.run/fsfw-tests_coverage.run.xml

@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
-    <method v="2">
-      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/fsfw.run.xml

@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
-    <method v="2">
-      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-    </method>
-  </configuration>
-</component>

CMakeLists.txt

@@ -183,7 +183,10 @@ if(FSFW_BUILD_UNITTESTS)
   endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
+message(
+  STATUS
+    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
+)
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -191,7 +194,7 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "No ETL installation was found with find_package. Installing and providing "
+      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
       "etl with FindPackage")
   include(FetchContent)
 

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

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

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

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

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

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

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

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

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

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

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

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

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

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

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

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

scripts/auto-formatter.sh

@@ -3,6 +3,12 @@ if [[ ! -f README.md ]]; then
   cd ..
 fi
 
+folder_list=(
+  "./src"
+  "./hal"
+  "./tests"
+)
+
 cmake_fmt="cmake-format"
 file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
@@ -15,9 +21,10 @@ fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
-  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
+  for dir in ${folder_list[@]}; do
-  find ./hal ${file_selectors} | xargs ${cpp_format} --style=file -i
+    echo "Auto-formatting ${dir} recursively"
-  find ./tests ${file_selectors} | xargs ${cpp_format} --style=file -i
+    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
+  done
 else
   echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -577,6 +577,10 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result == WRONG_HK_PACKET_TYPE) {
+      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
+                          WRONG_HK_PACKET_TYPE);
+    }
     HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
   } else {
     HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@@ -834,6 +838,8 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
       errorPrint = "Dataset not found";
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
+    } else if (error == WRONG_HK_PACKET_TYPE) {
+      errorPrint = "Wrong Packet Type";
     } else if (error == HasReturnvaluesIF::RETURN_FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -572,6 +572,9 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
+  if (newMode == MODE_OFF) {
+    disableCommandsAndReplies();
+  }
   if (!isTransitionalMode()) {
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
@@ -1567,3 +1570,21 @@ void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
 void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
   this->powerSwitcher = switcher;
 }
+
+void DeviceHandlerBase::disableCommandsAndReplies() {
+  for (auto& command : deviceCommandMap) {
+    if (command.second.isExecuting) {
+      command.second.isExecuting = false;
+    }
+  }
+  for (auto& reply : deviceReplyMap) {
+    if (!reply.second.periodic) {
+      if (reply.second.countdown != nullptr) {
+        reply.second.countdown->timeOut();
+      } else {
+        reply.second.delayCycles = 0;
+      }
+      reply.second.active = false;
+    }
+  }
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -1326,6 +1326,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
                            const char *errorPrint = nullptr);
+
+  /**
+   * @brief Disables all commands and replies when device is set to MODE_OFF
+   */
+  void disableCommandsAndReplies();
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

src/fsfw/globalfunctions/DleParser.cpp

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

src/fsfw/globalfunctions/DleParser.h

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

src/fsfw/ipc/CommandMessageIF.h

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

src/fsfw/osal/CMakeLists.txt

@@ -16,7 +16,9 @@ elseif(FSFW_OSAL MATCHES "host")
 
 else()
 
-  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
+  message(
+    WARNING
+      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)

src/fsfw/power/PowerSensor.cpp

@@ -15,9 +15,7 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue();
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitchIF.h

@@ -29,9 +29,9 @@ class PowerSwitchIF : public HasReturnvaluesIF {
   static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
   static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
-  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
+  //!< Someone detected that a switch went off which shouldn't. Severity:
-      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
   //!< Low, Parameter1: switchId1, Parameter2: switchId2
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
   /**
    * send a direct command to the Power Unit to enable/disable the specified switch.
    *

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -78,7 +78,7 @@ 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 <= tNow.tv_sec) {
+    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
       if (schedulingEnabled) {
         // release tc
         TmTcMessage releaseMsg(it->second.storeAddr);

src/fsfw/pus/Service3Housekeeping.cpp

@@ -208,7 +208,7 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
       ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
       HousekeepingMessage::getHkRequestFailureReply(reply, &error);
       failureParameter2 = error;
-      return CommandingServiceBase::EXECUTION_COMPLETE;
+      return RETURN_FAILED;
     }
 
     default:
@@ -248,19 +248,25 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
     case (HousekeepingMessage::HK_REQUEST_FAILURE): {
       break;
     }
+    case (CommandMessage::REPLY_REJECTED): {
+      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
+                      "rejected with error code"
+                   << reply->getParameter() << std::endl;
+      break;
+    }
 
     default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
                       "command "
-                   << command << "!" << std::endl;
+                   << command << "" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu!\n",
+          "reply command %hu\n",
           command);
 #endif
-      return;
+      break;
     }
   }
 
@@ -275,6 +281,7 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
         "Could not generate reply!\n");
 #endif
   }
+  CommandingServiceBase::handleUnrequestedReply(reply);
 }
 
 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }

src/fsfw/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);
-  static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(
+  //!< Is thrown when a device should start-up, but the temperature is out
-      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 Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, severity::LOW);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_COMPONENT_IF;
   static const ReturnValue_t INVALID_TARGET_STATE = MAKE_RETURN_CODE(1);

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -36,7 +36,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC
   }
 }
 
-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) {
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) {
   if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
     this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
     return RETURN_OK;

src/fsfw/tmtcservices/TmTcBridge.h

@@ -18,7 +18,7 @@ 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 uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
+  static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 1000;
 
   static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
   static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
@@ -43,7 +43,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    * @return -@c RETURN_OK if value was set successfully
    *         -@c RETURN_FAILED otherwise, stored value stays the same
    */
-  ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
+  ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored);
 
   /**
    * This will set up the bridge to overwrite old data in the FIFO.
@@ -152,7 +152,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    */
   DynamicFIFO<store_address_t>* tmFifo = nullptr;
   uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-  uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+  unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */