Merge branch 'development' into mueller/clock-addition

CHANGELOG.md

@@ -24,6 +24,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `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
 
 ## Removed
 
@@ -38,6 +42,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   inside `fsfw/version.h`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 
+## Fixed
+
+- Small bugfix in STM32 HAL for SPI
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
+
 # [v4.0.0]
 
 ## Additions

CMakeLists.txt

@@ -48,9 +48,10 @@ add_library(${LIB_FSFW_NAME})
 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
-    find_package(Catch2 3)
+    find_package(Catch2 3 QUIET)
     # Not installed, so use FetchContent to download and provide Catch2
     if(NOT Catch2_FOUND)
+        message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
         include(FetchContent)
 
         FetchContent_Declare(

hal/src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -21,7 +21,7 @@ using mspCb = void (*)(void);
 namespace spi {
 
 struct MspCfgBase {
-  MspCfgBase();
+  MspCfgBase() {}
   MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
              mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
       : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -787,6 +787,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   // Serialize set packet into store.
   size_t size = 0;
   result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+      ipcStore->deleteData(storeId);
+      return result;
+  }
   if (expectedSize != size) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
@@ -801,7 +805,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
     HousekeepingMessage::setHkStuctureReportReply(&reply, sid, storeId);
   }
 
-  hkQueue->reply(&reply);
+  result = hkQueue->reply(&reply);
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+      ipcStore->deleteData(storeId);
+  }
   return result;
 }
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -410,7 +410,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
     DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
     size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
   // No need to check, as we may try to insert multiple times.
-  insertInCommandMap(deviceCommand);
+  insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
   if (hasDifferentReplyId) {
     return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
   } else {
@@ -437,11 +437,15 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   }
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand,
+                                                    bool useAlternativeReply,
+                                                    DeviceCommandId_t alternativeReplyId) {
   DeviceCommandInfo info;
   info.expectedReplies = 0;
   info.isExecuting = false;
   info.sendReplyTo = NO_COMMANDER;
+  info.useAlternativeReplyId = alternativeReplyId;
+  info.alternativeReplyId = alternativeReplyId;
   auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -451,12 +455,21 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
 }
 
 size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
-  DeviceReplyIter iter = deviceReplyMap.find(commandId);
+  DeviceCommandId_t replyId = NO_COMMAND_ID;
-  if (iter != deviceReplyMap.end()) {
+  DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
-    return iter->second.replyLen;
+  if (command->second.useAlternativeReplyId) {
-  } else {
+	replyId = command->second.alternativeReplyId;
-    return 0;
   }
+  else {
+	replyId = commandId;
+  }
+  DeviceReplyIter iter = deviceReplyMap.find(replyId);
+  if (iter != deviceReplyMap.end()) {
+	if (iter->second.delayCycles != 0) {
+		return iter->second.replyLen;
+	}
+  }
+  return 0;
 }
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
@@ -651,7 +664,9 @@ void DeviceHandlerBase::doGetWrite() {
 
     // We need to distinguish here, because a raw command never expects a reply.
     //(Could be done in eRIRM, but then child implementations need to be careful.
-    result = enableReplyInReplyMap(cookieInfo.pendingCommand);
+    DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
+    result = enableReplyInReplyMap(command, 1, command->second.useAlternativeReplyId,
+                                   command->second.alternativeReplyId);
   } else {
     // always generate a failure event, so that FDIR knows what's up
     triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, cookieInfo.pendingCommand->first);

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -478,7 +478,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @return - @c RETURN_OK when the command was successfully inserted,
    *         - @c RETURN_FAILED else.
    */
-  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
+  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
+                                   bool useAlternativeReply = false,
+                                   DeviceCommandId_t alternativeReplyId = 0);
 
   /**
    * Enables a periodic reply for a given command. It sets to delay cycles to the specified
@@ -751,6 +753,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     //! if this is != NO_COMMANDER, DHB was commanded externally and shall
     //! report everything to commander.
     MessageQueueId_t sendReplyTo;
+    bool useAlternativeReplyId;
+    DeviceCommandId_t alternativeReplyId;
   };
   using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo>;
   /**

src/fsfw/ipc/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
+    CommandMessage.cpp
-		CommandMessage.cpp
+    CommandMessageCleaner.cpp
-		CommandMessageCleaner.cpp
+    MessageQueueMessage.cpp
-		MessageQueueMessage.cpp
+    MessageQueueBase.cpp
 )

