clocks suck a little less

Reviewed-on: #720

CHANGELOG.md

@@ -12,6 +12,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
+- TC Scheduler Service 11: Add size and CRC check for contained TC.
+- Only delete health table entry in `HealthHelper` destructor if
+  health table was set.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
+- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
+  Also properly reset the reply size for successfull transfers and erroneous transfers.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
 - Bugfix for Serial Buffer Stream: Setting `doActive` to false now
   actually fully disables printing.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
@@ -21,11 +28,24 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- `DleParser` helper class to parse DLE encoded packets from a byte stream.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
+- `UioMapper` is able to resolve symlinks now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
 
 ## Changes
 
+- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
+- Moved some container returnvalues to dedicated header and namespace
+  to they can be used without template specification.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
+- Remove default secondary header argument for
+  `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
+  `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
 - Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
   constants.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
@@ -50,6 +70,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
   a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
+- Move some generic `StorageManagerIF` implementations from `LocalPool` to
+  interface itself so it can be re-used more easily. Also add new
+  abstract function `bool hasDataAtId(store_address_t storeId) const`.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
   - Make functions `const` where it makes sense
   - Add `const char* getName const` abstract function

CMakeLists.txt

@@ -122,6 +122,7 @@ if(UNIX)
   option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
          OFF)
   option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
+  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
 endif()
 
 # Optional sources
@@ -152,7 +153,7 @@ if(FSFW_BUILD_TESTS)
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
   )
   # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
     message(
@@ -173,6 +174,27 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
+  if(FSFW_OSAL MATCHES "freertos")
+    message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
+    include(FetchContent)
+
+    set(FreeRTOS_PORT posix)
+
+    FetchContent_Declare(
+      FreeRTOS
+      GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
+      GIT_TAG develop
+      GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
+
+    FetchContent_MakeAvailable(FreeRTOS)
+
+    set(LIB_OS_NAME FreeRTOS)
+    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
+    set(THREADS_PREFER_PTHREAD_FLAG ON)
+    find_package(Threads REQUIRED)
+    target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@@ -225,6 +247,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
+
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -326,7 +349,8 @@ if(FSFW_BUILD_TESTS)
             "/usr/local/include/*"
             "*/fsfw_tests/*"
             "*/catch2-src/*"
-            "*/fsfw_hal/*")
+            "*/fsfw_hal/*"
+            "unittests/*")
       endif()
 
       target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@@ -344,13 +368,23 @@ if(FSFW_BUILD_TESTS)
           DEPENDENCIES ${FSFW_TEST_TGT})
       else()
         setup_target_for_coverage_lcov(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
+          NAME
+          ${FSFW_TEST_TGT}_coverage
+          EXECUTABLE
+          ${FSFW_TEST_TGT}
+          DEPENDENCIES
+          ${FSFW_TEST_TGT}
+          GENHTML_ARGS
+          --html-epilog
+          ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
       endif()
     endif()
   endif()
   target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                  ${LIB_FSFW_NAME})
+  if(FSFW_OSAL MATCHES "freertos")
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
+  endif()
 endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If

automation/Dockerfile

@@ -5,7 +5,7 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync wget qemu-system-arm
 
 RUN python3 -m pip install sphinx breathe
 
@@ -21,5 +21,13 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
         cmake -B build . && \
         cmake --install build/
 
+RUN wget -qO- https://buggy.irs.uni-stuttgart.de/rtems_releases/rtems6-12.2.1.tar.bz2 | tar -xj -C /opt/
+
+ENV PATH="$PATH:/opt/rtems/6/bin"
+
 #ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+RUN adduser -q --uid 114 jenkins
+
+#add documentation server to known hosts
+RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

automation/Jenkinsfile

@@ -1,48 +1,65 @@
 pipeline {
     environment {
-        BUILDDIR = 'cmake-build-tests'
+        BUILDDIR_HOST = 'cmake-build-tests-host'
+        BUILDDIR_LINUX = 'cmake-build-tests-linux'
+        BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
+        BUILDDIR_RTEMS = 'cmake-build-tests-rtems'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
-            image 'fsfw-ci:d5'
-            args '--network host'
+            image 'fsfw-ci:d7'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
         }
     }
     stages {
-        stage('Clean') {
+        stage('Host') {
             steps {
-                sh 'rm -rf $BUILDDIR'
-            }
-        }
-        stage('Configure') {
-            steps {
-                dir(BUILDDIR) {
+                sh 'rm -rf $BUILDDIR_HOST'
+
+                dir(BUILDDIR_HOST) {
                     sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                }
-            }
-        }
-        stage('Build') {
-            steps {
-                dir(BUILDDIR) {
                     sh 'cmake --build . -j4'
-                }
-            }
-        }
-        stage('Unittests') {
-            steps {
-                dir(BUILDDIR) {
                     sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
-        stage('Valgrind') {
+        stage('Linux') {
             steps {
-                dir(BUILDDIR) {
+                sh 'rm -rf $BUILDDIR_LINUX'
+
+                dir(BUILDDIR_LINUX) {
+                    sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
+        stage('FreeRTOS') {
+            steps {
+                sh 'rm -rf $BUILDDIR_FREERTOS'
+
+                dir(BUILDDIR_FREERTOS) {
+                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+        stage('rtems') {
+            steps {
+                sh 'rm -rf $BUILDDIR_RTEMS'
+
+                dir(BUILDDIR_RTEMS) {
+                    sh 'cmake -DFSFW_OSAL=rtems -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_TOOLCHAIN_FILE=../unittests/testcfg/rtems/cmake/aarch64-rtems6-toolchain.cmake ..'
+                    sh 'cmake --build . -j4'
+                    sh 'qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -semihosting -machine virt,gic-version=3 -cpu cortex-a72 -m 4000  -kernel fsfw-tests'
+                }
+            }
+        }
         stage('Documentation') {
             when {
                 branch 'development'
@@ -52,14 +69,12 @@ pipeline {
                     sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                     sh 'make Sphinx'
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
                     }
                 }
                 dir(BUILDDIR) {
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
                     }
                 }
             }
@@ -73,14 +88,12 @@ pipeline {
                     sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                     sh 'make Sphinx'
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
                     }
                 }
                 dir(BUILDDIR) {
                     sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*'
-                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
                     }
                 }
             }

cmake/cmake-modules/bilke/CodeCoverage.cmake

@@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
 find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
 find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
 find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
-find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
+find_program( GCOVR_PATH gcovr )
 find_program( CPPFILT_PATH NAMES c++filt )
 
 if(NOT GCOV_PATH)

docs/README-config.md

@@ -1,40 +0,0 @@
-Configuring the FSFW
-======
-
-The FSFW can be configured via the `fsfwconfig` folder. A template folder has
-been provided to have a starting point for this. The folder should be added
-to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
-of the available options will be explained in more detail here.
-
-# Auto-Translation of Events
-
-The FSFW allows the automatic translation of events, which allows developers to track triggered
-events directly via console output. Using this feature requires:
-
-1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
-2. Special auto-generated translation files which translate event IDs and object IDs into
-   human readable strings. These files can be generated using the 
-   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
-3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
-   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
-4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
-   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
-   
-An example implementations of these translation file generators can be found as part
-of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
-or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
-
-## Configuring the Event Manager
-
-The number of allowed subscriptions can be modified with the following
-parameters:
-
-``` c++
-namespace fsfwconfig {
-//! Configure the allocated pool sizes for the event manager.
-static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
-static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
-static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
-}
-```
-

docs/README-controllers.md

@@ -1 +0,0 @@
-## Controllers

docs/README-core.md

@@ -1,55 +0,0 @@
-## FSFW Core Modules
-
-These core modules provide the most important functionalities of the 
-Flight Software Framework
-
-### Clock
-
- * This is a class of static functions that can be used at anytime
- * Leap Seconds must be set if any time conversions from UTC to other times is used
-
-### ObjectManager
-
-* Must be created during program startup
-* The component which handles all references. All SystemObjects register at this component. 
-* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
-* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
-A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
-
-```cpp
-template <typename T> T* ObjectManagerIF::get( object_id_t id )
-```
-* A typical way to create all objects on startup is a handing a static produce function to the
-  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
-  called and all SystemObjects will be initialized afterwards.
-
-### Event Manager
-
-* Component which allows routing of events
-* Other objects can subscribe to specific events, ranges of events or all events of an object.
-* Subscriptions can be done during runtime but should be done during initialization
-* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
-
-### Health Table
-
-* A component which holds every health state 
-* Provides a thread safe way to access all health states without the need of message exchanges
-
-### Stores
-
-* The message based communication can only exchange a few bytes of information inside the message
-  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
-  store address must be exchanged in the message.
-* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
-  Store is used. For outgoing TM a TM store is used.
-* All of them should use the Thread Safe Class storagemanager/PoolManager
-
-### Tasks
-
-There are two different types of tasks:
- * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
-   insertion to the Tasks.
- * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
-   DeviceHandlers, where polling should be in a defined order. An example can be found in 
-   `defaultcfg/fsfwconfig/pollingSequence` folder
-

docs/README-devicehandlers.md

@@ -1 +0,0 @@
-## Device Handlers

docs/README-highlevel.md

@@ -1,135 +0,0 @@
-High-level overview
-======
-
-# Structure
-
-The general structure is driven by the usage of interfaces provided by objects. 
-The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
-widely available, even with older compilers.
-The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
-This simplifies the instantiation of objects and allows the usage of some standard containers. 
-Dynamic Allocation after initialization is discouraged and different solutions are provided in the
-FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
-
-# Failure Handling
-
-Functions should return a defined `ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
-or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
-See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
-`fsfwconfig` folder.
-
-# OSAL
-
-The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
-The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
-The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
-and how to use them.
-
-# Core Components 
-
-The FSFW has following core components. More detailed informations can be found in the
-[core component section](doc/README-core.md#top):
-
-1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
-   with fixed timeslots
-2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
-   to the object handles.
-3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
-   or small telemetry) in a pool structure without using dynamic memory allocation.
-   These pools are allocated up front.
-3. Clock: This module provided common time related functions
-4. EventManager: This module allows routing of events generated by `SystemObjects`
-5. HealthTable: A component which stores the health states of objects
-
-# Static IDs in the framework
-
-Some parts of the framework use a static routing address for communication. 
-An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
- inside the function `Factory::setStaticFrameworkObjectIds()`.
-
-# Events
-
-Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
-This works analog to the returnvalues. Every object that needs own EventIds has to get a
-unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
-Therefore, event messages contain the specific EventId and the objectId of the object that
-has triggered.
-
-# Internal Communication
-
-Components communicate mostly via Messages through Queues. 
-Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
-will create `MessageQueue` instances for the used OSAL.
-
-# External Communication
-
-The external communication with the mission control system is mostly up to the user implementation.
-The FSFW provides PUS Services which can be used to but don't need to be used. 
-The services can be seen as a conversion from a TC to a message based communication and back.
-
-## TMTC Communication
-
-The FSFW provides some components to facilitate TMTC handling via the PUS commands.
-For example, a UDP or TCP PUS server socket can be opened on a specific port using the
-files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
-and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
-Simple commands like the PUS Service 17 ping service can be tested by simply running the
-`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
-the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
-while the `fsfw_example` application is running.
-
-More generally, any class responsible for handling incoming telecommands and sending telemetry
-can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
-also use a dedicated polling task for reading telecommands which passes telecommands
-to the `TmTcBridge` implementation.
-
-## CCSDS Frames, CCSDS Space Packets and PUS
-
-If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
-distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
-If Space Packets are used, a timestamper has to be provided by the user. 
-An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
-
-# Device Handlers
-
-DeviceHandlers are another important component of the FSFW. 
-The idea is, to have a software counterpart of every physical device to provide a simple mode,
-health and commanding interface. By separating the underlying Communication Interface with 
-`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
-The DH has mechanisms to monitor the communication with the physical device which allow
-for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
-A standard FDIR component for the DH will be created automatically but can
-be overwritten by the user. More information on DeviceHandlers can be found in the
-related [documentation section](doc/README-devicehandlers.md#top).
-
-# Modes and Health
-
-The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
-of components. On-board Mode Management is implement in hierarchy system. 
-DeviceHandlers and Controllers are the lowest part of the hierarchy. 
-The next layer are Assemblies. Those assemblies act as a component which handle
-redundancies of handlers. Assemblies share a common core with the next level which
-are the Subsystems. 
-
-Those Assemblies are intended to act as auto-generated components from a database which describes
-the subsystem modes. The definitions contain transition and target tables which contain the DH,
-Assembly and Controller Modes to be commanded.
-Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
-switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
-controller as last component. 
-The target table is used to describe the state that is checked continuously by the subsystem. 
-All of this allows System Modes to be generated as Subsystem object as well from the same database. 
-This System contains list of subsystem modes in the transition and target tables. 
-Therefore, it allows a modular system to create system modes and easy commanding of those, because
-only the highest components must be commanded.
-
-The health state represents if the component is able to perform its tasks. 
-This can be used to signal the system to avoid using this component instead of a redundant one.
-The on-board FDIR uses the health state for isolation and recovery. 
-
-# Unit Tests
-
-Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
-catch2 itself. More information on how to run these tests can be found in the separate
-[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

