Merge remote-tracking branch 'upstream/development' into mueller/power-switcher-component-upstream

CHANGELOG.md

@@ -25,19 +25,42 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
-- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 - IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-- Clock: 
+
+### HAL
+
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+
+### Time
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
+https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
+
 - `timeval` to `TimeOfDay_t`
 - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
 - Moved the statics used by Clock in ClockCommon.cpp to this file
 - Better check for leap seconds
 - Added Unittests for Clock (only getter)
 
+### Power 
+
+- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
+  also specify a `ReturnValue_t` return type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
+  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
@@ -46,15 +69,40 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Additions
 
+- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
+  can make good use of it and it usually makes the code faster and/or smaller.
+  After some more research:
+  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
+  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
+  because if an application linking against the FSFW does not use LTO, there can be compile
+  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
+  can be seen in the multiple CMake issues for it: 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
+  Easiest solution for now: Keep this option OFF by default.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - 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 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
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- New typedef for switcher type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- `Subsystem`: New API to add table and sequence entries
 
 ## Fixed
 
+- TCP TMTC Server: `MutexGuard` was not created properly in
+  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
+- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
+  Is not currently used right now but might be used in the future
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
 - Move some CMake directives further up top so they are not ignored
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
 - Small bugfix in STM32 HAL for SPI

CMakeLists.txt

@@ -17,6 +17,7 @@ set(FSFW_REVISION 0)
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
+set(FSFW_ETL_LIB_NAME etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
   "ETL library major version requirement"
 )
@@ -32,7 +33,16 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
     "Catch2 library exact version requirement"
 )
 
-set(FSFW_ETL_LIB_NAME etl)
+# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+# for information which 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)
+  if(NOT IPO_SUPPORTED)
+    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+  endif()
+endif()
 
 option(FSFW_GENERATE_SECTIONS
   "Generate function and data sections. Required to remove unused code" ON
@@ -71,6 +81,10 @@ 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)
+endif()
+
 if(FSFW_BUILD_UNITTESTS)
     message(STATUS "Building the FSFW unittests in addition to the static library")
     # Check whether the user has already installed Catch2 first
@@ -95,6 +109,9 @@ if(FSFW_BUILD_UNITTESTS)
 
     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)
+    endif()
 
     if(FSFW_TESTS_GEN_COV)
         message(STATUS "Generating coverage data for the library")

src/fsfw/container/FixedArrayList.h

@@ -2,6 +2,7 @@
 #define FIXEDARRAYLIST_H_
 
 #include <cmath>
+#include <limits>
 
 #include "ArrayList.h"
 /**
@@ -9,10 +10,8 @@
  */
 template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
-#if !defined(_MSC_VER) && !defined(__clang__)
+  static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
-  static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
                 "count_t is not large enough to hold MAX_SIZE");
-#endif
  private:
   T data[MAX_SIZE];
 

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -19,6 +19,8 @@
 #include <ws2tcpip.h>
 #elif defined(PLATFORM_UNIX)
 #include <netdb.h>
+
+#include <utility>
 #endif
 
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
@@ -29,7 +31,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(customTcpServerPort),
+      tcpConfig(std::move(customTcpServerPort)),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -103,7 +105,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
 
 TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
 
-ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
+[[noreturn]] ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
   using namespace tcpip;
   // If a connection is accepted, the corresponding socket will be assigned to the new socket
   socket_t connSocket = 0;
@@ -138,7 +140,6 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
     closeSocket(connSocket);
     connSocket = 0;
   }
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
@@ -159,7 +160,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 #endif
 
   while (true) {
-    int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
+    ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
                       receptionBuffer.capacity(), tcpConfig.tcpFlags);
     if (retval == 0) {
       size_t availableReadData = ringBuffer.getAvailableReadData();
@@ -252,17 +253,17 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
   return result;
 }
 
-std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
+const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
 
