CHANGELOG.md

@@ -27,7 +27,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `oneShotAction` flag in the `TestTask` class is not static anymore
 - Major update for version handling, using `git describe` to fetch version information with git.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
-  - Place `Version` class outside of `fsfw` namespace. It is generic
   - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
     manually now. Those should not change too often and only a small subset is needed
   - Separate folder for easier update and for distinction
@@ -102,6 +101,9 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
+- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
+  (ETL) dependency.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
 - Added ETL dependency and improved library dependency management
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
 - Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available

CMakeLists.txt

@@ -1,42 +1,94 @@
 cmake_minimum_required(VERSION 3.13)
-set(LIB_FSFW_NAME fsfw)
-project(${LIB_FSFW_NAME})
 
-if(NOT CMAKE_CXX_STANDARD)
+set(MSG_PREFIX "fsfw |")
-    set(CMAKE_CXX_STANDARD 17)
+
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
+# Add the cmake folder so the FindSphinx module is found
-elseif(${CMAKE_CXX_STANDARD} LESS 17)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
+list(APPEND CMAKE_MODULE_PATH
-endif()
+     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
+list(APPEND CMAKE_MODULE_PATH
+     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
+
+# ##############################################################################
+# Version file handling  #
+# ##############################################################################
 
 set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
-# Add the cmake folder so the FindSphinx module is found
+set(FSFW_GIT_VER_HANDLING_OK FALSE)
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
+# Version handling
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-set(MSG_PREFIX "fsfw |")
+  message(STATUS "${MSG_PREFIX} Determining version information with git")
+  include(FsfwHelpers)
+  determine_version_with_git("--exclude" "docker_*")
+  if(GIT_INFO)
+    set(FSFW_GIT_INFO
+        ${GIT_INFO}
+        CACHE STRING "Version information retrieved with git describe")
+    list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
+    list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
+    list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
+    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
+    if(NOT FSFW_VERSION)
+      set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_SUBVERSION)
+      set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_REVISION)
+      set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+    endif()
+    set(FSFW_GIT_VER_HANDLING_OK TRUE)
+  else()
+    set(FSFW_GIT_VER_HANDLING_OK FALSE)
+  endif()
+endif()
+if(NOT FSFW_GIT_VER_HANDLING_OK)
+  set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+  set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+  set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+endif()
+
+set(LIB_FSFW_NAME fsfw)
+project(${LIB_FSFW_NAME}
+        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 17)
+  message(
+    FATAL_ERROR
+      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
+endif()
+
+set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_NAME etl)
-set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
+set(FSFW_ETL_LIB_MAJOR_VERSION
-  "ETL library major version requirement"
+    20
-)
+    CACHE STRING "ETL library major version requirement")
-set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
+set(FSFW_ETL_LIB_VERSION
-  "ETL library exact version requirement"
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
-)
+    CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
-set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
+set(FSFW_CATCH2_LIB_MAJOR_VERSION
-    "Catch2 library major version requirement"
+    3
-)
+    CACHE STRING "Catch2 library major version requirement")
-set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
+set(FSFW_CATCH2_LIB_VERSION
-    "Catch2 library exact version requirement"
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
-)
+    CACHE STRING "Catch2 library exact version requirement")
 
-# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+# Keep this off by default for now. See PR:
-# for information which keeping this on by default is problematic
+# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
-option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
+# keeping this on by default is problematic
+option(
+  FSFW_ENABLE_IPO
+  "Enable interprocedural optimization or link-time optimization if available"
+  OFF)
 if(FSFW_ENABLE_IPO)
   include(CheckIPOSupported)
   check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
@@ -46,13 +98,13 @@ if(FSFW_ENABLE_IPO)
 endif()
 
 option(FSFW_GENERATE_SECTIONS
-  "Generate function and data sections. Required to remove unused code" ON
+       "Generate function and data sections. Required to remove unused code" ON)
-)
 if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@@ -76,102 +128,77 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
-
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
 add_library(${LIB_FSFW_NAME})
 
 if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-endif()
+                                                TRUE)
-
-set(FSFW_GIT_VER_HANDLING_OK FALSE)
-# Version handling
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-    message(STATUS "${MSG_PREFIX} Determining version information with git")
-    include(FsfwHelpers)
-    determine_version_with_git("--exclude" "docker_*")
-    if(GIT_INFO)
-        set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
-        list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
-        list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
-        list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
-        list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
-        if(NOT FSFW_VERSION)
-            set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-        endif()
-        if(NOT FSFW_SUBVERSION)
-            set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-        endif()
-        if(NOT FSFW_REVISION)
-            set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
-        endif()
-        set(FSFW_GIT_VER_HANDLING_OK TRUE)
-   else()
-        set(FSFW_GIT_VER_HANDLING_OK FALSE)
-   endif()
-endif()
-if(NOT FSFW_GIT_VER_HANDLING_OK)
-    set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-    set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-    set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
 endif()
 
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
+  message(
+    STATUS
+      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
+  )
   # Check whether the user has already installed Catch2 first
-    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+    message(
+      STATUS
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
     include(FetchContent)
 
     FetchContent_Declare(
       Catch2
       GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
-        )
 
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
   set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
   configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-      set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
+    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                  TRUE)
   endif()
 
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
     message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
+                   "will be compiled with coverage data as well")
-        )
     set(CMAKE_BUILD_TYPE "Debug")
     include(CodeCoverage)
   endif()
 endif()
 
-message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
+message(STATUS "${MSG_PREFIX} Finding and/or providing etl library 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} CONFIG QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
-    message(STATUS
+  message(
-        "No ETL installation was found with find_package. Installing and providing "
+    STATUS
-        "etl with FindPackage"
+      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-    )
+      "etl with FindPackage")
   include(FetchContent)
+
   FetchContent_Declare(
     ${FSFW_ETL_LIB_NAME}
     GIT_REPOSITORY https://github.com/ETLCPP/etl
-        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
-    )
+
   list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
@@ -184,8 +211,8 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
   endif()
   if(TARGET Catch2)
-        # Fixes regression -preview4, to be confirmed in later releases
+    # Fixes regression -preview4, to be confirmed in later releases Related
-        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
 endif()
@@ -195,33 +222,30 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-    ${CMAKE_CURRENT_BINARY_DIR}
+target_include_directories(${LIB_FSFW_NAME}
-)
+                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+  message(
+    WARNING
+      "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
   set(FSFW_OSAL OS_FSFW)
 endif()
 
 if(NOT FSFW_OSAL)
-	message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
   # Assume host OS and autodetermine from OS_FSFW
   if(UNIX)
-		set(FSFW_OSAL  "linux" 
+    set(FSFW_OSAL
-			CACHE STRING 
+        "linux"
-			"OS abstraction layer used in the FSFW"
+        CACHE STRING "OS abstraction layer used in the FSFW")
-		)
   elseif(WIN32)
-		set(FSFW_OSAL  "host" 
+    set(FSFW_OSAL
-			CACHE STRING "OS abstraction layer used in the FSFW"
+        "host"
-		)
+        CACHE STRING "OS abstraction layer used in the FSFW")
   endif()
-
 endif()
 