docs/README-localpools.md

@@ -1,174 +0,0 @@
-## Local Data Pools Developer Information
-
-The following text is targeted towards mission software developers which would like
-to use the local data pools provided by the FSFW to store data like sensor values so they can be 
-used by other software objects like controllers as well. If a custom class should have a local 
-pool which  can be used by other software objects as well, following steps have to be performed:
-
-1. Create a `LocalDataPoolManager` member object in the custom class
-2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
-and the class owning the local pool.
-
-The local data pool manager is also able to process housekeeping service requests in form
-of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
-variables and datasets and process notifications and snapshots coming from other objects.
-The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
-while the later two are related to data consumers like controllers only acting on data change 
-detected by the data creator instead of checking the data manually each cycle. Two important 
-framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
-shown above so the steps required are altered slightly.
-
-### Storing and Accessing pool data 
-
-The pool manager is responsible for thread-safe access of the pool data, but the actual
-access to the pool data from the point of view of a mission software developer happens via proxy
-classes like pool variable classes. These classes store a copy
-of the pool variable with the matching datatype and copy the actual data from the local pool
-on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
-The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
-and data consumers. Generally, a user will create a dataset class which in turn groups all 
-cohesive pool variables. These sets simply iterator over the list of variables and call the 
-`read` and `commit` functions of each variable. The following diagram shows the
-high-level architecture of the local data pools.
-
-.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
-   :alt: FSFW Logo
-
-
-An example is shown for using the local data pools with a Gyroscope.
-For example, the following code shows an implementation to access data from a Gyroscope taken
-from the SOURCE CubeSat project:
-
-```cpp
-class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
-public:
-    /**
-     * Constructor for data users
-     * @param gyroId
-     */
-    GyroPrimaryDataset(object_id_t gyroId):
-            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
-        setAllVariablesReadOnly();
-    }
-
-    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_X, this);
-    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_Y, this);
-    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_Z, this);
-private:
-
-    friend class GyroHandler;
-    /**
-     * Constructor for data creator
-     * @param hkOwner
-     */
-    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
-};
-```
-
-There is a public constructor for users which sets all variables to read-only and there is a
-constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
-as a friend class. Both the atittude controller and the `GyroHandler` can now
-use the same class definition to access the pool variables with `read` and `commit` semantics
-in a thread-safe way. Generally, each class requiring access will have the set class as a member
-class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
-steps are necessary to expose the set for housekeeping purposes.
-
-### Using the local data pools in a `DeviceHandlerBase` subclass
-
-It is very common to store data generated by devices like a sensor into a pool which can 
-then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
-local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
-as a member:
-
-```cpp
-class GyroHandler: ... {
-
-public:
-	...
-private:
-	...
-	GyroPrimaryDataset gyroData;
-	...
-};
-```
-
-The constructor used for the creators expects the owner class as a parameter, so we initialize
-the object in the `GyroHandler` constructor like this:
-
-```cpp
-GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
-        CookieIF *comCookie, uint8_t switchId):
-        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
-		gyroData(this) {}
-```
-
-We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
-The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
-`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
-generating update messages. We need to assign our custom set class in some way so that the local 
-pool manager can access the custom data sets as well.
-By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
-`DeviceHandlerBase` subclass will use the internal command map to retrieve 
-a handle to a dataset from a given reply ID. Therefore,
-we assign the set in the `fillCommandAndReplyMap` function:
-
-```cpp
-void GyroHandler::fillCommandAndReplyMap() {
-	...
-	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
-	...
-}
-```
-
-Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
-function. Here, we also immediately subscribe for periodic housekeeping packets 
-with an interval of 4 seconds. They are still disabled in this example and can be enabled 
-with a housekeeping service command.
-
-```cpp
-ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-		LocalDataPoolManager &poolManager) {
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
-			new PoolEntry<uint8_t>({0}));
-	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
-			new PoolEntry<uint8_t>({0}));
-
-	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-	return returnvalue::OK;
-}
-```
-
-Now, if we receive some sensor data and converted them into the right format, 
-we can write it into the pool like this, using a guard class to ensure the set is commited back 
-in any case:
-
-```cpp
-PoolReadGuard readHelper(&gyroData);
-if(readHelper.getReadResult() == returnvalue::OK) {
-	if(not gyroData.isValid()) {
-		gyroData.setValidity(true, true);
-	}
-
-	gyroData.angVelocityX = angularVelocityX;
-	gyroData.angVelocityY = angularVelocityY;
-	gyroData.angVelocityZ = angularVelocityZ;
-}
-```
-
-The guard class will commit the changed data on destruction automatically.
-
-### Using the local data pools in a `ExtendedControllerBase` subclass
-
-Coming soon
-
-

docs/README-osal.md

@@ -1,32 +0,0 @@
-# Operating System Abstraction Layer (OSAL)
-
-Some specific information on the provided OSALs are provided.
-
-## Linux OSAL
-
-This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for 
-embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
-and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
-
-More information on how to set up a Linux system accordingly can be found in the 
-[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
-
-## Hosted OSAL
-
-This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
-
-## FreeRTOS OSAL
-
-FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
-
-When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
-
-## RTEMS OSAL
-
-The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
-
-## TCP/IP socket abstraction
-
-The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
-
-

docs/README-pus.md

@@ -1 +0,0 @@
-## PUS Services

docs/conf.py

@@ -50,6 +50,11 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 #
 html_theme = "alabaster"
 
+html_theme_options = {
+    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
+}
+
+
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".

docs/highlevel.rst

@@ -6,15 +6,14 @@ High-level overview
 Structure
 ----------
 
-The general structure is driven by the usage of interfaces provided by objects.
-The FSFW uses C++17 as baseline.
-It also uses dynamic allocation during the initialization but provides
-static containers during runtime.
-This simplifies the instantiation of objects and allows the usage of some
-standard containers.
-Dynamic Allocation after initialization is discouraged and different solutions
-are provided in the FSFW to achieve that. The fsfw uses run-time type
-information but will not throw exceptions.
+The general structure is driven by the usage of interfaces provided by objects. 
+The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
+standard, even for micocontrollers.
+
+The FSFW might use dynamic allocation during program initialization but not during runtime.
+It offers pool objects, static containers and it also exposes the
+`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
+allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
 
 Failure Handling
 -----------------

scripts/helper.py

@@ -207,7 +207,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
 def perform_lcov_operation(directory: str, chdir: bool):
     if chdir:
         os.chdir(directory)
-    cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
+    cmd_runner("cmake --build . -j -- fsfw-tests_coverage")
 
 
 def determine_build_dir(build_dir_list: List[str]):

src/fsfw/cfdp/pdu/FinishedPduCreator.cpp

@@ -17,7 +17,7 @@ ReturnValue_t FinishPduCreator::serialize(uint8_t **buffer, size_t *size, size_t
   if (result != returnvalue::OK) {
     return result;
   }
-  if (*size + 1 >= maxSize) {
+  if (*size + 1 > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
   }
   **buffer = finishInfo.getConditionCode() << 4 | finishInfo.getDeliveryCode() << 2 |

src/fsfw/container/ArrayList.h

@@ -4,6 +4,7 @@
 #include "../returnvalues/returnvalue.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serialize/SerializeIF.h"
+#include "definitions.h"
 
 /**
  * @brief     A List that stores its values in an array.
@@ -19,9 +20,6 @@ class ArrayList {
   friend class SerialArrayListAdapter;
 
  public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
-  static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
-
   /**
    * This is the allocating constructor.
    * It allocates an array of the specified size.
@@ -187,7 +185,7 @@ class ArrayList {
    */
   ReturnValue_t insert(T entry) {
     if (size >= maxSize_) {
-      return FULL;
+      return containers::LIST_FULL;
     }
     entries[size] = entry;
     ++size;

src/fsfw/container/FixedArrayList.h

@@ -20,15 +20,19 @@ class FixedArrayList : public ArrayList<T, count_t> {
   FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {}
 
   FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) {
-    memcpy(this->data, other.data, sizeof(this->data));
     this->entries = data;
     this->size = other.size;
+    for (size_t idx = 0; idx < this->size; idx++) {
+      data[idx] = other.data[idx];
+    }
   }
 
   FixedArrayList& operator=(FixedArrayList other) {
-    memcpy(this->data, other.data, sizeof(this->data));
     this->entries = data;
     this->size = other.size;
+    for (size_t idx = 0; idx < this->size; idx++) {
+      data[idx] = other.data[idx];
+    }
     return *this;
   }
 

src/fsfw/container/FixedMap.h

@@ -4,8 +4,8 @@
 #include <type_traits>
 #include <utility>
 
-#include "../returnvalues/returnvalue.h"
 #include "ArrayList.h"
+#include "definitions.h"
 
 /**
  * @brief    Map implementation for maps with a pre-defined size.
@@ -24,11 +24,6 @@ class FixedMap : public SerializeIF {
                 "derived class from SerializeIF to be serialize-able");
 
  public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
-  static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
-  static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
-  static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
-
  private:
   static const key_t EMPTY_SLOT = -1;
   ArrayList<std::pair<key_t, T>, uint32_t> theMap;
@@ -76,10 +71,10 @@ class FixedMap : public SerializeIF {
 
   ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) {
     if (exists(key) == returnvalue::OK) {
-      return KEY_ALREADY_EXISTS;
+      return containers::KEY_ALREADY_EXISTS;
     }
     if (_size == theMap.maxSize()) {
-      return MAP_FULL;
+      return containers::MAP_FULL;
     }
     theMap[_size].first = key;
     theMap[_size].second = value;
@@ -93,7 +88,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); }
 
   ReturnValue_t exists(key_t key) const {
-    ReturnValue_t result = KEY_DOES_NOT_EXIST;
+    ReturnValue_t result = containers::KEY_DOES_NOT_EXIST;
     if (findIndex(key) < _size) {
       result = returnvalue::OK;
     }
@@ -103,7 +98,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t erase(Iterator* iter) {
     uint32_t i;
     if ((i = findIndex((*iter).value->first)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return containers::KEY_DOES_NOT_EXIST;
     }
     theMap[i] = theMap[_size - 1];
     --_size;
@@ -114,7 +109,7 @@ class FixedMap : public SerializeIF {
   ReturnValue_t erase(key_t key) {
     uint32_t i;
     if ((i = findIndex(key)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return containers::KEY_DOES_NOT_EXIST;
     }
     theMap[i] = theMap[_size - 1];
     --_size;

src/fsfw/container/definitions.h

@@ -0,0 +1,14 @@
+#ifndef FSFW_CONTAINER_DEFINITIONS_H_
+#define FSFW_CONTAINER_DEFINITIONS_H_
+
+#include "fsfw/retval.h"
+
+namespace containers {
+static const ReturnValue_t KEY_ALREADY_EXISTS = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x01);
+static const ReturnValue_t MAP_FULL = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x02);
+static const ReturnValue_t KEY_DOES_NOT_EXIST = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x03);
+
+static const ReturnValue_t LIST_FULL = returnvalue::makeCode(CLASS_ID::ARRAY_LIST, 0x01);
+}  // namespace containers
+
+#endif /* FSFW_CONTAINER_DEFINITIONS_H_ */

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -48,12 +48,12 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
   if (hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
-               << std::dec << " did not implement the correct interface "
+               << std::dec << "  does not exist or does not implement the correct interface "
                << "HasLocalDataPoolIF" << std::endl;
 #else
     sif::printError(
-        "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
-        "interface HasLocalDataPoolIF\n",
+        "LocalPoolVariable: The supplied pool owner 0x%08x does not exist or does not implement "
+        "the correct interface HasLocalDataPoolIF\n",
         poolOwner);
 #endif
     return;

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -321,8 +321,7 @@ void DeviceHandlerBase::doStateMachine() {
       if (mode != currentMode) {
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();
       if (currentUptime - timeoutStart >= childTransitionDelay) {
 #if FSFW_VERBOSE_LEVEL >= 1 && FSFW_OBJ_EVENT_TRANSLATION == 0
         char printout[60];
@@ -346,8 +345,7 @@ void DeviceHandlerBase::doStateMachine() {
       setMode(_MODE_WAIT_ON);
       break;
     case _MODE_WAIT_ON: {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();
       if (powerSwitcher != nullptr and
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
@@ -359,13 +357,14 @@ void DeviceHandlerBase::doStateMachine() {
       if ((switchState == PowerSwitchIF::SWITCH_ON) || (switchState == NO_SWITCH)) {
         // NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition
         childTransitionFailure = CHILD_TIMEOUT;
+        transitionSourceMode = _MODE_SHUT_DOWN;
+        transitionSourceSubMode = SUBMODE_NONE;
         setMode(_MODE_START_UP);
         callChildStatemachine();
       }
     } break;
     case _MODE_WAIT_OFF: {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();
 
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
@@ -458,7 +457,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
   info.expectedReplies = 0;
   info.isExecuting = false;
   info.sendReplyTo = NO_COMMANDER;
-  info.useAlternativeReplyId = alternativeReplyId;
+  info.useAlternativeReplyId = useAlternativeReply;
   info.alternativeReplyId = alternativeReplyId;
   auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
   if (resultPair.second) {
@@ -517,16 +516,16 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
     if (enable) {
       info->active = true;
       if (info->countdown != nullptr) {
-        info->delayCycles = info->maxDelayCycles;
-      } else {
         info->countdown->resetTimer();
+      } else {
+        info->delayCycles = info->maxDelayCycles;
       }
     } else {
       info->active = false;
       if (info->countdown != nullptr) {
-        info->delayCycles = 0;
-      } else {
         info->countdown->timeOut();
+      } else {
+        info->delayCycles = 0;
       }
     }
   }
@@ -575,7 +574,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
-  Clock::getUptime(&timeoutStart);
+  timeoutStart = Clock::getUptime_ms();
 
   if (mode == MODE_OFF and thermalSet != nullptr) {
     ReturnValue_t result = thermalSet->read();

src/fsfw/events/EventManager.cpp

@@ -23,6 +23,7 @@ EventManager::EventManager(object_id_t setObjectId)
 }
 
 EventManager::~EventManager() {
+  listenerList.clear();
   QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
   MutexFactory::instance()->deleteMutex(mutex);
 }
@@ -61,9 +62,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
   if (!result.second) {
     return returnvalue::FAILED;
   }
+
   return returnvalue::OK;
 }
 
+ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
+  return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
+}
+
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
   return subscribeToEventRange(listener, event);
 }

src/fsfw/events/EventManager.h

@@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
   MessageQueueId_t getEventReportQueue();
 
   ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
+  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
   ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
   ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,

src/fsfw/events/EventManagerIF.h

@@ -18,6 +18,7 @@ class EventManagerIF {
 
   virtual ReturnValue_t registerListener(MessageQueueId_t listener,
                                          bool forwardAllButSelected = false) = 0;
+  virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
     return;
   }
-  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
+  manager->unregisterListener(eventQueue->getId());
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 

src/fsfw/globalfunctions/CMakeLists.txt

@@ -4,6 +4,7 @@ target_sources(
           AsciiConverter.cpp
           CRC.cpp
           DleEncoder.cpp
+          DleParser.cpp
           PeriodicOperationDivider.cpp
           timevalOperations.cpp
           Type.cpp

src/fsfw/globalfunctions/DleParser.cpp

@@ -0,0 +1,173 @@
+#include "DleParser.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <cstdio>
+#include <fstream>
+#include <iostream>
+
+DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
+                     BufPair decodedBuf)
+    : decodeRingBuf(decodeRingBuf),
+      decoder(decoder),
+      encodedBuf(encodedBuf),
+      decodedBuf(decodedBuf) {}
+
+ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
+  if (data == nullptr or len == 0) {
+    return returnvalue::FAILED;
+  }
+  return decodeRingBuf.writeData(data, len);
+}
+
+ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
+  ctx.setType(DleParser::ContextType::NONE);
+  size_t availableData = decodeRingBuf.getAvailableReadData();
+  if (availableData == 0) {
+    return NO_PACKET_FOUND;
+  }
+  if (availableData > encodedBuf.second) {
+    ErrorInfo info;
+    info.len = decodeRingBuf.getAvailableReadData();
+    setErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = decodeRingBuf.readData(encodedBuf.first, availableData);
+  if (result != returnvalue::OK) {
+    ErrorInfo info;
+    info.res = result;
+    setErrorContext(ErrorTypes::RING_BUF_ERROR, info);
+    return result;
+  }
+  bool stxFound = false;
+  size_t stxIdx = 0;
+  for (size_t vectorIdx = 0; vectorIdx < availableData; vectorIdx++) {
+    // handle STX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::STX_CHAR) {
+      if (not stxFound) {
+        stxFound = true;
+        stxIdx = vectorIdx;
+      } else {
+        // might be lost packet, so we should advance the read pointer
+        // without skipping the STX
+        readSize = vectorIdx;
+        ErrorInfo info;
+        setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
+      }
+    }
+    // handle ETX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::ETX_CHAR) {
+      if (stxFound) {
+        // This is propably a packet, so we decode it.
+        size_t decodedLen = 0;
+        size_t dummy = 0;
+
+        ReturnValue_t result =
+            decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
+                           decodedBuf.first, decodedBuf.second, &decodedLen);
+        if (result == returnvalue::OK) {
+          ctx.setType(ContextType::PACKET_FOUND);
+          ctx.decodedPacket.first = decodedBuf.first;
+          ctx.decodedPacket.second = decodedLen;
+          readSize = ++vectorIdx;
+          return returnvalue::OK;
+        } else {
+          // invalid packet, skip.
+          readSize = ++vectorIdx;
+          ErrorInfo info;
+          info.res = result;
+          setErrorContext(ErrorTypes::DECODE_ERROR, info);
+          return POSSIBLE_PACKET_LOSS;
+        }
+      } else {
+        // might be lost packet, so we should advance the read pointer
+        readSize = ++vectorIdx;
+        ErrorInfo info;
+        info.len = 0;
+        setErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
+      }
+    }
+  }
+  return NO_PACKET_FOUND;
+}
+
+void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
+            << std::endl;
+#else
+  sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
+#endif
+#endif
+}
+
+void DleParser::defaultErrorHandler() {
+  if (ctx.getType() != DleParser::ContextType::ERROR) {
+    errorPrinter("No error");
+    return;
+  }
+  switch (ctx.error.first) {
+    case (ErrorTypes::NONE): {
+      errorPrinter("No error");
+      break;
+    }
+    case (ErrorTypes::DECODE_ERROR): {
+      errorPrinter("Decode Error");
+      break;
+    }
+    case (ErrorTypes::RING_BUF_ERROR): {
+      errorPrinter("Ring Buffer Error");
+      break;
+    }
+    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
+    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
+      char opt[64];
+      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu",
+               ctx.decodedPacket.second);
+      if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
+        errorPrinter("Encoded buf too small", opt);
+      } else {
+        errorPrinter("Decoding buf too small", opt);
+      }
+      break;
+    }
+    case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
+      errorPrinter("Consecutive STX chars detected");
+      break;
+    }
+    case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
+      errorPrinter("Consecutive ETX chars detected");
+      break;
+    }
+  }
+}
+
+void DleParser::errorPrinter(const char* str, const char* opt) {
+  if (opt == nullptr) {
+    opt = "";
+  }
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
+#else
+  sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
+#endif
+#endif
+}
+
+void DleParser::setErrorContext(ErrorTypes err, ErrorInfo info) {
+  ctx.setType(ContextType::ERROR);
+  ctx.error.first = err;
+  ctx.error.second = info;
+}
+
+ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
+  return decodeRingBuf.deleteData(bytesRead);
+}
+
+const DleParser::Context& DleParser::getContext() { return ctx; }
+
+void DleParser::reset() { decodeRingBuf.clear(); }

src/fsfw/globalfunctions/DleParser.h

@@ -0,0 +1,127 @@
+#pragma once
+
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/globalfunctions/DleEncoder.h>
+#include <fsfw/returnvalues/returnvalue.h>
+
+#include <cstddef>
+#include <utility>
+
+/**
+ * @brief This base helper class can be used to extract DLE encoded packets from a data stream
+ * @details
+ * The core API of the parser takes received packets which can contains DLE packets. The parser
+ * can deal with DLE packets split across multiple packets. It does so by using a dedicated
+ * decoding ring buffer. The user can process received packets and detect errors by
+ * overriding two provided virtual methods. This also allows detecting multiple DLE packets
+ * inside one passed packet.
+ */
+class DleParser {
+ public:
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
+  using BufPair = std::pair<uint8_t*, size_t>;
+
+  enum class ContextType { NONE, PACKET_FOUND, ERROR };
+
+  enum class ErrorTypes {
+    NONE,
+    ENCODED_BUF_TOO_SMALL,
+    DECODING_BUF_TOO_SMALL,
+    DECODE_ERROR,
+    RING_BUF_ERROR,
+    CONSECUTIVE_STX_CHARS,
+    CONSECUTIVE_ETX_CHARS
+  };
+
+  union ErrorInfo {
+    size_t len;
+    ReturnValue_t res;
+  };
+
+  using ErrorPair = std::pair<ErrorTypes, ErrorInfo>;
+
+  struct Context {
+   public:
+    Context() { setType(ContextType::PACKET_FOUND); }
+
+    void setType(ContextType type) {
+      this->type = type;
+      if (type == ContextType::PACKET_FOUND) {
+        error.first = ErrorTypes::NONE;
+        error.second.len = 0;
+      } else {
+        decodedPacket.first = nullptr;
+        decodedPacket.second = 0;
+      }
+    }
+
+    ContextType getType() const { return type; }
+
+    BufPair decodedPacket = {};
+    ErrorPair error;
+
+   private:
+    ContextType type;
+  };
+
+  /**
+   * Base class constructor
+   * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
+   * split across multiple packets
+   * @param decoder Decoder instance
+   * @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold
+   * the largest expected encoded DLE packet size
+   * @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the
+   * largest expected decoded DLE packet size
+   * @param handler Function which will be called on a found packet
+   * @param args Arbitrary user argument
+   */
+  DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
+            BufPair decodedBuf);
+
+  /**
+   * This function allows to pass new data into the parser. It then scans for DLE packets
+   * automatically and inserts (part of) the packet into a ring buffer if necessary.
+   * @param data
+   * @param len
+   * @return
+   */
+  ReturnValue_t passData(const uint8_t* data, size_t len);
+
+  ReturnValue_t parseRingBuf(size_t& bytesRead);
+
+  ReturnValue_t confirmBytesRead(size_t bytesRead);
+
+  const Context& getContext();
+  /**
+   * Example found packet handler
+   * function call
+   * @param packet Decoded packet
+   * @param len Length of detected packet
+   */
+  void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args);
+  /**
+   * Will be called if an error occured in the #passData call
+   * @param err
+   * @param ctx Context information depending on the error type
+   *  - For buffer length errors, will be set to the detected packet length which is too large
+   *  - For decode or ring buffer errors, will be set to the result returned from the failed call
+   */
+  void defaultErrorHandler();
+
+  static void errorPrinter(const char* str, const char* opt = nullptr);
+
+  void setErrorContext(ErrorTypes err, ErrorInfo ctx);
+  /**
+   * Resets the parser by resetting the internal states and clearing the decoding ring buffer
+   */
+  void reset();
+
+ private:
+  SimpleRingBuffer& decodeRingBuf;
+  DleEncoder& decoder;
+  BufPair encodedBuf;
+  BufPair decodedBuf;
+  Context ctx;
+};

src/fsfw/globalfunctions/matching/MatchTree.h

@@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
   MatchTree(iterator root, uint8_t maxDepth = -1)
       : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
   MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
-  virtual ~MatchTree() {}
+  virtual ~MatchTree() { clear(); }
   virtual bool match(T number) override { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
@@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
     return cleanUpElement(position);
   }
 
+  void clear() {
+    Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
+
+    if (localRoot == nullptr) {
+      return;
+    }
+
+    Node* node = localRoot->left;
+
+    while (true) {
+      if (node->left != nullptr) {
+        node = node->left;
+        continue;
+      }
+      if (node->right != nullptr) {
+        node = node->right;
+        continue;
+      }
+      if (node->parent == nullptr) {
+        // this is the root node with no children
+        if (node->value != nullptr) {
+          cleanUpElement(iterator(node));
+        }
+        return;
+      }
+      // leaf
+      {
+        Node* parent = node->parent;
+        if (parent->left == node) {
+          parent->left = nullptr;
+        } else {
+          parent->right = nullptr;
+        }
+        cleanUpElement(iterator(node));
+        node = parent;
+      }
+    }
+  }
+
   virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
 
   bool matchSubtree(iterator iter, T number) {

src/fsfw/globalfunctions/timevalOperations.cpp

@@ -1,8 +1,8 @@
 #include "fsfw/globalfunctions/timevalOperations.h"
 
 timeval& operator+=(timeval& lhs, const timeval& rhs) {
-  int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-  sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
+  int64_t sum = static_cast<int64_t>(lhs.tv_sec) * 1000000. + lhs.tv_usec;
+  sum += static_cast<int64_t>(rhs.tv_sec) * 1000000. + rhs.tv_usec;
   lhs.tv_sec = sum / 1000000;
   lhs.tv_usec = sum - lhs.tv_sec * 1000000;
   return lhs;

src/fsfw/health/HealthHelper.cpp

@@ -5,7 +5,11 @@
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
     : objectId(objectId), owner(owner) {}
 
-HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
+HealthHelper::~HealthHelper() {
+  if (healthTable != nullptr) {
+    healthTable->removeObject(objectId);
+  }
+}
 
 ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
   switch (message->getCommand()) {

src/fsfw/health/HealthTable.cpp

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

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -14,7 +14,10 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
   mutex = MutexFactory::instance()->createMutex();
 }
 
-InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
+InternalErrorReporter::~InternalErrorReporter() {
+  MutexFactory::instance()->deleteMutex(mutex);
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}
 
 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
   this->diagnosticPrintout = enable;

src/fsfw/objectmanager/ObjectManager.cpp

@@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
 
 ObjectManager::ObjectManager() = default;
 
+void ObjectManager::clear() {
+  if (objManagerInstance != nullptr) {
+    delete objManagerInstance;
+    objManagerInstance = nullptr;
+  }
+}
+
 ObjectManager::~ObjectManager() {
-  for (auto const& iter : objectList) {
-    delete iter.second;
+  teardown = true;
+  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
+    delete iter->second;
   }
 }
 
@@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }
 
 ReturnValue_t ObjectManager::remove(object_id_t id) {
+  // this function is called during destruction of System Objects
+  // disabeld for teardown to avoid iterator invalidation and
+  // double free
+  if (teardown) {
+    return returnvalue::OK;
+  }
   if (this->getSystemObject(id) != nullptr) {
     this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1

src/fsfw/objectmanager/ObjectManager.h

@@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
   using produce_function_t = void (*)(void* args);
 
   /**
-   * Returns the single instance of TaskFactory.
+   * Returns the single instance of ObjectManager.
    * The implementation of #instance is found in its subclasses.
    * Thus, we choose link-time variability of the  instance.
    */
   static ObjectManager* instance();
 
+  /**
+   * Deletes the single instance of ObjectManager
+   */
+  static void clear();
+
   void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
 
   template <typename T>
@@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
    */
   std::map<object_id_t, SystemObjectIF*> objectList;
   static ObjectManager* objManagerInstance;
+  // used when the OM itself is deleted to modify behaviour of remove()
+  // to avoid iterator invalidation and double free
+  bool teardown = false;
 };
 
 // Documentation can be found in the class method declaration above

src/fsfw/osal/CMakeLists.txt

@@ -1,10 +1,13 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
   add_subdirectory(freertos)
+  set(FSFW_OSAL_FREERTOS 1)
 elseif(FSFW_OSAL MATCHES "rtems")
   add_subdirectory(rtems)
+  set(FSFW_OSAL_RTEMS 1)
 elseif(FSFW_OSAL MATCHES "linux")
   add_subdirectory(linux)
+  set(FSFW_OSAL_LINUX 1)
 elseif(FSFW_OSAL MATCHES "host")
   add_subdirectory(host)
   if(WIN32)
@@ -13,16 +16,17 @@ elseif(FSFW_OSAL MATCHES "host")
     # We still need to pull in some Linux specific sources
     target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
   endif()
-
+  set(FSFW_OSAL_HOST 1)
 else()
-
   message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)
     add_subdirectory(windows)
+    set(FSFW_OSAL_HOST 1)
   elseif(UNIX)
     add_subdirectory(linux)
+    set(FSFW_OSAL_LINUX 1)
   else()
     # MacOS or other OSes have not been tested yet / are not supported.
     message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@@ -31,3 +35,5 @@ else()
 endif()
 
 add_subdirectory(common)
+
+configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

src/fsfw/osal/common/TcpIpBase.cpp

@@ -1,6 +1,7 @@
 #include "fsfw/osal/common/TcpIpBase.h"
 
 #include "fsfw/platform.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_UNIX
 #include <errno.h>

src/fsfw/osal/freertos/BinSemaphUsingTask.h

@@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
   void refreshTaskHandle();
 
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
   ReturnValue_t release() override;
   uint8_t getSemaphoreCounter() const override;
   static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);

src/fsfw/osal/freertos/BinarySemaphore.h

@@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.

src/fsfw/osal/freertos/Clock.cpp

@@ -11,19 +11,6 @@
 // TODO sanitize input?
 // TODO much of this code can be reused for tick-only systems
 
-uint32_t Clock::getTicksPerSecond(void) { return 1000; }
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  timeval time_timeval;
-
-  ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return setClock(&time_timeval);
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
   timeval uptime = getUptime();
 
@@ -44,81 +31,15 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  *uptime = getUptime();
-
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
   TickType_t ticksSinceStart = xTaskGetTickCount();
   return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime = getUptime();
-  *uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-  return returnvalue::OK;
-}
-
 // uint32_t Clock::getUptimeSeconds() {
 //	timeval uptime = getUptime();
 //	return uptime.tv_sec;
 // }
 
