE_OFF and thermalSet != nullptr) {
     ReturnValue_t result = thermalSet->read();

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -206,9 +206,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
-  HealthState getHealth();
+  HealthState getHealth() override;
-  ReturnValue_t setHealth(HealthState health);
+  ReturnValue_t setHealth(HealthState health) override;
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
                                      const ParameterWrapper *newValues,
@@ -1073,7 +1073,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                       bool forceDirectTm = false);
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode);
+                                         uint32_t *msToReachTheMode) override;
 
   virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 

src/fsfw/events/EventManager.cpp

@@ -15,14 +15,16 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
     {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS, sizeof(EventIdRangeMatcher)},
     {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS, sizeof(ReporterRangeMatcher)}};
 
-EventManager::EventManager(object_id_t setObjectId)
+EventManager::EventManager(object_id_t setObjectId, uint32_t eventQueueDepth)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-                                                                  EventMessage::EVENT_MESSAGE_SIZE);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(
+      eventQueueDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 EventManager::~EventManager() {
+  listenerList.clear();
   QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
   MutexFactory::instance()->deleteMutex(mutex);
 }
@@ -46,9 +48,20 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+  for (auto& listener : listenerList) {
-    if (iter->second.match(message)) {
+    if (listener.second.match(message)) {
-      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
+      ReturnValue_t result =
+          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
+      if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
+                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
+                   << result << std::setfill(' ') << std::endl;
+#else
+        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
+                        listener.first, result);
+#endif
+      }
     }
   }
   unlockMutex();
@@ -61,9 +74,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
   if (!result.second) {
     return returnvalue::FAILED;
   }
+
   return returnvalue::OK;
 }
 
+ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
+  return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
+}
+
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
   return subscribeToEventRange(listener, event);
 }
@@ -194,4 +212,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
+void EventManager::printListeners() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
+  for (auto& listener : listenerList) {
+    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
+  }
+  sif::info << std::dec << std::setfill(' ');
+#else
+  sif::printInfo("Event manager listener MQ IDs:\n");
+  for (auto& listener : listenerList) {
+    sif::printInfo("0x%08x\n", listener.first);
+  }
+#endif
+}
+
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -21,28 +21,32 @@ extern const char* translateEvents(Event event);
 
 class EventManager : public EventManagerIF, public ExecutableObjectIF, public SystemObject {
  public:
-  static const uint16_t MAX_EVENTS_PER_CYCLE = 80;
 
-  EventManager(object_id_t setObjectId);
+  EventManager(object_id_t setObjectId, uint32_t eventQueueDepth);
   virtual ~EventManager();
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
 
-  MessageQueueId_t getEventReportQueue();
+  MessageQueueId_t getEventReportQueue() override;
 
-  ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
+  ReturnValue_t registerListener(MessageQueueId_t listener,
-  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
+                                 bool forwardAllButSelected = false) override;
-  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
+  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
+  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) override;
+  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) override;
   ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                       EventId_t idTo = 0, bool idInverted = false,
                                       object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
-                                      bool reporterInverted = false);
+                                      bool reporterInverted = false) override;
-  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
+  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) override;
   ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                           EventId_t idTo = 0, bool idInverted = false,
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
-                                          bool reporterInverted = false);
+                                          bool reporterInverted = false) override;
-  ReturnValue_t performOperation(uint8_t opCode);
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+  void printListeners();
+
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/events/EventManagerIF.h

@@ -18,6 +18,7 @@ class EventManagerIF {
 
   virtual ReturnValue_t registerListener(MessageQueueId_t listener,
                                          bool forwardAllButSelected = false) = 0;
+  virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;

src/fsfw/events/fwSubsystemIdRanges.h

@@ -10,7 +10,7 @@ enum : uint8_t {
   CDH = 28,
   TCS_1 = 59,
   PCDU_1 = 42,
-  PCDU_2 = 43,
+  POWER_SWITCH_IF = 43,
   HEATER = 50,
   T_SENSORS = 52,
   FDIR = 70,
@@ -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/fdir/FailureIsolationBase.cpp

@@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
     return;
   }
-  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
+  manager->unregisterListener(eventQueue->getId());
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 

src/fsfw/globalfunctions/DleParser.cpp

@@ -52,6 +52,7 @@ ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
         // without skipping the STX
         readSize = vectorIdx;
         ErrorInfo info;
+        info.len = vectorIdx;
         setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
         return POSSIBLE_PACKET_LOSS;
       }

src/fsfw/globalfunctions/Type.h

@@ -58,7 +58,7 @@ class Type : public SerializeIF {
 
 template <typename T>
 struct PodTypeConversion {
-  static_assert(not std::is_same<T, bool>::value,
+  static_assert(!std::is_same<T, bool>::value,
                 "Do not use boolean for the PoolEntry type, use uint8_t "
                 "instead! The ECSS standard defines a boolean as a one bit "
                 "field. Therefore it is preferred to store a boolean as an "

src/fsfw/globalfunctions/arrayprinter.cpp

@@ -37,16 +37,16 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool
   }
 }
 
-void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerLine) {
+void arrayprinter::printHex(const uint8_t *data, size_t datasize, size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   if (sif::info.crAdditionEnabled()) {
     std::cout << "\r" << std::endl;
   }
 
   std::cout << "hex [" << std::setfill('0') << std::hex;
-  for (size_t i = 0; i < size; i++) {
+  for (size_t i = 0; i < datasize; i++) {
     std::cout << std::setw(2) << static_cast<int>(data[i]);
-    if (i < size - 1) {
+    if (i < datasize - 1) {
       std::cout << ",";
       if (i > 0 and (i + 1) % maxCharPerLine == 0) {
         std::cout << std::endl;
@@ -56,27 +56,11 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerL
   std::cout << std::dec << std::setfill(' ');
   std::cout << "]" << std::endl;
 #else
-  // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
+  printf("hex [");
-  // plus line break plus small safety margin.
+  for (size_t i = 0; i < datasize; i++) {
-  char printBuffer[(size + 1) * 7 + 1] = {};
+    printf("0x%02x ", data[i]);
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 7) {
-      break;
   }
-
+  printf("]\n");
-    currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
-    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
-    }
-  }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("hex [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }
 
@@ -100,26 +84,10 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, size_t maxCharPerL
 #else
   // General format: 32,243,-12 so it is number of chars times 4
   // plus line break plus small safety margin.
-  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
-  char printBuffer[size * 4 + 1 + expectedLines] = {};
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 4) {
-      break;
-    }
 
-    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
+  for (size_t i = 0; i < size; i++) {
-    if (i < size - 1) {
+    // TODO
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
   }
-    }
-  }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("dec [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }
 

src/fsfw/globalfunctions/matching/MatchTree.h

@@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
   MatchTree(iterator root, uint8_t maxDepth = -1)
       : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
   MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
-  virtual ~MatchTree() {}
+  virtual ~MatchTree() { clear(); }
   virtual bool match(T number) override { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
@@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
     return cleanUpElement(position);
   }
 
+  void clear() {
+    Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
+
+    if (localRoot == nullptr) {
+      return;
+    }
+
+    Node* node = localRoot->left;
+
+    while (true) {
+      if (node->left != nullptr) {
+        node = node->left;
+        continue;
+      }
+      if (node->right != nullptr) {
+        node = node->right;
+        continue;
+      }
+      if (node->parent == nullptr) {
+        // this is the root node with no children
+        if (node->value != nullptr) {
+          cleanUpElement(iterator(node));
+        }
+        return;
+      }
+      // leaf
+      {
+        Node* parent = node->parent;
+        if (parent->left == node) {
+          parent->left = nullptr;
+        } else {
+          parent->right = nullptr;
+        }
+        cleanUpElement(iterator(node));
+        node = parent;
+      }
+    }
+  }
+
   virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
 
   bool matchSubtree(iterator iter, T number) {

src/fsfw/health/HasHealthIF.h

@@ -16,26 +16,24 @@ class HasHealthIF {
   };
 
   static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
+  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = returnvalue::makeCode(INTERFACE_ID, 1);
-  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
+  static constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2);
+  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
+  //! P1: New Health, P2: Old Health
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  static const Event OVERWRITING_HEALTH =
+  //! Assembly overwrites health information of children to keep satellite alive.
-      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
-                                     //!< satellite alive.
+  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY =
+  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+  //! Recovery is ongoing. Comes twice during recovery.
-                                         //!< power-cycle). No parameters.
+  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP =
+  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+  //! Recovery was completed. Not necessarily successful. No parameters.
-                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
-  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/health/HealthTable.cpp