-void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
+void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
-  this->validPacketIds = validPacketIds;
+  this->validPacketIds = std::move(validPacketIds_);
 }
 
 TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() { return tcpConfig; }
 
 ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
   // Access to the FIFO is mutex protected because it is filled by the bridge
-  MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
+  MutexGuard mg(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
   store_address_t storeId;
   while ((not tmtcBridge->tmFifo->empty()) and
          (tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
@@ -283,7 +284,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
 #endif
       arrayprinter::print(storeAccessor.data(), storeAccessor.size());
     }
-    int retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
+    ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
                       storeAccessor.size(), tcpConfig.tcpTmFlags);
     if (retval == static_cast<int>(storeAccessor.size())) {
       // Packet sent, clear FIFO entry
@@ -339,6 +340,9 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   size_t foundSize = 0;
   size_t readLen = 0;
   while (readLen < readAmount) {
+    if(spacePacketParser == nullptr) {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
     result =
         spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
     switch (result) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -17,6 +17,7 @@
 #endif
 
 #include <string>
+#include <utility>
 #include <vector>
 
 class TcpTmTcBridge;
@@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   struct TcpConfig {
    public:
-    TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
 
     /**
      * Passed to the recv call
@@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
                 size_t ringBufferSize = RING_BUFFER_SIZE,
                 std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
-  virtual ~TcpTmTcServer();
+  ~TcpTmTcServer() override;
 
   void enableWiretapping(bool enable);
 
@@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
 
   ReturnValue_t initialize() override;
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  std::string getTcpPort() const;
+  [[nodiscard]] const std::string& getTcpPort() const;
 
  protected:
   StorageManagerIF* tcStore = nullptr;
@@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   ReceptionModes receptionMode;
   TcpConfig tcpConfig;
-  struct sockaddr tcpAddress;
+  struct sockaddr tcpAddress = {};
   socket_t listenerTcpSocket = 0;
 
   MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -1,8 +1,9 @@
 #include "DummyPowerSwitcher.h"
 
 DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
-                                       size_t numberOfFuses, uint32_t switchDelayMs)
+                                       size_t numberOfFuses, bool registerGlobally,
-    : SystemObject(objectId),
+                                       uint32_t switchDelayMs)
+    : SystemObject(objectId, registerGlobally),
       switcherList(numberOfSwitches),
       fuseList(numberOfFuses),
       switchDelayMs(switchDelayMs) {}

src/fsfw/power/DummyPowerSwitcher.h

@@ -8,10 +8,17 @@
 #include "definitions.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
+/**
+ * @brief   This component can be used to simulate a power switcher like a
+ *          Power Control Distribution Unit (PCDU)
+ * @details
+ * The dummy switcher will simply cache the commanded fuse and switch states and return them
+ * in the according switch getter functions. In that sense, it simulates an ideal PCDU.
+ */
 class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
  public:
   DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
-                     uint32_t switchDelayMs = 5000);
+                     bool registerGlobally = true, uint32_t switchDelayMs = 5000);
 
   void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
   void setInitialFusesList(std::vector<ReturnValue_t> switcherList);

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -13,8 +13,6 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
     : CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
 }
 
-CService201HealthCommanding::~CService201HealthCommanding() {}
-
 ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_SET_HEALTH):
@@ -43,8 +41,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
 }
 
 ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
-  HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
   if (destination == nullptr) {
     return CommandingServiceBase::INVALID_OBJECT;
   }
@@ -77,6 +75,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
       HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
       break;
     }
+    default: {
+      // Should never happen, subservice was already checked
+      result = RETURN_FAILED;
+    }
   }
   return result;
 }
@@ -95,10 +97,9 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
 }
 
 // Not used for now, health state already reported by event
-ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
+[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
-  prepareHealthSetReply(reply);
+  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
-  uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);
   return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
 }

src/fsfw/pus/CService201HealthCommanding.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
-#include "../tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
 