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval time_timeval;
-  ReturnValue_t result = getClock_timeval(&time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
-  return returnvalue::OK;
-}
 
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  timeval time_timeval;
-  ReturnValue_t result = getClock_timeval(&time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  struct tm time_tm;
 
-  gmtime_r(&time_timeval.tv_sec, &time_tm);
-
-  time->year = time_tm.tm_year + 1900;
-  time->month = time_tm.tm_mon + 1;
-  time->day = time_tm.tm_mday;
-
-  time->hour = time_tm.tm_hour;
-  time->minute = time_tm.tm_min;
-  time->second = time_tm.tm_sec;
-
-  time->usecond = time_timeval.tv_usec;
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm = {};
-
-  time_tm.tm_year = from->year - 1900;
-  time_tm.tm_mon = from->month - 1;
-  time_tm.tm_mday = from->day;
-
-  time_tm.tm_hour = from->hour;
-  time_tm.tm_min = from->minute;
-  time_tm.tm_sec = from->second;
-
-  time_t seconds = mktime(&time_tm);
-
-  to->tv_sec = seconds;
-  to->tv_usec = from->usecond;
-  // Fails in 2038..
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}

src/fsfw/osal/freertos/CountingSemaphUsingTask.h

@@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Release a semaphore, increasing the number of available counting

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -56,7 +56,9 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   // start time for the first entry.
   auto slotListIter = pollingSeqTable.current;
 
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;

src/fsfw/osal/freertos/Mutex.cpp

@@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
     return MutexIF::MUTEX_NOT_FOUND;
   }
   // If the timeout type is BLOCKING, this will be the correct value.
-  uint32_t timeout = portMAX_DELAY;
+  TickType_t timeout = portMAX_DELAY;
   if (timeoutType == TimeoutType::POLLING) {
     timeout = 0;
   } else if (timeoutType == TimeoutType::WAITING) {

src/fsfw/osal/freertos/TaskManagement.cpp

@@ -3,16 +3,16 @@
 void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
 
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
-  if (callContext == CallContext::ISR) {
-    // This function depends on the partmacro.h definition for the specific device
-    vRequestContextSwitchFromISR();
-  } else {
-    vRequestContextSwitchFromTask();
-  }
+  //   if (callContext == CallContext::ISR) {
+  //     // This function depends on the partmacro.h definition for the specific device
+  //     vRequestContextSwitchFromISR();
+  //   } else {
+  vRequestContextSwitchFromTask();
+  //   }
 }
 
 TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
 
-size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
-  return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
+//   return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+// }

src/fsfw/osal/freertos/TaskManagement.h

@@ -11,7 +11,7 @@
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void vRequestContextSwitchFromISR();
+// extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
@@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
  * @return Smallest value of stack remaining since the task was started in
  * 		   words.
  */
-size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
+// size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
 };  // namespace TaskManagement
 

src/fsfw/osal/host/Clock.cpp

@@ -8,33 +8,13 @@
 
 #if defined(PLATFORM_WIN)
 #include <sysinfoapi.h>
+#define timegm _mkgmtime
 #elif defined(PLATFORM_UNIX)
 #include <fstream>
 #endif
 
 using SystemClock = std::chrono::system_clock;
 
-uint32_t Clock::getTicksPerSecond(void) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::getTicksPerSecond: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::getTicksPerSecond: Not implemented for host OSAL\n");
-#endif
-  /* To avoid division by zero */
-  return 1;
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  /* I don't know why someone would need to set a clock which is probably perfectly fine on a
-  host system with internet access so this is not implemented for now. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
-#endif
-  return returnvalue::OK;
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
   /* I don't know why someone would need to set a clock which is probably perfectly fine on a
   host system with internet access so this is not implemented for now. */
@@ -65,6 +45,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   time->tv_usec = timeUnix.tv_nsec / 1000.0;
   return returnvalue::OK;
 #else
+#warning Clock::getClock_timeval() not implemented for your platform
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "Clock::getUptime: Not implemented for found OS!" << std::endl;
 #else
@@ -74,15 +55,6 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 #endif
 }
 
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  if (time == nullptr) {
-    return returnvalue::FAILED;
-  }
-  using namespace std::chrono;
-  *time = duration_cast<microseconds>(system_clock::now().time_since_epoch()).count();
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
   timeval timeval;
 #if defined(PLATFORM_WIN)
@@ -99,6 +71,7 @@ timeval Clock::getUptime() {
     timeval.tv_usec = uptimeSeconds * (double)1e6 - (timeval.tv_sec * 1e6);
   }
 #else
+#warning Clock::getUptime() not implemented for your platform
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
 #endif
@@ -106,66 +79,3 @@ timeval Clock::getUptime() {
   return timeval;
 }
 
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  *uptime = getUptime();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime = getUptime();
-  *uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  /* Do some magic with chrono (C++20!) */
-  /* Right now, the library doesn't have the new features to get the required values yet.
-  so we work around that for now. */
-  auto now = SystemClock::now();
-  auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
-  auto fraction = now - seconds;
-  time_t tt = SystemClock::to_time_t(now);
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  struct tm* timeInfo;
-  timeInfo = gmtime(&tt);
-  time->year = timeInfo->tm_year + 1900;
-  time->month = timeInfo->tm_mon + 1;
-  time->day = timeInfo->tm_mday;
-  time->hour = timeInfo->tm_hour;
-  time->minute = timeInfo->tm_min;
-  time->second = timeInfo->tm_sec;
-  auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
-  time->usecond = usecond.count();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm {};
-
-  time_tm.tm_year = from->year - 1900;
-  time_tm.tm_mon = from->month - 1;
-  time_tm.tm_mday = from->day;
-
-  time_tm.tm_hour = from->hour;
-  time_tm.tm_min = from->minute;
-  time_tm.tm_sec = from->second;
-  time_tm.tm_isdst = 0;
-
-  time_t seconds = timegm(&time_tm);
-
-  to->tv_sec = seconds;
-  to->tv_usec = from->usecond;
-  // Fails in 2038..
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}

src/fsfw/osal/linux/Clock.cpp

@@ -10,26 +10,6 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t Clock::getTicksPerSecond() {
-  uint32_t ticks = sysconf(_SC_CLK_TCK);
-  return ticks;
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  timespec timeUnix{};
-  timeval timeTimeval{};
-  convertTimeOfDayToTimeval(time, &timeTimeval);
-  timeUnix.tv_sec = timeTimeval.tv_sec;
-  timeUnix.tv_nsec = (__syscall_slong_t)timeTimeval.tv_usec * 1000;
-
-  int status = clock_settime(CLOCK_REALTIME, &timeUnix);
-  if (status != 0) {
-    // TODO errno
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
   timespec timeUnix{};
   timeUnix.tv_sec = time->tv_sec;
@@ -53,104 +33,12 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval timeVal{};
-  ReturnValue_t result = getClock_timeval(&timeVal);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
-
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
-  timeval uptime{};
-  auto result = getUptime(&uptime);
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
-#endif
-  }
-  return uptime;
-}
-
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  // TODO This is not posix compatible and delivers only seconds precision
-  //  Linux specific file read but more precise.
+  timeval uptime{0,0};
   double uptimeSeconds;
   if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) {
-    uptime->tv_sec = uptimeSeconds;
-    uptime->tv_usec = uptimeSeconds * (double)1e6 - (uptime->tv_sec * 1e6);
+    uptime.tv_sec = uptimeSeconds;
+    uptime.tv_usec = uptimeSeconds * (double)1e6 - (uptime.tv_sec * 1e6);
   }
-  return returnvalue::OK;
-}
-
-// Wait for new FSFW Clock function delivering seconds uptime.
-// uint32_t Clock::getUptimeSeconds() {
-//	//TODO This is not posix compatible and delivers only seconds precision
-//	struct sysinfo sysInfo;
-//	int result = sysinfo(&sysInfo);
-//	if(result != 0){
-//		return returnvalue::FAILED;
-//	}
-//	return sysInfo.uptime;
-//}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime{};
-  ReturnValue_t result = getUptime(&uptime);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *uptimeMs = uptime.tv_sec * 1e3 + uptime.tv_usec / 1e3;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  timespec timeUnix{};
-  int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
-  if (status != 0) {
-    // TODO errno
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  struct std::tm* timeInfo;
-  timeInfo = gmtime(&timeUnix.tv_sec);
-  time->year = timeInfo->tm_year + 1900;
-  time->month = timeInfo->tm_mon + 1;
-  time->day = timeInfo->tm_mday;
-  time->hour = timeInfo->tm_hour;
-  time->minute = timeInfo->tm_min;
-  time->second = timeInfo->tm_sec;
-  time->usecond = timeUnix.tv_nsec / 1000.0;
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  std::tm fromTm{};
-  // Note: Fails for years before AD
-  fromTm.tm_year = from->year - 1900;
-  fromTm.tm_mon = from->month - 1;
-  fromTm.tm_mday = from->day;
-  fromTm.tm_hour = from->hour;
-  fromTm.tm_min = from->minute;
-  fromTm.tm_sec = from->second;
-  fromTm.tm_isdst = 0;
-
-  to->tv_sec = timegm(&fromTm);
-  to->tv_usec = from->usecond;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}
+  return uptime;
+}

src/fsfw/osal/linux/MessageQueue.cpp

@@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
   attributes.mq_msgsize = maxMessageSize;
   attributes.mq_flags = 0;  // Flags are ignored on Linux during mq_open
   // Set the name of the queue. The slash is mandatory!
-  sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u", queueCounter++);
 
   // Create a nonblocking queue if the name is available (the queue is read
   // and writable for the owner as well as the group)

src/fsfw/osal/osal.h.in

@@ -0,0 +1,36 @@
+#pragma once
+
+namespace osal {
+    enum osalTarget{
+        HOST,
+        LINUX,
+        WINDOWS,
+        FREERTOS,
+        RTEMS,
+    };
+
+#cmakedefine FSFW_OSAL_HOST
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_WINDOWS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_RTEMS
+
+
+    constexpr osalTarget getTarget() {
+#ifdef FSFW_OSAL_HOST
+  return HOST;
+#endif
+#ifdef FSFW_OSAL_LINUX
+  return LINUX;
+#endif
+#ifdef FSFW_OSAL_WINDOWS
+  return WINDOWS;
+#endif
+#ifdef FSFW_OSAL_FREERTOS
+  return FREERTOS;
+#endif
+#ifdef FSFW_OSAL_RTEMS
+  return RTEMS;
+#endif
+    }
+};

src/fsfw/osal/rtems/BinarySemaphore.cpp

@@ -2,6 +2,8 @@
 
 #include <rtems/rtems/sem.h>
 
+//TODO
+
 BinarySemaphore::BinarySemaphore() {}
 
 BinarySemaphore::~BinarySemaphore() {}

src/fsfw/osal/rtems/Clock.cpp

@@ -6,20 +6,21 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"
 
-uint32_t Clock::getTicksPerSecond(void) {
-  rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
-  return static_cast<uint32_t>(ticks_per_second);
-}
 
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+ReturnValue_t Clock::setClock(const timeval* time) {
+  TimeOfDay_t time_tod;
+  ReturnValue_t result = convertTimevalToTimeOfDay(time, &time_tod);
+  if (result != returnvalue::OK) {
+    return result;
+  }
   rtems_time_of_day timeRtems;
-  timeRtems.year = time->year;
-  timeRtems.month = time->month;
-  timeRtems.day = time->day;
-  timeRtems.hour = time->hour;
-  timeRtems.minute = time->minute;
-  timeRtems.second = time->second;
-  timeRtems.ticks = time->usecond * getTicksPerSecond() / 1e6;
+  timeRtems.year = time_tod.year;
+  timeRtems.month = time_tod.month;
+  timeRtems.day = time_tod.day;
+  timeRtems.hour = time_tod.hour;
+  timeRtems.minute = time_tod.minute;
+  timeRtems.second = time_tod.second;
+  timeRtems.ticks = static_cast<uint64_t>(time_tod.usecond) * rtems_clock_get_ticks_per_second() / 1e6;
   rtems_status_code status = rtems_clock_set(&timeRtems);
   switch (status) {
     case RTEMS_SUCCESSFUL:
@@ -33,27 +34,6 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
   }
 }
 
-ReturnValue_t Clock::setClock(const timeval* time) {
-  timespec newTime;
-  newTime.tv_sec = time->tv_sec;
-  if (time->tv_usec < 0) {
-    // better returnvalue.
-    return returnvalue::FAILED;
-  }
-  newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
-
-  ISR_lock_Context context;
-  _TOD_Lock();
-  _TOD_Acquire(&context);
-  Status_Control status = _TOD_Set(&newTime, &context);
-  _TOD_Unlock();
-  if (status == STATUS_SUCCESSFUL) {
-    return returnvalue::OK;
-  }
-  // better returnvalue
-  return returnvalue::FAILED;
-}
-
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
   // Callable from ISR
   rtems_status_code status = rtems_clock_get_tod_timeval(time);
@@ -67,86 +47,13 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   }
 }
 
-ReturnValue_t Clock::getUptime(timeval* uptime) {
+timeval Clock::getUptime() {
   // According to docs.rtems.org for rtems 5 this method is more accurate than
   // rtems_clock_get_ticks_since_boot
+  timeval time_timeval;
   timespec time;
   rtems_status_code status = rtems_clock_get_uptime(&time);
-  uptime->tv_sec = time.tv_sec;
-  time.tv_nsec = time.tv_nsec / 1000;
-  uptime->tv_usec = time.tv_nsec;
-  switch (status) {
-    case RTEMS_SUCCESSFUL:
-      return returnvalue::OK;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  // This counter overflows after 50 days
-  *uptimeMs = rtems_clock_get_ticks_since_boot();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval temp_time;
-  rtems_status_code returnValue = rtems_clock_get_tod_timeval(&temp_time);
-  *time = ((uint64_t)temp_time.tv_sec * 1000000) + temp_time.tv_usec;
-  switch (returnValue) {
-    case RTEMS_SUCCESSFUL:
-      return returnvalue::OK;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  /* For all but the last field, the struct will be filled with the correct values */
-  rtems_time_of_day timeRtems;
-  rtems_status_code status = rtems_clock_get_tod(&timeRtems);
-  switch (status) {
-    case RTEMS_SUCCESSFUL: {
-      /* The last field now contains the RTEMS ticks of the seconds from 0
-      to rtems_clock_get_ticks_per_second() minus one.
-      We calculate the microseconds accordingly */
-      time->day = timeRtems.day;
-      time->hour = timeRtems.hour;
-      time->minute = timeRtems.minute;
-      time->month = timeRtems.month;
-      time->second = timeRtems.second;
-      time->usecond =
-          static_cast<float>(timeRtems.ticks) / rtems_clock_get_ticks_per_second() * 1e6;
-      time->year = timeRtems.year;
-      return returnvalue::OK;
-    }
-    case RTEMS_NOT_DEFINED:
-      /* System date and time is not set */
-      return returnvalue::FAILED;
-    case RTEMS_INVALID_ADDRESS:
-      /* time_buffer is NULL */
-      return returnvalue::FAILED;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  // Fails in 2038..
-  rtems_time_of_day timeRtems;
-  timeRtems.year = from->year;
-  timeRtems.month = from->month;
-  timeRtems.day = from->day;
-  timeRtems.hour = from->hour;
-  timeRtems.minute = from->minute;
-  timeRtems.second = from->second;
-  timeRtems.ticks = from->usecond * getTicksPerSecond() / 1e6;
-  to->tv_sec = _TOD_To_seconds(&timeRtems);
-  to->tv_usec = from->usecond;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}
+  time_timeval.tv_sec = time.tv_sec;
+  time_timeval.tv_usec = time.tv_nsec / 1000;
+  return time_timeval;
+}

src/fsfw/osal/rtems/CpuUsage.cpp

@@ -93,8 +93,8 @@ ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size, size_t maxSize
                                                        streamEndianness);
 }
 