@@ -6,8 +6,6 @@
 
 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
   mutex = MutexFactory::instance()->createMutex();
-  ;
-
   mapIterator = healthMap.begin();
 }
 

src/fsfw/health/HealthTable.h

@@ -8,6 +8,8 @@
 #include "HealthTableIF.h"
 
 class HealthTable : public HealthTableIF, public SystemObject {
+  friend class CServiceHealthCommanding;
+
  public:
   explicit HealthTable(object_id_t objectid);
   ~HealthTable() override;

src/fsfw/housekeeping/HousekeepingSnapshot.h

@@ -55,7 +55,7 @@ class HousekeepingSnapshot : public SerializeIF {
       : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr){};
 
   virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const {
+                                  Endianness streamEndianness) const override {
     if (timeStamp != nullptr) {
       /* Endianness will always be MACHINE, so we can simply use memcpy
       here. */
@@ -70,7 +70,7 @@ class HousekeepingSnapshot : public SerializeIF {
     return updateData->serialize(buffer, size, maxSize, streamEndianness);
   }
 
-  virtual size_t getSerializedSize() const {
+  virtual size_t getSerializedSize() const override {
     if (updateData == nullptr) {
       return 0;
     }

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,14 +7,17 @@
 
 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) {
+  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   mutex = MutexFactory::instance()->createMutex();
 }
 
-InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
+InternalErrorReporter::~InternalErrorReporter() {
+  MutexFactory::instance()->deleteMutex(mutex);
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}
 
 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
   this->diagnosticPrintout = enable;

src/fsfw/monitoring/AbsLimitMonitor.h

@@ -18,7 +18,7 @@ class AbsLimitMonitor : public MonitorBase<T> {
         violationEvent(violationEvent),
         aboveIsViolation(aboveIsViolation) {}
   virtual ~AbsLimitMonitor() {}
-  virtual ReturnValue_t checkSample(T sample, T *crossedLimit) {
+  ReturnValue_t checkSample(T sample, T *crossedLimit) override {
     *crossedLimit = limit;
     if (aboveIsViolation) {
       if ((std::abs(sample) > limit)) {
@@ -32,9 +32,9 @@ class AbsLimitMonitor : public MonitorBase<T> {
     return returnvalue::OK;  // We're not out of range.
   }
 
-  virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
-                                     ParameterWrapper *parameterWrapper,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
-                                     const ParameterWrapper *newValues, uint16_t startAtIndex) {
+                             uint16_t startAtIndex) override {
     ReturnValue_t result = this->MonitorBase<T>::getParameter(
         domainId, parameterId, parameterWrapper, newValues, startAtIndex);
     // We'll reuse the DOMAIN_ID of MonitorReporter,
@@ -61,7 +61,7 @@ class AbsLimitMonitor : public MonitorBase<T> {
   void setLimit(T value) { limit = value; }
 
  protected:
-  void sendTransitionEvent(T currentValue, ReturnValue_t state) {
+  void sendTransitionEvent(T currentValue, ReturnValue_t state) override {
     switch (state) {
       case MonitoringIF::OUT_OF_RANGE:
         EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->globalPoolId.objectId,

src/fsfw/objectmanager/ObjectManager.cpp

@@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
 
 ObjectManager::ObjectManager() = default;
 
+void ObjectManager::clear() {
+  if (objManagerInstance != nullptr) {
+    delete objManagerInstance;
+    objManagerInstance = nullptr;
+  }
+}
+
 ObjectManager::~ObjectManager() {
-  for (auto const& iter : objectList) {
+  teardown = true;
-    delete iter.second;
+  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
+    delete iter->second;
   }
 }
 
@@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }
 
 ReturnValue_t ObjectManager::remove(object_id_t id) {
+  // this function is called during destruction of System Objects
+  // disabeld for teardown to avoid iterator invalidation and
+  // double free
+  if (teardown) {
+    return returnvalue::OK;
+  }
   if (this->getSystemObject(id) != nullptr) {
     this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1

src/fsfw/objectmanager/ObjectManager.h

@@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
   using produce_function_t = void (*)(void* args);
 
   /**
-   * Returns the single instance of TaskFactory.
+   * Returns the single instance of ObjectManager.
    * The implementation of #instance is found in its subclasses.
    * Thus, we choose link-time variability of the  instance.
    */
   static ObjectManager* instance();
 
+  /**
+   * Deletes the single instance of ObjectManager
+   */
+  static void clear();
+
   void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
 
   template <typename T>
@@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
    */
   std::map<object_id_t, SystemObjectIF*> objectList;
   static ObjectManager* objManagerInstance;
+  // used when the OM itself is deleted to modify behaviour of remove()
+  // to avoid iterator invalidation and double free
+  bool teardown = false;
 };
 
 // Documentation can be found in the class method declaration above

src/fsfw/osal/CMakeLists.txt

@@ -1,10 +1,13 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
   add_subdirectory(freertos)
+  set(FSFW_OSAL_FREERTOS 1)
 elseif(FSFW_OSAL MATCHES "rtems")
   add_subdirectory(rtems)
+  set(FSFW_OSAL_RTEMS 1)
 elseif(FSFW_OSAL MATCHES "linux")
   add_subdirectory(linux)
+  set(FSFW_OSAL_LINUX 1)
 elseif(FSFW_OSAL MATCHES "host")
   add_subdirectory(host)
   if(WIN32)
@@ -13,16 +16,20 @@ elseif(FSFW_OSAL MATCHES "host")
     # We still need to pull in some Linux specific sources
     target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
   endif()
-
+  set(FSFW_OSAL_HOST 1)
 else()
+  message(
+    WARNING
+      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
 
-  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)
     add_subdirectory(windows)
+    set(FSFW_OSAL_HOST 1)
   elseif(UNIX)
     add_subdirectory(linux)
+    set(FSFW_OSAL_LINUX 1)
   else()
     # MacOS or other OSes have not been tested yet / are not supported.
     message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@@ -31,3 +38,5 @@ else()
 endif()
 
 add_subdirectory(common)
+
+configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

src/fsfw/osal/Endiness.h

@@ -24,8 +24,11 @@
 #else
 
 #ifdef WIN32
-#include <windows.h>
+// Thanks, windows
+// clang-format off
 #include <winsock2.h>
+#include <windows.h>
+// clang-format on
 #if REG_DWORD == REG_DWORD_LITTLE_ENDIAN
 #define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
 #else

src/fsfw/osal/common/TcpIpBase.cpp

@@ -40,6 +40,8 @@ int TcpIpBase::closeSocket(socket_t socket) {
   return closesocket(socket);
 #elif defined(PLATFORM_UNIX)
   return close(socket);
+#else
+  return -1;
 #endif
 }
 
@@ -48,5 +50,7 @@ int TcpIpBase::getLastSocketError() {
   return WSAGetLastError();
 #elif defined(PLATFORM_UNIX)
   return errno;
+#else
+  return 0;
 #endif
 }

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -16,9 +16,9 @@
 
 #endif
 
-TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
+TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             object_id_t tcStoreId)
+                             uint32_t msgQueueDepth, object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
+    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
   mutex = MutexFactory::instance()->createMutex();
   // Connection is always up, TM is requested by connecting to server and receiving packets
   registerCommConnect();

src/fsfw/osal/common/TcpTmTcBridge.h

@@ -38,7 +38,7 @@ class TcpTmTcBridge : public TmTcBridge {
    * @param tmStoreId TM store object ID. It is recommended to the default object ID
    * @param tcStoreId TC store object ID. It is recommended to the default object ID
    */
-  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
                 object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
   virtual ~TcpTmTcBridge();

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -16,7 +16,7 @@
 
 #ifdef PLATFORM_WIN
 #include <winsock2.h>
-#include <ws2tcpip.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <netdb.h>
 
@@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             size_t receptionBufferSize, size_t ringBufferSize,
+                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
-                             std::string customTcpServerPort, ReceptionModes receptionMode)
+                             size_t ringBufferSize, ReceptionModes receptionMode)
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(std::move(customTcpServerPort)),
+      tcpConfig(cfg),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -91,6 +91,25 @@ ReturnValue_t TcpTmTcServer::initialize() {
     return returnvalue::FAILED;
   }
 