src/fsfw/ipc/MessageQueueBase.cpp

@@ -0,0 +1,64 @@
+#include "MessageQueueBase.h"
+
+MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest,
+    MqArgs* args): id(id) {
+  this->defaultDest = defaultDest;
+  if(args != nullptr) {
+    this->args = *args;
+  }
+}
+
+MessageQueueBase::~MessageQueueBase() {}
+
+ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
+  return sendToDefaultFrom(message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
+  if (this->last != MessageQueueIF::NO_QUEUE) {
+    return sendMessageFrom(this->last, message, this->getId());
+  } else {
+    return NO_REPLY_PARTNER;
+  }
+}
+
+ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
+                                           MessageQueueId_t* receivedFrom) {
+  ReturnValue_t status = this->receiveMessage(message);
+  *receivedFrom = this->last;
+  return status;
+}
+
+MessageQueueId_t MessageQueueBase::getLastPartner() const {
+  return last;
+}
+
+MessageQueueId_t MessageQueueBase::getId() const {
+  return id;
+}
+
+MqArgs& MessageQueueBase::getMqArgs() {
+  return args;
+}
+
+void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
+  this->defaultDest = defaultDestination;
+}
+
+MessageQueueId_t MessageQueueBase::getDefaultDestination() const {
+  return defaultDest;
+}
+
+bool MessageQueueBase::isDefaultDestinationSet() const {
+  return (defaultDest != NO_QUEUE);
+}
+
+ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                            bool ignoreFault) {
+  return sendMessageFrom(sendTo, message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueueBase::sendToDefaultFrom(MessageQueueMessageIF* message,
+                                                  MessageQueueId_t sentFrom, bool ignoreFault) {
+  return sendMessageFrom(defaultDest, message, sentFrom, ignoreFault);
+}

src/fsfw/ipc/MessageQueueBase.h

@@ -0,0 +1,41 @@
+#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
+#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
+
+#include <fsfw/ipc/definitions.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+
+class MessageQueueBase: public MessageQueueIF {
+public:
+  MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
+  virtual ~MessageQueueBase();
+
+  // Default implementations for MessageQueueIF where possible
+  virtual MessageQueueId_t getLastPartner() const override;
+  virtual MessageQueueId_t getId() const override;
+  virtual MqArgs& getMqArgs() override;
+  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+  virtual MessageQueueId_t getDefaultDestination() const override;
+  virtual bool isDefaultDestinationSet() const override;
+  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+      bool ignoreFault) override;
+  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+      MessageQueueId_t* receivedFrom) override;
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
+      MessageQueueId_t sentFrom, bool ignoreFault = false) override;
+
+  // OSAL specific, forward the abstract function
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
+  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
+protected:
+  MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
+  MqArgs args = {};
+};
+
+
+
+#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

src/fsfw/ipc/MessageQueueIF.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
+#include <fsfw/ipc/definitions.h>
 #include <cstdint>
 
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -44,8 +45,7 @@ class MessageQueueIF {
   virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
 
   /**
-   * @brief	This function reads available messages from the message queue
+   * @brief	This function reads available messages from the message queue and returns the sender.
-   *          and returns the sender.
    * @details
    * It works identically to the other receiveMessage call, but in addition
    * returns the sender's queue id.
@@ -78,19 +78,16 @@ class MessageQueueIF {
    */
   virtual ReturnValue_t flush(uint32_t* count) = 0;
   /**
-   * @brief	This method returns the message queue
+   * @brief	This method returns the message queue ID of the last communication partner.
-   *          id of the last communication partner.
    */
   virtual MessageQueueId_t getLastPartner() const = 0;
   /**
-   * @brief	This method returns the message queue
+   * @brief	This method returns the message queue ID  of this class's message queue.
-   *          id of this class's message queue.
    */
   virtual MessageQueueId_t getId() const = 0;
 
   /**
-   * @brief	With the sendMessage call, a queue message
+   * @brief	With the sendMessage call, a queue message is sent to a receiving queue.
-   *          is sent to a receiving queue.
    * @details
    * This method takes the message provided, adds the sentFrom information
    * and passes it on to the destination provided with an operating system
@@ -129,8 +126,7 @@ class MessageQueueIF {
                                     bool ignoreFault = false) = 0;
 
   /**
-   * @brief	The sendToDefaultFrom method sends a queue message
+   * @brief	The sendToDefaultFrom method sends a queue message to the default destination.
-   *          to the default destination.
    * @details
    * In all other aspects, it works identical to the sendMessage method.
    * @param message
@@ -164,6 +160,8 @@ class MessageQueueIF {
   virtual MessageQueueId_t getDefaultDestination() const = 0;
 
   virtual bool isDefaultDestinationSet() const = 0;
+
+  virtual MqArgs& getMqArgs() = 0;
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

src/fsfw/ipc/QueueFactory.h

@@ -5,6 +5,7 @@
 
 #include "MessageQueueIF.h"
 #include "MessageQueueMessage.h"
+#include "definitions.h"
 
