Merge branch 'service_11_bugfixes' into mueller/new-cfdp-update-with-handlers

CHANGELOG.md

@@ -12,19 +12,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
-- `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.
-- `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
-- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
-  to false correctly because the `read` and `write` calls were missing.
-- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
-  of the correct unsegmented flags (0b11) as specified in the standard.
 - TC Scheduler Service 11: Add size and CRC check for contained TC.
 - Only delete health table entry in `HealthHelper` destructor if
   health table was set.
@@ -41,13 +28,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
-- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
-- `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.
@@ -57,10 +37,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
-- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
-  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
-  `HealthServiceCfg` now
-  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
 - `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
@@ -125,16 +101,6 @@ 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
 
-## HAL
-
-- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
-- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
-- SPI: Getter functions for SPI speed and mode.
-
 # [v5.0.0] 25.07.2022
 
 ## Changes

CMakeLists.txt

@@ -196,7 +196,7 @@ message(
 )
 
 # Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(

automation/Jenkinsfile

@@ -1,87 +1,45 @@
 pipeline {
     environment {
-        BUILDDIR_HOST = 'cmake-build-tests-host'
-        BUILDDIR_LINUX = 'cmake-build-tests-linux'
+        BUILDDIR = 'cmake-build-tests'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
             image 'fsfw-ci:d6'
-            args '--network host --sysctl fs.mqueue.msg_max=100'
+            args '--network host'
         }
     }
     stages {
-        stage('Host') {
-            stages{
-                stage('Clean') {
-                    steps {
-                        sh 'rm -rf $BUILDDIR_HOST'
-                    }
-                }
-                stage('Configure') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
-                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
+        stage('Clean') {
+            steps {
+                sh 'rm -rf $BUILDDIR'
+            }
+        }
+        stage('Configure') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                 }
             }
         }
-        stage('Linux') {
-            stages{
-                stage('Clean') {
-                    steps {
-                        sh 'rm -rf $BUILDDIR_LINUX'
-                    }
+        stage('Build') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -j4'
                 }
-                stage('Configure') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
+            }
+        }
+        stage('Unittests') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
                 }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
+            }
+        }
+        stage('Valgrind') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }

docs/conf.py

@@ -51,10 +51,7 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 html_theme = "alabaster"
 
 html_theme_options = {
-    "extra_nav_links": {
-        "Impressum": "https://www.uni-stuttgart.de/impressum",
-        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
-    }
+    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
 }
 
 

src/fsfw/action/CommandActionHelper.h

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

src/fsfw/container/FixedArrayList.h

@@ -12,7 +12,6 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
   static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                 "count_t is not large enough to hold MAX_SIZE");
-  static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");
 
  private:
   T data[MAX_SIZE];

src/fsfw/controller/ControllerBase.cpp

@@ -4,31 +4,48 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/subsystem/SubsystemBase.h"
-#include "fsfw/subsystem/helper.h"
 
-ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
+                               size_t commandQueueDepth)
     : SystemObject(setObjectId),
+      parentId(parentId),
       mode(MODE_OFF),
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
 ReturnValue_t ControllerBase::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
+  ReturnValue_t result = SystemObject::initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-  result = healthHelper.initialize();
+
+  MessageQueueId_t parentQueue = 0;
+  if (parentId != objects::NO_OBJECT) {
+    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    if (parent == nullptr) {
+      return returnvalue::FAILED;
+    }
+    parentQueue = parent->getCommandQueue();
+
+    parent->registerChild(getObjectId());
+  }
+
+  result = healthHelper.initialize(parentQueue);
   if (result != returnvalue::OK) {
     return result;
   }
-  return SystemObject::initialize();
+
+  result = modeHelper.initialize(parentQueue);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  return returnvalue::OK;
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@@ -101,13 +118,3 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
-
-const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
-
-const HasModesIF& ControllerBase::getModeIF() const { return *this; }
-
-ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
-
-ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}

src/fsfw/controller/ControllerBase.h

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

src/fsfw/controller/ExtendedControllerBase.cpp

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

src/fsfw/controller/ExtendedControllerBase.h

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

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -570,10 +570,6 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != returnvalue::OK) {
-    if (result == WRONG_HK_PACKET_TYPE) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
-                          WRONG_HK_PACKET_TYPE);
-    }
     HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
   } else {
     HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@@ -829,8 +825,6 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
       errorPrint = "Dataset not found";
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
-    } else if (error == WRONG_HK_PACKET_TYPE) {
-      errorPrint = "Wrong Packet Type";
     } else if (error == returnvalue::FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

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

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/devicehandlers/AssemblyBase.h"
 
-AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
-    : SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
+AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth)
+    : SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
       internalState(STATE_NONE),
       recoveryState(RECOVERY_IDLE),
       recoveringDevice(childrenMap.end()),
@@ -26,7 +26,11 @@ void AssemblyBase::performChildOperation() {
 
 void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   doStartTransition(mode, submode);
-  triggerModeHelperEvents(mode, submode);
+  if (modeHelper.isForced()) {
+    triggerEvent(FORCING_MODE, mode, submode);
+  } else {
+    triggerEvent(CHANGING_MODE, mode, submode);
+  }
 }
 
 void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@@ -73,10 +77,9 @@ bool AssemblyBase::handleChildrenChangedHealth() {
   }
   HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
   if (healthState == HasHealthIF::NEEDS_RECOVERY) {
-    triggerEvent(TRYING_RECOVERY, iter->first, 0);
+    triggerEvent(TRYING_RECOVERY);
     recoveryState = RECOVERY_STARTED;
     recoveringDevice = iter;
-    // The user needs to take care of commanding the children off in commandChildren
     doStartTransition(targetMode, targetSubmode);
   } else {
     triggerEvent(CHILD_CHANGED_HEALTH);
@@ -225,9 +228,6 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
 bool AssemblyBase::checkAndHandleRecovery() {
   switch (recoveryState) {
     case RECOVERY_STARTED:
-      // The recovery was already start in #handleChildrenChangedHealth and we just need
-      // to wait for an off time period.
-      // TODO: make time period configurable
       recoveryState = RECOVERY_WAIT;
       recoveryOffTimer.resetTimer();
       return true;
@@ -266,11 +266,3 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
   modeHelper.setForced(true);
   sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
 }
-
-void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
-  if (modeHelper.isForced()) {
-    triggerEvent(FORCING_MODE, mode, submode);
-  } else {
-    triggerEvent(CHANGING_MODE, mode, submode);
-  }
-}

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,8 +12,7 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -27,9 +26,11 @@
  *
  * Important:
  *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -41,15 +42,14 @@ class AssemblyBase : public SubsystemBase {
   static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
 
-  AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
+  AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
   virtual ~AssemblyBase();
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
    * @param mode
    * @param submode
    * @return
@@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();
 
-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
   bool handleChildrenChanged();
 