+  if (tcpConfig.reuseAddr) {
+#ifdef PLATFORM_WIN
+    DWORD enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, reinterpret_cast<char*>(&enable),
+               sizeof(enable));
+#elif defined(PLATFORM_UNIX)
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
+#endif
+  }
+
+  if (tcpConfig.reusePort) {
+// Not supported in windows
+#ifdef PLATFORM_UNIX
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
+#endif
+  }
+
   // Bind to the address found by getaddrinfo
   retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
   if (retval == SOCKET_ERROR) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -41,11 +41,11 @@ class SpacePacketParser;
  */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
  public:
-  enum class ReceptionModes { SPACE_PACKETS };
-
   struct TcpConfig {
    public:
-    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
+    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
+    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
+        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
 
     /**
      * Passed to the recv call
@@ -63,8 +63,23 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    const std::string tcpPort;
+    std::string tcpPort = DEFAULT_SERVER_PORT;
+
+    /**
+     * Sets the SO_REUSEADDR option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
+     * especially useful in a debugging and development environment where an OBSW image might be
+     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
+     * port.
+     */
+    bool reuseAddr = false;
+    /**
+     * Sets the SO_REUSEPORT option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
+     */
+    bool reusePort = false;
   };
+  enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;
 
@@ -80,10 +95,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
    *                              size will be the Ethernet MTU size
    * @param customTcpServerPort   The user can specify another port than the default (7301) here.
    */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
                 size_t receptionBufferSize = RING_BUFFER_SIZE,
                 size_t ringBufferSize = RING_BUFFER_SIZE,
-                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
   ~TcpTmTcServer() override;
 
@@ -116,7 +130,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   ReceptionModes receptionMode;
   TcpConfig tcpConfig;
-  struct sockaddr tcpAddress = {};
+  // struct sockaddr tcpAddress = {};
   socket_t listenerTcpSocket = 0;
 
   MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

src/fsfw/osal/common/UdpTcPollingTask.cpp

@@ -8,6 +8,7 @@
 
 #ifdef PLATFORM_WIN
 #include <winsock2.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <sys/socket.h>
 #include <sys/types.h>

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -7,6 +7,7 @@
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <arpa/inet.h>
 #include <netdb.h>
@@ -20,9 +21,9 @@
 const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             const std::string &udpServerPort_, object_id_t tmStoreId,
+                             uint32_t msgQueueDepth, const std::string &udpServerPort_,
-                             object_id_t tcStoreId)
+                             object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
+    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
   if (udpServerPort_.empty()) {
     udpServerPort = DEFAULT_SERVER_PORT;
   } else {
@@ -126,10 +127,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
     tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
   }
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent
+  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were sent" << std::endl;
-             << " bytes were"
-                " sent."
-             << std::endl;
 #endif
   return returnvalue::OK;
 }

src/fsfw/osal/common/UdpTmTcBridge.h

@@ -29,7 +29,7 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
   /* The ports chosen here should not be used by any other process. */
   static const std::string DEFAULT_SERVER_PORT;
 
-  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
                 const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
   ~UdpTmTcBridge() override;

src/fsfw/osal/freertos/BinSemaphUsingTask.h

@@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
   void refreshTaskHandle();
 
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
   ReturnValue_t release() override;
   uint8_t getSemaphoreCounter() const override;
   static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);

src/fsfw/osal/freertos/BinarySemaphore.h

@@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.

src/fsfw/osal/freertos/Clock.cpp

@@ -11,19 +11,6 @@
 // TODO sanitize input?
 // TODO much of this code can be reused for tick-only systems
 
-uint32_t Clock::getTicksPerSecond(void) { return 1000; }
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  timeval time_timeval;
-
-  ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return setClock(&time_timeval);
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
   timeval uptime = getUptime();
 
@@ -44,81 +31,12 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  *uptime = getUptime();
-
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
   TickType_t ticksSinceStart = xTaskGetTickCount();
   return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime = getUptime();
-  *uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-  return returnvalue::OK;
-}
-
 // uint32_t Clock::getUptimeSeconds() {
 //	timeval uptime = getUptime();
 //	return uptime.tv_sec;
 // }
-
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval time_timeval;
-  ReturnValue_t result = getClock_timeval(&time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  timeval time_timeval;
-  ReturnValue_t result = getClock_timeval(&time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  struct tm time_tm;
-
-  gmtime_r(&time_timeval.tv_sec, &time_tm);
-
-  time->year = time_tm.tm_year + 1900;
-  time->month = time_tm.tm_mon + 1;
-  time->day = time_tm.tm_mday;
-
-  time->hour = time_tm.tm_hour;
-  time->minute = time_tm.tm_min;
-  time->second = time_tm.tm_sec;
-
-  time->usecond = time_timeval.tv_usec;
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm = {};
-
-  time_tm.tm_year = from->year - 1900;
-  time_tm.tm_mon = from->month - 1;
-  time_tm.tm_mday = from->day;
-
-  time_tm.tm_hour = from->hour;
-  time_tm.tm_min = from->minute;
-  time_tm.tm_sec = from->second;
-
-  time_t seconds = mktime(&time_tm);
-
-  to->tv_sec = seconds;
-  to->tv_usec = from->usecond;
-  // Fails in 2038..
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}

src/fsfw/osal/freertos/CountingSemaphUsingTask.h

@@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Release a semaphore, increasing the number of available counting

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -56,7 +56,9 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   // start time for the first entry.
   auto slotListIter = pollingSeqTable.current;
 
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;

src/fsfw/osal/freertos/Mutex.cpp

@@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
     return MutexIF::MUTEX_NOT_FOUND;
   }
   // If the timeout type is BLOCKING, this will be the correct value.
-  uint32_t timeout = portMAX_DELAY;
+  TickType_t timeout = portMAX_DELAY;
   if (timeoutType == TimeoutType::POLLING) {
     timeout = 0;
   } else if (timeoutType == TimeoutType::WAITING) {

src/fsfw/osal/freertos/TaskManagement.cpp

@@ -3,16 +3,16 @@
 void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
 
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
-  if (callContext == CallContext::ISR) {
+  //   if (callContext == CallContext::ISR) {
-    // This function depends on the partmacro.h definition for the specific device
+  //     // This function depends on the partmacro.h definition for the specific device
-    vRequestContextSwitchFromISR();
+  //     vRequestContextSwitchFromISR();
-  } else {
+  //   } else {
   vRequestContextSwitchFromTask();
-  }
+  //   }
 }
 
 TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
 
-size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
+// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
-  return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+//   return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+// }

src/fsfw/osal/freertos/TaskManagement.h

@@ -11,7 +11,7 @@
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void vRequestContextSwitchFromISR();
+// extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
@@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
  * @return Smallest value of stack remaining since the task was started in
  * 		   words.
  */
-size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
+// size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
 };  // namespace TaskManagement
 

src/fsfw/osal/host/Clock.cpp

@@ -15,27 +15,6 @@
 
 using SystemClock = std::chrono::system_clock;
 
-uint32_t Clock::getTicksPerSecond(void) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::getTicksPerSecond: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::getTicksPerSecond: Not implemented for host OSAL\n");
-#endif
-  /* To avoid division by zero */
-  return 1;
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  /* I don't know why someone would need to set a clock which is probably perfectly fine on a
-  host system with internet access so this is not implemented for now. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
-#endif
-  return returnvalue::OK;
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
   /* I don't know why someone would need to set a clock which is probably perfectly fine on a
   host system with internet access so this is not implemented for now. */
@@ -66,6 +45,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   time->tv_usec = timeUnix.tv_nsec / 1000.0;
   return returnvalue::OK;
 #else
+#warning Clock::getClock_timeval() not implemented for your platform
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "Clock::getUptime: Not implemented for found OS!" << std::endl;
 #else
@@ -75,15 +55,6 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 #endif
 }
 