 /**
  * Creates message queues.
@@ -22,7 +23,8 @@ class QueueFactory {
   static QueueFactory* instance();
 
   MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
-                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+                                     MqArgs* args = nullptr);
 
   void deleteMessageQueue(MessageQueueIF* queue);
 

src/fsfw/ipc/definitions.h

@@ -0,0 +1,14 @@
+#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+struct MqArgs {
+  MqArgs(){};
+  MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
+  object_id_t objectId = objects::NO_OBJECT;
+  void* args = nullptr;
+};
+
+#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */

src/fsfw/osal/freertos/MessageQueue.cpp

@@ -4,8 +4,9 @@
 #include "fsfw/osal/freertos/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : maxMessageSize(maxMessageSize) {
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -15,10 +16,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
 #else
     sif::printError("MessageQueue::MessageQueue: Creation failed\n");
     sif::printError("Specified Message Depth: %d\n", messageDepth);
-    sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
+    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
 #endif
   }
-  QueueMapManager::instance()->addMessageQueue(handle, &queueId);
+  QueueMapManager::instance()->addMessageQueue(handle, &id);
 }
 
 MessageQueue::~MessageQueue() {
@@ -29,28 +30,6 @@ MessageQueue::~MessageQueue() {
 
 void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
@@ -72,27 +51,16 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  if (status == HasReturnvaluesIF::RETURN_OK) {
-    *receivedFrom = this->lastPartner;
-  }
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
   if (result == pdPASS) {
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     return HasReturnvaluesIF::RETURN_OK;
   } else {
     return MessageQueueIF::EMPTY;
   }
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   // TODO FreeRTOS does not support flushing partially
   // Is always successful
@@ -100,17 +68,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return queueId; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  defaultDestinationSet = true;
-  this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
-
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/freertos/MessageQueue.h

@@ -1,12 +1,14 @@
 #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
 #include "FreeRTOS.h"
 #include "TaskManagement.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MessageQueueMessageIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "queue.h"
 
 /**
@@ -32,7 +34,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -53,7 +55,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
@@ -73,40 +76,15 @@ class MessageQueue : public MessageQueueIF {
    */
   void switchSystemContext(CallContext callContext);
 
-  /** MessageQueueIF implementation */
+  QueueHandle_t getNativeQueueHandle();
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false) override;
 
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
-
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
-
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false) override;
-
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-
   ReturnValue_t flush(uint32_t* count) override;
 
-  MessageQueueId_t getLastPartner() const override;
-
-  MessageQueueId_t getId() const override;
-
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-
-  MessageQueueId_t getDefaultDestination() const override;
-
-  bool isDefaultDestinationSet() const override;
-
-  QueueHandle_t getNativeQueueHandle();
-
  protected:
   /**
    * @brief 	Implementation to be called from any send Call within
@@ -136,12 +114,8 @@ class MessageQueue : public MessageQueueIF {
   static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
  private:
-  bool defaultDestinationSet = false;
   QueueHandle_t handle;
-  MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
 
-  MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
   const size_t maxMessageSize;
   //! Stores the current system context
   CallContext callContext = CallContext::TASK;

src/fsfw/osal/freertos/QueueFactory.cpp

@@ -22,8 +22,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
-  return new MessageQueue(messageDepth, maxMessageSize);
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/host/MessageQueue.cpp

@@ -8,10 +8,12 @@
 #include "fsfw/osal/host/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : messageSize(maxMessageSize), messageDepth(messageDepth) {
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      messageSize(maxMessageSize),
+      messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
-  auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+  auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
   if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
@@ -23,42 +25,11 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
 
 MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return MessageQueueIF::NO_REPLY_PARTNER;
-  }
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  if (status == HasReturnvaluesIF::RETURN_OK) {
-    *receivedFrom = this->lastPartner;
-  }
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (messageQueue.empty()) {
     return MessageQueueIF::EMPTY;
@@ -68,12 +39,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
             message->getBuffer());
   messageQueue.pop();
   // The last partner is the first uint32_t field in the message
-  this->lastPartner = message->getSender();
+  this->last = message->getSender();
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   *count = messageQueue.size();
   // Clears the queue.
@@ -81,17 +50,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return mqId; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  defaultDestinationSet = true;
-  this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
-
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         MessageQueueMessageIF* message,

src/fsfw/osal/host/MessageQueue.h

@@ -1,15 +1,17 @@
 #ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
 #define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
 
-#include <memory>
+#include "fsfw/ipc/MessageQueueBase.h"
-#include <queue>
-
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MutexIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/timemanager/Clock.h"
 