   /**
@@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/ChildHandlerBase.cpp

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

src/fsfw/devicehandlers/ChildHandlerBase.h

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

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,6 +1,5 @@
-#include "DeviceHandlerBase.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -13,7 +12,6 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
-#include "fsfw/subsystem/helper.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -24,6 +22,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
                                      CookieIF* comCookie, FailureIsolationBase* fdirInstance,
                                      size_t cmdQueueSize)
     : SystemObject(setObjectId),
+      mode(MODE_OFF),
+      submode(SUBMODE_NONE),
       wiretappingMode(OFF),
       storedRawData(StorageManagerIF::INVALID_ADDRESS),
       deviceCommunicationId(deviceCommunication),
@@ -38,13 +38,10 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       defaultFDIRUsed(fdirInstance == nullptr),
       switchOffWasReported(false),
       childTransitionDelay(5000),
-      mode(MODE_OFF),
-      submode(SUBMODE_NONE),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -52,6 +49,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", returnvalue::FAILED,
                         "Invalid cookie");
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@@ -129,10 +129,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -356,6 +352,7 @@ void DeviceHandlerBase::doStateMachine() {
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(_MODE_POWER_DOWN);
+        callChildStatemachine();
         break;
       }
       ReturnValue_t switchState = getStateOfSwitches();
@@ -369,12 +366,13 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -569,25 +567,13 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 }
 
 void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
-  /**
-   * handle transition from OFF to NORMAL by continuing towards normal when ON is reached
-   */
-  if (newMode == MODE_ON and continueToNormal) {
-    continueToNormal = false;
-    mode = _MODE_TO_NORMAL;
-    return;
-  }
-
+  /* TODO: This will probably be done by the LocalDataPoolManager now */
+  // changeHK(mode, submode, false);
   submode = newSubmode;
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
-  if (newMode == MODE_OFF) {
-    disableCommandsAndReplies();
-  }
   if (!isTransitionalMode()) {
-    // clear this flag when a non-transitional Mode is reached to be safe
-    continueToNormal = false;
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
@@ -1072,7 +1058,8 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
   return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
 }
 
-// SHOULDDO: throw away DHB and write a new one:
+// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
+// way, throw away DHB and write a new one:
 //  - Include power and thermal completely, but more modular :-)
 //  - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
 //  - Modularization?
@@ -1084,10 +1071,11 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
   if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
     return TRANS_NOT_ALLOWED;
   }
+  if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
+    return TRANS_NOT_ALLOWED;
+  }
 
-  // Do not check thermal state for MODE_RAW
-  if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
-      (thermalSet != nullptr)) {
+  if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
     ReturnValue_t result = thermalSet->read();
     if (result == returnvalue::OK) {
       if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
@@ -1102,7 +1090,6 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
 }
 
 void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
-  continueToNormal = false;
   switch (commandedMode) {
     case MODE_ON:
       handleTransitionToOnMode(commandedMode, commandedSubmode);
@@ -1132,9 +1119,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
     case MODE_NORMAL:
       if (mode != MODE_OFF) {
         setTransition(MODE_NORMAL, commandedSubmode);
-      } else {  // mode is off
-        continueToNormal = true;
-        handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
+      } else {
+        replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
       }
       break;
   }
@@ -1292,7 +1278,6 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
   if (iter->second.command != deviceCommandMap.end()) {
     MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
-    // This may fail, but we'll ignore the fault.
     if (queueId != NO_COMMANDER) {
       // This may fail, but we'll ignore the fault.
       actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
@@ -1471,8 +1456,6 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1495,7 +1478,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
   }
   return returnvalue::OK;
 }
@@ -1525,10 +1508,7 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   for (const auto& reply : deviceReplyMap) {
     if (reply.second.dataSet != nullptr) {
-      PoolReadGuard pg(reply.second.dataSet);
-      if (pg.getReadResult() == returnvalue::OK) {
-        reply.second.dataSet->setValidity(false, true);
-      }
+      reply.second.dataSet->setValidity(false, true);
     }
   }
 }
@@ -1582,52 +1562,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}
-
-Mode_t DeviceHandlerBase::getMode() { return mode; }
-
-Submode_t DeviceHandlerBase::getSubmode() { return submode; }
-
-void DeviceHandlerBase::disableCommandsAndReplies() {
-  for (auto& command : deviceCommandMap) {
-    if (command.second.isExecuting) {
-      command.second.isExecuting = false;
-    }
-  }
-  for (auto& reply : deviceReplyMap) {
-    if (!reply.second.periodic) {
-      if (reply.second.countdown != nullptr) {
-        reply.second.countdown->timeOut();
-      } else {
-        reply.second.delayCycles = 0;
-      }
-      reply.second.active = false;
-    }
-  }
-}
-
-ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}
-
-const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
-
-const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
-
-ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
-
-ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
-                                              ReturnValue_t result) {
-  auto commandIter = deviceCommandMap.find(action);
-  if (commandIter == deviceCommandMap.end()) {
-    return MessageQueueIF::NO_QUEUE;
-  }
-  commandIter->second.isExecuting = false;
-  actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
-  return returnvalue::OK;
-}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -21,7 +21,6 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
-#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -84,8 +83,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                           public HasModesIF,
                           public HasHealthIF,
                           public HasActionsIF,
-                          public ModeTreeChildIF,
-                          public ModeTreeConnectionIF,
                           public ReceivesParameterMessagesIF,
                           public HasLocalDataPoolIF {
   friend void(Factory::setStaticFrameworkObjectIds)();
@@ -105,56 +102,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
-
-  /**
-   * extending the modes of DeviceHandler IF for internal state machine
-   */
-  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
-  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
-  //! This is a transitional state which can not be commanded. The device
-  //! handler performs all commands to get the device in a state ready to
-  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
-  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
-  //! This is a transitional state which can not be commanded.
-  //! The device handler performs all actions and commands to get the device
-  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
-  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-  //! transition if available.
-  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
-  //! It is possible to set the mode to _MODE_TO_ON to use the to on
-  //! transition if available.
-  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
-  //! transition if available.
-  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
-  //! transition if available.
-  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-  //! This is a transitional state which can not be commanded.
-  //! The device is shut down and ready to be switched off.
-  //! After the command to set the switch off has been sent,
-  //! the mode changes to @c _MODE_WAIT_OFF
-  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
-  //! This is a transitional state which can not be commanded. The device
-  //! will be switched on in this state. After the command to set the switch
-  //! on has been sent, the mode changes to @c _MODE_WAIT_ON.
-  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and the handler waits for it to be off.
-  //! When the switch is off, the mode changes to @c MODE_OFF.
-  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
-  //! This is a transitional state which can not be commanded. The switch
-  //! has been commanded on and the handler waits for it to be on.
-  //! When the switch is on, the mode changes to @c _MODE_TO_ON.
-  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and is off now. This state is only to do an RMAP
-  //! cycle once more where the doSendRead() function will set the mode to
-  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
-  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
-
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -170,10 +117,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
       lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
       lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
       uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
-
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
   /**
    * @brief   Helper function to ease device handler development.
    * This will instruct the transition to MODE_ON immediately
@@ -219,7 +162,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return returnvalue::OK for successful execution
    */
-  ReturnValue_t performOperation(uint8_t counter) override;
+  virtual ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -229,14 +172,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  ReturnValue_t initialize() override;
+  virtual ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
    *          This function will be called by the executing task.
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation() override;
+  virtual ReturnValue_t initializeAfterTaskCreation() override;
 
   /** Destructor. */
   virtual ~DeviceHandlerBase();
@@ -253,8 +196,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual object_id_t getObjectId() const override;
 
   /**
-   * This is a helper method for classes which are parent nodes in the mode tree.
-   * It registers the passed queue as the destination for mode and health messages.
    * @param parentQueueId
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
@@ -454,8 +395,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
   MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
-  ReturnValue_t finishAction(bool success, DeviceCommandId_t action, ReturnValue_t result);
-
   /**
    * Helper function to get pending command. This is useful for devices
    * like SPI sensors to identify the last sent command.
@@ -524,14 +463,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
    * @param maxDelayCycles The maximum number of delay cycles the reply waits
-   *    until it times out.
+   * until it times out.
    * @param periodic	Indicates if the command is periodic (i.e. it is sent
-   *    by the device repeatedly without request) or not. Default is aperiodic (0).
-   *    Please note that periodic replies are disabled by default. You can enable them with
-   *    #updatePeriodicReply
+   * by the device repeatedly without request) or not. Default is aperiodic (0).
+   * Please note that periodic replies are disabled by default. You can enable them with
+   * #updatePeriodicReply
    * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *    to provide a pointer to a Countdown object which will signal the timeout
-   *    when expired
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c returnvalue::OK when the command was successfully inserted,
    *          - @c returnvalue::FAILED else.
    */
@@ -716,12 +655,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -751,18 +684,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   size_t rawPacketLen = 0;
 