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  if (time == nullptr) {
-    return returnvalue::FAILED;
-  }
-  using namespace std::chrono;
-  *time = duration_cast<microseconds>(system_clock::now().time_since_epoch()).count();
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
   timeval timeval;
 #if defined(PLATFORM_WIN)
@@ -100,73 +71,10 @@ timeval Clock::getUptime() {
     timeval.tv_usec = uptimeSeconds * (double)1e6 - (timeval.tv_sec * 1e6);
   }
 #else
+#warning Clock::getUptime() not implemented for your platform
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
 #endif
 #endif
   return timeval;
 }
-
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  *uptime = getUptime();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime = getUptime();
-  *uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  /* Do some magic with chrono (C++20!) */
-  /* Right now, the library doesn't have the new features to get the required values yet.
-  so we work around that for now. */
-  auto now = SystemClock::now();
-  auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
-  auto fraction = now - seconds;
-  time_t tt = SystemClock::to_time_t(now);
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  struct tm* timeInfo;
-  timeInfo = gmtime(&tt);
-  time->year = timeInfo->tm_year + 1900;
-  time->month = timeInfo->tm_mon + 1;
-  time->day = timeInfo->tm_mday;
-  time->hour = timeInfo->tm_hour;
-  time->minute = timeInfo->tm_min;
-  time->second = timeInfo->tm_sec;
-  auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
-  time->usecond = usecond.count();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm {};
-
-  time_tm.tm_year = from->year - 1900;
-  time_tm.tm_mon = from->month - 1;
-  time_tm.tm_mday = from->day;
-
-  time_tm.tm_hour = from->hour;
-  time_tm.tm_min = from->minute;
-  time_tm.tm_sec = from->second;
-  time_tm.tm_isdst = 0;
-
-  time_t seconds = timegm(&time_tm);
-
-  to->tv_sec = seconds;
-  to->tv_usec = from->usecond;
-  // Fails in 2038..
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}

src/fsfw/osal/host/PeriodicTask.cpp

@@ -9,7 +9,6 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 #if defined(PLATFORM_WIN)
-#include <processthreadsapi.h>
 
 #include "fsfw/osal/windows/winTaskHelpers.h"
 #elif defined(PLATFORM_UNIX)

src/fsfw/osal/host/TaskFactory.cpp

@@ -50,6 +50,6 @@ void TaskFactory::printMissedDeadline() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl;
 #else
-  sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
+  sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name.c_str());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 }

src/fsfw/osal/host/taskHelpers.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/returnvalues/returnvalue.h>
 
+#include <string>
 #include <thread>
 
 namespace tasks {

src/fsfw/osal/linux/Clock.cpp

@@ -10,26 +10,6 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t Clock::getTicksPerSecond() {
-  uint32_t ticks = sysconf(_SC_CLK_TCK);
-  return ticks;
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  timespec timeUnix{};
-  timeval timeTimeval{};
-  convertTimeOfDayToTimeval(time, &timeTimeval);
-  timeUnix.tv_sec = timeTimeval.tv_sec;
-  timeUnix.tv_nsec = (__syscall_slong_t)timeTimeval.tv_usec * 1000;
-
-  int status = clock_settime(CLOCK_REALTIME, &timeUnix);
-  if (status != 0) {
-    // TODO errno
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
   timespec timeUnix{};
   timeUnix.tv_sec = time->tv_sec;
@@ -53,104 +33,22 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval timeVal{};
-  ReturnValue_t result = getClock_timeval(&timeVal);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
 
-  return returnvalue::OK;
-}
 
 timeval Clock::getUptime() {
   timeval uptime{};
-  auto result = getUptime(&uptime);
+
-  if (result != returnvalue::OK) {
+  double uptimeSeconds;
+  std::ifstream ifile("/proc/uptime");
+  if (ifile.bad()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
 #endif
+    return uptime;
+  }
+  if (ifile >> uptimeSeconds) {
+    uptime.tv_sec = uptimeSeconds;
+    uptime.tv_usec = (uptimeSeconds - uptime.tv_sec) * (double)1e6;
   }
   return uptime;
 }
-
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  // TODO This is not posix compatible and delivers only seconds precision
-  //  Linux specific file read but more precise.
-  double uptimeSeconds;
-  if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) {
-    uptime->tv_sec = uptimeSeconds;
-    uptime->tv_usec = uptimeSeconds * (double)1e6 - (uptime->tv_sec * 1e6);
-  }
-  return returnvalue::OK;
-}
-
-// Wait for new FSFW Clock function delivering seconds uptime.
-// uint32_t Clock::getUptimeSeconds() {
-//	//TODO This is not posix compatible and delivers only seconds precision
-//	struct sysinfo sysInfo;
-//	int result = sysinfo(&sysInfo);
-//	if(result != 0){
-//		return returnvalue::FAILED;
-//	}
-//	return sysInfo.uptime;
-//}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime{};
-  ReturnValue_t result = getUptime(&uptime);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *uptimeMs = uptime.tv_sec * 1e3 + uptime.tv_usec / 1e3;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  timespec timeUnix{};
-  int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
-  if (status != 0) {
-    // TODO errno
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  struct std::tm* timeInfo;
-  timeInfo = gmtime(&timeUnix.tv_sec);
-  time->year = timeInfo->tm_year + 1900;
-  time->month = timeInfo->tm_mon + 1;
-  time->day = timeInfo->tm_mday;
-  time->hour = timeInfo->tm_hour;
-  time->minute = timeInfo->tm_min;
-  time->second = timeInfo->tm_sec;
-  time->usecond = timeUnix.tv_nsec / 1000.0;
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  std::tm fromTm{};
-  // Note: Fails for years before AD
-  fromTm.tm_year = from->year - 1900;
-  fromTm.tm_mon = from->month - 1;
-  fromTm.tm_mday = from->day;
-  fromTm.tm_hour = from->hour;
-  fromTm.tm_min = from->minute;
-  fromTm.tm_sec = from->second;
-  fromTm.tm_isdst = 0;
-
-  to->tv_sec = timegm(&fromTm);
-  to->tv_usec = from->usecond;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}

src/fsfw/osal/linux/MessageQueue.cpp

@@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
   attributes.mq_msgsize = maxMessageSize;
   attributes.mq_flags = 0;  // Flags are ignored on Linux during mq_open
   // Set the name of the queue. The slash is mandatory!
-  sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u", queueCounter++);
 
   // Create a nonblocking queue if the name is available (the queue is read
   // and writable for the owner as well as the group)

src/fsfw/osal/osal.h.in

@@ -0,0 +1,36 @@
+#pragma once
+
+namespace osal {
+    enum osalTarget{
+        HOST,
+        LINUX,
+        WINDOWS,
+        FREERTOS,
+        RTEMS,
+    };
+
+#cmakedefine FSFW_OSAL_HOST
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_WINDOWS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_RTEMS
+
+
+    constexpr osalTarget getTarget() {
+#ifdef FSFW_OSAL_HOST
+  return HOST;
+#endif
+#ifdef FSFW_OSAL_LINUX
+  return LINUX;
+#endif
+#ifdef FSFW_OSAL_WINDOWS
+  return WINDOWS;
+#endif
+#ifdef FSFW_OSAL_FREERTOS
+  return FREERTOS;
+#endif
+#ifdef FSFW_OSAL_RTEMS
+  return RTEMS;
+#endif
+    }
+};

src/fsfw/osal/rtems/BinarySemaphore.cpp

@@ -2,6 +2,8 @@
 
 #include <rtems/rtems/sem.h>
 
+// TODO
+
 BinarySemaphore::BinarySemaphore() {}
 
 BinarySemaphore::~BinarySemaphore() {}

src/fsfw/osal/rtems/Clock.cpp

@@ -6,20 +6,21 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 
-uint32_t Clock::getTicksPerSecond(void) {
+ReturnValue_t Clock::setClock(const timeval* time) {
-  rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
+  TimeOfDay_t time_tod;
-  return static_cast<uint32_t>(ticks_per_second);
+  ReturnValue_t result = convertTimevalToTimeOfDay(time, &time_tod);
+  if (result != returnvalue::OK) {
+    return result;
   }
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
   rtems_time_of_day timeRtems;
-  timeRtems.year = time->year;
+  timeRtems.year = time_tod.year;
-  timeRtems.month = time->month;
+  timeRtems.month = time_tod.month;
-  timeRtems.day = time->day;
+  timeRtems.day = time_tod.day;
-  timeRtems.hour = time->hour;
+  timeRtems.hour = time_tod.hour;
-  timeRtems.minute = time->minute;
+  timeRtems.minute = time_tod.minute;
-  timeRtems.second = time->second;
+  timeRtems.second = time_tod.second;
-  timeRtems.ticks = time->usecond * getTicksPerSecond() / 1e6;
+  timeRtems.ticks =
+      static_cast<uint64_t>(time_tod.usecond) * rtems_clock_get_ticks_per_second() / 1e6;
   rtems_status_code status = rtems_clock_set(&timeRtems);
   switch (status) {
     case RTEMS_SUCCESSFUL:
@@ -33,27 +34,6 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
   }
 }
 