-uint32_t CpuUsage::getSerializedSize() const {
-  uint32_t size = 0;
+size_t CpuUsage::getSerializedSize() const {
+  size_t size = 0;
 
   size += sizeof(timeSinceLastReset);
   size += SerialArrayListAdapter<ThreadData>::getSerializedSize(&threadData);
@@ -136,8 +136,8 @@ ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, size_t* size, si
   return returnvalue::OK;
 }
 
-uint32_t CpuUsage::ThreadData::getSerializedSize() const {
-  uint32_t size = 0;
+size_t CpuUsage::ThreadData::getSerializedSize() const {
+  size_t size = 0;
 
   size += sizeof(id);
   size += MAX_LENGTH_OF_THREAD_NAME;

src/fsfw/osal/rtems/InternalErrorCodes.cpp

@@ -35,10 +35,9 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
       return OUT_OF_PROXIES;
     case INTERNAL_ERROR_INVALID_GLOBAL_ID:
       return INVALID_GLOBAL_ID;
-#ifndef STM32H743ZI_NUCLEO
-    case INTERNAL_ERROR_BAD_STACK_HOOK:
-      return BAD_STACK_HOOK;
-#endif
+    //TODO this one is not there anymore in rtems-6 (5 as well?)
+    //case INTERNAL_ERROR_BAD_STACK_HOOK:
+    //  return BAD_STACK_HOOK;
       //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
       //		return BAD_ATTRIBUTES;
       //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:

src/fsfw/osal/rtems/SemaphoreFactory.cpp

@@ -18,7 +18,9 @@ SemaphoreFactory* SemaphoreFactory::instance() {
 }
 
 SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
-  return new BinarySemaphore();
+  return nullptr;
+  //TODO
+  //return new BinarySemaphore();
 }
 
 SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount, uint8_t initCount,

src/fsfw/osal/windows/winTaskHelpers.cpp

@@ -1,5 +1,7 @@
 #include "fsfw/osal/windows/winTaskHelpers.h"
 
+#include <windows.h>
+
 #include <mutex>
 
 TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {

src/fsfw/osal/windows/winTaskHelpers.h

@@ -1,10 +1,12 @@
 #include <map>
 #include <thread>
 
-#include "../../tasks/TaskFactory.h"
+#include "fsfw/tasks/TaskFactory.h"
 
 #ifdef _WIN32
 
+#include <minwindef.h>
+
 namespace tasks {
 
 enum PriorityClass : uint16_t {

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
   static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
   static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5);
+  static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6);
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
 

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,9 +2,11 @@
 
 #include <cstddef>
 
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
     return returnvalue::FAILED;
   }
 
+  if (size < PusTcIF::MIN_SIZE) {
+    return CONTAINED_TC_TOO_SMALL;
+  }
+
+  if (CRC::crc16ccitt(data, size) != 0) {
+    return CONTAINED_TC_CRC_MISSMATCH;
+  }
+
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

src/fsfw/pus/Service9TimeManagement.cpp

@@ -33,13 +33,12 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  uint32_t formerUptime;
-  Clock::getUptime(&formerUptime);
+  // TODO maybe switch to getClock_usecs to report more meaningful data
+  uint32_t formerUptime = Clock::getUptime_ms();
   result = Clock::setClock(&timeToSet);
 
   if (result == returnvalue::OK) {
-    uint32_t newUptime;
-    Clock::getUptime(&newUptime);
+    uint32_t newUptime = Clock::getUptime_ms();
     triggerEvent(CLOCK_SET, newUptime, formerUptime);
     return returnvalue::OK;
   } else {

src/fsfw/storagemanager/LocalPool.cpp

@@ -31,9 +31,8 @@ LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
 
 LocalPool::~LocalPool() = default;
 
-ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size,
-                                 bool ignoreFault) {
-  ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size) {
+  ReturnValue_t status = reserveSpace(size, storageId);
   if (status == returnvalue::OK) {
     write(*storageId, data, size);
   }
@@ -49,8 +48,8 @@ ReturnValue_t LocalPool::getData(store_address_t packetId, const uint8_t** packe
 }
 
 ReturnValue_t LocalPool::getFreeElement(store_address_t* storageId, const size_t size,
-                                        uint8_t** pData, bool ignoreFault) {
-  ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+                                        uint8_t** pData) {
+  ReturnValue_t status = reserveSpace(size, storageId);
   if (status == returnvalue::OK) {
     *pData = &store[storageId->poolIndex][getRawPosition(*storageId)];
   } else {
@@ -167,7 +166,7 @@ void LocalPool::clearStore() {
   }
 }
 
-ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId, bool ignoreFault) {
+ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId) {
   ReturnValue_t status = getSubPoolIndex(size, &storeId->poolIndex);
   if (status != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -318,27 +317,3 @@ bool LocalPool::hasDataAtId(store_address_t storeId) const {
   }
   return false;
 }
-
-ReturnValue_t LocalPool::getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) {
-  return StorageManagerIF::getFreeElement(storeId, size, pData);
-}
-
-ConstAccessorPair LocalPool::getData(store_address_t storeId) {
-  return StorageManagerIF::getData(storeId);
-}
-
-ReturnValue_t LocalPool::addData(store_address_t* storeId, const uint8_t* data, size_t size) {
-  return StorageManagerIF::addData(storeId, data, size);
-}
-
-ReturnValue_t LocalPool::getData(store_address_t storeId, ConstStorageAccessor& accessor) {
-  return StorageManagerIF::getData(storeId, accessor);
-}
-
-ReturnValue_t LocalPool::modifyData(store_address_t storeId, StorageAccessor& accessor) {
-  return StorageManagerIF::modifyData(storeId, accessor);
-}
-
-AccessorPair LocalPool::modifyData(store_address_t storeId) {
-  return StorageManagerIF::modifyData(storeId);
-}

src/fsfw/storagemanager/LocalPool.h

@@ -86,21 +86,13 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   /**
    * Documentation: See StorageManagerIF.h
    */
-  ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size,
-                        bool ignoreFault) override;
   ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size) override;
 
   ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) override;
-  ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData,
-                               bool ignoreFault) override;
 
-  ConstAccessorPair getData(store_address_t storeId) override;
-  ReturnValue_t getData(store_address_t storeId, ConstStorageAccessor& accessor) override;
   ReturnValue_t getData(store_address_t storeId, const uint8_t** packet_ptr, size_t* size) override;
 
-  AccessorPair modifyData(store_address_t storeId) override;
   ReturnValue_t modifyData(store_address_t storeId, uint8_t** packet_ptr, size_t* size) override;
-  ReturnValue_t modifyData(store_address_t storeId, StorageAccessor& accessor) override;
 
   ReturnValue_t deleteData(store_address_t storeId) override;
   ReturnValue_t deleteData(uint8_t* ptr, size_t size, store_address_t* storeId) override;
@@ -136,6 +128,12 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   [[nodiscard]] max_subpools_t getNumberOfSubPools() const override;
   [[nodiscard]] bool hasDataAtId(store_address_t storeId) const override;
 
+  // Using functions provided by StorageManagerIF requires either a fully qualified path
+  // like for example localPool.StorageManagerIF::getFreeElement(...) or re-exporting
+  // the fully qualified path with the using directive.
+  using StorageManagerIF::getData;
+  using StorageManagerIF::modifyData;
+
  protected:
   /**
    * With this helper method, a free element of @c size is reserved.
@@ -144,7 +142,7 @@ class LocalPool : public SystemObject, public StorageManagerIF {
    * @return	- returnvalue::OK on success,
    * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
    */
-  virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault);
+  virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address);
 
  private:
   /**
@@ -188,6 +186,8 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   std::vector<std::vector<size_type>> sizeLists =
       std::vector<std::vector<size_type>>(NUMBER_OF_SUBPOOLS);
 
+  bool ignoreFault = false;
+
   //! A variable to determine whether higher n pools are used if
   //! the store is full.
   bool spillsToHigherPools = false;

src/fsfw/storagemanager/PoolManager.cpp

@@ -9,10 +9,9 @@ PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPo
 
 PoolManager::~PoolManager() { MutexFactory::instance()->deleteMutex(mutex); }
 
-ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address,
-                                        bool ignoreFault) {
+ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address) {
   MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs);
-  ReturnValue_t status = LocalPool::reserveSpace(size, address, ignoreFault);
+  ReturnValue_t status = LocalPool::reserveSpace(size, address);
   return status;
 }
 

src/fsfw/storagemanager/PoolManager.h

@@ -57,7 +57,7 @@ class PoolManager : public LocalPool {
   //! Default mutex timeout value to prevent permanent blocking.
   uint32_t mutexTimeoutMs = 20;
 
-  ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault) override;
+  ReturnValue_t reserveSpace(size_t size, store_address_t* address) override;
 
   /**
    * @brief	The mutex is created in the constructor and makes

src/fsfw/storagemanager/StorageManagerIF.h

@@ -55,7 +55,7 @@ class StorageManagerIF {
   /**
    * @brief This is the empty virtual destructor as required for C++ interfaces.
    */
-  ~StorageManagerIF() = default;
+  virtual ~StorageManagerIF() = default;
   /**
    * @brief	With addData, a free storage position is allocated and data
    * 			stored there.
@@ -66,12 +66,7 @@ class StorageManagerIF {
    * @return	Returns @returnvalue::OK if data was added.
    * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
    */
-  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size,
-                                bool ignoreFault) = 0;
-
-  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) {
-    return addData(storageId, data, size, false);
-  }
+  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) = 0;
 
   /**
    * @brief	With deleteData, the storageManager frees the memory region
@@ -186,12 +181,8 @@ class StorageManagerIF {
    * @return	Returns @returnvalue::OK if data was added.
    * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
    */
-  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr,
-                                       bool ignoreFault) = 0;
-
-  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr) {
-    return getFreeElement(storageId, size, dataPtr, false);
-  }
+  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size,
+                                       uint8_t** dataPtr) = 0;
 
   [[nodiscard]] virtual bool hasDataAtId(store_address_t storeId) const = 0;
 

src/fsfw/subsystem/Subsystem.cpp

@@ -91,11 +91,10 @@ void Subsystem::performChildOperation() {
       }
       if (currentSequenceIterator->getWaitSeconds() != 0) {
         if (uptimeStartTable == 0) {
-          Clock::getUptime(&uptimeStartTable);
+          uptimeStartTable = Clock::getUptime_ms();
           return;
         } else {
-          uint32_t uptimeNow;
-          Clock::getUptime(&uptimeNow);
+          uint32_t uptimeNow = Clock::getUptime_ms();
           if ((uptimeNow - uptimeStartTable) < (currentSequenceIterator->getWaitSeconds() * 1000)) {
             return;
           }

src/fsfw/tcdistribution/definitions.h

@@ -17,11 +17,11 @@ static constexpr ReturnValue_t INVALID_PACKET_TYPE = MAKE_RETURN_CODE(3);
 static constexpr ReturnValue_t INVALID_SEC_HEADER_FIELD = MAKE_RETURN_CODE(4);
 static constexpr ReturnValue_t INCORRECT_PRIMARY_HEADER = MAKE_RETURN_CODE(5);
 
-static constexpr ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE(5);
-static constexpr ReturnValue_t INVALID_PUS_VERSION = MAKE_RETURN_CODE(6);
-static constexpr ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE(7);
-static constexpr ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE(8);
-static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(9);
+static constexpr ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE(7);
+static constexpr ReturnValue_t INVALID_PUS_VERSION = MAKE_RETURN_CODE(8);
+static constexpr ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE(9);
+static constexpr ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE(10);
+static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11);
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
 //! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues

src/fsfw/thermal/Heater.cpp

@@ -198,10 +198,9 @@ void Heater::setSwitch(uint8_t number, ReturnValue_t state, uint32_t* uptimeOfSw
   } else {
     if ((*uptimeOfSwitching == INVALID_UPTIME)) {
       powerSwitcher->sendSwitchCommand(number, state);
-      Clock::getUptime(uptimeOfSwitching);
+      *uptimeOfSwitching = Clock::getUptime_ms();
     } else {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();
       if (currentUptime - *uptimeOfSwitching > powerSwitcher->getSwitchDelayMs()) {
         *uptimeOfSwitching = INVALID_UPTIME;
         if (healthHelper.healthTable->isHealthy(getObjectId())) {

src/fsfw/timemanager/CCSDSTime.cpp

@@ -552,10 +552,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short*
   if (to == nullptr or from == nullptr) {
     return returnvalue::FAILED;
   }
-  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
-  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
-    return INVALID_TIME_FORMAT;
-  }
+  int32_t days = (from->dayMSB << 8) + from->dayLSB;
   days -= DAYS_CCSDS_TO_UNIX_EPOCH;
   to->tv_sec = days * SECONDS_PER_DAY;
   uint32_t msDay =

src/fsfw/timemanager/Clock.h

@@ -14,8 +14,10 @@
 #include <ctime>
 #endif
 
+
 class Clock {
  public:
+ // https://xkcd.com/927/
   typedef struct {
     uint32_t year;     //!< Year, A.D.
     uint32_t month;    //!< Month, 1 .. 12.
@@ -26,14 +28,6 @@ class Clock {
     uint32_t usecond;  //!< Microseconds, 0 .. 999999
   } TimeOfDay_t;
 