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
@@ -235,14 +259,13 @@ elseif(FSFW_OSAL MATCHES linux)
 elseif(FSFW_OSAL MATCHES freertos)
   set(FSFW_OS_NAME "FreeRTOS")
   set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
-        ${LIB_OS_NAME}
-    )
 elseif(FSFW_OSAL STREQUAL rtems)
   set(FSFW_OS_NAME "RTEMS")
   set(FSFW_OSAL_RTEMS ON)
 else()
-    message(WARNING
+  message(
+    WARNING
       "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
   )
   set(FSFW_OS_NAME "Host")
@@ -252,7 +275,9 @@ endif()
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 
-message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
+message(
+  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
+)
 
 add_subdirectory(src)
 add_subdirectory(tests)
@@ -270,95 +295,86 @@ if(FSFW_BUILD_UNITTESTS)
       include(CodeCoverage)
 
       # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
+      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+                         "${COVERAGE_COMPILER_FLAGS}")
-            )
 
       # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+      target_compile_options(${FSFW_TEST_TGT}
-                "${COVERAGE_COMPILER_FLAGS}"
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-            )
+      target_compile_options(${LIB_FSFW_NAME}
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
 
       # Exclude directories here
       if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
+        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
-                    "--exclude-throw-branches"
+                                  "--exclude-unreachable-branches")
-                    "--exclude-unreachable-branches"
+        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
-                )
-                set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
-                )
       elseif(UNIX)
         set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+            "/usr/include/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
+            "/usr/bin/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
+            "Catch2/*"
-                )
+            "/usr/local/include/*"
+            "*/fsfw_tests/*"
+            "*/catch2-src/*"
+            "*/fsfw_hal/*")
       endif()
 
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
+      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-                -fprofile-arcs
+                          -ftest-coverage)
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-            )
+                          -ftest-coverage)
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
+      # Need to specify this as an interface, otherwise there will the compile
-                -fprofile-arcs
+      # issues
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-            )
+                          -ftest-coverage)
-            # Need to specify this as an interface, otherwise there will the compile issues
-            target_link_options(${LIB_FSFW_NAME} INTERFACE
-                -fprofile-arcs
-                -ftest-coverage
-            )
 
       if(WIN32)
         setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
       else()
         setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
       endif()
     endif()
   endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
+                                                 ${LIB_FSFW_NAME})
 endif()
 
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
-# If this is not given, we include the default configuration and emit a warning.
+# this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
   set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
   if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
+    message(
-        message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
+      WARNING
+        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+    message(
+      WARNING
+        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
   endif()
   add_subdirectory(${DEF_CONF_PATH})
   set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
-# FSFW might be part of a possibly complicated folder structure, so we 
+# FSFW might be part of a possibly complicated folder structure, so we extract
-# extract the absolute path of the fsfwconfig folder.
+# the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
   set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+                         BASE_DIR ${CMAKE_SOURCE_DIR})
-	)
 endif()
 
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
   if(IS_ABSOLUTE ${INCLUDE_PATH})
     set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
   else()
-        get_filename_component(CURR_ABS_INC_PATH
+    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+                           ${CMAKE_SOURCE_DIR})
   endif()
 
   if(CMAKE_VERBOSE)
@@ -391,23 +407,19 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
         -Wcast-qual # Warn if the constness is cast away
         -Wstringop-overflow=4
         # -Wstack-protector # Emits a few false positives for low level access
-          # -Wconversion # Creates many false positives
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
-          # -Warith-conversion # Use with Wconversion to find more implicit conversions
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
-          # -fanalyzer # Should be used to look through problems
+        # be used to look through problems
     )
   endif()
 
   if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
-            "-ffunction-sections"
+                                                    "-fdata-sections")
-            "-fdata-sections"
-        )
   endif()
 
   if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
+    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
-            "Wl,--gc-sections"
-        )
   endif()
 
   if(FSFW_WARNING_SHADOW_LOCAL_GCC)
@@ -421,42 +433,31 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+target_include_directories(
-	${CMAKE_SOURCE_DIR}
+  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
+                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
 
-# Includes path required to compile FSFW itself as well
+# Includes path required to compile FSFW itself as well We assume that the
-# We assume that the fsfwconfig folder uses include relative to the project
+# fsfwconfig folder uses include relative to the project root here!
-# root here!
+target_include_directories(
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${CMAKE_SOURCE_DIR}
+                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
 
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
-	${FSFW_WARNING_FLAGS}
+                                                ${COMPILER_FLAGS})
-	${COMPILER_FLAGS}
-)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-    ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
-    ${FSFW_ADDITIONAL_LINK_LIBS}
-)
 
-string(CONCAT POST_BUILD_COMMENT
+string(
+  CONCAT
+    POST_BUILD_COMMENT
     "######################################################################\n"
     "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
     "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
+    "######################################################################\n")
-)
 
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
+  COMMENT ${POST_BUILD_COMMENT})
-)

cmake/cmake-modules/GetGitRevisionDescription.cmake

@@ -1,141 +0,0 @@
-# - Returns a version string from Git
-#
-# These functions force a re-configure on each git commit so that you can
-# trust the values of the variables in your build system.
-#
-#  get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
-#
-# Returns the refspec and sha hash of the current head revision
-#
-#  git_describe(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the source tree, and adjusting
-# the output so that it tests false if an error occurs.
-#
-#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe --exact-match on the source tree,
-# and adjusting the output so that it tests false if there was no exact
-# matching tag.
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-# Iowa State University HCI Graduate Program/VRAC
-#
-# Copyright Iowa State University 2009-2010.
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-
-if(__get_git_revision_description)
-    return()
-endif()
-set(__get_git_revision_description YES)
-
-# We must run the following at "include" time, not at function call time,
-# to find the path to this module rather than the path to a calling list file
-get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
-
-function(get_git_head_revision _refspecvar _hashvar)
-    set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-    set(GIT_DIR "${GIT_PARENT_DIR}/.git")
-    while(NOT EXISTS "${GIT_DIR}")    # .git dir not found, search parent directories
-        set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
-        get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
-        if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
-            # We have reached the root directory, we are not in git
-            set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
-            set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
-            return()
-        endif()
-        set(GIT_DIR "${GIT_PARENT_DIR}/.git")
-    endwhile()
-    # check if this is a submodule
-    if(NOT IS_DIRECTORY ${GIT_DIR})
-        file(READ ${GIT_DIR} submodule)
-        string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
-        get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
-
-        if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
-            set(GIT_DIR ${GIT_DIR_RELATIVE})
-        else()
-            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
-        endif()
-
-    endif()
-    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
-    if(NOT EXISTS "${GIT_DATA}")
-        file(MAKE_DIRECTORY "${GIT_DATA}")
-    endif()
-
-    if(NOT EXISTS "${GIT_DIR}/HEAD")
-        return()
-    endif()
-    set(HEAD_FILE "${GIT_DATA}/HEAD")
-    configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
-
-    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
-        "${GIT_DATA}/grabRef.cmake"
-        @ONLY)
-    include("${GIT_DATA}/grabRef.cmake")
-
-    set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
-    set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
-endfunction()
-
-function(git_describe _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
-        return()
-    endif()
-
-    # TODO sanitize
-    #if((${ARGN}" MATCHES "&&") OR
-    #    (ARGN MATCHES "||") OR
-    #    (ARGN MATCHES "\\;"))
-    #    message("Please report the following error to the project!")
-    #    message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
-    #endif()
-
-    #message(STATUS "Arguments to execute_process: ${ARGN}")
-
-    execute_process(COMMAND
-        ${GIT_EXECUTABLE}
-        describe
-        ${hash}
-        ${ARGN}
-        WORKING_DIRECTORY
-        "${CMAKE_SOURCE_DIR}"
-        RESULT_VARIABLE
-        res
-        OUTPUT_VARIABLE
-        out
-        ERROR_QUIET
-        OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var} "${out}" PARENT_SCOPE)
-endfunction()
-
-function(git_get_exact_tag _var)
-    git_describe(out --exact-match ${ARGN})
-    set(${_var} "${out}" PARENT_SCOPE)
-endfunction()
-
-function(git_get_tag _var)
-    git_describe(out --tags ${ARGN})
-    set(${_var} "${out}" PARENT_SCOPE)
-endfunction()