-ReturnValue_t Clock::setClock(const timeval* time) {
-  timespec newTime;
-  newTime.tv_sec = time->tv_sec;
-  if (time->tv_usec < 0) {
-    // better returnvalue.
-    return returnvalue::FAILED;
-  }
-  newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
-
-  ISR_lock_Context context;
-  _TOD_Lock();
-  _TOD_Acquire(&context);
-  Status_Control status = _TOD_Set(&newTime, &context);
-  _TOD_Unlock();
-  if (status == STATUS_SUCCESSFUL) {
-    return returnvalue::OK;
-  }
-  // better returnvalue
-  return returnvalue::FAILED;
-}
-
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
   // Callable from ISR
   rtems_status_code status = rtems_clock_get_tod_timeval(time);
@@ -67,86 +47,13 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   }
 }
 
-ReturnValue_t Clock::getUptime(timeval* uptime) {
+timeval Clock::getUptime() {
   // According to docs.rtems.org for rtems 5 this method is more accurate than
   // rtems_clock_get_ticks_since_boot
+  timeval time_timeval;
   timespec time;
   rtems_status_code status = rtems_clock_get_uptime(&time);
-  uptime->tv_sec = time.tv_sec;
+  time_timeval.tv_sec = time.tv_sec;
-  time.tv_nsec = time.tv_nsec / 1000;
+  time_timeval.tv_usec = time.tv_nsec / 1000;
-  uptime->tv_usec = time.tv_nsec;
+  return time_timeval;
-  switch (status) {
-    case RTEMS_SUCCESSFUL:
-      return returnvalue::OK;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  // This counter overflows after 50 days
-  *uptimeMs = rtems_clock_get_ticks_since_boot();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval temp_time;
-  rtems_status_code returnValue = rtems_clock_get_tod_timeval(&temp_time);
-  *time = ((uint64_t)temp_time.tv_sec * 1000000) + temp_time.tv_usec;
-  switch (returnValue) {
-    case RTEMS_SUCCESSFUL:
-      return returnvalue::OK;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  /* For all but the last field, the struct will be filled with the correct values */
-  rtems_time_of_day timeRtems;
-  rtems_status_code status = rtems_clock_get_tod(&timeRtems);
-  switch (status) {
-    case RTEMS_SUCCESSFUL: {
-      /* The last field now contains the RTEMS ticks of the seconds from 0
-      to rtems_clock_get_ticks_per_second() minus one.
-      We calculate the microseconds accordingly */
-      time->day = timeRtems.day;
-      time->hour = timeRtems.hour;
-      time->minute = timeRtems.minute;
-      time->month = timeRtems.month;
-      time->second = timeRtems.second;
-      time->usecond =
-          static_cast<float>(timeRtems.ticks) / rtems_clock_get_ticks_per_second() * 1e6;
-      time->year = timeRtems.year;
-      return returnvalue::OK;
-    }
-    case RTEMS_NOT_DEFINED:
-      /* System date and time is not set */
-      return returnvalue::FAILED;
-    case RTEMS_INVALID_ADDRESS:
-      /* time_buffer is NULL */
-      return returnvalue::FAILED;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  // Fails in 2038..
-  rtems_time_of_day timeRtems;
-  timeRtems.year = from->year;
-  timeRtems.month = from->month;
-  timeRtems.day = from->day;
-  timeRtems.hour = from->hour;
-  timeRtems.minute = from->minute;
-  timeRtems.second = from->second;
-  timeRtems.ticks = from->usecond * getTicksPerSecond() / 1e6;
-  to->tv_sec = _TOD_To_seconds(&timeRtems);
-  to->tv_usec = from->usecond;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
 }

src/fsfw/osal/rtems/CpuUsage.cpp

@@ -93,8 +93,8 @@ ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size, size_t maxSize
                                                        streamEndianness);
 }
 
-uint32_t CpuUsage::getSerializedSize() const {
+size_t CpuUsage::getSerializedSize() const {
-  uint32_t size = 0;
+  size_t size = 0;
 
   size += sizeof(timeSinceLastReset);
   size += SerialArrayListAdapter<ThreadData>::getSerializedSize(&threadData);
@@ -136,8 +136,8 @@ ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, size_t* size, si
   return returnvalue::OK;
 }
 
-uint32_t CpuUsage::ThreadData::getSerializedSize() const {
+size_t CpuUsage::ThreadData::getSerializedSize() const {
-  uint32_t size = 0;
+  size_t size = 0;
 
   size += sizeof(id);
   size += MAX_LENGTH_OF_THREAD_NAME;

src/fsfw/osal/rtems/InternalErrorCodes.cpp

@@ -35,10 +35,9 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
       return OUT_OF_PROXIES;
     case INTERNAL_ERROR_INVALID_GLOBAL_ID:
       return INVALID_GLOBAL_ID;
-#ifndef STM32H743ZI_NUCLEO
+    // TODO this one is not there anymore in rtems-6 (5 as well?)
-    case INTERNAL_ERROR_BAD_STACK_HOOK:
+    // case INTERNAL_ERROR_BAD_STACK_HOOK:
-      return BAD_STACK_HOOK;
+    //   return BAD_STACK_HOOK;
-#endif
     //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
     //		return BAD_ATTRIBUTES;
     //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:

src/fsfw/osal/rtems/SemaphoreFactory.cpp

@@ -18,7 +18,9 @@ SemaphoreFactory* SemaphoreFactory::instance() {
 }
 
 SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
-  return new BinarySemaphore();
+  return nullptr;
+  // TODO
+  // return new BinarySemaphore();
 }
 
 SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount, uint8_t initCount,

src/fsfw/osal/windows/winTaskHelpers.h

@@ -5,7 +5,11 @@
 
 #ifdef _WIN32
 
-#include <minwindef.h>
+// Thanks, windows
+// clang-format off
+#include <windows.h>
+#include <processthreadsapi.h>
+// clang-format on
 
 namespace tasks {
 

src/fsfw/parameters/ParameterWrapper.h

@@ -45,6 +45,7 @@ class ParameterWrapper : public SerializeIF {
 
   virtual size_t getSerializedSize() const override;
 
+  using SerializeIF::deSerialize;
   virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                                     Endianness streamEndianness) override;
 

src/fsfw/power/Fuse.h

@@ -32,7 +32,7 @@ class Fuse : public SystemObject,
     gp_id_t poolIdPower;
   };
 
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
   //! 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.
@@ -62,13 +62,13 @@ class Fuse : public SystemObject,
                             SerializeIF::Endianness streamEndianness) override;
   void setAllMonitorsToUnchecked();
   ReturnValue_t performOperation(uint8_t opCode);
-  MessageQueueId_t getCommandQueue() const;
+  MessageQueueId_t getCommandQueue() const override;
   void setDataPoolEntriesInvalid();
-  ReturnValue_t setHealth(HealthState health);
+  ReturnValue_t setHealth(HealthState health) override;
-  HasHealthIF::HealthState getHealth();
+  HasHealthIF::HealthState getHealth() override;
 
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper *parameterWrapper,
-                             const ParameterWrapper *newValues, uint16_t startAtIndex);
+                             const ParameterWrapper *newValues, uint16_t startAtIndex) override;
 
  private:
   uint8_t oldFuseState;

src/fsfw/power/PowerComponent.h

@@ -10,15 +10,15 @@ class PowerComponent : public PowerComponentIF {
   PowerComponent(object_id_t setId, uint8_t moduleId, float minPower, float maxPower,
                  uint8_t switchId1, bool twoSwitches = false, uint8_t switchId2 = 0xFF);
 
-  virtual object_id_t getDeviceObjectId();
+  object_id_t getDeviceObjectId() override;
 