+#include <memory>
+#include <queue>
+
 /**
  * @brief		This class manages sending and receiving of
  * 				message queue messages.
@@ -33,7 +35,7 @@
  * @ingroup osal
  * @ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -54,7 +56,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;
@@ -67,121 +70,12 @@ class MessageQueue : public MessageQueueIF {
    */
   virtual ~MessageQueue();
 
-  /**
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender
-   * parent, but passes its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the
-   *  destination message queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter
-   * is not incremented if queue is full.
-   */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false) override;
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the
-   * sendToDefault call of the MessageQueueSender parent class and adds its
-   * queue id as "sentFrom" information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using
-   * the stored lastPartner information as destination. If there was no
-   * message received yet (i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
-
-  /**
-   * @brief	With the sendMessage call, a queue message is sent to a
-   * 			receiving queue.
-   * @details
-   * This method takes the message provided, adds the sentFrom information and
-   * passes it on to the destination provided with an operating system call.
-   *  The OS's return value is returned.
-   * @param sendTo	This parameter specifies the message queue id to send
-   * the message to.
-   * @param message	This is a pointer to a previously created message,
-   * which is sent.
-   * @param sentFrom	The sentFrom information can be set to inject the
-   * sender's queue id into the message. This variable is set to zero by
-   * default.
-   * @param ignoreFault If set to true, the internal software fault counter
-   * is not incremented if queue is full.
-   */
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
                                         bool ignoreFault = false) override;
-
-  /**
-   * @brief	The sendToDefault method sends a queue message to the default
-   * 			destination.
-   * @details
-   * In all other aspects, it works identical to the sendMessage method.
-   * @param message	This is a pointer to a previously created message,
-   * which is sent.
-   * @param sentFrom	The sentFrom information can be set to inject the
-   * sender's queue id into the message. This variable is set to zero by
-   * default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false) override;
-
-  /**
-   * @brief	This function reads available messages from the message queue
-   * 			and returns the sender.
-   * @details
-   * It works identically to the other receiveMessage call, but in  addition
-   * returns the sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details
-   * If data is available it is stored in the passed message pointer.
-   * The message's original content is overwritten and the sendFrom
-   * information is stored in the lastPartner attribute. Else, the lastPartner
-   * information remains untouched, the message's content is cleared and the
-   * function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
   ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
   ReturnValue_t flush(uint32_t* count) override;
-  /**
-   * @brief	This method returns the message queue id of the last
-   * 			communication partner.
-   */
-  MessageQueueId_t getLastPartner() const override;
-  /**
-   * @brief	This method returns the message queue id of this class's
-   * 			message queue.
-   */
-  MessageQueueId_t getId() const override;
-
-  /**
-   * @brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-  /**
-   * @brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const override;
-
-  bool isDefaultDestinationSet() const override;
 
   ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout);
   ReturnValue_t unlockQueue();
@@ -211,23 +105,14 @@ class MessageQueue : public MessageQueueIF {
                                                    MessageQueueId_t sentFrom = NO_QUEUE,
                                                    bool ignoreFault = false);
 
-  // static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
-
  private:
   std::queue<std::vector<uint8_t>> messageQueue;
-  /**
-   * @brief	The class stores the queue id it got assigned.
-   * 			If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE;
   size_t messageSize = 0;
   size_t messageDepth = 0;
 
   MutexIF* queueLock;
 
-  bool defaultDestinationSet = false;
   MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

src/fsfw/osal/host/QueueFactory.cpp

@@ -27,12 +27,13 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   // A thread-safe queue can be implemented  by using a combination
   // of std::queue and std::mutex. This uses dynamic memory allocation
   // which could be alleviated by using a custom allocator, external library
   // (etl::queue) or simply using std::queue, we're on a host machine anyway.
-  return new MessageQueue(messageDepth, maxMessageSize);
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,29 +1,29 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
     Clock.cpp
-	BinarySemaphore.cpp
+    BinarySemaphore.cpp
-	CountingSemaphore.cpp
+    CountingSemaphore.cpp
-	FixedTimeslotTask.cpp
+    FixedTimeslotTask.cpp
-	InternalErrorCodes.cpp
+    InternalErrorCodes.cpp
-	MessageQueue.cpp
+    MessageQueue.cpp
-	Mutex.cpp
+    Mutex.cpp
-	MutexFactory.cpp
+    MutexFactory.cpp
-	PeriodicPosixTask.cpp
+    PeriodicPosixTask.cpp
-	PosixThread.cpp
+    PosixThread.cpp
-	QueueFactory.cpp
+    QueueFactory.cpp
-	SemaphoreFactory.cpp
+    SemaphoreFactory.cpp
-	TaskFactory.cpp
+    TaskFactory.cpp
-	tcpipHelpers.cpp
+    tcpipHelpers.cpp
-	unixUtility.cpp
+    unixUtility.cpp
 )
 
 find_package(Threads REQUIRED)
 