-  /**
-   * This method returns the number of clock ticks per second.
-   * In RTEMS, this is typically 1000.
-   * @return	The number of ticks.
-   *
-   * @deprecated, we should not worry about ticks, but only time
-   */
-  static uint32_t getTicksPerSecond();
   /**
    * This system call sets the system time.
    * To set the time, it uses a TimeOfDay_t struct.
@@ -61,13 +55,8 @@ class Clock {
   /**
    * Get the time since boot in a timeval struct
    *
-   * @param[out] time A pointer to a timeval struct where the uptime is stored.
-   * @return @c returnvalue::OK on success. Otherwise, the OS failure code is returned.
-   *
-   * @deprecated, I do not think this should be able to fail, use timeval getUptime()
+   * @return a timeval struct where the uptime is stored
    */
-  static ReturnValue_t getUptime(timeval *uptime);
-
   static timeval getUptime();
 
   /**
@@ -79,7 +68,7 @@ class Clock {
    * @param ms uptime in ms
    * @return returnvalue::OK on success. Otherwise, the OS failure code is returned.
    */
-  static ReturnValue_t getUptime(uint32_t *uptimeMs);
+  static uint32_t getUptime_ms();
 
   /**
    * Returns the time in microseconds since an OS-defined epoch.
@@ -90,6 +79,7 @@ class Clock {
    *  - Otherwise, the OS failure code is returned.
    */
   static ReturnValue_t getClock_usecs(uint64_t *time);
+
   /**
    * Returns the time in a TimeOfDay_t struct.
    * @param time A pointer to a TimeOfDay_t struct.
@@ -106,6 +96,7 @@ class Clock {
    * @return
    */
   static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
+
   /**
    * Converts a time of day struct to POSIX seconds.
    * @param time The time of day as input

src/fsfw/timemanager/ClockCommon.cpp

@@ -1,4 +1,5 @@
 #include <ctime>
+#include <cstdlib>
 
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/timemanager/Clock.h"
@@ -53,28 +54,74 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 }
 
 ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
-  struct tm* timeInfo;
-  // According to https://en.cppreference.com/w/c/chrono/gmtime, the implementation of gmtime_s
-  // in the Windows CRT is incompatible with the C standard but this should not be an issue for
-  // this implementation
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
+  struct tm time_tm;
+  // WINDOWS does not provide gmtime_r, but gmtime_s
+#ifdef PLATFORM_WIN
+  errno_t result = gmtime_s(&time_tm, &from->tv_sec);
+  if (result != 0) {
+    return returnvalue::FAILED;
   }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  timeInfo = gmtime(&from->tv_sec);
-  to->year = timeInfo->tm_year + 1900;
-  to->month = timeInfo->tm_mon + 1;
-  to->day = timeInfo->tm_mday;
-  to->hour = timeInfo->tm_hour;
-  to->minute = timeInfo->tm_min;
-  to->second = timeInfo->tm_sec;
+#else
+  void* result = gmtime_r(&from->tv_sec, &time_tm);
+
+  if (result == nullptr) {
+    return returnvalue::FAILED;
+  }
+#endif
+
+  to->year = time_tm.tm_year + 1900;
+  to->month = time_tm.tm_mon + 1;
+  to->day = time_tm.tm_mday;
+  to->hour = time_tm.tm_hour;
+  to->minute = time_tm.tm_min;
+  to->second = time_tm.tm_sec;
   to->usecond = from->tv_usec;
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
+  struct tm time_tm = {};
+
+  time_tm.tm_year = from->year - 1900;
+  time_tm.tm_mon = from->month - 1;
+  time_tm.tm_mday = from->day;
+
+  time_tm.tm_hour = from->hour;
+  time_tm.tm_min = from->minute;
+  time_tm.tm_sec = from->second;
+
+  time_tm.tm_isdst = 0;
+
+  // Windows:
+  // time_t seconds = _mkgmtime(&time_tm);
+  // Glibc:
+  // time_t seconds = timegm(&time_tm);
+  // Portable (?)
+  char* tz;
+  tz = getenv("TZ");
+  setenv("TZ", "", 1);
+  tzset();
+  time_t seconds = mktime(&time_tm);
+  if (tz)
+    setenv("TZ", tz, 1);
+  else
+    unsetenv("TZ");
+  tzset();
+  to->tv_sec = seconds;
+  to->tv_usec = from->usecond;
+
+  if (seconds == (time_t) -1) {
+    return returnvalue::FAILED;
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
+  return returnvalue::OK;
+}
+
 ReturnValue_t Clock::checkOrCreateClockMutex() {
   if (timeMutex == nullptr) {
     MutexFactory* mutexFactory = MutexFactory::instance();
@@ -88,3 +135,37 @@ ReturnValue_t Clock::checkOrCreateClockMutex() {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+  timeval time_timeval;
+  ReturnValue_t result = getClock_timeval(&time_timeval);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return convertTimevalToTimeOfDay(&time_timeval, time);
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+  timeval timeVal{};
+  ReturnValue_t result = getClock_timeval(&timeVal);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+  timeval timeTimeval{};
+  ReturnValue_t result = convertTimeOfDayToTimeval(time, &timeTimeval);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return setClock(&timeTimeval);
+}
+uint32_t Clock::getUptime_ms() {
+  timeval uptime = getUptime();
+  // TODO verify that overflow is correct
+  return uptime.tv_sec * 1e3 + uptime.tv_usec / 1e3;
+}

src/fsfw/timemanager/Countdown.cpp

@@ -7,9 +7,9 @@ Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
 Countdown::~Countdown() {}
 
 ReturnValue_t Countdown::setTimeout(uint32_t milliseconds) {
-  ReturnValue_t returnValue = Clock::getUptime(&startTime);
+  startTime = Clock::getUptime_ms();
   timeout = milliseconds;
-  return returnValue;
+  return returnvalue::OK;
 }
 
 bool Countdown::hasTimedOut() const {
@@ -39,7 +39,5 @@ uint32_t Countdown::getRemainingMillis() const {
 }
 
 uint32_t Countdown::getCurrentTime() const {
-  uint32_t currentTime;
-  Clock::getUptime(&currentTime);
-  return currentTime;
+  return Clock::getUptime_ms();
 }

src/fsfw/timemanager/Stopwatch.cpp

@@ -9,10 +9,10 @@
 Stopwatch::Stopwatch(bool displayOnDestruction, StopwatchDisplayMode displayMode)
     : displayOnDestruction(displayOnDestruction), displayMode(displayMode) {
   // Measures start time on initialization.
-  Clock::getUptime(&startTime);
+  startTime = Clock::getUptime();
 }
 
-void Stopwatch::start() { Clock::getUptime(&startTime); }
+void Stopwatch::start() { startTime = Clock::getUptime(); }
 
 dur_millis_t Stopwatch::stop(bool display) {
   stopInternal();
@@ -62,7 +62,6 @@ void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) {
 StopwatchDisplayMode Stopwatch::getDisplayMode() const { return displayMode; }
 
 void Stopwatch::stopInternal() {
-  timeval endTime;
-  Clock::getUptime(&endTime);
+  timeval endTime = Clock::getUptime();
   elapsedTime = endTime - startTime;
 }

src/fsfw/timemanager/TimeReaderIF.h

@@ -1,7 +1,17 @@
 #ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H
 #define FSFW_TIMEMANAGER_TIMEREADERIF_H
 
+#include <cstdio>
 #include <cstdlib>
+#include <sys/time.h>
+
+
+#include "fsfw/platform.h"
+
+#ifdef PLATFORM_WIN
+// wtf? Required for timeval!
+#include <winsock.h>
+#endif
 
 #include "TimeStampIF.h"
 #include "fsfw/returnvalues/returnvalue.h"

src/fsfw/tmtcpacket/ccsds/SpacePacketCreator.cpp

@@ -14,6 +14,7 @@ SpacePacketCreator::SpacePacketCreator(ccsds::PacketType packetType, bool secHea
     : params(SpacePacketParams(PacketId(packetType, secHeaderFlag, apid),
                                PacketSeqCtrl(seqFlags, seqCount), dataLen)) {
   params.version = version;
+  checkFieldValidity();
 }
 
 uint16_t SpacePacketCreator::getPacketIdRaw() const { return params.packetId.raw(); }

src/fsfw/tmtcpacket/ccsds/SpacePacketReader.cpp

@@ -21,7 +21,7 @@ SpacePacketReader::~SpacePacketReader() = default;
 
 inline uint16_t SpacePacketReader::getPacketIdRaw() const { return ccsds::getPacketId(*spHeader); }
 
-const uint8_t* SpacePacketReader::getPacketData() { return packetDataField; }
+const uint8_t* SpacePacketReader::getPacketData() const { return packetDataField; }
 
 ReturnValue_t SpacePacketReader::setData(uint8_t* data, size_t maxSize_, void* args) {
   return setInternalFields(data, maxSize_);

src/fsfw/tmtcpacket/ccsds/SpacePacketReader.h

@@ -71,7 +71,7 @@ class SpacePacketReader : public SpacePacketIF,
   // Helper methods:
   [[nodiscard]] ReturnValue_t checkSize() const;
 
-  const uint8_t* getPacketData();
+  const uint8_t* getPacketData() const;
 
   ReturnValue_t setReadOnlyData(const uint8_t* data, size_t maxSize);
 

src/fsfw/tmtcpacket/ccsds/defs.h

@@ -23,11 +23,11 @@ constexpr uint16_t getSpacePacketIdFromApid(bool isTc, uint16_t apid,
   return ((isTc << 4) | (secondaryHeaderFlag << 3) | ((apid >> 8) & 0x07)) << 8 | (apid & 0x00ff);
 }
 
-constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag = true) {
+constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) {
   return getSpacePacketIdFromApid(true, apid, secondaryHeaderFlag);
 }
 
-constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag = true) {
+constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) {
   return getSpacePacketIdFromApid(false, apid, secondaryHeaderFlag);
 }
 

src/fsfw/tmtcservices/AcceptsTelemetryIF.h

@@ -21,9 +21,11 @@ class AcceptsTelemetryIF {
    * 			receiving message queue.
    * @return	The telemetry reception message queue id.
    */
-  virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) = 0;
+  [[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const = 0;
 
-  virtual MessageQueueId_t getReportReceptionQueue() { return getReportReceptionQueue(0); }
+  [[nodiscard]] virtual MessageQueueId_t getReportReceptionQueue() const {
+    return getReportReceptionQueue(0);
+  }
 };
 
 #endif /* FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_ */

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -348,7 +348,7 @@ void CommandingServiceBase::startExecution(store_address_t storeId, CommandMapIt
         sendResult = commandQueue->sendMessage(iter.value->first, &command);
       }
       if (sendResult == returnvalue::OK) {
-        Clock::getUptime(&iter->second.uptimeOfStart);
+        iter->second.uptimeOfStart = Clock::getUptime_ms();
         iter->second.step = 0;
         iter->second.subservice = tcReader.getSubService();
         iter->second.command = command.getCommand();
@@ -434,8 +434,7 @@ inline void CommandingServiceBase::doPeriodicOperation() {}
 MessageQueueId_t CommandingServiceBase::getCommandQueue() { return commandQueue->getId(); }
 
 void CommandingServiceBase::checkTimeout() {
-  uint32_t uptime;
-  Clock::getUptime(&uptime);
+  uint32_t uptime = Clock::getUptime_ms();
   CommandMapIter iter;
   for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
     if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -5,20 +5,28 @@
 
 class SourceSequenceCounter {
  private:
-  uint16_t sequenceCount;
+  uint16_t sequenceCount = 0;
 
  public:
-  SourceSequenceCounter() : sequenceCount(0) {}
-  void increment() {
-    sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+  SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
+  void increment() { sequenceCount = (sequenceCount + 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
+  void decrement() { sequenceCount = (sequenceCount - 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
+  uint16_t get() const { return this->sequenceCount; }
+  void reset(uint16_t toValue = 0) { sequenceCount = toValue % (ccsds::LIMIT_SEQUENCE_COUNT); }
+  SourceSequenceCounter& operator++(int) {
+    this->increment();
+    return *this;
   }
-  void decrement() {
-    sequenceCount = (sequenceCount - 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+  SourceSequenceCounter& operator--(int) {
+    this->decrement();
+    return *this;
   }
-  uint16_t get() { return this->sequenceCount; }
-  void reset(uint16_t toValue = 0) {
-    sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+  SourceSequenceCounter& operator=(const uint16_t& newCount) {
+    sequenceCount = newCount;
+    return *this;
   }
+
+  operator uint16_t() { return this->get(); }
 };
 
 #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -240,7 +240,7 @@ void TmTcBridge::registerCommDisconnect() {
   }
 }
 
-MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
+MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) const {
   return tmTcReceptionQueue->getId();
 }
 

src/fsfw/tmtcservices/TmTcBridge.h

@@ -65,7 +65,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
   /** AcceptsTelemetryIF override */
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
 
   /** AcceptsTelecommandsIF override */
   uint32_t getIdentifier() const override;

src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -5,6 +5,14 @@
 #include <string>
 #include <unordered_map>
 
+#ifdef PLATFORM_WIN
+// Defined in Windows header for whatever reason, and leads to nameclash issues with
+// class enums which have entries of the same name.
+#undef IN
+#undef OUT
+#undef CALLBACK
+#endif
+
 using gpioId_t = uint16_t;
 
 namespace gpio {

src/fsfw_hal/linux/CMakeLists.txt

@@ -5,11 +5,14 @@ endif()
 target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
                                         utility.cpp)
 
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+  add_subdirectory(gpio)
+endif()
+if(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS)
+  add_subdirectory(serial)
+endif()
+
 if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-  if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
-    add_subdirectory(gpio)
-  endif()
-  add_subdirectory(uart)
   # Adding those does not really make sense on Apple systems which are generally
   # host systems. It won't even compile as the headers are missing
   if(NOT APPLE)

src/fsfw_hal/linux/CommandExecutor.cpp

@@ -32,6 +32,8 @@ ReturnValue_t CommandExecutor::execute() {
   } else if (state == States::PENDING) {
     return COMMAND_PENDING;
   }
+  // Reset data in read vector
+  std::memset(readVec.data(), 0, readVec.size());
   currentCmdFile = popen(currentCmd.c_str(), "r");
   if (currentCmdFile == nullptr) {
     lastError = errno;
@@ -205,3 +207,5 @@ ReturnValue_t CommandExecutor::executeBlocking() {
   }
   return returnvalue::OK;
 }
+
+const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }

src/fsfw_hal/linux/CommandExecutor.h

@@ -107,6 +107,8 @@ class CommandExecutor {
    */
   void reset();
 
+  const std::vector<char>& getReadVector() const;
+
  private:
   std::string currentCmd;
   bool blocking = true;

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -41,7 +41,7 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
 
   i2cAddress = i2cCookie->getAddress();
 
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
     size_t maxReplyLen = i2cCookie->getMaxReplyLen();
     I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
@@ -89,7 +89,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
@@ -140,20 +140,19 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
 #endif
-    i2cDeviceMapIter->second.replyLen = 0;
     return NULLPOINTER;
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
                << "registered in i2cDeviceMap" << std::endl;
 #endif
-    i2cDeviceMapIter->second.replyLen = 0;
     return returnvalue::FAILED;
   }
+  i2cDeviceMapIter->second.replyLen = 0;
 
   deviceFile = i2cCookie->getDeviceFile();
   UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
@@ -162,7 +161,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
   }
   result = openDevice(deviceFile, i2cAddress, &fd);
   if (result != returnvalue::OK) {
-    i2cDeviceMapIter->second.replyLen = 0;
     return result;
   }
 
@@ -170,14 +168,19 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 
   int readLen = read(fd, replyBuffer, requestLen);
   if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
-               << "device failed with error code " << errno << ". Description"
-               << " of error: " << strerror(errno) << std::endl;
-    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
-               << " bytes" << std::endl;
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if (readLen < 0) {
+      sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
+                   << "device failed with error code " << errno << " | " << strerror(errno)
+                   << std::endl;
+    } else {
+      sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
+                   << requestLen << " bytes" << std::endl;
+    }
+#else
+#endif
 #endif
-    i2cDeviceMapIter->second.replyLen = 0;
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
                << " bytes" << std::endl;
@@ -204,7 +207,7 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
-  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
@@ -214,7 +217,7 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   }
   *buffer = i2cDeviceMapIter->second.replyBuffer.data();
   *size = i2cDeviceMapIter->second.replyLen;
-
+  i2cDeviceMapIter->second.replyLen = 0;
   return returnvalue::OK;
 }
 

src/fsfw_hal/linux/i2c/I2cComIF.h

@@ -36,12 +36,10 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
-  using I2cDeviceMapIter = I2cDeviceMap::iterator;
 
   /* In this map all i2c devices will be registered with their address and
    * the appropriate file descriptor will be stored */
   I2cDeviceMap i2cDeviceMap;
-  I2cDeviceMapIter i2cDeviceMapIter;
 
   /**
    * @brief	This function opens an I2C device and binds the opened file

src/fsfw_hal/linux/serial/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC SerialComIF.cpp SerialCookie.cpp
+                                       helper.cpp)

src/fsfw_hal/linux/serial/SerialComIF.cpp

@@ -1,4 +1,4 @@
-#include "UartComIF.h"
+#include "SerialComIF.h"
 
 #include <errno.h>
 #include <fcntl.h>
@@ -11,19 +11,18 @@
 #include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/utility.h"
 
-UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
+SerialComIF::SerialComIF(object_id_t objectId) : SystemObject(objectId) {}
 
-UartComIF::~UartComIF() {}
+SerialComIF::~SerialComIF() {}
 
-ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
+ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
   if (cookie == nullptr) {
     return NULLPOINTER;
   }
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
@@ -33,7 +32,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 
   deviceFile = uartCookie->getDeviceFile();
 
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
     int fileDescriptor = configureUartPort(uartCookie);
     if (fileDescriptor < 0) {
@@ -60,7 +59,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
   return returnvalue::OK;
 }
 
-int UartComIF::configureUartPort(UartCookie* uartCookie) {
+int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
   struct termios options = {};
 
   std::string deviceFile = uartCookie->getDeviceFile();
@@ -89,11 +88,11 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     return fd;
   }
 
-  setParityOptions(&options, uartCookie);
+  uart::setParity(options, uartCookie->getParity());
   setStopBitOptions(&options, uartCookie);
   setDatasizeOptions(&options, uartCookie);
   setFixedOptions(&options);
-  setUartMode(&options, *uartCookie);
+  uart::setMode(options, uartCookie->getUartMode());
   if (uartCookie->getInputShouldBeFlushed()) {
     tcflush(fd, TCIFLUSH);
   }
@@ -102,7 +101,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
   options.c_cc[VTIME] = 0;
   options.c_cc[VMIN] = 0;
 
-  configureBaudrate(&options, uartCookie);
+  uart::setBaudrate(options, uartCookie->getBaudrate());
 
   /* Save option settings */
   if (tcsetattr(fd, TCSANOW, &options) != 0) {
@@ -115,24 +114,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
   return fd;
 }
 
-void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
-  /* Clear parity bit */
-  options->c_cflag &= ~PARENB;
-  switch (uartCookie->getParity()) {
-    case Parity::EVEN:
-      options->c_cflag |= PARENB;
-      options->c_cflag &= ~PARODD;
-      break;
-    case Parity::ODD:
-      options->c_cflag |= PARENB;
-      options->c_cflag |= PARODD;
-      break;
-    default:
-      break;
-  }
-}
-
-void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
+void SerialComIF::setStopBitOptions(struct termios* options, SerialCookie* uartCookie) {
   /* Clear stop field. Sets stop bit to one bit */
   options->c_cflag &= ~CSTOPB;
   switch (uartCookie->getStopBits()) {
@@ -144,7 +126,7 @@ void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCooki
   }
 }
 
-void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
+void SerialComIF::setDatasizeOptions(struct termios* options, SerialCookie* uartCookie) {
   /* Clear size bits */
   options->c_cflag &= ~CSIZE;
   switch (uartCookie->getBitsPerWord()) {
@@ -168,7 +150,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
   }
 }
 
-void UartComIF::setFixedOptions(struct termios* options) {
+void SerialComIF::setFixedOptions(struct termios* options) {
   /* Disable RTS/CTS hardware flow control */
   options->c_cflag &= ~CRTSCTS;
   /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
@@ -191,142 +173,9 @@ void UartComIF::setFixedOptions(struct termios* options) {
   options->c_oflag &= ~ONLCR;
 }
 
-void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
-  switch (uartCookie->getBaudrate()) {
-    case UartBaudRate::RATE_50:
-      cfsetispeed(options, B50);
-      cfsetospeed(options, B50);
-      break;
-    case UartBaudRate::RATE_75:
-      cfsetispeed(options, B75);
-      cfsetospeed(options, B75);
-      break;
-    case UartBaudRate::RATE_110:
-      cfsetispeed(options, B110);
-      cfsetospeed(options, B110);
-      break;
-    case UartBaudRate::RATE_134:
-      cfsetispeed(options, B134);
-      cfsetospeed(options, B134);
-      break;
-    case UartBaudRate::RATE_150:
-      cfsetispeed(options, B150);
-      cfsetospeed(options, B150);
-      break;
-    case UartBaudRate::RATE_200:
-      cfsetispeed(options, B200);
-      cfsetospeed(options, B200);
-      break;
-    case UartBaudRate::RATE_300:
-      cfsetispeed(options, B300);
-      cfsetospeed(options, B300);
-      break;
-    case UartBaudRate::RATE_600:
-      cfsetispeed(options, B600);
-      cfsetospeed(options, B600);
-      break;
-    case UartBaudRate::RATE_1200:
-      cfsetispeed(options, B1200);
-      cfsetospeed(options, B1200);
-      break;
-    case UartBaudRate::RATE_1800:
-      cfsetispeed(options, B1800);
-      cfsetospeed(options, B1800);
-      break;
-    case UartBaudRate::RATE_2400:
-      cfsetispeed(options, B2400);
-      cfsetospeed(options, B2400);
-      break;
-    case UartBaudRate::RATE_4800:
-      cfsetispeed(options, B4800);
-      cfsetospeed(options, B4800);
-      break;
-    case UartBaudRate::RATE_9600:
-      cfsetispeed(options, B9600);
-      cfsetospeed(options, B9600);
-      break;
-    case UartBaudRate::RATE_19200:
-      cfsetispeed(options, B19200);
-      cfsetospeed(options, B19200);
-      break;
-    case UartBaudRate::RATE_38400:
-      cfsetispeed(options, B38400);
-      cfsetospeed(options, B38400);
-      break;
-    case UartBaudRate::RATE_57600:
-      cfsetispeed(options, B57600);
-      cfsetospeed(options, B57600);
-      break;
-    case UartBaudRate::RATE_115200:
-      cfsetispeed(options, B115200);
-      cfsetospeed(options, B115200);
-      break;
-    case UartBaudRate::RATE_230400:
-      cfsetispeed(options, B230400);
-      cfsetospeed(options, B230400);
-      break;
-#ifndef __APPLE__
-    case UartBaudRate::RATE_460800:
-      cfsetispeed(options, B460800);
-      cfsetospeed(options, B460800);
-      break;
-    case UartBaudRate::RATE_500000:
-      cfsetispeed(options, B500000);
-      cfsetospeed(options, B500000);
-      break;
-    case UartBaudRate::RATE_576000:
-      cfsetispeed(options, B576000);
-      cfsetospeed(options, B576000);
-      break;
-    case UartBaudRate::RATE_921600:
-      cfsetispeed(options, B921600);
-      cfsetospeed(options, B921600);
-      break;
-    case UartBaudRate::RATE_1000000:
-      cfsetispeed(options, B1000000);
-      cfsetospeed(options, B1000000);
-      break;
-    case UartBaudRate::RATE_1152000:
-      cfsetispeed(options, B1152000);
-      cfsetospeed(options, B1152000);
-      break;
-    case UartBaudRate::RATE_1500000:
-      cfsetispeed(options, B1500000);
-      cfsetospeed(options, B1500000);
-      break;
-    case UartBaudRate::RATE_2000000:
-      cfsetispeed(options, B2000000);
-      cfsetospeed(options, B2000000);
-      break;
-    case UartBaudRate::RATE_2500000:
-      cfsetispeed(options, B2500000);
-      cfsetospeed(options, B2500000);
-      break;
-    case UartBaudRate::RATE_3000000:
-      cfsetispeed(options, B3000000);
-      cfsetospeed(options, B3000000);
-      break;
-    case UartBaudRate::RATE_3500000:
-      cfsetispeed(options, B3500000);
-      cfsetospeed(options, B3500000);
-      break;
-    case UartBaudRate::RATE_4000000:
-      cfsetispeed(options, B4000000);
-      cfsetospeed(options, B4000000);
-      break;
-#endif  // ! __APPLE__
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
-#endif
-      break;
-  }
-}
-
-ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
   int fd = 0;
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
   if (sendLen == 0) {
     return returnvalue::OK;
@@ -339,7 +188,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
     return returnvalue::FAILED;
   }
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
@@ -348,7 +197,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   }
 
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
@@ -370,13 +219,12 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   return returnvalue::OK;
 }
 
-ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t SerialComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
 
-ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
@@ -386,7 +234,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
 
   UartModes uartMode = uartCookie->getUartMode();
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
 
   if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
     return returnvalue::OK;
@@ -409,8 +257,8 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
   }
 }
 
-ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-                                             size_t requestLen) {
+ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
+                                               UartDeviceMap::iterator& iter, size_t requestLen) {
   ReturnValue_t result = returnvalue::OK;
   uint8_t maxReadCycles = uartCookie.getReadCycles();
   uint8_t currentReadCycles = 0;
@@ -467,8 +315,9 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
   return result;
 }
 
-ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-                                                size_t requestLen) {
+ReturnValue_t SerialComIF::handleNoncanonicalRead(SerialCookie& uartCookie,
+                                                  UartDeviceMap::iterator& iter,
+                                                  size_t requestLen) {
   int fd = iter->second.fileDescriptor;
   auto bufferPtr = iter->second.replyBuffer.data();
   // Size check to prevent buffer overflow
@@ -501,11 +350,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
   return returnvalue::OK;
 }
 
-ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
@@ -514,7 +362,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   }
 
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
@@ -532,10 +380,9 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   return returnvalue::OK;
 }
 
-ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
+ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
@@ -543,7 +390,7 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIFLUSH);
@@ -552,10 +399,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
   return returnvalue::FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
+ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
@@ -563,7 +409,7 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCOFLUSH);
@@ -572,10 +418,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
   return returnvalue::FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
+ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   std::string deviceFile;
-  UartDeviceMapIter uartDeviceMapIter;
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
   if (uartCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
@@ -583,7 +428,7 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
-  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIOFLUSH);
@@ -591,13 +436,3 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   }
   return returnvalue::FAILED;
 }
-
-void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
-  UartModes uartMode = uartCookie.getUartMode();
-  if (uartMode == UartModes::NON_CANONICAL) {
-    /* Disable canonical mode */
-    options->c_lflag &= ~ICANON;
-  } else if (uartMode == UartModes::CANONICAL) {
-    options->c_lflag |= ICANON;
-  }
-}

src/fsfw_hal/linux/serial/SerialComIF.h

@@ -3,12 +3,12 @@
 
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+#include <fsfw_hal/linux/serial/helper.h>
 
 #include <unordered_map>
 #include <vector>
 
-#include "UartCookie.h"
-
 /**
  * @brief 	This is the communication interface to access serial ports on linux based operating
  *          systems.
@@ -18,7 +18,7 @@
  *
  * @author 	J. Meier
  */
-class UartComIF : public DeviceCommunicationIF, public SystemObject {
+class SerialComIF : public DeviceCommunicationIF, public SystemObject {
  public:
   static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
 
@@ -26,9 +26,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
   static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
   static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
 
-  UartComIF(object_id_t objectId);
+  SerialComIF(object_id_t objectId);
 
-  virtual ~UartComIF();
+  virtual ~SerialComIF();
 
   ReturnValue_t initializeInterface(CookieIF* cookie) override;
   ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@@ -62,7 +62,6 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
   };
 
   using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
-  using UartDeviceMapIter = UartDeviceMap::iterator;
 
   /**
    * The uart devie map stores informations of initialized uart ports.
@@ -76,20 +75,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
    *                      uart device file, baudrate, parity, stopbits etc.
    * @return  The file descriptor of the configured uart.
    */
-  int configureUartPort(UartCookie* uartCookie);
+  int configureUartPort(SerialCookie* uartCookie);
 
-  /**
-   * @brief   This function adds the parity settings to the termios options struct.
-   *
-   * @param options   Pointer to termios options struct which will be modified to enable or disable
-   *                  parity checking.
-   * @param uartCookie    Pointer to uart cookie containing the information about the desired
-   *                      parity settings.
-   *
-   */
-  void setParityOptions(struct termios* options, UartCookie* uartCookie);
-
-  void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
+  void setStopBitOptions(struct termios* options, SerialCookie* uartCookie);
 
   /**
    * @brief   This function sets options which are not configurable by the uartCookie.
@@ -99,19 +87,11 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
   /**
    * @brief   With this function the datasize settings are added to the termios options struct.
    */
-  void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
+  void setDatasizeOptions(struct termios* options, SerialCookie* uartCookie);
 
-  /**
-   * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
-   *          struct.
-   */
-  void configureBaudrate(struct termios* options, UartCookie* uartCookie);
-
-  void setUartMode(struct termios* options, UartCookie& uartCookie);
-
-  ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+  ReturnValue_t handleCanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
                                     size_t requestLen);
-  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+  ReturnValue_t handleNoncanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
                                        size_t requestLen);
 };
 

src/fsfw_hal/linux/serial/SerialCookie.cpp

@@ -0,0 +1,51 @@
+#include "SerialCookie.h"
+
+#include <fsfw/serviceinterface.h>
+
+SerialCookie::SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
+                           size_t maxReplyLen, UartModes uartMode)
+    : handlerId(handlerId),
+      deviceFile(deviceFile),
+      uartMode(uartMode),
+      baudrate(baudrate),
+      maxReplyLen(maxReplyLen) {}
+
+SerialCookie::~SerialCookie() {}
+
+UartBaudRate SerialCookie::getBaudrate() const { return baudrate; }
+
+size_t SerialCookie::getMaxReplyLen() const { return maxReplyLen; }
+
+std::string SerialCookie::getDeviceFile() const { return deviceFile; }
+
+void SerialCookie::setParityOdd() { parity = Parity::ODD; }
+
+void SerialCookie::setParityEven() { parity = Parity::EVEN; }
+
+Parity SerialCookie::getParity() const { return parity; }
+
+void SerialCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
+
+BitsPerWord SerialCookie::getBitsPerWord() const { return bitsPerWord; }
+
+StopBits SerialCookie::getStopBits() const { return stopBits; }
+
+void SerialCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
+
+void SerialCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
+
+UartModes SerialCookie::getUartMode() const { return uartMode; }
+
+void SerialCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
+
+void SerialCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
+
+uint8_t SerialCookie::getReadCycles() const { return readCycles; }
+
+bool SerialCookie::getInputShouldBeFlushed() { return this->flushInput; }
+
+object_id_t SerialCookie::getHandlerId() const { return this->handlerId; }
+
+void SerialCookie::setNoFixedSizeReply() { replySizeFixed = false; }
+
+bool SerialCookie::isReplySizeFixed() { return replySizeFixed; }

src/fsfw_hal/linux/serial/SerialCookie.h

@@ -3,50 +3,10 @@
 
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw_hal/linux/serial/helper.h>
 
 #include <string>
 
-enum class Parity { NONE, EVEN, ODD };
-
-enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
-
-enum class UartModes { CANONICAL, NON_CANONICAL };
-
-enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
-
-enum class UartBaudRate {
-  RATE_50,
-  RATE_75,
-  RATE_110,
-  RATE_134,
-  RATE_150,
-  RATE_200,
-  RATE_300,
-  RATE_600,
-  RATE_1200,
-  RATE_1800,
-  RATE_2400,
-  RATE_4800,
-  RATE_9600,
-  RATE_19200,
-  RATE_38400,
-  RATE_57600,
-  RATE_115200,
-  RATE_230400,
-  RATE_460800,
-  RATE_500000,
-  RATE_576000,
-  RATE_921600,
-  RATE_1000000,
-  RATE_1152000,
-  RATE_1500000,
-  RATE_2000000,
-  RATE_2500000,
-  RATE_3000000,
-  RATE_3500000,
-  RATE_4000000
-};
-
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
  *          The constructor only requests for common options like the baudrate. Other options can
@@ -54,7 +14,7 @@ enum class UartBaudRate {
  *
  * @author 	J. Meier
  */
-class UartCookie : public CookieIF {
+class SerialCookie : public CookieIF {
  public:
   /**
    * @brief	Constructor for the uart cookie.
@@ -69,10 +29,10 @@ class UartCookie : public CookieIF {
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-             UartBaudRate baudrate, size_t maxReplyLen);
+  SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
+               size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
 
-  virtual ~UartCookie();
+  virtual ~SerialCookie();
 
   UartBaudRate getBaudrate() const;
   size_t getMaxReplyLen() const;

src/fsfw_hal/linux/serial/helper.cpp

@@ -0,0 +1,163 @@
+#include <fsfw_hal/linux/serial/helper.h>
+#include <sys/ioctl.h>
+
+#include "fsfw/serviceinterface.h"
+
+void uart::setMode(struct termios& options, UartModes mode) {
+  if (mode == UartModes::NON_CANONICAL) {
+    /* Disable canonical mode */
+    options.c_lflag &= ~ICANON;
+  } else if (mode == UartModes::CANONICAL) {
+    options.c_lflag |= ICANON;
+  }
+}
+
+void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
+  switch (baud) {
+    case UartBaudRate::RATE_50:
+      cfsetspeed(&options, B50);
+      break;
+    case UartBaudRate::RATE_75:
+      cfsetspeed(&options, B75);
+      break;
+    case UartBaudRate::RATE_110:
+      cfsetspeed(&options, B110);
+      break;
+    case UartBaudRate::RATE_134:
+      cfsetspeed(&options, B134);
+      break;
+    case UartBaudRate::RATE_150:
+      cfsetspeed(&options, B150);
+      break;
+    case UartBaudRate::RATE_200:
+      cfsetspeed(&options, B200);
+      break;
+    case UartBaudRate::RATE_300:
+      cfsetspeed(&options, B300);
+      break;
+    case UartBaudRate::RATE_600:
+      cfsetspeed(&options, B600);
+      break;
+    case UartBaudRate::RATE_1200:
+      cfsetspeed(&options, B1200);
+      break;
+    case UartBaudRate::RATE_1800:
+      cfsetspeed(&options, B1800);
+      break;
+    case UartBaudRate::RATE_2400:
+      cfsetspeed(&options, B2400);
+      break;
+    case UartBaudRate::RATE_4800:
+      cfsetspeed(&options, B4800);
+      break;
+    case UartBaudRate::RATE_9600:
+      cfsetspeed(&options, B9600);
+      break;
+    case UartBaudRate::RATE_19200:
+      cfsetspeed(&options, B19200);
+      break;
+    case UartBaudRate::RATE_38400:
+      cfsetspeed(&options, B38400);
+      break;
+    case UartBaudRate::RATE_57600:
+      cfsetspeed(&options, B57600);
+      break;
+    case UartBaudRate::RATE_115200:
+      cfsetspeed(&options, B115200);
+      break;
+    case UartBaudRate::RATE_230400:
+      cfsetspeed(&options, B230400);
+      break;
+#ifndef __APPLE__
+    case UartBaudRate::RATE_460800:
+      cfsetspeed(&options, B460800);
+      break;
+    case UartBaudRate::RATE_500000:
+      cfsetspeed(&options, B500000);
+      break;
+    case UartBaudRate::RATE_576000:
+      cfsetspeed(&options, B576000);
+      break;
+    case UartBaudRate::RATE_921600:
+      cfsetspeed(&options, B921600);
+      break;
+    case UartBaudRate::RATE_1000000:
+      cfsetspeed(&options, B1000000);
+      break;
+    case UartBaudRate::RATE_1152000:
+      cfsetspeed(&options, B1152000);
+      break;
+    case UartBaudRate::RATE_1500000:
+      cfsetspeed(&options, B1500000);
+      break;
+    case UartBaudRate::RATE_2000000:
+      cfsetspeed(&options, B2000000);
+      break;
+    case UartBaudRate::RATE_2500000:
+      cfsetspeed(&options, B2500000);
+      break;
+    case UartBaudRate::RATE_3000000:
+      cfsetspeed(&options, B3000000);
+      break;
+    case UartBaudRate::RATE_3500000:
+      cfsetspeed(&options, B3500000);
+      break;
+    case UartBaudRate::RATE_4000000:
+      cfsetspeed(&options, B4000000);
+      break;
+#endif  // ! __APPLE__
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
+      break;
+  }
+}
+
+void uart::setBitsPerWord(struct termios& options, BitsPerWord bits) {
+  options.c_cflag &= ~CSIZE;  // Clear all the size bits
+  if (bits == BitsPerWord::BITS_5) {
+    options.c_cflag |= CS5;
+  } else if (bits == BitsPerWord::BITS_6) {
+    options.c_cflag |= CS6;
+  } else if (bits == BitsPerWord::BITS_7) {
+    options.c_cflag |= CS7;
+  } else if (bits == BitsPerWord::BITS_8) {
+    options.c_cflag |= CS8;
+  }
+}
+
+void uart::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
+
+void uart::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
+
+void uart::setParity(struct termios& options, Parity parity) {
+  /* Clear parity bit */
+  options.c_cflag &= ~PARENB;
+  switch (parity) {
+    case Parity::EVEN:
+      options.c_cflag |= PARENB;
+      options.c_cflag &= ~PARODD;
+      break;
+    case Parity::ODD:
+      options.c_cflag |= PARENB;
+      options.c_cflag |= PARODD;
+      break;
+    default:
+      break;
+  }
+}
+
+int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
+  return ioctl(serialPort, TIOCGICOUNT, &icounter);
+}
+
+void uart::setStopbits(struct termios& options, StopBits bits) {
+  if (bits == StopBits::TWO_STOP_BITS) {
+    // Use two stop bits
+    options.c_cflag |= CSTOPB;
+  } else {
+    // Clear stop field, only one stop bit used in communication
+    options.c_cflag &= ~CSTOPB;
+  }
+}

src/fsfw_hal/linux/serial/helper.h

@@ -0,0 +1,71 @@
+#ifndef FSFW_HAL_LINUX_UART_HELPER_H_
+#define FSFW_HAL_LINUX_UART_HELPER_H_
+
+#include <linux/serial.h>
+#include <termios.h>
+
+enum class Parity { NONE, EVEN, ODD };
+
+enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
+
+enum class UartModes { CANONICAL, NON_CANONICAL };
+
+enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
+
+enum class UartBaudRate {
+  RATE_50,
+  RATE_75,
+  RATE_110,
+  RATE_134,
+  RATE_150,
+  RATE_200,
+  RATE_300,
+  RATE_600,
+  RATE_1200,
+  RATE_1800,
+  RATE_2400,
+  RATE_4800,
+  RATE_9600,
+  RATE_19200,
+  RATE_38400,
+  RATE_57600,
+  RATE_115200,
+  RATE_230400,
+  RATE_460800,
+  RATE_500000,
+  RATE_576000,
+  RATE_921600,
+  RATE_1000000,
+  RATE_1152000,
+  RATE_1500000,
+  RATE_2000000,
+  RATE_2500000,
+  RATE_3000000,
+  RATE_3500000,
+  RATE_4000000
+};
+
+namespace uart {
+
+void setMode(struct termios& options, UartModes mode);
+/**
+ * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
+ *          struct.
+ */
+void setBaudrate(struct termios& options, UartBaudRate baud);
+
+void setStopbits(struct termios& options, StopBits bits);
+
+void setBitsPerWord(struct termios& options, BitsPerWord bits);
+
+void enableRead(struct termios& options);
+
+void setParity(struct termios& options, Parity parity);
+
+void ignoreCtrlLines(struct termios& options);
+
+int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
+
+}  // namespace uart
+
+#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */

src/fsfw_hal/linux/uart/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp)

src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -1,51 +0,0 @@
-#include "UartCookie.h"
-
-#include <fsfw/serviceinterface.h>
-
-UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-                       UartBaudRate baudrate, size_t maxReplyLen)
-    : handlerId(handlerId),
-      deviceFile(deviceFile),
-      uartMode(uartMode),
-      baudrate(baudrate),
-      maxReplyLen(maxReplyLen) {}
-
-UartCookie::~UartCookie() {}
-
-UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
-
-size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
-
-std::string UartCookie::getDeviceFile() const { return deviceFile; }
-
-void UartCookie::setParityOdd() { parity = Parity::ODD; }
-
-void UartCookie::setParityEven() { parity = Parity::EVEN; }
-
-Parity UartCookie::getParity() const { return parity; }
-
-void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
-
-BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
-
-StopBits UartCookie::getStopBits() const { return stopBits; }
-
-void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
-
-void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
-
-UartModes UartCookie::getUartMode() const { return uartMode; }
-
-void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
-
-void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
-
-uint8_t UartCookie::getReadCycles() const { return readCycles; }
-
-bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
-
-object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
-
-void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
-
-bool UartCookie::isReplySizeFixed() { return replySizeFixed; }

src/fsfw_hal/linux/uio/UioMapper.cpp

@@ -1,6 +1,7 @@
 #include "UioMapper.h"
 
 #include <fcntl.h>
+#include <sys/stat.h>
 #include <unistd.h>
 
 #include <filesystem>
@@ -13,7 +14,23 @@ const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
 const char UioMapper::MAP_SUBSTR[] = "/maps/map";
 const char UioMapper::SIZE_FILE_PATH[] = "/size";
 
-UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
+UioMapper::UioMapper(std::string uioFile, int mapNum) : mapNum(mapNum) {
+  struct stat buf;
+  lstat(uioFile.c_str(), &buf);
+  if (S_ISLNK(buf.st_mode)) {
+    char* res = realpath(uioFile.c_str(), nullptr);
+    if (res) {
+      this->uioFile = res;
+      free(res);
+    } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Could not resolve real path of UIO file " << uioFile << std::endl;
+#endif
+    }
+  } else {
+    this->uioFile = std::move(uioFile);
+  }
+}
 
 UioMapper::~UioMapper() {}
 
@@ -22,7 +39,7 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
   int fd = open(uioFile.c_str(), O_RDWR);
   if (fd < 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
+    sif::error << "UioMapper::getMappedAdress: Invalid UIO device file " << uioFile << std::endl;
 #endif
     return returnvalue::FAILED;
   }