 /**
  * @brief   Custom PUS service to set health of all objects
@@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
  public:
   CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                               uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  virtual ~CService201HealthCommanding();
+  ~CService201HealthCommanding() override = default;
 
  protected:
   /* CSB abstract function implementations */
@@ -38,12 +38,10 @@ class CService201HealthCommanding : public CommandingServiceBase {
                             bool *isStep) override;
 
  private:
-  ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
+  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
-                                        size_t tcDataLen);
+                                                     const object_id_t *objectId);
-  ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
-                                                     object_id_t *objectId);
 
-  ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+  [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
 
   enum Subservice {
     //! [EXPORT] : [TC] Set health of target object

src/fsfw/subsystem/Subsystem.cpp

@@ -307,6 +307,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
   }
 }
 
+ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) {
+  return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore,
+                     sequence.preInit);
+}
+
 ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id,
                                      Mode_t fallbackSequence, bool inStore, bool preInit) {
   ReturnValue_t result;
@@ -350,6 +355,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t
   return result;
 }
 
+ReturnValue_t Subsystem::addTable(TableEntry table) {
+  return addTable(table.table, table.mode, table.inStore, table.preInit);
+}
+
 ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore,
                                   bool preInit) {
   ReturnValue_t result;
@@ -458,6 +467,7 @@ ReturnValue_t Subsystem::initialize() {
   }
 
   mode = initialMode;
+  submode = initSubmode;
 
   return RETURN_OK;
 }
@@ -595,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() {
   return RETURN_OK;
 }
 
-void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; }
+void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) {
+  this->initialMode = mode;
+  this->initSubmode = submode;
+}
 
 void Subsystem::cantKeepMode() {
   ReturnValue_t result;

src/fsfw/subsystem/Subsystem.h

@@ -10,6 +10,28 @@
 #include "fsfw/FSFW.h"
 #include "modes/ModeDefinitions.h"
 
+struct TableSequenceBase {
+ public:
+  TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
+  Mode_t mode;
+  ArrayList<ModeListEntry> *table;
+  bool inStore = false;
+  bool preInit = true;
+};
+
+struct TableEntry : public TableSequenceBase {
+ public:
+  TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
+};
+
+struct SequenceEntry : public TableSequenceBase {
+ public:
+  SequenceEntry(Mode_t mode, ArrayList<ModeListEntry> *table, Mode_t fallbackMode)
+      : TableSequenceBase(mode, table), fallbackMode(fallbackMode) {}
+
+  Mode_t fallbackMode;
+};
+
 /**
  * @brief   TODO: documentation missing
  * @details
@@ -44,13 +66,15 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
             uint32_t maxNumberOfTables);
   virtual ~Subsystem();
 
+  ReturnValue_t addSequence(SequenceEntry sequence);
   ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
                             bool inStore = true, bool preInit = true);
 
+  ReturnValue_t addTable(TableEntry table);
   ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
                          bool preInit = true);
 
-  void setInitialMode(Mode_t mode);
+  void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
 
   virtual ReturnValue_t initialize() override;
 
@@ -89,6 +113,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
   Submode_t targetSubmode;
 
   Mode_t initialMode = 0;
+  Submode_t initSubmode = SUBMODE_NONE;
 
   HybridIterator<ModeListEntry> currentSequenceIterator;
 

src/fsfw/tmtcservices/CommandingServiceBase.h

@@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
    * @param objectId Target object ID
    * @return
    * - @c RETURN_OK to generate a verification start message
-   * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
+   * - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
    *      verification message.
    * - @c Anything else rejects the packets and generates a start failure
    *      verification.

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -11,7 +11,10 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
 )
 
 add_subdirectory(testcfg)
+add_subdirectory(mocks)
+
 add_subdirectory(action)
+add_subdirectory(power)
 add_subdirectory(container)
 add_subdirectory(osal)
 add_subdirectory(serialize)

tests/src/fsfw_tests/unit/mocks/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+	PowerSwitcherMock.cpp
+)

tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp

@@ -0,0 +1,77 @@
+#include "PowerSwitcherMock.h"
+
+static uint32_t SWITCH_REQUEST_UPDATE_VALUE = 0;
+
+PowerSwitcherMock::PowerSwitcherMock() {}
+
+ReturnValue_t PowerSwitcherMock::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (switchMap.count(switchNr) == 0) {
+    switchMap.emplace(switchNr, SwitchInfo(switchNr, onOff));
+  } else {
+    SwitchInfo& info = switchMap.at(switchNr);
+    info.currentState = onOff;
+    if (onOff == PowerSwitchIF::SWITCH_ON) {
+      info.timesCalledOn++;
+    } else {
+      info.timesCalledOff++;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherMock::sendFuseOnCommand(uint8_t fuseNr) {
+  if (fuseMap.count(fuseNr) == 0) {
+    fuseMap.emplace(fuseNr, FuseInfo(fuseNr));
+  } else {
+    FuseInfo& info = fuseMap.at(fuseNr);
+    info.timesCalled++;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PowerSwitcherMock::getSwitchState(power::Switch_t switchNr) const {
+  if (switchMap.count(switchNr) == 1) {
+    auto& info = switchMap.at(switchNr);
+    SWITCH_REQUEST_UPDATE_VALUE++;
+    return info.currentState;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t PowerSwitcherMock::getFuseState(uint8_t fuseNr) const {
+  if (fuseMap.count(fuseNr) == 1) {
+    return FUSE_ON;
+  } else {
+    return FUSE_OFF;
+  }
+  return RETURN_FAILED;
+}
+
+uint32_t PowerSwitcherMock::getSwitchDelayMs(void) const { return 5000; }
+
+SwitchInfo::SwitchInfo() : switcher(0) {}
+
+SwitchInfo::SwitchInfo(power::Switch_t switcher, ReturnValue_t initState)
+    : switcher(switcher), currentState(initState) {}
+
+FuseInfo::FuseInfo(uint8_t fuse) : fuse(fuse) {}
+
+void PowerSwitcherMock::getSwitchInfo(power::Switch_t switcher, SwitchInfo& info) {
+  if (switchMap.count(switcher) == 1) {
+    info = switchMap.at(switcher);
+  }
+}
+
+void PowerSwitcherMock::getFuseInfo(uint8_t fuse, FuseInfo& info) {
+  if (fuseMap.count(fuse) == 1) {
+    info = fuseMap.at(fuse);
+  }
+}
+
+uint32_t PowerSwitcherMock::getAmountSwitchStatWasRequested() {
+  return SWITCH_REQUEST_UPDATE_VALUE;
+}
+
+void PowerSwitcherMock::initSwitch(power::Switch_t switchNr) {
+  switchMap.emplace(switchNr, SwitchInfo(switchNr, PowerSwitchIF::SWITCH_OFF));
+}

tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h

@@ -0,0 +1,52 @@
+#ifndef FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
+#define FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
+
+#include <fsfw/power/PowerSwitchIF.h>
+
+#include <map>
+#include <utility>
+
+struct SwitchInfo {
+ public:
+  SwitchInfo();
+  SwitchInfo(power::Switch_t switcher, ReturnValue_t initState);
+
+  power::Switch_t switcher;
+  ReturnValue_t currentState = PowerSwitchIF::SWITCH_OFF;
+  uint32_t timesCalledOn = 0;
+  uint32_t timesCalledOff = 0;
+  uint32_t timesStatusRequested = 0;
+};
+
+struct FuseInfo {
+ public:
+  FuseInfo(uint8_t fuse);
+  uint8_t fuse;
+  uint32_t timesCalled = 0;
+};
+
+class PowerSwitcherMock : public PowerSwitchIF {
+ public:
+  PowerSwitcherMock();
+
+  ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
+
+  void getSwitchInfo(power::Switch_t switcher, SwitchInfo& info);
+  void getFuseInfo(uint8_t fuse, FuseInfo& info);
+
+  uint32_t getAmountSwitchStatWasRequested();
+
+  void initSwitch(power::Switch_t switchNr);
+
+ private:
+  using SwitchOnOffPair = std::pair<power::Switch_t, ReturnValue_t>;
+  using FuseOnOffPair = std::pair<uint8_t, ReturnValue_t>;
+  std::map<power::Switch_t, SwitchInfo> switchMap;
+  std::map<uint8_t, FuseInfo> fuseMap;
+};
+
+#endif /* FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_ */

tests/src/fsfw_tests/unit/power/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+    testPowerSwitcher.cpp
+)

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

@@ -0,0 +1,73 @@
+#include <fsfw/power/DummyPowerSwitcher.h>
+#include <fsfw/power/PowerSwitcher.h>
+#include <fsfw_tests/unit/mocks/PowerSwitcherMock.h>
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "objects/systemObjectList.h"
+
+TEST_CASE("Power Switcher", "[power-switcher]") {
+  PowerSwitcherMock mock;
+  PowerSwitcher switcher(&mock, 1);
+  DummyPowerSwitcher dummySwitcher(objects::DUMMY_POWER_SWITCHER, 5, 5, false);
+  PowerSwitcher switcherUsingDummy(&dummySwitcher, 1);
+  SwitchInfo switchInfo;
+  mock.initSwitch(1);
+
+  SECTION("Basic Tests") {
+    REQUIRE(switcher.getFirstSwitch() == 1);
+    REQUIRE(switcher.getSecondSwitch() == power::NO_SWITCH);
+    // Default start state
+    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    switcher.turnOn(true);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 1);
+    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_ON);
+    REQUIRE(switcher.checkSwitchState() == PowerSwitcher::IN_POWER_TRANSITION);
+    REQUIRE(switcher.active());
+    switcher.doStateMachine();
+    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_ON);
+    mock.getSwitchInfo(1, switchInfo);
+    REQUIRE(switchInfo.timesCalledOn == 1);
+    REQUIRE(not switcher.active());
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
+    REQUIRE(switcher.checkSwitchState() == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
+    switcher.turnOff(false);
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
+    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
+    REQUIRE(switcher.active());
+    REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
+    switcher.doStateMachine();
+    mock.getSwitchInfo(1, switchInfo);
+    REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    REQUIRE(switchInfo.timesCalledOn == 1);
+    REQUIRE(switchInfo.timesCalledOff == 1);
+    REQUIRE(not switcher.active());
+    REQUIRE(mock.getAmountSwitchStatWasRequested() == 4);
+  }
+
+  SECTION("Dummy Test") {
+    // Same tests, but we can't really check the dummy
+    REQUIRE(switcherUsingDummy.getFirstSwitch() == 1);
+    REQUIRE(switcherUsingDummy.getSecondSwitch() == power::NO_SWITCH);
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    switcherUsingDummy.turnOn(true);
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_ON);
+    REQUIRE(switcherUsingDummy.active());
+    switcherUsingDummy.doStateMachine();
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_ON);
+    REQUIRE(not switcherUsingDummy.active());
+
+    switcherUsingDummy.turnOff(false);
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
+    REQUIRE(switcherUsingDummy.active());
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
+    switcherUsingDummy.doStateMachine();
+    REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
+    REQUIRE(not switcherUsingDummy.active());
+  }
+
+  SECTION("More Dummy Tests") {
+
+  }
+}

tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h

@@ -21,8 +21,9 @@ enum sourceObjects : uint32_t {
   HK_RECEIVER_MOCK = 22,
   TEST_LOCAL_POOL_OWNER_BASE = 25,
 
-  SHARED_SET_ID = 26
+  SHARED_SET_ID = 26,
 
+  DUMMY_POWER_SWITCHER = 27
 };
 }