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-	${CMAKE_THREAD_LIBS_INIT}
+    ${CMAKE_THREAD_LIBS_INIT}
-	rt
+    rt
 )
 
 target_link_libraries(${LIB_FSFW_NAME} INTERFACE
-	${CMAKE_THREAD_LIBS_INIT}
+    ${CMAKE_THREAD_LIBS_INIT}
 )
 

src/fsfw/osal/linux/MessageQueue.cpp

@@ -11,13 +11,10 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
-    : id(MessageQueueIF::NO_QUEUE),
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
-      lastPartner(MessageQueueIF::NO_QUEUE),
-      defaultDestination(MessageQueueIF::NO_QUEUE),
       maxMessageSize(maxMessageSize) {
   mq_attr attributes;
-  this->id = 0;
   // Set attributes
   attributes.mq_curmsgs = 0;
   attributes.mq_maxmsg = messageDepth;
@@ -50,30 +47,6 @@ MessageQueue::~MessageQueue() {
   }
 }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), false);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != 0) {
-    return sendMessageFrom(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  *receivedFrom = this->lastPartner;
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -96,7 +69,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()),
                           message->getMaximumMessageSize(), &messagePriority);
   if (status > 0) {
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -164,8 +137,6 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   }
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   mq_attr attrib;
   int status = mq_getattr(id, &attrib);
@@ -212,26 +183,11 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-MessageQueueId_t MessageQueue::getId() const { return this->id; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  this->defaultDestination = defaultDestination;
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
 }
 
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
-
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
@@ -240,9 +196,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         bool ignoreFault) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
+    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl;
 #else
-    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
+    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -256,7 +212,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     if (!ignoreFault) {
       InternalErrorReporterIF* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-      if (internalErrorReporter != NULL) {
+      if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();
       }
     }

src/fsfw/osal/linux/MessageQueue.h

@@ -1,11 +1,13 @@
 #ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 #define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
 #include <mqueue.h>
 
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 /**
  * @brief		This class manages sending and receiving of message queue messages.
  *
@@ -25,7 +27,7 @@
  * makes use of the operating system calls provided.
  *	@ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
   friend class MessageQueueSenderIF;
 
  public:
@@ -42,104 +44,25 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(uint32_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
+
+  /** Copying message queues forbidden */
+  MessageQueue(const MessageQueue&) = delete;
+  MessageQueue& operator=(const MessageQueue&) = delete;
+
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
-   * its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the destination message
-   * queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
-   * queue is full.
-   */
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                    bool ignoreFault = false);
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
-   * information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using the stored
-   * 			lastParnter information as destination. If there was no message received yet
-   * 			(i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  /**
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
-   * @brief	This function reads available messages from the message queue and returns the
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-   * sender.
+  ReturnValue_t flush(uint32_t* count) override;
-   * @details	It works identically to the other receiveMessage call, but in addition returns the
+  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-   * 			sender's queue id.
+                                        MessageQueueId_t sentFrom,
-   * @param message	A pointer to a message in which the received data is stored.
+                                        bool ignoreFault = false) override;
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details	If data is available it is stored in the passed message pointer. The message's
-   * 			original content is overwritten and the sendFrom information is stored in
-   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
-   * content is cleared and the function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
-  ReturnValue_t flush(uint32_t* count);
-  /**
-   * @brief	This method returns the message queue id of the last communication partner.
-   */
-  MessageQueueId_t getLastPartner() const;
-  /**
-   * @brief	This method returns the message queue id of this class's message queue.
-   */
-  MessageQueueId_t getId() const;
-  /**
-   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-   * \param sendTo	This parameter specifies the message queue id to send the message to.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
-   * internal software fault counter is not incremented if queue is full.
-   */
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false);
-  /**
-   * \brief	The sendToDefault method sends a queue message to the default destination.
-   * \details	In all other aspects, it works identical to the sendMessage method.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false);
-  /**
-   * \brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination);
-  /**
-   * \brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const;
-
-  bool isDefaultDestinationSet() const;
 
  protected:
   /**
@@ -158,31 +81,10 @@ class MessageQueue : public MessageQueueIF {
                                                    bool ignoreFault = false);
 