-  virtual uint8_t getSwitchId1();
+  uint8_t getSwitchId1() override;
-  virtual uint8_t getSwitchId2();
+  uint8_t getSwitchId2() override;
 
-  bool hasTwoSwitches();
+  bool hasTwoSwitches() override;
 
-  float getMin();
+  float getMin() override;
-  float getMax();
+  float getMax() override;
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
@@ -29,7 +29,7 @@ class PowerComponent : public PowerComponentIF {
                             Endianness streamEndianness) override;
 
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
-                             const ParameterWrapper* newValues, uint16_t startAtIndex);
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
 
  private:
   const object_id_t deviceObjectId = objects::NO_OBJECT;

src/fsfw/power/PowerSwitchIF.h

@@ -28,10 +28,12 @@ class PowerSwitchIF {
   static const ReturnValue_t SWITCH_TIMEOUT = MAKE_RETURN_CODE(2);
   static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
   static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
+  static const ReturnValue_t SWITCH_UNKNOWN = MAKE_RETURN_CODE(5);
-  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
+
-      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
+  //!< Someone detected that a switch went off which shouldn't. Severity:
   //!< Low, Parameter1: switchId1, Parameter2: switchId2
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
   /**
    * send a direct command to the Power Unit to enable/disable the specified switch.
    *
@@ -50,6 +52,7 @@ class PowerSwitchIF {
    * @return
    *     - @c SWITCH_ON if the specified switch is on.
    *     - @c SWITCH_OFF if the specified switch is off.
+   *     - @c SWITCH_UNKNOWN if the state of the specified switch is unknown.
    *     - @c returnvalue::FAILED if an error occured
    */
   virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;

src/fsfw/pus/CMakeLists.txt

@@ -9,4 +9,4 @@ target_sources(
           Service17Test.cpp
           Service20ParameterManagement.cpp
           CService200ModeCommanding.cpp
-          CService201HealthCommanding.cpp)
+          CServiceHealthCommanding.cpp)

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -19,7 +19,8 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_ANNCOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -53,6 +54,7 @@ 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) {
+  bool recursive = false;
   switch (subservice) {
     case (Subservice::COMMAND_MODE_COMMAND): {
       ModePacket modeCommandPacket;
@@ -66,24 +68,19 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message,
                                   modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
       return returnvalue::OK;
     }
-    case (Subservice::COMMAND_MODE_ANNCOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
-    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): {
+      recursive = true;
-      bool recursive = true;
+      [[fallthrough]];
-      if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) {
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
-        recursive = false;
-      }
       ModeMessage::setModeAnnounceMessage(*message, recursive);
       return EXECUTION_COMPLETE;
-    }
+    case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_READ): {
       ModeMessage::setModeReadMessage(*message);
       return returnvalue::OK;
-    }
+    default:
-    default: {
       return CommandingServiceBase::INVALID_SUBSERVICE;
   }
 }
-}
 
 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
                                                      Command_t previousCommand, uint32_t *state,

src/fsfw/pus/CService200ModeCommanding.h

@@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
     COMMAND_MODE_READ = 3,
     //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
     //! This command does NOT have a reply
-    COMMAND_MODE_ANNCOUNCE = 4,
+    COMMAND_MODE_ANNOUNCE = 4,
     //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
     //! command to every child. This command does NOT have a reply.
     COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -1,106 +0,0 @@
-#include "fsfw/pus/CService201HealthCommanding.h"
-
-#include "fsfw/health/HasHealthIF.h"
-#include "fsfw/health/HealthMessage.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/pus/servicepackets/Service201Packets.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
-                                                         uint8_t serviceId,
-                                                         uint8_t numParallelCommands,
-                                                         uint16_t commandTimeoutSeconds)
-    : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
-                            commandTimeoutSeconds) {}
-
-ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
-      return returnvalue::OK;
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Invalid Subservice" << std::endl;
-#endif
-      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-  }
-}
-
-ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
-                                                                    const uint8_t *tcData,
-                                                                    size_t tcDataLen,
-                                                                    MessageQueueId_t *id,
-                                                                    object_id_t *objectId) {
-  if (tcDataLen < sizeof(object_id_t)) {
-    return CommandingServiceBase::INVALID_TC;
-  }
-  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-
-  return checkInterfaceAndAcquireMessageQueue(id, objectId);
-}
-
-ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
-  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
-  if (destination == nullptr) {
-    return CommandingServiceBase::INVALID_OBJECT;
-  }
-
-  *messageQueueToSet = destination->getCommandQueue();
-  return returnvalue::OK;
-}
-
-ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
-                                                          uint8_t subservice, const uint8_t *tcData,
-                                                          size_t tcDataLen, uint32_t *state,
-                                                          object_id_t objectId) {
-  ReturnValue_t result = returnvalue::OK;
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH): {
-      HealthSetCommand healthCommand;
-      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        break;
-      }
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
-                                      healthCommand.getHealth());
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
-      break;
-    }
-    default: {
-      // Should never happen, subservice was already checked
-      result = returnvalue::FAILED;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
-                                                       Command_t previousCommand, uint32_t *state,
-                                                       CommandMessage *optionalNextCommand,
-                                                       object_id_t objectId, bool *isStep) {
-  Command_t replyId = reply->getCommand();
-  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
-    return EXECUTION_COMPLETE;
-  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
-    return reply->getReplyRejectedReason();
-  }
-  return CommandingServiceBase::INVALID_REPLY;
-}
-
-// Not used for now, health state already reported by event
-[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
-    const CommandMessage *reply) {
-  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
-  HealthSetReply healthSetReply(health, oldHealth);
-  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
-}

src/fsfw/pus/CServiceHealthCommanding.cpp

@@ -0,0 +1,161 @@
+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/pus/CServiceHealthCommanding.h>
+
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthMessage.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/pus/servicepackets/Service201Packets.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
+    : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
+                            args.numParallelCommands, args.commandTimeoutSeconds),
+      healthTableId(args.table),
+      maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
+
+ReturnValue_t CServiceHealthCommanding::initialize() {
+  ReturnValue_t result = CommandingServiceBase::initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
+  if (healthTable == nullptr) {
+    return returnvalue::FAILED;
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
+      return returnvalue::OK;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Invalid Subservice" << std::endl;
+#endif
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
+                                                                 const uint8_t *tcData,
+                                                                 size_t tcDataLen,
+                                                                 MessageQueueId_t *id,
+                                                                 object_id_t *objectId) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      if (tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+      }
+      SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+
+      return checkInterfaceAndAcquireMessageQueue(id, objectId);
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      return returnvalue::OK;
+    }
+    default: {
+      return returnvalue::FAILED;
+    }
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+  if (destination == nullptr) {
+    return CommandingServiceBase::INVALID_OBJECT;
+  }
+
+  *messageQueueToSet = destination->getCommandQueue();
+  return returnvalue::OK;
+}
+
+ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
+                                                       const uint8_t *tcData, size_t tcDataLen,
+                                                       uint32_t *state, object_id_t objectId) {
+  ReturnValue_t result = returnvalue::OK;
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH): {
+      if (tcDataLen != sizeof(object_id_t) + sizeof(HasHealthIF::HealthState)) {
+        return CommandingServiceBase::INVALID_TC;
+      }
+      HealthSetCommand healthCommand;
+      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        break;
+      }
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
+                                      healthCommand.getHealth());
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
+      return CommandingServiceBase::EXECUTION_COMPLETE;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      ReturnValue_t result = iterateHealthTable(true);
+      if (result == returnvalue::OK) {
+        reportAllHealth = true;
+        return EXECUTION_COMPLETE;
+      }
+      return result;
+    }
+    default: {
+      // Should never happen, subservice was already checked
+      result = returnvalue::FAILED;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
+                                                    Command_t previousCommand, uint32_t *state,
+                                                    CommandMessage *optionalNextCommand,
+                                                    object_id_t objectId, bool *isStep) {
+  Command_t replyId = reply->getCommand();
+  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
+    return EXECUTION_COMPLETE;
+  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
+    return reply->getReplyRejectedReason();
+  }
+  return CommandingServiceBase::INVALID_REPLY;
+}
+
+void CServiceHealthCommanding::doPeriodicOperation() {
+  if (reportAllHealth) {
+    for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
+      ReturnValue_t result = iterateHealthTable(false);
+      if (result != returnvalue::OK) {
+        reportAllHealth = false;
+        break;
+      }
+    }
+  }
+}
+
+// Not used for now, health state already reported by event
+[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::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);
+  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
+}
+
+ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
+  std::pair<object_id_t, HasHealthIF::HealthState> pair;
+
+  ReturnValue_t result = healthTable->iterate(&pair, reset);
+  if (result != returnvalue::OK) {
+    return result;
+  } else {
+    EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
+    return returnvalue::OK;
+  }
+}