   /**
-   * Get the current mode
-   *
-   * set via setMode()
+   * The mode the device handler is currently in.
+   * This should never be changed directly but only with setMode()
    */
-  Mode_t getMode();
-
+  Mode_t mode;
   /**
-   * Get the current Submode
-   *
-   * set via setMode()
+   * The submode the device handler is currently in.
+   * This should never be changed directly but only with setMode()
    */
-  Submode_t getSubmode();
+  Submode_t submode;
 
   /** This is the counter value from performOperation(). */
   uint8_t pstStep = 0;
@@ -843,18 +773,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * This is used to keep track of pending replies.
    */
   struct DeviceReplyInfo {
-    //! For Command-Reply combinations:
     //! The maximum number of cycles the handler should wait for a reply
     //! to this command.
-    //!
-    //! Reply Only:
-    //! For periodic replies, this variable will be the number of delay cycles between the replies.
-    //! For the non-periodic variant, this variable is not used as there is no meaningful
-    //! definition for delay
     uint16_t maxDelayCycles;
-    //! This variable will be set to #maxDelayCycles if a reply is expected.
-    //! For non-periodic replies without a command, this variable is unused.
-    //! A runtime value of 0 means there is no reply is currently expected.
+    //! The currently remaining cycles the handler should wait for a reply,
+    //! 0 means there is no reply expected
     uint16_t delayCycles;
     size_t replyLen = 0;  //!< Expected size of the reply.
     //! if this is !=0, the delayCycles will not be reset to 0 but to
@@ -910,7 +833,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -951,8 +873,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
    *
    * If the transition is complete, the mode should be set to the target mode,
-   * which can be deduced from the current mode (which is
-   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
+   * which can be deduced from the current mode which is
+   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
    *
    * The intended target submode is already set.
    * The origin submode can be read in subModeFrom.
@@ -1019,9 +941,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   LocalDataPoolManager *getHkManagerHandle() override;
 
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
-
   /**
    * Returns the delay cycle count of a reply.
    * A count != 0 indicates that the command is already executed.
@@ -1201,22 +1120,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t doSendReadHook();
 
-  /**
-   * Send a RMAP getRead command.
-   *
-   * The size of the getRead command is #maxDeviceReplyLen.
-   * This is always executed, independently from the current mode.
-   */
-  virtual void doSendRead(void);
-  /**
-   * Check the getRead reply and the contained data.
-   *
-   * If data was received scanForReply() and, if successful, handleReply()
-   * are called. If the current mode is @c MODE_RAW, the received packet
-   * is sent to the commanding object via commandQueue.
-   */
-  virtual void doGetRead();
-
  private:
   /**
    * State a cookie is in.
@@ -1267,18 +1170,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   uint32_t childTransitionDelay;
 
-  /**
-   * The mode the device handler is currently in.
-   * This should not be changed directly but only with setMode()
-   */
-  Mode_t mode;
-
-  /**
-   * The submode the device handler is currently in.
-   * This should not be changed directly but only with setMode()
-   */
-  Submode_t submode;
-
   /**
    * @brief   The mode the current transition originated from
    *
@@ -1296,15 +1187,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   Submode_t transitionSourceSubMode;
 
-  /**
-   * used to make the state machine continue from ON to NOMAL when
-   * a Device is commanded to NORMAL in OFF mode
-   *
-   * set in startTransition()
-   * evaluated in setMode() to continue to NORMAL when ON is reached
-   */
-  bool continueToNormal;
-
   /**
    * read the command queue
    */
@@ -1373,6 +1255,21 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * - if the action was successful, the reply timout counter is initialized
    */
   void doGetWrite(void);
+  /**
+   * Send a RMAP getRead command.
+   *
+   * The size of the getRead command is #maxDeviceReplyLen.
+   * This is always executed, independently from the current mode.
+   */
+  void doSendRead(void);
+  /**
+   * Check the getRead reply and the contained data.
+   *
+   * If data was received scanForReply() and, if successful, handleReply()
+   * are called. If the current mode is @c MODE_RAW, the received packet
+   * is sent to the commanding object via commandQueue.
+   */
+  void doGetRead(void);
 
   /**
    * @brief Resets replies which use a timeout to detect missed replies.
@@ -1426,11 +1323,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = returnvalue::FAILED,
                            const char *errorPrint = nullptr);
-
-  /**
-   * @brief Disables all commands and replies when device is set to MODE_OFF
-   */
-  void disableCommandsAndReplies();
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

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

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -24,6 +24,9 @@ class DeviceHandlerIF {
   static const DeviceCommandId_t RAW_COMMAND_ID = -1;
   static const DeviceCommandId_t NO_COMMAND_ID = -2;
 
+  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
+  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+
   using dh_heater_request_t = uint8_t;
   using dh_thermal_state_t = int8_t;
 
@@ -51,6 +54,47 @@ class DeviceHandlerIF {
   //! device still is powered. In this mode, only a mode change to @c MODE_OFF
   //! can be commanded, which tries to switch off the device again.
   static const Mode_t MODE_ERROR_ON = 4;
+  //! This is a transitional state which can not be commanded. The device
+  //! handler performs all commands to get the device in a state ready to
+  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
+  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+  //! This is a transitional state which can not be commanded.
+  //! The device handler performs all actions and commands to get the device
+  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
+  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+  //! transition if available.
+  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+  //! It is possible to set the mode to _MODE_TO_ON to use the to on
+  //! transition if available.
+  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+  //! transition if available.
+  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+  //! transition if available.
+  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+  //! This is a transitional state which can not be commanded.
+  //! The device is shut down and ready to be switched off.
+  //! After the command to set the switch off has been sent,
+  //! the mode changes to @c MODE_WAIT_OFF
+  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+  //! This is a transitional state which can not be commanded. The device
+  //! will be switched on in this state. After the command to set the switch
+  //! on has been sent, the mode changes to @c MODE_WAIT_ON.
+  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and the handler waits for it to be off.
+  //! When the switch is off, the mode changes to @c MODE_OFF.
+  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+  //! This is a transitional state which can not be commanded. The switch
+  //! has been commanded on and the handler waits for it to be on.
+  //! When the switch is on, the mode changes to @c MODE_TO_ON.
+  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and is off now. This state is only to do an RMAP
+  //! cycle once more where the doSendRead() function will set the mode to
+  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
   static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
@@ -65,7 +109,6 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 

src/fsfw/devicehandlers/DeviceTmReportingWrapper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 #define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 
-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/serialize/SerializeIF.h"
+#include "../action/HasActionsIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../serialize/SerializeIF.h"
 
 class DeviceTmReportingWrapper : public SerializeIF {
  public:

src/fsfw/devicehandlers/HealthDevice.cpp

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

src/fsfw/events/EventManager.cpp

@@ -18,13 +18,11 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 EventManager::~EventManager() {
-  listenerList.clear();
   QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
   MutexFactory::instance()->deleteMutex(mutex);
 }
@@ -48,20 +46,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != 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
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
     }
   }
   unlockMutex();
@@ -74,14 +61,9 @@ 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);
 }
@@ -212,19 +194,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -31,7 +31,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
   MessageQueueId_t getEventReportQueue();
 
   ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
-  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
   ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
   ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
@@ -44,7 +43,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/events/EventManagerIF.h

@@ -18,7 +18,6 @@ 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/fdir/FailureIsolationBase.cpp