  private:
-  /**
-   * @brief	The class stores the queue id it got assigned from the operating system in this
-   * attribute. If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t id;
-  /**
-   * @brief	In this attribute, the queue id of the last communication partner is stored
-   * 			to allow for replying.
-   */
-  MessageQueueId_t lastPartner;
-  /**
-   * @brief	The message queue's name -a user specific information for the operating system-  is
-   * 			generated automatically with the help of this static counter.
-   */
-  /**
-   * \brief	This attribute stores a default destination to send messages to.
-   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
-   * 			be set in the constructor or by a setter call to setDefaultDestination.
-   */
-  MessageQueueId_t defaultDestination;
-
   /**
    * The name of the message queue, stored for unlinking
    */
-  char name[16];
+  char name[16] = {};
 
   static uint16_t queueCounter;
   const size_t maxMessageSize;

src/fsfw/osal/linux/QueueFactory.cpp

@@ -28,8 +28,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
-  return new MessageQueue(messageDepth, maxMessageSize);
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/rtems/MessageQueue.cpp

@@ -6,8 +6,9 @@
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
+MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
-    : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
+    : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
+      internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =
       rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id));
@@ -16,43 +17,19 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
     sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec
                << " failed with status:" << (uint32_t)status << std::endl;
 #endif
-    this->id = 0;
+    this->id = MessageQueueIF::NO_QUEUE;
   }
 }
 
 MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        bool ignoreFault) {
-  return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-  return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-  if (this->lastPartner != 0) {
-    return sendMessage(this->lastPartner, message, this->getId());
-  } else {
-    return NO_REPLY_PARTNER;
-  }
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-                                           MessageQueueId_t* receivedFrom) {
-  ReturnValue_t status = this->receiveMessage(message);
-  *receivedFrom = this->lastPartner;
-  return status;
-}
-
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   size_t size = 0;
   rtems_status_code status =
       rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1);
   if (status == RTEMS_SUCCESSFUL) {
     message->setMessageSize(size);
-    this->lastPartner = message->getSender();
+    this->last = message->getSender();
     // Check size of incoming message.
     if (message->getMessageSize() < message->getMinimumMessageSize()) {
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -65,19 +42,11 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
   return convertReturnCode(status);
 }
 
-MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
-
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
   rtems_status_code status = rtems_message_queue_flush(id, count);
   return convertReturnCode(status);
 }
 
-MessageQueueId_t MessageQueue::getId() const { return this->id; }
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-  this->defaultDestination = defaultDestination;
-}
-
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                             MessageQueueId_t sentFrom, bool ignoreFault) {
   message->setSender(sentFrom);
@@ -103,15 +72,6 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
   return returnCode;
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-                                              MessageQueueId_t sentFrom, bool ignoreFault) {
-  return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
-
-bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
-
 ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) {
   switch (inValue) {
     case RTEMS_SUCCESSFUL:

src/fsfw/osal/rtems/MessageQueue.h

@@ -1,10 +1,12 @@
 #ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
+#include <fsfw/ipc/MessageQueueBase.h>
 #include "RtemsBasic.h"
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 
 /**
  *	@brief		This class manages sending and receiving of message queue messages.
@@ -19,7 +21,7 @@
  *as well as sending and receiving messages, the class makes use of the operating system calls
  *provided. \ingroup message_queue
  */
-class MessageQueue : public MessageQueueIF {
+class MessageQueue : public MessageQueueBase {
  public:
   /**
    * @brief	The constructor initializes and configures the message queue.
@@ -34,131 +36,26 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(size_t message_depth = 3,
-               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
+
+  /** Copying message queues forbidden */
+  MessageQueue(const MessageQueue&) = delete;
+  MessageQueue& operator=(const MessageQueue&) = delete;
+
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
    */
   virtual ~MessageQueue();
-  /**
-   * @brief	This operation sends a message to the given destination.
-   * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes
-   * its queue id as "sentFrom" parameter.
-   * @param sendTo	This parameter specifies the message queue id of the destination message
-   * queue.
-   * @param message	A pointer to a previously created message, which is sent.
-   * @param ignoreFault If set to true, the internal software fault counter is not incremented if
-   * queue is full.
-   */
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault = false);
-  /**
-   * @brief	This operation sends a message to the default destination.
-   * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-   * 			MessageQueueSender parent class and adds its queue id as "sentFrom"
-   * information.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
-  /**
-   * @brief	This operation sends a message to the last communication partner.
-   * @details	This operation simplifies answering an incoming message by using the stored
-   * 			lastParnter information as destination. If there was no message received yet
-   * 			(i.e. lastPartner is zero), an error code is returned.
-   * @param message	A pointer to a previously created message, which is sent.
-   */
-  ReturnValue_t reply(MessageQueueMessageIF* message);
 