cmake/cmake-modules/README.md

@@ -1,5 +1,7 @@
-The files in these folder were manually copy and pasted from the
+The files in the `bilke` folder were manually copy and pasted from the
 [cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
 this because only a small subset of its provided functions are needed.
 
-The license file in included here as well.
+The files in the `rpavlik` folder were manually copy and pasted from the
+[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
+this because only a small subset of its provided functions are needed.

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake

@@ -0,0 +1,284 @@
+# - Returns a version string from Git
+#
+# These functions force a re-configure on each git commit so that you can
+# trust the values of the variables in your build system.
+#
+#  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
+#
+# Returns the refspec and sha hash of the current head revision
+#
+#  git_describe(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the source tree, and adjusting
+# the output so that it tests false if an error occurs.
+#
+#  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the working tree (--dirty option),
+# and adjusting the output so that it tests false if an error occurs.
+#
+#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe --exact-match on the source tree,
+# and adjusting the output so that it tests false if there was no exact
+# matching tag.
+#
+#  git_local_changes(<var>)
+#
+# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
+# Uses the return code of "git diff-index --quiet HEAD --".
+# Does not regard untracked files.
+#
+# Requires CMake 2.6 or newer (uses the 'function' command)
+#
+# Original Author:
+# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
+# http://academic.cleardefinition.com
+#
+# Copyright 2009-2013, Iowa State University.
+# Copyright 2013-2020, Ryan Pavlik
+# Copyright 2013-2020, Contributors
+# SPDX-License-Identifier: BSL-1.0
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+if(__get_git_revision_description)
+    return()
+endif()
+set(__get_git_revision_description YES)
+
+# We must run the following at "include" time, not at function call time,
+# to find the path to this module rather than the path to a calling list file
+get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
+
+# Function _git_find_closest_git_dir finds the next closest .git directory
+# that is part of any directory in the path defined by _start_dir.
+# The result is returned in the parent scope variable whose name is passed
+# as variable _git_dir_var. If no .git directory can be found, the
+# function returns an empty string via _git_dir_var.
+#
+# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
+# neither foo nor bar contain a file/directory .git. This wil return
+# C:/bla/.git
+#
+function(_git_find_closest_git_dir _start_dir _git_dir_var)
+    set(cur_dir "${_start_dir}")
+    set(git_dir "${_start_dir}/.git")
+    while(NOT EXISTS "${git_dir}")
+        # .git dir not found, search parent directories
+        set(git_previous_parent "${cur_dir}")
+        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
+        if(cur_dir STREQUAL git_previous_parent)
+            # We have reached the root directory, we are not in git
+            set(${_git_dir_var}
+                ""
+                PARENT_SCOPE)
+            return()
+        endif()
+        set(git_dir "${cur_dir}/.git")
+    endwhile()
+    set(${_git_dir_var}
+        "${git_dir}"
+        PARENT_SCOPE)
+endfunction()
+
+function(get_git_head_revision _refspecvar _hashvar)
+    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
+
+    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
+        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
+    else()
+        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
+    endif()
+    if(NOT "${GIT_DIR}" STREQUAL "")
+        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
+             "${GIT_DIR}")
+        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
+            # We've gone above the CMake root dir.
+            set(GIT_DIR "")
+        endif()
+    endif()
+    if("${GIT_DIR}" STREQUAL "")
+        set(${_refspecvar}
+            "GITDIR-NOTFOUND"
+            PARENT_SCOPE)
+        set(${_hashvar}
+            "GITDIR-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    # Check if the current source dir is a git submodule or a worktree.
+    # In both cases .git is a file instead of a directory.
+    #
+    if(NOT IS_DIRECTORY ${GIT_DIR})
+        # The following git command will return a non empty string that
+        # points to the super project working tree if the current
+        # source dir is inside a git submodule.
+        # Otherwise the command will return an empty string.
+        #
+        execute_process(
+            COMMAND "${GIT_EXECUTABLE}" rev-parse
+                    --show-superproject-working-tree
+            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+            OUTPUT_VARIABLE out
+            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+        if(NOT "${out}" STREQUAL "")
+            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
+            file(READ ${GIT_DIR} submodule)
+            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
+                                 ${submodule})
+            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
+            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
+            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
+                                   ABSOLUTE)
+            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
+        else()
+            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
+            file(READ ${GIT_DIR} worktree_ref)
+            # The .git directory contains a path to the worktree information directory
+            # inside the parent git repo of the worktree.
+            #
+            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
+                                 ${worktree_ref})
+            string(STRIP ${git_worktree_dir} git_worktree_dir)
+            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
+            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
+        endif()
+    else()
+        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
+    endif()
+    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
+    if(NOT EXISTS "${GIT_DATA}")
+        file(MAKE_DIRECTORY "${GIT_DATA}")
+    endif()
+
+    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
+        return()
+    endif()
+    set(HEAD_FILE "${GIT_DATA}/HEAD")
+    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
+
+    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
+                   "${GIT_DATA}/grabRef.cmake" @ONLY)
+    include("${GIT_DATA}/grabRef.cmake")
+
+    set(${_refspecvar}
+        "${HEAD_REF}"
+        PARENT_SCOPE)
+    set(${_hashvar}
+        "${HEAD_HASH}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_describe _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var}
+            "HEAD-HASH-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    # TODO sanitize
+    #if((${ARGN}" MATCHES "&&") OR
+    #   (ARGN MATCHES "||") OR
+    #   (ARGN MATCHES "\\;"))
+    #   message("Please report the following error to the project!")
+    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
+    #endif()
+
+    #message(STATUS "Arguments to execute_process: ${ARGN}")
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_describe_working_tree _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_get_exact_tag _var)
+    git_describe(out --exact-match ${ARGN})
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_local_changes _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var}
+            "HEAD-HASH-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(res EQUAL 0)
+        set(${_var}
+            "CLEAN"
+            PARENT_SCOPE)
+    else()
+        set(${_var}
+            "DIRTY"
+            PARENT_SCOPE)
+    endif()
+endfunction()