@@ -9,9 +9,8 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -24,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
     return;
   }
-  manager->unregisterListener(eventQueue->getId());
+  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 
@@ -62,12 +61,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid" << std::endl;
-      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#else
-      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
-      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
+      sif::error << "FailureIsolationBase::intialize: Parent object"
+                 << "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return returnvalue::FAILED;

src/fsfw/fdir/FailureIsolationBase.h

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

src/fsfw/filesystem/HasFileSystemIF.h

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

src/fsfw/globalfunctions/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() { clear(); }
+  virtual ~MatchTree() {}
   virtual bool match(T number) override { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
@@ -176,45 +176,6 @@ 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

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

src/fsfw/health/HealthTable.cpp

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

src/fsfw/health/HealthTable.h

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

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,20 +7,14 @@
 
 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();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-InternalErrorReporter::~InternalErrorReporter() {
-  MutexFactory::instance()->deleteMutex(mutex);
-  QueueFactory::instance()->deleteMessageQueue(commandQueue);
-}
+InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
 
 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
   this->diagnosticPrintout = enable;
@@ -42,14 +36,15 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-                 << newStoreHits << std::endl;
+                 << "occured!" << std::endl;
+      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+      sif::debug << "TM errors: " << newTmHits << std::endl;
+      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug(
-          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-          "| %lu\n",
-          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
-          static_cast<unsigned int>(newStoreHits));
+      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }

src/fsfw/ipc/CommandMessageIF.h

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

src/fsfw/modes/HasModesIF.h

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

src/fsfw/modes/ModeMessage.cpp

@@ -24,19 +24,3 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
   message->setParameter(reason);
   message->setParameter2(0);
 }
-
-void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
-  Command_t cmd;
-  if (recursive) {
-    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
-  } else {
-    cmd = CMD_MODE_ANNOUNCE;
-  }
-  message.setCommand(cmd);
-}
-
-void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
-  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
-}
-
-void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); }

src/fsfw/modes/ModeMessage.h

@@ -1,42 +1,43 @@
 #ifndef FSFW_MODES_MODEMESSAGE_H_
 #define FSFW_MODES_MODEMESSAGE_H_
 
-#include "fsfw/ipc/CommandMessage.h"
+#include "../ipc/CommandMessage.h"
 
 typedef uint32_t Mode_t;
 typedef uint8_t Submode_t;
 
 class ModeMessage {
+ private:
+  ModeMessage();
+
  public:
   static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
-  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
-  //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
-  //! as this will break the subsystem mode machine!!
-  static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);
-  //!> Command to set the specified Mode, regardless of external control flag, replies
-  //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
-  //! replies, as this will break the subsystem mode machine!!
-  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);
-  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
-  static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);
-  //!> Unrequested info about the current mode (used for composites to
-  //! inform their container of a changed mode)
-  static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);
-  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
-  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04);
-  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
-  //! and a transition started but was aborted; the parameters contain
-  //! the mode that was reached
-  static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);
-  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
-  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);
-  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
-  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);
-  //!> Command to trigger an ModeInfo Event and to send this command to
-  //! every child. This command does NOT have a reply.
-  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
-
-  ModeMessage() = delete;
+  static const Command_t CMD_MODE_COMMAND =
+      MAKE_COMMAND_ID(0x01);  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
+                              //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
+                              //! as this will break the subsystem mode machine!!
+  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
+      0xF1);  //!> Command to set the specified Mode, regardless of external control flag, replies
+              //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
+              //! replies, as this will break the subsystem mode machine!!
+  static const Command_t REPLY_MODE_REPLY =
+      MAKE_COMMAND_ID(0x02);  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+  static const Command_t REPLY_MODE_INFO =
+      MAKE_COMMAND_ID(0x03);  //!> Unrequested info about the current mode (used for composites to
+                              //! inform their container of a changed mode)
+  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
+      0x04);  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
+  static const Command_t REPLY_WRONG_MODE_REPLY =
+      MAKE_COMMAND_ID(0x05);  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
+                              //! and a transition started but was aborted; the parameters contain
+                              //! the mode that was reached
+  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
+      0x06);  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
+  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
+      0x07);  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
+  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
+      MAKE_COMMAND_ID(0x08);  //!> Command to trigger an ModeInfo Event and to send this command to
+                              //! every child. This command does NOT have a reply.
 
   static Mode_t getMode(const CommandMessage* message);
   static Submode_t getSubmode(const CommandMessage* message);
@@ -44,9 +45,6 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
-  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
-  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
-  static void setModeReadMessage(CommandMessage& message);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

src/fsfw/objectmanager/ObjectManager.cpp

@@ -23,17 +23,9 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
 
 ObjectManager::ObjectManager() = default;
 
-void ObjectManager::clear() {
-  if (objManagerInstance != nullptr) {
-    delete objManagerInstance;
-    objManagerInstance = nullptr;
-  }
-}
-
 ObjectManager::~ObjectManager() {
-  teardown = true;
-  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
-    delete iter->second;
+  for (auto const& iter : objectList) {
+    delete iter.second;
   }
 }
 
@@ -61,12 +53,6 @@ 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
@@ -109,16 +95,13 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != returnvalue::OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-      sif::printError(
-          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
-          it.first);
-#endif
+                 << std::setfill('0') << var
+                 << " failed to "
+                    "initialize with code 0x"
+                 << result << std::dec << std::setfill(' ') << std::endl;
 #endif
       errorCount++;
     }

src/fsfw/objectmanager/ObjectManager.h

@@ -24,17 +24,12 @@ class ObjectManager : public ObjectManagerIF {
   using produce_function_t = void (*)(void* args);
 
   /**
-   * Returns the single instance of ObjectManager.
+   * Returns the single instance of TaskFactory.
    * 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>
@@ -71,9 +66,6 @@ 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

@@ -1,13 +1,10 @@
 # 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)
@@ -16,20 +13,16 @@ 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..")
 
+else()
+
+  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.")
@@ -38,5 +31,3 @@ else()
 endif()
 
 add_subdirectory(common)
-
-configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -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,
-                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
-                             size_t ringBufferSize, ReceptionModes receptionMode)
+                             size_t receptionBufferSize, size_t ringBufferSize,
+                             std::string customTcpServerPort, ReceptionModes receptionMode)
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(cfg),
+      tcpConfig(std::move(customTcpServerPort)),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -91,15 +91,6 @@ ReturnValue_t TcpTmTcServer::initialize() {
     return returnvalue::FAILED;
   }
 
-  if (tcpConfig.reuseAddr) {
-    unsigned int enable = 1;
-    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
-  }
-  if (tcpConfig.reusePort) {
-    unsigned int enable = 1;
-    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
-  }
-
   // Bind to the address found by getaddrinfo
   retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
   if (retval == SOCKET_ERROR) {
@@ -283,8 +274,6 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
     ConstStorageAccessor storeAccessor(storeId);
     ReturnValue_t result = tmStore->getData(storeId, storeAccessor);
     if (result != returnvalue::OK) {
-      // Invalid entry, pop FIFO
-      tmtcBridge->tmFifo->pop();
       return result;
     }
     if (wiretappingEnabled) {

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:
-    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) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
 
     /**
      * Passed to the recv call
@@ -63,25 +63,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    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;
+    const std::string tcpPort;
   };
 
-  enum class ReceptionModes { SPACE_PACKETS };
-
   static const std::string DEFAULT_SERVER_PORT;
 
   static constexpr size_t ETHERNET_MTU_SIZE = 1500;
@@ -96,9 +80,10 @@ 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::TcpConfig cfg,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
                 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;
 

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", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u\n", 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

@@ -1,36 +0,0 @@
-#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/parameters/HasParametersIF.h