-  /**
+  // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
-   * @brief	This function reads available messages from the message queue and returns the
+  ReturnValue_t flush(uint32_t* count) override;
-   * sender.
+  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-   * @details	It works identically to the other receiveMessage call, but in addition returns the
-   * 			sender's queue id.
-   * @param message	A pointer to a message in which the received data is stored.
-   * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
-
-  /**
-   * @brief	This function reads available messages from the message queue.
-   * @details	If data is available it is stored in the passed message pointer. The message's
-   * 			original content is overwritten and the sendFrom information is stored in
-   * the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
-   * content is cleared and the function returns immediately.
-   * @param message	A pointer to a message in which the received data is stored.
-   */
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
-  /**
-   * Deletes all pending messages in the queue.
-   * @param count The number of flushed messages.
-   * @return RETURN_OK on success.
-   */
-  ReturnValue_t flush(uint32_t* count);
-  /**
-   * @brief	This method returns the message queue id of the last communication partner.
-   */
-  MessageQueueId_t getLastPartner() const;
-  /**
-   * @brief	This method returns the message queue id of this class's message queue.
-   */
-  MessageQueueId_t getId() const;
-  /**
-   * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-   * \details	This method takes the message provided, adds the sentFrom information and passes
-   * 			it on to the destination provided with an operating system call. The OS's
-   * return value is returned.
-   * \param sendTo	This parameter specifies the message queue id to send the message to.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default. \param ignoreFault If set to true, the
-   * internal software fault counter is not incremented if queue is full.
-   */
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                         MessageQueueId_t sentFrom = NO_QUEUE,
-                                        bool ignoreFault = false);
+                                        bool ignoreFault = false) override;
-  /**
-   * \brief	The sendToDefault method sends a queue message to the default destination.
-   * \details	In all other aspects, it works identical to the sendMessage method.
-   * \param message	This is a pointer to a previously created message, which is sent.
-   * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the
-   * message. This variable is set to zero by default.
-   */
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
-                                          MessageQueueId_t sentFrom = NO_QUEUE,
-                                          bool ignoreFault = false);
-  /**
-   * \brief	This method is a simple setter for the default destination.
-   */
-  void setDefaultDestination(MessageQueueId_t defaultDestination);
-  /**
-   * \brief	This method is a simple getter for the default destination.
-   */
-  MessageQueueId_t getDefaultDestination() const;
-
-  bool isDefaultDestinationSet() const;
 
  private:
-  /**
-   * @brief	The class stores the queue id it got assigned from the operating system in this
-   * attribute. If initialization fails, the queue id is set to zero.
-   */
-  MessageQueueId_t id;
-  /**
-   * @brief	In this attribute, the queue id of the last communication partner is stored
-   * 			to allow for replying.
-   */
-  MessageQueueId_t lastPartner;
-  /**
-   * @brief	The message queue's name -a user specific information for the operating system-  is
-   * 			generated automatically with the help of this static counter.
-   */
-  /**
-   * \brief	This attribute stores a default destination to send messages to.
-   * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
-   * 			be set in the constructor or by a setter call to setDefaultDestination.
-   */
-  MessageQueueId_t defaultDestination;
-
   /**
    * \brief	This attribute stores a reference to the internal error reporter for reporting full
    * queues. \details	In the event of a full destination queue, the reporter will be notified. The

src/fsfw/osal/rtems/QueueFactory.cpp

@@ -49,8 +49,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
-  return new MessageQueue(messageDepth, maxMessageSize);
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp

@@ -21,8 +21,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
   REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
   REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK);
 
-  MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle();
+  MessageQueueMockBase* poolOwnerMock = poolOwner->getMockQueueHandle();
-  REQUIRE(mqMock != nullptr);
+  REQUIRE(poolOwnerMock != nullptr);
+
+  // MessageQueueIF* hkCommander = QueueFactory::instance()->createMessageQueue();
   CommandMessage messageSent;
   uint8_t messagesSent = 0;
 
@@ -41,9 +43,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     /* Now the update message should be generated. */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent() == true);
+    REQUIRE(poolOwnerMock->wasMessageSent() == true);
 
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
@@ -53,9 +55,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
@@ -63,15 +65,15 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 2);
     /* first message sent should be the update notification, considering
     the internal list is a vector checked in insertion order. */
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
 
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
     /* Clear message to avoid memory leak, our mock won't do it for us (yet) */
     CommandMessageCleaner::clearCommandMessage(&messageSent);
@@ -99,9 +101,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
 
     /* Trigger generation of snapshot */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     /* Check that snapshot was generated */
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_SET));
     /* Now we deserialize the snapshot into a new dataset instance */
@@ -162,12 +164,12 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update snapshot was sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
 