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in

@@ -8,10 +8,12 @@
 # http://academic.cleardefinition.com
 # Iowa State University HCI Graduate Program/VRAC
 #
-# Copyright Iowa State University 2009-2010.
+# Copyright 2009-2012, Iowa State University
+# Copyright 2011-2015, Contributors
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
+# SPDX-License-Identifier: BSL-1.0
 
 set(HEAD_HASH)
 
@@ -23,9 +25,12 @@ if(HEAD_CONTENTS MATCHES "ref")
     string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
     if(EXISTS "@GIT_DIR@/${HEAD_REF}")
         configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
+    else()
-        configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
-        set(HEAD_HASH "${HEAD_REF}")
+        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
+        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
+            set(HEAD_HASH "${CMAKE_MATCH_1}")
+        endif()
     endif()
 else()
     # detached HEAD

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

@@ -0,0 +1,26 @@
+Copyright (c) <year> <owner>. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt

@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute, execute,
+and transmit the Software, and to prepare derivative works of the Software,
+and to permit third-parties to whom the Software is furnished to do so, all
+subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer, must
+be included in all copies of the Software, in whole or in part, and all derivative
+works of the Software, unless such copies or derivative works are solely in
+the form of machine-executable object code generated by a source language
+processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
+OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

cmake/cmake-modules/rpavlik/LICENSE_1_0.txt

@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

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

@@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
   ReturnValue_t result;
   if (gpioCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -96,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
   std::string& label = gpioByLabel.label;
   struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                  << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "label: " + label;
@@ -108,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
   std::string& chipname = gpioByChip.chipname;
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                  << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "chipname: " + chipname;
@@ -133,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                  << ". <Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "line name: " + lineName;
@@ -153,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   lineNum = regularGpio.lineNum;
   lineHandle = gpiod_chip_get_line(chip, lineNum);
   if (!lineHandle) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
     sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                  << std::endl;
     sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+#endif
     gpiod_chip_close(chip);
     return RETURN_FAILED;
   }
@@ -175,7 +185,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
       break;
     }
     default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+#endif
       return GPIO_INVALID_INSTANCE;
     }
 
@@ -204,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t 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;
+#endif
     return UNKNOWN_GPIO_ID;
   }
 

scripts/apply-clang-format.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-if [[ ! -f README.md ]]; then
-	cd ..
-fi
-
-find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

scripts/auto-formatter.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+  cd ..
+fi
+
+cmake_fmt="cmake-format"
+if command -v ${cmake_fmt} &> /dev/null; then
+  cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
+  eval ${cmake_fmt_cmd}
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+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 clang-format --style=file -i
+  find ./hal ${file_selectors} | xargs clang-format --style=file -i
+  find ./tests ${file_selectors} | xargs clang-format --style=file -i
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi

src/fsfw/FSFWVersion.h.in

@@ -6,6 +6,6 @@ static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
 static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
 static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
 // Also contains CST (Commits since tag) information
-static const char FSFW_VERSION_CST_GIT_SHA1[] = "@FSFW_VERSION_CST_GIT_SHA1@";
+static const char FSFW_VCS_INFO[] = "@FSFW_VCS_INFO@";
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/container/FIFOBase.tpp

@@ -6,8 +6,8 @@
 #endif
 
 template <typename T>
-inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
-        maxCapacity(maxCapacity), values(values){};
+    : maxCapacity(maxCapacity), values(values){};
 
 template <typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
@@ -84,7 +84,6 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
   return maxCapacity;
 }
 
-
 template <typename T>
 inline void FIFOBase<T>::setContainer(T* data) {
   this->values = data;

src/fsfw/container/FixedOrderedMultimap.tpp

@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 
-
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
+                                                                         Iterator *storedValue) {
   if (_size == theMap.maxSize()) {
     return MAP_FULL;
   }
@@ -71,7 +71,8 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key
 }
 
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
+                                                                          size_t startAt) const {
   if (startAt >= _size) {
     return startAt + 1;
   }
@@ -105,5 +106,4 @@ inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size
   --_size;
 }
 
-
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

src/fsfw/datapoollocal/LocalPoolVariable.tpp

@@ -6,26 +6,24 @@
 #endif
 
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                               DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
-
 
 template <typename T>
-inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                               pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
-                dataSet, setReadWriteMode){}
+                          setReadWriteMode) {}
-
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::read(
+inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                uint32_t timeoutMs) {
   if (hkManager == nullptr) {
     return readWithoutLock();
   }
@@ -43,19 +41,17 @@ template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_WRITE) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   if (result != RETURN_OK) {
     object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
-                false, ownerObjectId, localPoolId);
     return result;
   }
 
@@ -65,15 +61,15 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
+inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                  uint32_t timeoutMs) {
   this->setValid(setValid);
   return commit(timeoutType, timeoutMs);
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::commit(
+inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                  uint32_t timeoutMs) {
   if (hkManager == nullptr) {
     return commitWithoutLock();
   }
@@ -91,19 +87,17 @@ template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_READ) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   if (result != RETURN_OK) {
     object_id_t ownerObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVariable", result,
+    reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
-                false, ownerObjectId, localPoolId);
     return result;
   }
 
@@ -113,11 +107,10 @@ inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<T>::serialize(
-        size_t* size, const size_t max_size,
+    uint8_t** buffer, size_t* size, const size_t max_size,
     SerializeIF::Endianness streamEndianness) const {
-    return SerializeAdapter::serialize(&value,
+  return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
-            buffer, size ,max_size, streamEndianness);
 }
 
 template <typename T>
@@ -126,15 +119,14 @@ inline size_t LocalPoolVariable<T>::getSerializedSize() const {
 }
 
 template <typename T>
-inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
-        size_t* size, SerializeIF::Endianness streamEndianness) {
+                                                       SerializeIF::Endianness streamEndianness) {
   return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 template <typename T>
-inline std::ostream& operator<< (std::ostream &out,
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
-        const LocalPoolVariable<T> &var) {
   out << var.value;
   return out;
 }
@@ -146,8 +138,7 @@ inline LocalPoolVariable<T>::operator T() const {
 }
 
 template <typename T>
-inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
-        const T& newValue) {
   value = newValue;
   return *this;
 }
@@ -160,8 +151,7 @@ inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
 }
 
 template <typename T>
-inline bool LocalPoolVariable<T>::operator ==(
+inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return this->value == other.value;
 }
 
@@ -170,10 +160,8 @@ inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
   return this->value == other;
 }
 
-
 template <typename T>
-inline bool LocalPoolVariable<T>::operator !=(
+inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return not(*this == other);
 }
 
@@ -182,10 +170,8 @@ inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
   return not(*this == other);
 }
 
-
 template <typename T>
-inline bool LocalPoolVariable<T>::operator <(
+inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return this->value < other.value;
 }
 
@@ -194,10 +180,8 @@ inline bool LocalPoolVariable<T>::operator <(const T &other) const {
   return this->value < other;
 }
 
-
 template <typename T>
-inline bool LocalPoolVariable<T>::operator >(
+inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
-        const LocalPoolVariable<T> &other) const {
   return not(*this < other);
 }
 

src/fsfw/datapoollocal/LocalPoolVector.tpp

@@ -6,25 +6,26 @@
 #endif
 
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
-        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
+                                                       DataSetIF* dataSet,
-        pool_rwm_t setReadWriteMode):
+                                                       pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
-        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                                       DataSetIF* dataSet,
-        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+                                                       pool_rwm_t setReadWriteMode)
+    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
 template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
-        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+                                                       pool_rwm_t setReadWriteMode)
-        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
-                dataSet, setReadWriteMode) {}
+                          setReadWriteMode) {}
 
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                          uint32_t timeoutMs) {
   MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
   return readWithoutLock();
 }
@@ -32,21 +33,19 @@ template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_WRITE) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
 
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   memset(this->value, 0, vectorSize * sizeof(T));
 
   if (result != RETURN_OK) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
+    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
-                localPoolId);
     return result;
   }
   std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
@@ -56,14 +55,15 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
 
 template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                            MutexIF::TimeoutType timeoutType,
+                                                            uint32_t timeoutMs) {
   this->setValid(valid);
   return commit(timeoutType, timeoutMs);
 }
 
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
-        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+                                                            uint32_t timeoutMs) {
   MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
   return commitWithoutLock();
 }
@@ -72,18 +72,16 @@ template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
   if (readWriteMode == pool_rwm_t::VAR_READ) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector",
+    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
-                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
+                          targetObjectId, localPoolId);
-                localPoolId);
     return PoolVariableIF::INVALID_READ_WRITE_MODE;
   }
   PoolEntry<T>* poolEntry = nullptr;
-    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+  ReturnValue_t result =
-            &poolEntry);
+      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
   if (result != RETURN_OK) {
     object_id_t targetObjectId = hkManager->getCreatorObjectId();
-        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
+    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
-                localPoolId);
     return result;
   }
   std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
@@ -100,9 +98,11 @@ inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
   // a configuration error, but I wont exit here.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
+               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
       " last value!\n");
 #endif
   return value[vectorSize - 1];
@@ -117,22 +117,23 @@ inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
   // a configuration error, but I wont exit here.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-            " last value!" << std::endl;
+                  " last value!"
+               << std::endl;
 #else
-    sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
+  sif::printWarning(
+      "LocalPoolVector: Invalid index. Setting or returning"
       " last value!\n");
 #endif
   return value[vectorSize - 1];
 }
 
 template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
-        size_t* size, size_t maxSize,
+    uint8_t** buffer, size_t* size, size_t maxSize,
     SerializeIF::Endianness streamEndianness) const {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
   for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+    result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
-                maxSize, streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       break;
     }
@@ -147,12 +148,10 @@ inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
 
 template <typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
-        const uint8_t** buffer, size_t* size,
+    const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
-        SerializeIF::Endianness streamEndianness) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
   for (uint16_t i = 0; i < vectorSize; i++) {
-        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
-                streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       break;
     }
@@ -162,8 +161,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 template <typename T, uint16_t vectorSize>
-inline std::ostream& operator<< (std::ostream &out,
+inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
-        const LocalPoolVector<T, vectorSize> &var) {
   out << "Vector: [";
   for (int i = 0; i < vectorSize; i++) {
     out << var.value[i];

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -17,28 +17,28 @@ void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList
 }
 
 ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
-  if (switchNr < switcherList.capacity()) {
+  if (switchNr < switcherList.size()) {
     switcherList[switchNr] = onOff;
   }
   return RETURN_FAILED;
 }
 
 ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
-  if (fuseNr < fuseList.capacity()) {
+  if (fuseNr < fuseList.size()) {
     fuseList[fuseNr] = FUSE_ON;
   }
   return RETURN_FAILED;
 }
 
 ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
-  if (switchNr < switcherList.capacity()) {
+  if (switchNr < switcherList.size()) {
     return switcherList[switchNr];
   }
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
-  if (fuseNr < fuseList.capacity()) {
+  if (fuseNr < fuseList.size()) {
     return fuseList[fuseNr];
   }
   return HasReturnvaluesIF::RETURN_FAILED;

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/pus/Service11TelecommandScheduling.h

@@ -0,0 +1,202 @@
+#ifndef MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
+#define MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
+
+#include <etl/multimap.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <fsfw/tmtcservices/TmTcMessage.h>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+/**
+ * @brief: PUS-Service 11 - Telecommand scheduling.
+ * @details:
+ * PUS-Service 11 - Telecommand scheduling.
+ * Full documentation: ECSS-E-ST-70-41C, p. 168:
+ * ST[11] time-based scheduling
+ *
+ * This service provides the capability to command pre-loaded
+ * application processes (telecommands) by releasing them at their
+ * due-time.
+ * References to telecommands are stored together with their due-timepoints
+ * and are released at their corresponding due-time.
+ *
+ * Necessary subservice functionalities are implemented.
+ * Those are:
+ * TC[11,4] activity insertion
+ * TC[11,5] activity deletion
+ * TC[11,6] filter-based activity deletion
+ * TC[11,7] activity time-shift
+ * TC[11,8] filter-based activity time-shift
+ *
+ * Groups are not supported.
+ * This service remains always enabled. Sending a disable-request has no effect.
+ */
+template <size_t MAX_NUM_TCS>
+class Service11TelecommandScheduling final : public PusServiceBase {
+ public:
+  static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11;
+
+  static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+  static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+  static constexpr ReturnValue_t INVALID_RELATIVE_TIME =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+
+  // The types of PUS-11 subservices
+  enum Subservice : uint8_t {
+    ENABLE_SCHEDULING = 1,
+    DISABLE_SCHEDULING = 2,
+    RESET_SCHEDULING = 3,
+    INSERT_ACTIVITY = 4,
+    DELETE_ACTIVITY = 5,
+    FILTER_DELETE_ACTIVITY = 6,
+    TIMESHIFT_ACTIVITY = 7,
+    FILTER_TIMESHIFT_ACTIVITY = 8,
+    DETAIL_REPORT = 9,
+    TIMEBASE_SCHEDULE_DETAIL_REPORT = 10,
+    TIMESHIFT_ALL_SCHEDULE_ACTIVITIES = 15
+  };
+
+  // The types of time windows for TC[11,6] and TC[11,8], as defined in ECSS-E-ST-70-41C,
+  // requirement 8.11.3c (p. 507)
+  enum TypeOfTimeWindow : uint32_t {
+    SELECT_ALL = 0,
+    FROM_TIMETAG_TO_TIMETAG = 1,
+    FROM_TIMETAG = 2,
+    TO_TIMETAG = 3
+  };
+
+  Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId,
+                                 AcceptsTelecommandsIF* tcRecipient,
+                                 uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
+                                 bool debugMode = false);
+
+  ~Service11TelecommandScheduling();
+
+  /** PusServiceBase overrides */
+  ReturnValue_t handleRequest(uint8_t subservice) override;
+  ReturnValue_t performService() override;
+  ReturnValue_t initialize() override;
+
+ private:
+  struct TelecommandStruct {
+    uint64_t requestId;
+    uint32_t seconds;
+    store_address_t storeAddr;  // uint16
+  };
+
+  static constexpr uint16_t DEFAULT_RELEASE_TIME_MARGIN = 5;
+
+  // minimum release time offset to insert into schedule
+  const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5;
+
+  // the maximum amount of stored TCs is defined here
+  static constexpr uint16_t MAX_STORED_TELECOMMANDS = 500;
+
+  bool debugMode = false;
+  StorageManagerIF* tcStore = nullptr;
+  AcceptsTelecommandsIF* tcRecipient = nullptr;
+  MessageQueueId_t recipientMsgQueueId = 0;
+
+  /**
+   * The telecommand map uses the exectution time as a Unix time stamp as
+   * the key. This is mapped to a generic telecommand struct.
+   */
+  using TelecommandMap = etl::multimap<uint32_t, TelecommandStruct, MAX_NUM_TCS>;
+  using TcMapIter = typename TelecommandMap::iterator;
+
+  TelecommandMap telecommandMap;
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,4].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doInsertActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,5].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doDeleteActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,6].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doFilterDeleteActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,7].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doTimeshiftActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Logic to be performed on an incoming TC[11,8].
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size);
+
+  /**
+   * @brief Deserializes a generic type from a payload buffer by using the FSFW
+   * SerializeAdapter Interface.
+   * @param output Output to be deserialized
+   * @param buf Payload buffer (application data)
+   * @param bufsize Remaining size of payload buffer (application data size)
+   * @return RETURN_OK if successful
+   */
+  template <typename T>
+  ReturnValue_t deserializeViaFsfwInterface(T& output, const uint8_t* buf, size_t bufsize);
+
+  /**
+   * @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the
+   * class TcPacketPus.
+   * NOTE: This only works if the payload data is a TC (e.g. not for TC[11,5] which does not
+   * send a TC as payload)!
+   * @param data The Application data of the TC (get via getApplicationData()).
+   * @return requestId
+   */
+  uint64_t getRequestIdFromDataTC(const uint8_t* data) const;
+
+  /**
+   * @brief Extracts the Request ID from the Application Data directly, assuming it is packed
+   * as follows (acc. to ECSS): | source ID (uint32) | apid (uint32) | ssc (uint32) |.
+   * @param data Pointer to first byte described data
+   * @param dataSize Remaining size of data NOTE: non-const, this is modified by the function
+   * @param [out] requestId Request ID
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t getRequestIdFromData(const uint8_t*& data, size_t& dataSize, uint64_t& requestId);
+
+  /**
+   * @brief Builds the Request ID from its three elements.
+   * @param sourceId Source ID
+   * @param apid Application Process ID (APID)
+   * @param ssc Source Sequence Count
+   * @return Request ID
+   */
+  uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
+
+  /**
+   * @brief Gets the filter range for filter TCs from a data packet
+   * @param data TC data
+   * @param dataSize TC data size
+   * @param [out] itBegin Begin of filter range
+   * @param [out] itEnd End of filter range
+   * @return RETURN_OK if successful
+   */
+  ReturnValue_t getMapFilterFromData(const uint8_t*& data, size_t& size, TcMapIter& itBegin,
+                                     TcMapIter& itEnd);
+
+  ReturnValue_t handleInvalidData(const char* ctx);
+  /**
+   * @brief Prints content of multimap. Use for simple debugging only.
+   */
+  void debugPrintMultimapContent(void) const;
+};
+
+#include "Service11TelecommandScheduling.tpp"
+
+#endif /* MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ */

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -0,0 +1,598 @@
+#pragma once
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/serialize/SerializeAdapter.h>
+#include <fsfw/tmtcservices/AcceptsTelecommandsIF.h>
+
+#include <cstddef>
+
+static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
+
+template <size_t MAX_NUM_TCS>
+inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduling(
+    object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient,
+    uint16_t releaseTimeMarginSeconds, bool debugMode)
+    : PusServiceBase(objectId, apid, serviceId),
+      RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
+      debugMode(debugMode),
+      tcRecipient(tcRecipient) {}
+
+template <size_t MAX_NUM_TCS>
+inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() {}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
+    uint8_t subservice) {
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::handleRequest: Handling request " << static_cast<int>(subservice);
+#else
+    sif::printInfo("PUS11::handleRequest: Handling request %d\n", subservice);
+#endif
+  }
+  // Get de-serialized Timestamp
+  const uint8_t *data = currentPacket.getApplicationData();
+  size_t size = currentPacket.getApplicationDataSize();
+  if (data == nullptr) {
+    return handleInvalidData("handleRequest");
+  }
+  switch (subservice) {
+    case Subservice::INSERT_ACTIVITY:
+      return doInsertActivity(data, size);
+    case Subservice::DELETE_ACTIVITY:
+      return doDeleteActivity(data, size);
+    case Subservice::FILTER_DELETE_ACTIVITY:
+      return doFilterDeleteActivity(data, size);
+    case Subservice::TIMESHIFT_ACTIVITY:
+      return doTimeshiftActivity(data, size);
+    case Subservice::FILTER_TIMESHIFT_ACTIVITY:
+      return doFilterTimeshiftActivity(data, size);
+    default:
+      break;
+  }
+
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
+  // DEBUG
+  // DebugPrintMultimapContent();
+
+  // get current time as UNIX timestamp
+  timeval tNow = {};
+  Clock::getClock_timeval(&tNow);
+
+  // 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) {
+      // release tc
+      TmTcMessage releaseMsg(it->second.storeAddr);
+      auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
+
+      if (sendRet != HasReturnvaluesIF::RETURN_OK) {
+        return sendRet;
+      }
+
+      telecommandMap.erase(it++);
+
+      if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "Released TC & erased it from TC map" << std::endl;
+#else
+        sif::printInfo("Released TC & erased it from TC map\n");
+#endif
+      }
+      continue;
+    }
+    it++;
+  }
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::initialize() {
+  ReturnValue_t res = PusServiceBase::initialize();
+  if (res != HasReturnvaluesIF::RETURN_OK) {
+    return res;
+  }
+
+  tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+  if (!tcStore) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+
+  if (tcRecipient == nullptr) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  recipientMsgQueueId = tcRecipient->getRequestQueue();
+
+  return res;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
+    const uint8_t *data, size_t size) {
+  uint32_t timestamp = 0;
+  const uint8_t *initData = data;
+  size_t initSz = size;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  // Insert possible if sched. time is above margin
+  // (See requirement for Time margin)
+  timeval tNow = {};
+  Clock::getClock_timeval(&tNow);
+  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
+                    "current time"
+                 << std::endl;
+#else
+    sif::printWarning(
+        "Service11TelecommandScheduling::doInsertActivity: Release time too close to current "
+        "time\n");
+#endif
+    return RETURN_FAILED;
+  }
+
+  // store currentPacket and receive the store address
+  store_address_t addr{};
+  if (tcStore->addData(&addr, initData, initSz) != RETURN_OK ||
+      addr.raw == storeId::INVALID_STORE_ADDRESS) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
+               << std::endl;
+#else
+    sif::printError(
+        "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed\n");
+#endif
+    return RETURN_FAILED;
+  }
+
+  // insert into multimap with new store address
+  TelecommandStruct tc;
+  tc.seconds = timestamp;
+  tc.storeAddr = addr;
+  tc.requestId =
+      getRequestIdFromDataTC(data);  // TODO: Missing sanity check of the returned request id
+
+  auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
+  if (it == telecommandMap.end()) {
+    return RETURN_FAILED;
+  }
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doInsertActivity: Inserted into Multimap:" << std::endl;
+#else
+    sif::printInfo("PUS11::doInsertActivity: Inserted into Multimap:\n");
+#endif
+    debugPrintMultimapContent();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doDeleteActivity(
+    const uint8_t *data, size_t size) {
+  // Get request ID
+  uint64_t requestId;
+  ReturnValue_t result = getRequestIdFromData(data, size, requestId);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  // DEBUG
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doDeleteActivity: requestId: " << requestId << std::endl;
+#else
+    sif::printInfo("PUS11::doDeleteActivity: requestId: %d\n", requestId);
+#endif
+  }
+
+  TcMapIter tcToDelete;     // handle to the TC to be deleted, can be used if counter is valid
+  int tcToDeleteCount = 0;  // counter of all found TCs. Should be 1.
+
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    if (it->second.requestId == requestId) {
+      tcToDelete = it;
+      tcToDeleteCount++;
+    }
+  }
+
+  // check if 1 explicit TC is found via request ID
+  if (tcToDeleteCount == 0 || tcToDeleteCount > 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
+                    "Cannot explicitly delete TC"
+                 << std::endl;
+#else
+    sif::printWarning(
+        "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
+        "Cannot explicitly delete TC");
+#endif
+    return RETURN_FAILED;
+  }
+
+  // delete packet from store
+  if (tcStore->deleteData(tcToDelete->second.storeAddr) != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store"
+               << std::endl;
+#else
+    sif::printError(
+        "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store\n");
+#endif
+    return RETURN_FAILED;
+  }
+
+  telecommandMap.erase(tcToDelete);
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doDeleteActivity: Deleted TC from map" << std::endl;
+#else
+    sif::printInfo("PUS11::doDeleteActivity: Deleted TC from map\n");
+#endif
+  }
+
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterDeleteActivity(
+    const uint8_t *data, size_t size) {
+  TcMapIter itBegin;
+  TcMapIter itEnd;
+
+  ReturnValue_t result = getMapFilterFromData(data, size, itBegin, itEnd);
+  // get the filter window as map range via dedicated method
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  int deletedTCs = 0;
+  for (TcMapIter it = itBegin; it != itEnd; it++) {
+    // delete packet from store
+    if (tcStore->deleteData(it->second.storeAddr) != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC "
+                    "from Store"
+                 << std::endl;
+#else
+      sif::printError(
+          "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC from "
+          "Store\n");
+#endif
+      continue;
+    }
+    deletedTCs++;
+  }
+
+  // NOTE: Spec says this function erases all elements including itBegin but not itEnd,
+  // see here: https://www.cplusplus.com/reference/map/multimap/erase/
+  // Therefore we need to increase itEnd by 1. (Note that end() returns the "past-the-end" iterator)
+  if (itEnd != telecommandMap.end()) {
+    itEnd++;
+  }
+
+  telecommandMap.erase(itBegin, itEnd);
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doFilterDeleteActivity: Deleted " << deletedTCs << " TCs" << std::endl;
+#else
+    sif::printInfo("PUS11::doFilterDeleteActivity: Deleted %d TCs\n", deletedTCs);
+#endif
+  }
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doTimeshiftActivity(
+    const uint8_t *data, size_t size) {
+  // Get relative time
+  uint32_t relativeTime = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (relativeTime == 0) {
+    return INVALID_RELATIVE_TIME;
+  }
+  // TODO further check sanity of the relative time?
+
+  // Get request ID
+  uint64_t requestId;
+  result = getRequestIdFromData(data, size, requestId);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doTimeshiftActivity: requestId: " << requestId << std::endl;
+#else
+    sif::printInfo("PUS11::doTimeshiftActivity: requestId: %d\n", requestId);
+#endif
+  }
+
+  // NOTE: Despite having C++17 ETL multimap has no member function extract :(
+
+  TcMapIter tcToTimeshiftIt;
+  int tcToTimeshiftCount = 0;
+
+  for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
+    if (it->second.requestId == requestId) {
+      tcToTimeshiftIt = it;
+      tcToTimeshiftCount++;
+    }
+  }
+
+  if (tcToTimeshiftCount == 0 || tcToTimeshiftCount > 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 "
+                    "TCs found. No explicit timeshifting "
+                    "possible"
+                 << std::endl;
+
+#else
+    sif::printWarning(
+        "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 TCs found. "
+        "No explicit timeshifting possible\n");
+#endif
+    return TIMESHIFTING_NOT_POSSIBLE;
+  }
+
+  // temporarily hold the item
+  TelecommandStruct tempTc(tcToTimeshiftIt->second);
+  uint32_t tempKey = tcToTimeshiftIt->first + relativeTime;
+
+  // delete old entry from the mm
+  telecommandMap.erase(tcToTimeshiftIt);
+
+  // and then insert it again as new entry
+  telecommandMap.insert(std::make_pair(tempKey, tempTc));
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doTimeshiftActivity: Shifted TC" << std::endl;
+#else
+    sif::printDebug("PUS11::doTimeshiftActivity: Shifted TC\n");
+#endif
+    debugPrintMultimapContent();
+  }
+
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimeshiftActivity(
+    const uint8_t *data, size_t size) {
+  // Get relative time
+  uint32_t relativeTime = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (relativeTime == 0) {
+    return INVALID_RELATIVE_TIME;
+  }
+
+  // Do time window
+  TcMapIter itBegin;
+  TcMapIter itEnd;
+  result = getMapFilterFromData(data, size, itBegin, itEnd);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  int shiftedItemsCount = 0;
+  for (auto it = itBegin; it != itEnd;) {
+    // temporarily hold the item
+    TelecommandStruct tempTc(it->second);
+    uint32_t tempKey = it->first + relativeTime;
+
+    // delete the old entry from the mm
+    telecommandMap.erase(it++);
+
+    // and then insert it again as new entry
+    telecommandMap.insert(std::make_pair(tempKey, tempTc));
+    shiftedItemsCount++;
+    continue;
+  }
+
+  if (debugMode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "PUS11::doFilterTimeshiftActivity: shiftedItemsCount: " << shiftedItemsCount
+              << std::endl;
+#else
+    sif::printInfo("PUS11::doFilterTimeshiftActivity: shiftedItemsCount: %d\n", shiftedItemsCount);
+#endif
+    debugPrintMultimapContent();
+  }
+
+  if (shiftedItemsCount > 0) {
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+template <size_t MAX_NUM_TCS>
+inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromDataTC(
+    const uint8_t *data) const {
+  TcPacketPus mask(data);
+
+  uint32_t sourceId = mask.getSourceId();
+  uint16_t apid = mask.getAPID();
+  uint16_t sequenceCount = mask.getPacketSequenceCount();
+
+  return buildRequestId(sourceId, apid, sequenceCount);
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromData(
+    const uint8_t *&data, size_t &dataSize, uint64_t &requestId) {
+  uint32_t srcId = 0;
+  uint16_t apid = 0;
+  uint16_t ssc = 0;
+
+  ReturnValue_t result = SerializeAdapter::deSerialize(&srcId, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&apid, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&ssc, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  requestId = buildRequestId(srcId, apid, ssc);
+
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::buildRequestId(uint32_t sourceId,
+                                                                            uint16_t apid,
+                                                                            uint16_t ssc) const {
+  uint64_t sourceId64 = static_cast<uint64_t>(sourceId);
+  uint64_t apid64 = static_cast<uint64_t>(apid);
+  uint64_t ssc64 = static_cast<uint64_t>(ssc);
+
+  return (sourceId64 << 32) | (apid64 << 16) | ssc64;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFromData(
+    const uint8_t *&data, size_t &dataSize, TcMapIter &itBegin, TcMapIter &itEnd) {
+  // get filter type first
+  uint32_t typeRaw = 0;
+  ReturnValue_t result = SerializeAdapter::deSerialize(&typeRaw, &data, &dataSize, DEF_END);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  if (typeRaw > 3) {
+    return INVALID_TYPE_TIME_WINDOW;
+  }
+  TypeOfTimeWindow type = static_cast<TypeOfTimeWindow>(typeRaw);
+
+  // we now have the type of delete activity - so now we set the range to delete,
+  // according to the type of time window.
+  // NOTE: Blocks are used in this switch-case statement so that timestamps can be
+  // cleanly redefined for each case.
+  switch (type) {
+    case TypeOfTimeWindow::SELECT_ALL: {
+      itBegin = telecommandMap.begin();
+      itEnd = telecommandMap.end();
+      break;
+    }
+
+    case TypeOfTimeWindow::FROM_TIMETAG: {
+      uint32_t fromTimestamp = 0;
+      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, DEF_END);
+      if (result != RETURN_OK) {
+        return result;
+      }
+
+      itBegin = telecommandMap.begin();
+      while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
+        itBegin++;
+      }
+
+      itEnd = telecommandMap.end();
+      break;
+    }
+
+    case TypeOfTimeWindow::TO_TIMETAG: {
+      uint32_t toTimestamp;
+      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, DEF_END);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      itBegin = telecommandMap.begin();
+      itEnd = telecommandMap.begin();
+      while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
+        itEnd++;
+      }
+      break;
+    }
+
+    case TypeOfTimeWindow::FROM_TIMETAG_TO_TIMETAG: {
+      uint32_t fromTimestamp;
+      uint32_t toTimestamp;
+
+      result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize,
+                                             SerializeIF::Endianness::BIG);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize,
+                                             SerializeIF::Endianness::BIG);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      itBegin = telecommandMap.begin();
+      itEnd = telecommandMap.begin();
+
+      while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
+        itBegin++;
+      }
+      while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
+        itEnd++;
+      }
+      break;
+    }
+
+    default:
+      return RETURN_FAILED;
+  }
+
+  // additional security check, this should never be true
+  if (itBegin->first > itEnd->first) {
+    sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
+    return RETURN_FAILED;
+  }
+
+  // the map range should now be set according to the sent filter.
+  return RETURN_OK;
+}
+
+template <size_t MAX_NUM_TCS>
+inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidData(
+    const char *ctx) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service11TelecommandScheduling:: " << ctx << ": Invalid buffer" << std::endl;
+#else
+  sif::printWarning("Service11TelecommandScheduling::%s: Invalid buffer\n", ctx);
+#endif
+#endif
+  return RETURN_FAILED;
+}
+
+template <size_t MAX_NUM_TCS>
+inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent(void) const {
+#if FSFW_DISABLE_PRINTOUT == 0
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
+             << std::endl;
+  sif::debug << "[" << dit->first << "]: Request ID: " << dit->second.requestId << " | "
+             << "Store Address: " << dit->second.storeAddr << std::endl;
+#else
+  sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
+  for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
+    sif::printDebug("[%d]: Request ID: %d  | Store Address: %d\n", dit->first,
+                    dit->second.requestId, dit->second.storeAddr);
+  }
+#endif
+#endif
+}

src/fsfw/returnvalues/FwClassIds.h

@@ -72,6 +72,7 @@ enum : uint8_t {
   DLE_ENCODER,                    // DLEE
   PUS_SERVICE_3,                  // PUS3
   PUS_SERVICE_9,                  // PUS9
+  PUS_SERVICE_11,                 // PUS11
   FILE_SYSTEM,                    // FILS
   LINUX_OSAL,                     // UXOS
   HAL_SPI,                        // HSPI

src/fsfw/version.cpp

@@ -12,19 +12,21 @@
 #undef minor
 #endif
 
-const Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION,
+const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
-                                    FSFW_VERSION_CST_GIT_SHA1};
+                                          FSFW_VERSION_REVISION, FSFW_VCS_INFO};
 
-Version::Version(int major, int minor, int revision, const char* addInfo)
+fsfw::Version::Version(int major, int minor, int revision, const char* addInfo)
     : major(major), minor(minor), revision(revision), addInfo(addInfo) {}
 
-void Version::getVersion(char* str, size_t maxLen) const {
+void fsfw::Version::getVersion(char* str, size_t maxLen) const {
   size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
   if (addInfo != nullptr) {
     snprintf(str + len, maxLen - len, "-%s", addInfo);
   }
 }
 
+namespace fsfw {
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 std::ostream& operator<<(std::ostream& os, const Version& v) {
   os << v.major << "." << v.minor << "." << v.revision;
@@ -34,3 +36,5 @@ std::ostream& operator<<(std::ostream& os, const Version& v) {
   return os;
 }
 #endif
+
+}  // namespace fsfw

src/fsfw/version.h

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

tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp

@@ -67,7 +67,5 @@ TEST_CASE("Power Switcher", "[power-switcher]") {
     REQUIRE(not switcherUsingDummy.active());
   }
 
-  SECTION("More Dummy Tests") {
+  SECTION("More Dummy Tests") {}
-
-  }
 }

tests/src/fsfw_tests/unit/version.cpp

@@ -10,12 +10,12 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
   // Check that major version is non-zero
   REQUIRE(fsfw::FSFW_VERSION.major > 0);
   uint32_t fsfwMajor = fsfw::FSFW_VERSION.major;
-  REQUIRE(Version(255, 0, 0) > fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION);
-  REQUIRE(Version(255, 0, 0) >= fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION);
-  REQUIRE(Version(0, 0, 0) < fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION);
-  REQUIRE(Version(0, 0, 0) <= fsfw::FSFW_VERSION);
+  REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION);
-  Version v1 = Version(1, 1, 1);
+  auto v1 = fsfw::Version(1, 1, 1);
-  Version v2 = Version(1, 1, 1);
+  auto v2 = fsfw::Version(1, 1, 1);
   REQUIRE(v1 == v2);
   REQUIRE(not(v1 < v2));
   REQUIRE(not(v1 > v2));