@@ -66,8 +66,7 @@ class HasParametersIF {
    * @param newValues
    * @param startAtIndex Linear index, runs left to right, top to bottom for
    * matrix indexes.
-   * @return returnvalue::OK if parameter is valid and a set function of the parameter wrapper was
-   * called.
+   * @return
    */
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                                      ParameterWrapper *parameterWrapper,

src/fsfw/parameters/ParameterWrapper.cpp

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

src/fsfw/power/PowerSwitchIF.h

@@ -29,9 +29,9 @@ class PowerSwitchIF {
   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;
-  //!< 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);
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
+      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
+                          //!< Low, Parameter1: switchId1, Parameter2: switchId2
   /**
    * send a direct command to the Power Unit to enable/disable the specified switch.
    *

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -3,7 +3,7 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/power/PowerSwitchIF.h>
 
-PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
                                                power::Switch_t pwrSwitch)
     : SystemObject(objectId),
       switcher(pwrSwitcher, pwrSwitch),
@@ -54,7 +54,7 @@ ReturnValue_t PowerSwitcherComponent::initialize() {
 
 MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
 
-void PowerSwitcherComponent::getMode(Mode_t* mode, Submode_t* submode) {
+void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
   *mode = this->mode;
   *submode = this->submode;
 }
@@ -65,7 +65,7 @@ ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
 }
 
 ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                       uint32_t* msToReachTheMode) {
+                                                       uint32_t *msToReachTheMode) {
   *msToReachTheMode = 5000;
   if (mode != MODE_ON and mode != MODE_OFF) {
     return TRANS_NOT_ALLOWED;
@@ -105,15 +105,3 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
 }
 
 HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }
-
-const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this; }
-
-const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
-
-ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return parent.registerChild(*this);
-}
-
-object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
-
-ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }

src/fsfw/power/PowerSwitcherComponent.h

@@ -8,8 +8,6 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitcher.h>
 #include <fsfw/power/definitions.h>
-#include <fsfw/subsystem/ModeTreeChildIF.h>
-#include <fsfw/subsystem/ModeTreeConnectionIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
 class PowerSwitchIF;
@@ -26,17 +24,12 @@ class PowerSwitchIF;
  */
 class PowerSwitcherComponent : public SystemObject,
                                public ExecutableObjectIF,
-                               public ModeTreeChildIF,
-                               public ModeTreeConnectionIF,
                                public HasModesIF,
                                public HasHealthIF {
  public:
   PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
                          power::Switch_t pwrSwitch);
 
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
  private:
   MessageQueueIF *queue = nullptr;
   PowerSwitcher switcher;
@@ -63,10 +56,6 @@ class PowerSwitcherComponent : public SystemObject,
 
   ReturnValue_t setHealth(HealthState health) override;
   HasHealthIF::HealthState getHealth() override;
-
-  object_id_t getObjectId() const override;
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
 };
 
 #endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/pus/CMakeLists.txt

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

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -20,7 +20,6 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
     case (Subservice::COMMAND_MODE_ANNCOUNCE):
-    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -54,36 +53,16 @@ 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) {
-  switch (subservice) {
-    case (Subservice::COMMAND_MODE_COMMAND): {
-      ModePacket modeCommandPacket;
-      ReturnValue_t result =
-          modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-
-      ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND,
-                                  modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
-      return returnvalue::OK;
-    }
-    case (Subservice::COMMAND_MODE_ANNCOUNCE):
-    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY): {
-      bool recursive = true;
-      if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) {
-        recursive = false;
-      }
-      ModeMessage::setModeAnnounceMessage(*message, recursive);
-      return EXECUTION_COMPLETE;
-    }
-    case (Subservice::COMMAND_MODE_READ): {
-      ModeMessage::setModeReadMessage(*message);
-      return returnvalue::OK;
-    }
-    default: {
-      return CommandingServiceBase::INVALID_SUBSERVICE;
-    }
+  ModePacket modeCommandPacket;
+  ReturnValue_t result =
+      modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+  if (result != returnvalue::OK) {
+    return result;
   }
+
+  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+                              modeCommandPacket.getSubmode());
+  return result;
 }
 
 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
@@ -94,10 +73,8 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
   ReturnValue_t result = returnvalue::FAILED;
   switch (replyId) {
     case (ModeMessage::REPLY_MODE_REPLY): {
-      if (previousCommand != ModeMessage::CMD_MODE_COMMAND) {
-        return prepareModeReply(reply, objectId);
-      }
-      return returnvalue::OK;
+      result = prepareModeReply(reply, objectId);
+      break;
     }
     case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
       result = prepareWrongModeReply(reply, objectId);

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -0,0 +1,106 @@
+#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/CService201HealthCommanding.h

@@ -1,26 +1,8 @@
 #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, HealthTable &healthTable,
-                   uint16_t maxNumHealthInfoPerCycle)
-      : objectId(objectId),
-        apid(apid),
-        table(healthTable),
-        maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
-  object_id_t objectId;
-  uint16_t apid;
-  HealthTable &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.
@@ -35,10 +17,11 @@ struct HealthServiceCfg {
  * child class like this service
  *
  */
-class CServiceHealthCommanding : public CommandingServiceBase {
+class CService201HealthCommanding : public CommandingServiceBase {
  public:
-  CServiceHealthCommanding(HealthServiceCfg args);
-  ~CServiceHealthCommanding() override = default;
+  CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
+                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
+  ~CService201HealthCommanding() override = default;
 
  protected:
   /* CSB abstract function implementations */
@@ -54,13 +37,7 @@ class CServiceHealthCommanding : public CommandingServiceBase {
                             CommandMessage *optionalNextCommand, object_id_t objectId,
                             bool *isStep) override;
 
-  void doPeriodicOperation() override;
-
  private:
-  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/CServiceHealthCommanding.cpp

@@ -1,152 +0,0 @@
-#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),
-      healthTable(args.table),
-      maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
-
-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): {
-      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): {
-      ReturnValue_t result = iterateHealthTable(true);
-      if (result == returnvalue::OK) {
-        reportAllHealth = true;
-        return EXECUTION_COMPLETE;
-      }
-      return result;
-      while (true) {
-        ReturnValue_t result = iterateHealthTable(false);
-        if (result != returnvalue::OK) {
-          break;
-        }
-      }
-
-      return returnvalue::OK;
-    }
-    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/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/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
+#include "fsfw/globalfunctions/CRC.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
@@ -79,7 +79,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
   // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
   // does not work in this case as we are deleting the current element here.
   for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
-    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
+    if (it->first <= tNow.tv_sec) {
       if (schedulingEnabled) {
         // release tc
         TmTcMessage releaseMsg(it->second.storeAddr);
@@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   if (CRC::crc16ccitt(data, size) != 0) {
     return CONTAINED_TC_CRC_MISSMATCH;
   }
-
+  
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

src/fsfw/pus/Service17Test.cpp

@@ -1,7 +1,5 @@
 #include "fsfw/pus/Service17Test.h"
 
-#include <fsfw/serialize/SerializeElement.h>
-
 #include "fsfw/FSFW.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -33,15 +31,6 @@ ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
       }
       return tmHelper.storeAndSendTmPacket();
     }
-    case Subservice::PING_WITH_DATA: {
-      SerializeElement<uint32_t> receivedDataLen = currentPacket.getUserDataLen();
-      ReturnValue_t result =
-          tmHelper.prepareTmPacket(Subservice::PING_WITH_DATA_REPORT_WITH_SIZE, receivedDataLen);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      return tmHelper.storeAndSendTmPacket();
-    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }

src/fsfw/pus/Service17Test.h

@@ -32,9 +32,6 @@ class Service17Test : public PusServiceBase {
     CONNECTION_TEST_REPORT = 2,
     //!  [EXPORT] : [COMMAND] Trigger test reply and test event
     EVENT_TRIGGER_TEST = 128,
-    PING_WITH_DATA = 129,
-    //! [EXPORT] : [COMMAND] Report which reports the sent user data size
-    PING_WITH_DATA_REPORT_WITH_SIZE = 130
   };
 
   explicit Service17Test(PsbParams params);