src/fsfw/pus/CServiceHealthCommanding.h

@@ -1,8 +1,26 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
+#include <fsfw/health/HealthTable.h>
+
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 
+struct HealthServiceCfg {
+  HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable,
+                   uint16_t maxNumHealthInfoPerCycle)
+      : objectId(objectId),
+        apid(apid),
+        table(healthTable),
+        maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
+  object_id_t objectId;
+  uint16_t apid;
+  object_id_t table;
+  uint16_t maxNumHealthInfoPerCycle;
+  uint8_t service = 201;
+  uint8_t numParallelCommands = 4;
+  uint16_t commandTimeoutSeconds = 60;
+};
+
 /**
  * @brief   Custom PUS service to set health of all objects
  *          implementing hasHealthIF.
@@ -17,11 +35,12 @@
  * child class like this service
  *
  */
-class CService201HealthCommanding : public CommandingServiceBase {
+class CServiceHealthCommanding : public CommandingServiceBase {
  public:
-  CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
+  CServiceHealthCommanding(HealthServiceCfg args);
-                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
+  ~CServiceHealthCommanding() override = default;
-  ~CService201HealthCommanding() override = default;
+
+  ReturnValue_t initialize() override;
 
  protected:
   /* CSB abstract function implementations */
@@ -37,7 +56,14 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             CommandMessage *optionalNextCommand, object_id_t objectId,
                             bool *isStep) override;
 
+  void doPeriodicOperation() override;
+
  private:
+  const object_id_t healthTableId;
+  HealthTable *healthTable;
+  uint16_t maxNumHealthInfoPerCycle = 0;
+  bool reportAllHealth = false;
+  ReturnValue_t iterateHealthTable(bool reset);
   static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
                                                             const object_id_t *objectId);
 

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,12 +2,12 @@
 
 #include <cstddef>
 
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
-#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
-#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -13,7 +13,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
                                                                  uint16_t messageQueueDepth,
                                                                  TimeWriterIF* timeStamper)
     : SystemObject(objectId),
-      apid(apid),
+      //      apid(apid),
       serviceId(serviceId),
       targetDestination(targetDestination),
       storeHelper(apid),

src/fsfw/pus/Service1TelecommandVerification.h

@@ -72,7 +72,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
   ReturnValue_t initialize() override;
 
  private:
-  uint16_t apid = 0;
+  // uint16_t apid = 0;
   uint8_t serviceId = 0;
 
   object_id_t targetDestination = objects::NO_OBJECT;

src/fsfw/pus/Service20ParameterManagement.cpp

@@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
                << "MessageQueue: Can't access object" << std::endl;
-    sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
+    sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
+    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
 #else
     sif::printError(
         "Service20ParameterManagement::checkInterfaceAndAcquire"
         "MessageQueue: Can't access object\n");
     sif::printError("Object ID: 0x%08x\n", *objectId);
-    sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
+    sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
 #endif
 
     return CommandingServiceBase::INVALID_OBJECT;

src/fsfw/pus/Service9TimeManagement.cpp

@@ -1,5 +1,7 @@
 #include "fsfw/pus/Service9TimeManagement.h"
 
+#include <cmath>
+
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
-    case SUBSERVICE::SET_TIME: {
+    case Subservice::SET_TIME: {
       return setTime();
     }
+    case Subservice::DUMP_TIME: {
+      timeval newTime;
+      Clock::getClock_timeval(&newTime);
+      uint32_t subsecondMs =
+          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
+      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
+      return returnvalue::OK;
+    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
@@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  uint32_t formerUptime;
+  timeval time;
-  Clock::getUptime(&formerUptime);
+  Clock::getClock_timeval(&time);
   result = Clock::setClock(&timeToSet);
 
   if (result == returnvalue::OK) {
-    uint32_t newUptime;
+    timeval newTime;
-    Clock::getUptime(&newUptime);
+    Clock::getClock_timeval(&newTime);
-    triggerEvent(CLOCK_SET, newUptime, formerUptime);
+    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
     return returnvalue::OK;
   } else {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);

src/fsfw/pus/Service9TimeManagement.h

@@ -6,10 +6,13 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  static constexpr Event CLOCK_SET =
+
-      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
-  static constexpr Event CLOCK_SET_FAILURE =
+  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
+  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
+  //!< Clock could not be set. P1: Returncode.
+  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
@@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase {
   virtual ReturnValue_t setTime();
 
  private:
-  enum SUBSERVICE {
+  enum Subservice {
-    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    DUMP_TIME = 129,
   };
 };
 

src/fsfw/pus/servicepackets/Service1Packets.h

@@ -69,7 +69,7 @@ class FailureReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 2, 4, 6
     return result;
   }
 
-  virtual size_t getSerializedSize() const {
+  virtual size_t getSerializedSize() const override {
     size_t size = 0;
     size += SerializeAdapter::getSerializedSize(&packetId);
     size += sizeof(packetSequenceControl);

src/fsfw/serialize/SerialLinkedListAdapter.h

@@ -33,7 +33,7 @@
  * @author baetz
  * @ingroup serialize
  */
-template <typename T, typename count_t = uint8_t>
+template <typename T, typename count_t = size_t>
 class SerialLinkedListAdapter : public SinglyLinkedList<T>, public SerializeIF {
  public:
   SerialLinkedListAdapter(typename LinkedElement<T>::Iterator start, bool printCount = false)

src/fsfw/storagemanager/LocalPool.cpp

@@ -109,7 +109,8 @@ ReturnValue_t LocalPool::deleteData(uint8_t* ptr, size_t size, store_address_t*
   ReturnValue_t result = ILLEGAL_ADDRESS;
   for (uint16_t n = 0; n < NUMBER_OF_SUBPOOLS; n++) {
     // Not sure if new allocates all stores in order. so better be careful.
-    if ((store[n].data() <= ptr) and (&store[n][numberOfElements[n] * elementSizes[n]] > ptr)) {
+    if ((store[n].data() <= ptr) and
+        (&store[n][numberOfElements[n] * elementSizes[n] - 1] >= ptr)) {
       localId.poolIndex = n;
       uint32_t deltaAddress = ptr - store[n].data();
       // Getting any data from the right "block" is ok.

src/fsfw/subsystem/Subsystem.cpp

@@ -91,11 +91,10 @@ void Subsystem::performChildOperation() {
       }
       if (currentSequenceIterator->getWaitSeconds() != 0) {
         if (uptimeStartTable == 0) {
-          Clock::getUptime(&uptimeStartTable);
+          uptimeStartTable = Clock::getUptime_ms();
           return;
         } else {
-          uint32_t uptimeNow;
+          uint32_t uptimeNow = Clock::getUptime_ms();
-          Clock::getUptime(&uptimeNow);
           if ((uptimeNow - uptimeStartTable) < (currentSequenceIterator->getWaitSeconds() * 1000)) {
             return;
           }
@@ -586,7 +585,12 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command, SerializeIF
     return;
   }
   for (uint8_t i = 0; i < count; i++) {
-    elements[i]->serialize(&storeBuffer, &size, maxSize, SerializeIF::Endianness::BIG);
+    result = elements[i]->serialize(&storeBuffer, &size, maxSize, SerializeIF::Endianness::BIG);
+    if (result != returnvalue::OK) {
+      replyToCommand(result, 0);
+      IPCStore->deleteData(address);
+      return;
+    }
   }
   CommandMessage reply;
   ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);

src/fsfw/tasks/FixedTimeslotTaskBase.h

@@ -9,7 +9,6 @@ class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
  public:
   explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
   ~FixedTimeslotTaskBase() override = default;
-  ;
 
  protected:
   /**

src/fsfw/thermal/Heater.cpp

@@ -196,12 +196,11 @@ void Heater::setSwitch(uint8_t number, ReturnValue_t state, uint32_t* uptimeOfSw
   if (powerSwitcher->getSwitchState(number) == state) {
     *uptimeOfSwitching = INVALID_UPTIME;
   } else {
-    if ((*uptimeOfSwitching == INVALID_UPTIME)) {
+    if (*uptimeOfSwitching == INVALID_UPTIME) {
       powerSwitcher->sendSwitchCommand(number, state);
-      Clock::getUptime(uptimeOfSwitching);
+      *uptimeOfSwitching = Clock::getUptime_ms();
     } else {
-      uint32_t currentUptime;
+      uint32_t currentUptime = Clock::getUptime_ms();
-      Clock::getUptime(&currentUptime);
       if (currentUptime - *uptimeOfSwitching > powerSwitcher->getSwitchDelayMs()) {
         *uptimeOfSwitching = INVALID_UPTIME;
         if (healthHelper.healthTable->isHealthy(getObjectId())) {

src/fsfw/timemanager/CCSDSTime.cpp

@@ -552,10 +552,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short*
   if (to == nullptr or from == nullptr) {
     return returnvalue::FAILED;
   }
-  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
+  int32_t days = (from->dayMSB << 8) + from->dayLSB;
-  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
-    return INVALID_TIME_FORMAT;
-  }
   days -= DAYS_CCSDS_TO_UNIX_EPOCH;
   to->tv_sec = days * SECONDS_PER_DAY;
   uint32_t msDay =

src/fsfw/timemanager/CMakeLists.txt

@@ -1,4 +1,9 @@
 target_sources(
   ${LIB_FSFW_NAME}
-  PRIVATE CCSDSTime.cpp Countdown.cpp Stopwatch.cpp TimeMessage.cpp
+  PRIVATE CCSDSTime.cpp
-          CdsShortTimeStamper.cpp ClockCommon.cpp)
+          Countdown.cpp
+          Stopwatch.cpp
+          TimeMessage.cpp
+          CdsShortTimeStamper.cpp
+          ClockCommon.cpp
+          boost_timegm.cpp)

src/fsfw/timemanager/CdsShortTimeStamper.cpp

@@ -4,6 +4,8 @@
 
 #include "fsfw/timemanager/Clock.h"
 
+CdsShortTimeStamper::CdsShortTimeStamper() : SystemObject(0, false) {}
+
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
 
 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,

src/fsfw/timemanager/CdsShortTimeStamper.h

@@ -18,6 +18,7 @@
 class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
  public:
   static constexpr size_t TIMESTAMP_LEN = 7;
+  CdsShortTimeStamper();
   /**
    * @brief   Default constructor which also registers the time stamper as a
    *          system object so it can be found with the #objectManager.

src/fsfw/timemanager/Clock.h

@@ -16,6 +16,7 @@
 
 class Clock {
  public:
+  // https://xkcd.com/927/
   typedef struct {
     uint32_t year;     //!< Year, A.D.
     uint32_t month;    //!< Month, 1 .. 12.
@@ -26,14 +27,6 @@ class Clock {
     uint32_t usecond;  //!< Microseconds, 0 .. 999999
   } TimeOfDay_t;
 
-  /**
-   * This method returns the number of clock ticks per second.
-   * In RTEMS, this is typically 1000.
-   * @return	The number of ticks.
-   *
-   * @deprecated, we should not worry about ticks, but only time
-   */
-  static uint32_t getTicksPerSecond();
   /**
    * This system call sets the system time.
    * To set the time, it uses a TimeOfDay_t struct.
@@ -61,13 +54,8 @@ class Clock {
   /**
    * Get the time since boot in a timeval struct
    *
-   * @param[out] time A pointer to a timeval struct where the uptime is stored.
+   * @return a timeval struct where the uptime is stored
-   * @return @c returnvalue::OK on success. Otherwise, the OS failure code is returned.
-   *
-   * @deprecated, I do not think this should be able to fail, use timeval getUptime()
    */
-  static ReturnValue_t getUptime(timeval *uptime);
-
   static timeval getUptime();
 
   /**
@@ -79,7 +67,7 @@ class Clock {
    * @param ms uptime in ms
    * @return returnvalue::OK on success. Otherwise, the OS failure code is returned.
    */
-  static ReturnValue_t getUptime(uint32_t *uptimeMs);
+  static uint32_t getUptime_ms();
 
   /**
    * Returns the time in microseconds since an OS-defined epoch.
@@ -90,6 +78,7 @@ class Clock {
    *  - Otherwise, the OS failure code is returned.
    */
   static ReturnValue_t getClock_usecs(uint64_t *time);
+
   /**
    * Returns the time in a TimeOfDay_t struct.
    * @param time A pointer to a TimeOfDay_t struct.
@@ -106,6 +95,7 @@ class Clock {
    * @return
    */
   static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
+
   /**
    * Converts a time of day struct to POSIX seconds.
    * @param time The time of day as input

src/fsfw/timemanager/ClockCommon.cpp

@@ -1,5 +1,7 @@
+#include <cstdlib>
 #include <ctime>
 
+#include "boost_timegm.h"
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/timemanager/Clock.h"
 
@@ -53,34 +55,58 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 }
 
 ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
-  struct tm* timeInfo;
+  struct tm time_tm;
-  // According to https://en.cppreference.com/w/c/chrono/gmtime, the implementation of gmtime_s
+  // WINDOWS does not provide gmtime_r, but gmtime_s
-  // in the Windows CRT is incompatible with the C standard but this should not be an issue for
+#ifdef _MSC_VER
-  // this implementation
+  time_t seconds = from->tv_sec;
-  ReturnValue_t result = checkOrCreateClockMutex();
+  errno_t result = gmtime_s(&time_tm, &seconds);
-  if (result != returnvalue::OK) {
+  if (result != 0) {
-    return result;
+    return returnvalue::FAILED;
   }
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  MutexGuard helper(timeMutex);
-#ifdef PLATFORM_WIN
-  time_t time;
-  time = from->tv_sec;
-  timeInfo = gmtime(&time);
 #else
-  timeInfo = gmtime(&from->tv_sec);
+  void* result = gmtime_r(&from->tv_sec, &time_tm);
+
+  if (result == nullptr) {
+    return returnvalue::FAILED;
+  }
 #endif
-  to->year = timeInfo->tm_year + 1900;
+
-  to->month = timeInfo->tm_mon + 1;
+  to->year = time_tm.tm_year + 1900;
-  to->day = timeInfo->tm_mday;
+  to->month = time_tm.tm_mon + 1;
-  to->hour = timeInfo->tm_hour;
+  to->day = time_tm.tm_mday;
-  to->minute = timeInfo->tm_min;
+  to->hour = time_tm.tm_hour;
-  to->second = timeInfo->tm_sec;
+  to->minute = time_tm.tm_min;
+  to->second = time_tm.tm_sec;
   to->usecond = from->tv_usec;
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
+  struct tm time_tm = {};
+
+  time_tm.tm_year = from->year - 1900;
+  time_tm.tm_mon = from->month - 1;
+  time_tm.tm_mday = from->day;
+
+  time_tm.tm_hour = from->hour;
+  time_tm.tm_min = from->minute;
+  time_tm.tm_sec = from->second;
+
+  time_tm.tm_isdst = 0;
+
+  time_t seconds = internal_timegm(&time_tm);
+
+  to->tv_sec = seconds;
+  to->tv_usec = from->usecond;
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
+  return returnvalue::OK;
+}
+
 ReturnValue_t Clock::checkOrCreateClockMutex() {
   if (timeMutex == nullptr) {
     MutexFactory* mutexFactory = MutexFactory::instance();
@@ -94,3 +120,37 @@ ReturnValue_t Clock::checkOrCreateClockMutex() {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+  timeval time_timeval;
+  ReturnValue_t result = getClock_timeval(&time_timeval);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return convertTimevalToTimeOfDay(&time_timeval, time);
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+  timeval timeVal{};
+  ReturnValue_t result = getClock_timeval(&timeVal);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+  timeval timeTimeval{};
+  ReturnValue_t result = convertTimeOfDayToTimeval(time, &timeTimeval);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return setClock(&timeTimeval);
+}
+uint32_t Clock::getUptime_ms() {
+  timeval uptime = getUptime();
+  // TODO verify that overflow is correct
+  return uptime.tv_sec * 1e3 + uptime.tv_usec / 1e3;
+}