     /* Should have been reset. */
     CHECK(poolVar->hasChanged() == false);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE));
     /* Now we deserialize the snapshot into a new dataset instance */
@@ -209,11 +211,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update notification was sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
     /* Should have been reset. */
     CHECK(poolVar->hasChanged() == false);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
     /* Now subscribe for the dataset update (HK and update) again with subscription interface */
@@ -225,26 +227,26 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now two messages should be sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 2);
-    mqMock->clearMessages(true);
+    poolOwnerMock->clearMessages(true);
 
     poolOwner->dataset.setChanged(true);
     poolVar->setChanged(true);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now three messages should be sent. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 3);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() ==
           static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
-    REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
     CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
     CommandMessageCleaner::clearCommandMessage(&messageSent);
-    REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
+    REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
   }
 
   SECTION("PeriodicHKAndMessaging") {
@@ -255,38 +257,38 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     /* Now HK packet should be sent as message immediately. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid);
     REQUIRE(setHandle != nullptr);
     CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, setHandle, false) ==
           retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     CHECK(setHandle->getReportingEnabled() == true);
     CommandMessage hkCmd;
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == false);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == true);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     CHECK(setHandle->getReportingEnabled() == false);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   false);
@@ -294,23 +296,23 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     /* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the
     resulting collection interval should be 1.0 second */
     CHECK(poolOwner->dataset.getCollectionInterval() == 1.0);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
     /* Now HK packet should be sent as message. */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid);
     sid_t sidToCheck;
@@ -326,62 +328,62 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
     /* We still expect a failure message being sent */
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
                                                                   true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
           static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true);
     CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
-    REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+    REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
     CHECK(messagesSent == 1);
-    CHECK(mqMock->popMessage() == retval::CATCH_OK);
+    CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
 
     HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid);
     gp_id_t gpidToCheck;
@@ -407,5 +409,5 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
   /* we need to reset the subscription list because the pool owner
   is a global object. */
   CHECK(poolOwner->reset() == retval::CATCH_OK);
-  mqMock->clearMessages(true);
+  poolOwnerMock->clearMessages(true);
 }

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

@@ -4,16 +4,18 @@
 #include <cstring>
 #include <queue>
 
+#include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw_tests/unit/CatchDefinitions.h"
 
-class MessageQueueMockBase : public MessageQueueIF {
+class MessageQueueMockBase : public MessageQueueBase {
  public:
-  MessageQueueId_t myQueueId = tconst::testQueueId;
+  MessageQueueMockBase()
+   : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
+
   uint8_t messageSentCounter = 0;
-  bool defaultDestSet = false;
   bool messageSent = false;
 
   bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) {
@@ -38,53 +40,30 @@ class MessageQueueMockBase : public MessageQueueIF {
     return receiveMessage(&message);
   }
 
-  virtual ReturnValue_t reply(MessageQueueMessageIF* message) {
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override {
-    return sendMessage(myQueueId, message);
-  };
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                                       MessageQueueId_t* receivedFrom) {
-    return receiveMessage(message);
-  }
-
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
     if (messagesSentQueue.empty()) {
       return MessageQueueIF::EMPTY;
     }
-
+    this->last = message->getSender();
     std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(),
                 message->getMessageSize());
     messagesSentQueue.pop();
     return HasReturnvaluesIF::RETURN_OK;
   }
   virtual ReturnValue_t flush(uint32_t* count) { return HasReturnvaluesIF::RETURN_OK; }
-  virtual MessageQueueId_t getLastPartner() const { return myQueueId; }
-  virtual MessageQueueId_t getId() const { return myQueueId; }
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false) {
+                                        MessageQueueId_t sentFrom,
-    return sendMessage(sendTo, message);
+                                        bool ignoreFault = false) override {
-  }
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-                                          bool ignoreFault = false) {
-    return sendMessage(myQueueId, message);
-  }
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) {
-    return sendMessage(myQueueId, message);
-  }
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                    bool ignoreFault = false) override {
     messageSent = true;
     messageSentCounter++;
     MessageQueueMessage& messageRef = *(dynamic_cast<MessageQueueMessage*>(message));
     messagesSentQueue.push(messageRef);
     return HasReturnvaluesIF::RETURN_OK;
   }
-  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
-    myQueueId = defaultDestination;
-    defaultDestSet = true;
-  }
 
-  virtual MessageQueueId_t getDefaultDestination() const { return myQueueId; }
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override {
-  virtual bool isDefaultDestinationSet() const { return defaultDestSet; }
+    return sendMessageFrom(MessageQueueIF::NO_QUEUE, message, this->getId(), false);
+  }
 
   void clearMessages(bool clearCommandMessages = true) {
     while (not messagesSentQueue.empty()) {