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: 0x" << std::hex << *objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
+    sif::error << "Object ID: " << std::hex << objectId << std::dec << 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/Service3Housekeeping.cpp

@@ -208,17 +208,17 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
       ReturnValue_t error = returnvalue::FAILED;
       HousekeepingMessage::getHkRequestFailureReply(reply, &error);
       failureParameter2 = error;
-      return returnvalue::FAILED;
+      return CommandingServiceBase::EXECUTION_COMPLETE;
     }
 
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << std::endl;
+                   << "reply command " << command << "!" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
           command);
 #endif
       return CommandingServiceBase::INVALID_REPLY;
@@ -248,28 +248,19 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
     case (HousekeepingMessage::HK_REQUEST_FAILURE): {
       break;
     }
-    case (CommandMessage::REPLY_REJECTED): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
-                      "rejected with error code"
-                   << reply->getParameter() << std::endl;
-#else
-#endif
-      break;
-    }
 
     default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
                       "command "
-                   << command << "" << std::endl;
+                   << command << "!" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
           command);
 #endif
-      break;
+      return;
     }
   }
 
@@ -284,7 +275,6 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
         "Could not generate reply!\n");
 #endif
   }
-  CommandingServiceBase::handleUnrequestedReply(reply);
 }
 
 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }

src/fsfw/pus/Service5EventReporting.cpp

@@ -13,10 +13,8 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
       storeHelper(params.apid),
       tmHelper(params.serviceId, storeHelper, sendHelper),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
   psbParams.name = "PUS 5 Event Reporting";
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -40,6 +38,9 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+#endif
   return returnvalue::OK;
 }
 

src/fsfw/pus/Service5EventReporting.h

@@ -42,7 +42,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10,
-                         uint32_t messageQueueDepth = 20);
+                         uint32_t messageQueueDepth = 10);
   ~Service5EventReporting() override;
 
   /***

src/fsfw/pus/Service9TimeManagement.cpp

@@ -1,7 +1,5 @@
 #include "fsfw/pus/Service9TimeManagement.h"
 
-#include <cmath>
-
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -17,17 +15,9 @@ 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;
   }
@@ -43,14 +33,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  timeval time;
-  Clock::getClock_timeval(&time);
+  uint32_t formerUptime;
+  Clock::getUptime(&formerUptime);
   result = Clock::setClock(&timeToSet);
 
   if (result == returnvalue::OK) {
-    timeval newTime;
-    Clock::getClock_timeval(&newTime);
-    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
+    uint32_t newUptime;
+    Clock::getUptime(&newUptime);
+    triggerEvent(CLOCK_SET, newUptime, formerUptime);
     return returnvalue::OK;
   } else {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);

src/fsfw/pus/Service9TimeManagement.h

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

src/fsfw/pus/servicepackets/Service200Packets.h

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

src/fsfw/subsystem/CMakeLists.txt

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

src/fsfw/subsystem/HasModeTreeChildrenIF.h

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

src/fsfw/subsystem/ModeTreeChildIF.h

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

src/fsfw/subsystem/ModeTreeConnectionIF.h

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

src/fsfw/subsystem/Subsystem.cpp

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

src/fsfw/subsystem/Subsystem.h

@@ -33,12 +33,8 @@ struct SequenceEntry : public TableSequenceBase {
 };
 
 /**
- * @brief   This class extends the SubsystemBase to perform the management of mode tables
- *          and mode sequences
+ * @brief   TODO: documentation missing
  * @details
- * This class is able to use mode tables and sequences to command all its children into the
- * right mode. Fallback sequences can be used to handle failed transitions or have a fallback
- * in case a component can't keep its current mode.
  */
 class Subsystem : public SubsystemBase, public HasModeSequenceIF {
  public:
@@ -66,7 +62,8 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    */
-  Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
+  Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+            uint32_t maxNumberOfTables);
   virtual ~Subsystem();
 
   ReturnValue_t addSequence(SequenceEntry sequence);

src/fsfw/subsystem/SubsystemBase.cpp

@@ -1,24 +1,50 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
-#include "fsfw/FSFW.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw/subsystem/helper.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
-SubsystemBase::SubsystemBase(object_id_t setObjectId, Mode_t initialMode,
+SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode,
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
+      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+                                                                CommandMessage::MAX_MESSAGE_SIZE)),
       healthHelper(this, setObjectId),
-      modeHelper(this) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
+      modeHelper(this),
+      parentId(parent) {}
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
+ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
+  ChildInfo info;
+
+  HasModesIF* child = ObjectManager::instance()->get<HasModesIF>(objectId);
+  // This is a rather ugly hack to have the changedHealth info for all
+  // children available.
+  HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
+  if (child == nullptr) {
+    if (healthChild == nullptr) {
+      return CHILD_DOESNT_HAVE_MODES;
+    } else {
+      info.commandQueue = healthChild->getCommandQueue();
+      info.mode = MODE_OFF;
+    }
+  } else {
+    info.commandQueue = child->getCommandQueue();
+    info.mode = -1;  // intentional to force an initial command during system startup
+  }
+
+  info.submode = SUBMODE_NONE;
+  info.healthChanged = false;
+
+  auto resultPair = childrenMap.emplace(objectId, info);
+  if (not resultPair.second) {
+    return COULD_NOT_INSERT_CHILD;
+  }
+  return returnvalue::OK;
+}
+
 ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter,
                                                     Submode_t targetSubmode) {
   std::map<object_id_t, ChildInfo>::iterator childIter;
@@ -58,8 +84,7 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     if ((iter = childrenMap.find(object)) == childrenMap.end()) {
       // illegal table entry, should only happen due to misconfigured mode table
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
-                 << std::endl;
+      sif::debug << std::hex << getObjectId() << ": invalid mode table entry" << std::endl;
 #endif
       continue;
     }
@@ -130,15 +155,36 @@ ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bo
 MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t SubsystemBase::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
+  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
+  ReturnValue_t result = SystemObject::initialize();
+
   if (result != returnvalue::OK) {
     return result;
   }
-  result = healthHelper.initialize();
+
+  if (parentId != objects::NO_OBJECT) {
+    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    if (parent == nullptr) {
+      return returnvalue::FAILED;
+    }
+    parentQueue = parent->getCommandQueue();
+
+    parent->registerChild(getObjectId());
+  }
+
+  result = healthHelper.initialize(parentQueue);
+
   if (result != returnvalue::OK) {
     return result;
   }
-  return SystemObject::initialize();
+
+  result = modeHelper.initialize(parentQueue);
+
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  return returnvalue::OK;
 }
 
 ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
@@ -191,14 +237,8 @@ ReturnValue_t SubsystemBase::handleModeReply(CommandMessage* message) {
 }
 
 ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter) {
-  for (; tableIter.value != nullptr; ++tableIter) {
+  for (; tableIter.value != NULL; ++tableIter) {
     if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      using namespace std;
-      sif::warning << "SubsystemBase::checkTable: Could not find object " << setfill('0') << hex
-                   << "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8)
-                   << setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl;
-#endif
       return TABLE_CONTAINS_INVALID_OBJECT_ID;
     }
   }
@@ -283,33 +323,4 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
 
-ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}
-
-object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); }
-
 void SubsystemBase::modeChanged() {}
-
-ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
-  ChildInfo info;
-
-  const HasModesIF& modeChild = child.getModeIF();
-  // intentional to force an initial command during system startup
-  info.commandQueue = modeChild.getCommandQueue();
-  info.mode = HasModesIF::MODE_UNDEFINED;
-  info.submode = SUBMODE_NONE;
-  info.healthChanged = false;
-
-  auto resultPair = childrenMap.emplace(child.getObjectId(), info);
-  if (not resultPair.second) {
-    return COULD_NOT_INSERT_CHILD;
-  }
-  return returnvalue::OK;
-}
-
-const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
-
-const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
-
-ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }

src/fsfw/subsystem/SubsystemBase.h

@@ -3,35 +3,23 @@
 
 #include <map>
 
-#include "fsfw/container/HybridIterator.h"
-#include "fsfw/health/HasHealthIF.h"
-#include "fsfw/health/HealthHelper.h"
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/modes/HasModesIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
-#include "fsfw/subsystem/ModeTreeConnectionIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "../container/HybridIterator.h"
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../modes/HasModesIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/returnvalue.h"
+#include "../tasks/ExecutableObjectIF.h"
 #include "modes/HasModeSequenceIF.h"
 
 /**
  * @defgroup subsystems Subsystem Objects
- * All Subsystem and Assemblies can derive from this class. It contains helper classes to
- * perform mode and health handling, which allows OBSW developers to build a mode tree for
- * the whole satellite.
- *
- * Aside from setting up a mode tree and being able to executing mode tables, this class does not
- * provide an implementation on what to do with the features. To build a mode tree, helper classes
- * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
- * class.
+ * Contains all Subsystem and Assemblies
  */
 class SubsystemBase : public SystemObject,
                       public HasModesIF,
                       public HasHealthIF,
-                      public HasModeTreeChildrenIF,
-                      public ModeTreeConnectionIF,
-                      public ModeTreeChildIF,
                       public ExecutableObjectIF {
  public:
   static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
@@ -41,34 +29,32 @@ class SubsystemBase : public SystemObject,
   static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04);
   static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID = MAKE_RETURN_CODE(0x05);
 
-  SubsystemBase(object_id_t setObjectId, Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
+  SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode = 0,
+                uint16_t commandQueueDepth = 8);
   virtual ~SubsystemBase();
 
   virtual MessageQueueId_t getCommandQueue() const override;
 
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
   /**
    * Function to register the child objects.
    * Performs a checks if the child does implement HasHealthIF and/or HasModesIF
    *
-   *    Also adds them to the internal childrenMap.
+   * 	Also adds them to the internal childrenMap.
    *
    * @param objectId
    * @return returnvalue::OK if successful
-   *           CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
-   *           COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
+   * 		   CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
+   * 		   COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
    */
-  ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
+  ReturnValue_t registerChild(object_id_t objectId);
 
-  ReturnValue_t initialize() override;
+  virtual ReturnValue_t initialize() override;
 
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
-  ReturnValue_t setHealth(HealthState health) override;
+  virtual ReturnValue_t setHealth(HealthState health) override;
 
-  HasHealthIF::HealthState getHealth() override;
+  virtual HasHealthIF::HealthState getHealth() override;
 
  protected:
   struct ChildInfo {
@@ -95,6 +81,8 @@ class SubsystemBase : public SystemObject,
 
   ModeHelper modeHelper;
 
+  const object_id_t parentId;
+
   typedef std::map<object_id_t, ChildInfo> ChildrenMap;
   ChildrenMap childrenMap;
 
@@ -107,7 +95,6 @@ class SubsystemBase : public SystemObject,
                                        Submode_t targetSubmode);
 
   /**
-   * This function takes care of sending all according mode commands specified inside a mode table.
    * We need to know the target Submode, as children are able to inherit the submode
    * Still, we have a default for all child implementations which do not use submode inheritance
    */
@@ -141,10 +128,6 @@ class SubsystemBase : public SystemObject,
 
   virtual void getMode(Mode_t *mode, Submode_t *submode) override;
 
-  object_id_t getObjectId() const override;
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
-
   virtual void setToExternalControl() override;
 
   virtual void announceMode(bool recursive) override;

src/fsfw/subsystem/helper.cpp

@@ -1,15 +0,0 @@
-#include "helper.h"
-
-ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent,
-                                              const ModeTreeChildIF& child,
-                                              HealthHelper* healthHelper, ModeHelper& modeHelper) {
-  ReturnValue_t result = parent.registerChild(child);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  if (healthHelper != nullptr) {
-    healthHelper->setParentQueue(parent.getCommandQueue());
-  }
-  modeHelper.setParentQueue(parent.getCommandQueue());
-  return returnvalue::OK;
-}

src/fsfw/subsystem/helper.h

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

src/fsfw/thermal/AbstractTemperatureSensor.cpp

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

src/fsfw/thermal/AbstractTemperatureSensor.h

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

src/fsfw/thermal/Heater.cpp

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

src/fsfw/thermal/ThermalComponentIF.h

@@ -13,9 +13,9 @@ class ThermalComponentIF : public HasParametersIF {
   static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, severity::LOW);
   static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, severity::LOW);
   static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, severity::LOW);
-  //!< Is thrown when a device should start-up, but the temperature is out
-  //!< of OP range. P1: thermalState of the component, P2: 0
-  static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, severity::LOW);
+  static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(
+      5, severity::LOW);  //!< Is thrown when a device should start-up, but the temperature is out
+                          //!< of OP range. P1: thermalState of the component, P2: 0
 
   static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_COMPONENT_IF;
   static const ReturnValue_t INVALID_TARGET_STATE = MAKE_RETURN_CODE(1);

src/fsfw/timemanager/Countdown.cpp

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

src/fsfw/timemanager/Countdown.h

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

src/fsfw/tmstorage/TmStoreBackendIF.h

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

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp

@@ -100,6 +100,5 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa
 void PusTcCreator::setup() {
   spCreator.setPacketType(ccsds::PacketType::TC);
   spCreator.setSecHeaderFlag();
-  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
   updateSpLengthField();
 }

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp

@@ -119,7 +119,6 @@ void PusTmCreator::setup() {
   updateSpLengthField();
   spCreator.setPacketType(ccsds::PacketType::TM);
   spCreator.setSecHeaderFlag();
-  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
 }
 
 void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -27,10 +27,8 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
       verificationReporter(verificationReporter),
       commandMap(numberOfParallelCommands),
       name(name) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
-  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
-  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
 
 void CommandingServiceBase::setPacketSource(object_id_t packetSource_) {
@@ -225,7 +223,7 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result, Comma
 
   // In case a new command is to be sent immediately, this is performed here.
   // If no new command is sent, only analyse reply result by initializing
-  // sendResult as returnvalue::OK
+  // sendResult as RETURN_OK
   ReturnValue_t sendResult = returnvalue::OK;
   if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
     sendResult = commandQueue->sendMessage(reply->getSender(), nextCommand);

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -27,8 +27,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
   ReturnValue_t result = performService();
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PusService " << static_cast<int>(psbParams.serviceId)
-               << ": performService returned with " << static_cast<uint16_t>(result) << std::endl;
+    sif::error << "PusService " << psbParams.serviceId << ": performService returned with "
+               << static_cast<uint16_t>(result) << std::endl;
 #endif
     return returnvalue::FAILED;
   }

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -16,9 +16,7 @@ TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDes
       tcDestination(tcDestination)
 
 {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
-      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@@ -37,7 +35,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC
   }
 }
 
-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) {
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) {
   if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
     this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
     return returnvalue::OK;
@@ -145,17 +143,13 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 #endif /* FSFW_VERBOSE_LEVEL >= 3 */
 
     if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) {
-      ReturnValue_t result = storeDownlinkData(&message);
-      if (result != returnvalue::OK) {
-        tmStore->deleteData(message.getStorageId());
-      }
+      storeDownlinkData(&message);
       continue;
     }
 
     result = tmStore->getData(message.getStorageId(), &data, &size);
     if (result != returnvalue::OK) {
       status = result;
-      tmStore->deleteData(message.getStorageId());
       continue;
     }
 
@@ -163,9 +157,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
     if (result != returnvalue::OK) {
       status = result;
     } else {
+      tmStore->deleteData(message.getStorageId());
       packetSentCounter++;
     }
-    tmStore->deleteData(message.getStorageId());
   }
   return status;
 }
@@ -177,18 +171,15 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
   }
 
   if (tmFifo->full()) {
-    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-                      "of stored packet IDs reached!"
-                   << std::endl;
+    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+                    "of stored packet IDs reached!"
+                 << std::endl;
 #else
-      sif::printWarning(
-          "TmTcBridge::storeDownlinkData: TM downlink max. number "
-          "of stored packet IDs reached!\n");
+    sif::printWarning(
+        "TmTcBridge::storeDownlinkData: TM downlink max. number "
+        "of stored packet IDs reached!\n");
 #endif
-      warningSwitch = false;
-    }
     if (overwriteOld) {
       tmFifo->retrieve(&storeId);
       tmStore->deleteData(storeId);
@@ -230,7 +221,6 @@ ReturnValue_t TmTcBridge::handleStoredTm() {
     packetSentCounter++;
 
     if (tmFifo->empty()) {
-      warningSwitch = true;
       tmStored = false;
     }
     tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -17,7 +17,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
  public:
   static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
   static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-  static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 1000;
+  static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
 
   static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
   static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
@@ -42,7 +42,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    * @return -@c returnvalue::OK if value was set successfully
    *         -@c returnvalue::FAILED otherwise, stored value stays the same
    */
-  ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored);
+  ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
 
   /**
    * This will set up the bridge to overwrite old data in the FIFO.
@@ -91,7 +91,6 @@ class TmTcBridge : public AcceptsTelemetryIF,
   //! by default, so telemetry will be handled immediately.
   bool communicationLinkUp = true;
   bool tmStored = false;
-  bool warningSwitch = true;
   bool overwriteOld = true;
   uint8_t packetSentCounter = 0;
 
@@ -153,7 +152,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    */
   DynamicFIFO<store_address_t>* tmFifo = nullptr;
   uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-  unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+  uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */

src/fsfw_hal/common/gpio/GpioIF.h

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

src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -17,7 +17,7 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
 
 enum class Direction : int { IN = 0, OUT = 1 };
 

src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -252,8 +252,6 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0));
   return returnvalue::OK;
 }
 

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -195,7 +195,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
 #endif
       return DeviceHandlerIF::INVALID_DATA;
     }
-    if (getMode() == _MODE_START_UP) {
+    if (mode == _MODE_START_UP) {
       commandExecuted = true;
     }
 
@@ -224,7 +224,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
         return DeviceHandlerIF::INVALID_DATA;
       }
 
-      if (getMode() == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
         commandExecuted = true;
       }
     }
@@ -371,16 +371,13 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
 
 ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
                                                          size_t commandDataLen) {
-  if (commandData == nullptr) {
-    return INVALID_COMMAND_PARAMETER;
-  }
   triggerEvent(CHANGE_OF_SETUP_PARAMETER);
   uint32_t size = 2;
   commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
   if (commandDataLen > 1) {
     return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
   }
-  switch (commandData[0]) {
+  switch (*commandData) {
     case (MGMLIS3MDL::ON): {
       commandBuffer[1] = registers[0] | (1 << 7);
       break;

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -169,7 +169,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
     case (RM3100::CONFIGURE_CYCLE_COUNT):
     case (RM3100::CONFIGURE_TMRC): {
       // We can only check whether write was successful with read operation
-      if (getMode() == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
         commandExecuted = true;
       }
       break;
@@ -192,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
       if (packet[1] == tmrcRegValue) {
         commandExecuted = true;
         // Reading TMRC was commanded. Trigger event to inform ground
-        if (getMode() != _MODE_START_UP) {
+        if (mode != _MODE_START_UP) {
           triggerEvent(tmrcSet, tmrcRegValue, 0);
         }
       } else {
@@ -211,7 +211,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
       }
       // Reading TMRC was commanded. Trigger event to inform ground
-      if (getMode() != _MODE_START_UP) {
+      if (mode != _MODE_START_UP) {
         uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
         triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
       }
@@ -325,12 +325,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   // trickery here to calculate the raw values first
   int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
   int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
 
   // Now scale to physical value in microtesla
   float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
   if (periodicPrintout) {
     if (debugDivider.checkAndIncrement()) {

src/fsfw_hal/linux/UnixFileGuard.cpp

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

src/fsfw_hal/linux/UnixFileGuard.h

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

src/fsfw_hal/linux/gpio/Gpio.h

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

src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -214,7 +214,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 }
 
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
@@ -244,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
 }
 
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
@@ -294,8 +294,8 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
   return returnvalue::OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
+  gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
@@ -313,10 +313,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
-    if (gpioState == gpio::Levels::FAILED) {
-      return GPIO_GET_VALUE_FAILED;
-    }
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -377,7 +374,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
                                                     gpio::GpioTypes expectedType,
                                                     GpioMap& mapToAdd) {
   // Cross check with private map
-  auto gpioMapIter = gpioMap.find(gpioIdToCheck);
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
   if (gpioMapIter != gpioMap.end()) {
     auto& gpioType = gpioMapIter->second->gpioType;
     bool eraseDuplicateDifferentType = false;

src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -25,8 +25,6 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
   static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = returnvalue::makeCode(gpioRetvalId, 4);
   static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = returnvalue::makeCode(gpioRetvalId, 5);
   static constexpr ReturnValue_t GPIO_INIT_FAILED = returnvalue::makeCode(gpioRetvalId, 6);
-  // Will be returned if getting the line value failed. Error type will be set to errno in this case
-  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED = returnvalue::makeCode(gpioRetvalId, 7);
 
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();
@@ -34,7 +32,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
   ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
   ReturnValue_t pullHigh(gpioId_t gpioId) override;
   ReturnValue_t pullLow(gpioId_t gpioId) override;
-  ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
  private:
   static const size_t MAX_CHIPNAME_LENGTH = 11;
@@ -44,6 +42,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 
   // Holds the information and configuration of all used GPIOs
   GpioUnorderedMap gpioMap;
+  GpioUnorderedMapIter gpioMapIter;
 
   /**
    * @brief	This functions drives line of a GPIO specified by the GPIO ID.

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -109,17 +109,14 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
   }
 
   if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
-    i2cCookie->errorCounter++;
-    if (i2cCookie->errorCounter < 3) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                    "device with error code "
-                 << errno << ". Error description: " << strerror(errno) << std::endl;
+    sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+                  "device with error code "
+               << errno << ". Error description: " << strerror(errno) << std::endl;
 #endif
-    }
     return returnvalue::FAILED;
   }
-  i2cCookie->errorCounter = 0;
+
 #if FSFW_HAL_I2C_WIRETAPPING == 1
   sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
   arrayprinter::print(sendData, sendLen);
@@ -183,6 +180,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     }
 #else
 #endif
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
 #endif
     return returnvalue::FAILED;
   }

src/fsfw_hal/linux/i2c/I2cCookie.h

@@ -27,8 +27,6 @@ class I2cCookie : public CookieIF {
   size_t getMaxReplyLen() const;
   std::string getDeviceFile() const;
 
-  uint8_t errorCounter = 0;
-
  private:
   address_t i2cAddress = 0;
   size_t maxReplyLen = 0;

src/fsfw_hal/linux/serial/SerialComIF.cpp

@@ -2,7 +2,6 @@
 
 #include <errno.h>
 #include <fcntl.h>
-#include <fsfw_hal/linux/serial/SerialComIF.h>
 #include <termios.h>
 #include <unistd.h>