WIP

Reviewed-on: #726

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "automation/msvc-wine"]
+	path = automation/msvc-wine
+	url = https://github.com/mstorsjo/msvc-wine

CHANGELOG.md

@@ -12,6 +12,23 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
+- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
+  seconds instead of uptime.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
+  only the X scaling factor was used.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
+- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
+  to false correctly because the `read` and `write` calls were missing.
+- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
+  of the correct unsegmented flags (0b11) as specified in the standard.
+- 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 +38,29 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
+- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
+  option on the TCP server. CTOR prototype has changed and expects an explicit
+  TCP configuration struct to be passed.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
+- `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 +85,10 @@ 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

@@ -64,6 +64,13 @@ elseif(${CMAKE_CXX_STANDARD} LESS 17)
       "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+  # Manually tweak MSVC to emit (about) the same warnings as clang and gcc on linux
+  # needs to be done here using add_compile_definitions() (as opposed to target_compile_definitions()) to be available for all binaries and libraries
+  add_compile_options("/permissive-" /wd4267 /wd4244 /wd4244 /wd4305 /wd4805 /wd4267 /wd4646 /wd4065 /wd4996 /Dand=&& /Dor=|| /Dnot=!)
+  add_compile_definitions(NOMINMAX)
+endif()
+
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_NAME etl)
@@ -122,6 +129,7 @@ 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 +160,7 @@ 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 +181,27 @@ 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 +254,7 @@ 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 +356,8 @@ 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 +375,23 @@ 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
@@ -438,8 +479,47 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 
 endif()
 
-if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  set(COMPILER_FLAGS "/permissive-")
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  set(FSFW_WARNING_FLAGS 
+  -Weverything 
+
+  -Wno-gnu-anonymous-struct 
+  -Wno-c++98-compat
+  -Wno-c++98-compat-pedantic
+  -Wno-covered-switch-default
+  -Wno-padded 
+  -Wno-documentation
+  -Wno-weak-vtables
+  -Wno-c++98-c++11-compat-binary-literal
+  -Wno-documentation-unknown-command
+  -Wno-reserved-macro-identifier
+  -Wno-global-constructors
+  -Wno-reserved-identifier
+  -Wno-switch-enum
+
+  -Werror
+  #WTH?
+  -Wno-ctad-maybe-unsupported
+  #WIP
+  -Wno-undefined-func-template
+  -Wno-suggest-destructor-override
+  -Wno-suggest-override
+  -Wno-inconsistent-missing-destructor-override
+  -Wno-extra-semi
+  #could be useful:
+  -Wno-sign-conversion
+  -Wno-implicit-int-conversion
+  -Wno-shorten-64-to-32
+  -Wno-double-promotion
+  -Wno-float-conversion
+  -Wno-implicit-int-float-conversion
+  -Wno-implicit-float-conversion
+  -Wno-shadow-field-in-constructor
+  -Wno-shadow-field
+  -Wno-shadow
+  -Wno-unused-parameter
+
+  )
 endif()
 
 # Required include paths to compile the FSFW

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 ca-certificates clang cmake doxygen g++ gcc git graphviz iputils-ping lcov make msitools nano ninja-build pip python3 python3-simplejson python3-six qemu-system-arm rsync valgrind wget winbind
 
 RUN python3 -m pip install sphinx breathe
 
@@ -21,5 +21,37 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
         cmake -B build . && \
         cmake --install build/
 
+        
+# install our own rtems 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"
+
+# install modern wine for MSVC, removing a conflicting file
+RUN dpkg --add-architecture i386 && \
+    mkdir -pm755 /etc/apt/keyrings && \
+    wget -O /etc/apt/keyrings/winehq-archive.key https://dl.winehq.org/wine-builds/winehq.key && \
+    wget -NP /etc/apt/sources.list.d/ https://dl.winehq.org/wine-builds/ubuntu/dists/focal/winehq-focal.sources && \
+    apt-get update && \
+    apt-get --yes install winehq-stable
+# silence wine
+ENV WINEDEBUG=-all 
+
+
+# install MSVC using https://github.com/mstorsjo/msvc-wine
+# see msvc-wine/LICENSE.txt
+COPY msvc-wine/lowercase msvc-wine/fixinclude msvc-wine/install.sh msvc-wine/vsdownload.py ./
+COPY msvc-wine/wrappers/* ./wrappers/
+RUN PYTHONUNBUFFERED=1 ./vsdownload.py --accept-license --dest /opt/msvc && \
+    ./install.sh /opt/msvc && \
+    rm lowercase fixinclude install.sh vsdownload.py && \
+    rm -rf wrappers
+RUN wine64 wineboot --init && \
+    while pgrep wineserver > /dev/null; do sleep 1; done
+
+
 #ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+RUN addgroup -q --gid 117 jenkins && adduser -q --uid 114 --gid 117 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 +1,76 @@
 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'
+        BUILDDIR_WIN = 'cmake-build-tests-windows'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
-            image 'fsfw-ci:d5'
-            args '--network host'
+            image 'fsfw-ci:d9'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
         }
     }
     stages {
-        stage('Clean') {
+        stage('Host-clang') {
             steps {
-                sh 'rm -rf $BUILDDIR'
-            }
-        }
-        stage('Configure') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                }
-            }
-        }
-        stage('Build') {
-            steps {
-                dir(BUILDDIR) {
+                sh 'rm -rf $BUILDDIR_HOST'
+
+                dir(BUILDDIR_HOST) {
+                    sh 'CC=clang CXX=clang++ cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                     sh 'cmake --build . -j4'
-                }
-            }
-        }
-        stage('Unittests') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                }
-            }
-        }
-        stage('Valgrind') {
-            steps {
-                dir(BUILDDIR) {
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
+        stage('Linux-gcc') {
+            steps {
+                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-gcc') {
+            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 './fsfw-tests'
+                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+        stage('rtems-gcc') {
+            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('Host-msvc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_WIN'
+
+                dir(BUILDDIR_WIN) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../unittests/testcfg/windows/cmake/x64-windows-toolchain.cmake -GNinja ..'
+                    sh 'cmake --build . -j4'
+                    sh 'wine64 fsfw-tests.exe'
+                }
+            }
+        }
         stage('Documentation') {
             when {
                 branch 'development'
@@ -52,14 +80,12 @@ 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) {
+                dir(BUILDDIR_LINUX) {
                     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 +99,12 @@ 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) {
+                dir(BUILDDIR_LINUX) {
                     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/FileSize.h

@@ -21,7 +21,7 @@ struct FileSize : public SerializeIF {
     this->largeFile = isLarge;
     return serialize(buffer, size, maxSize, streamEndianness);
   }
-
+  using SerializeIF::serialize;
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override {
     if (not largeFile) {

src/fsfw/cfdp/VarLenFields.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
 
-cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
+cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, uint64_t value) : VarLenField() {
   ReturnValue_t result = this->setValue(width, value);
   if (result != returnvalue::OK) {
 #if FSFW_DISABLE_PRINTOUT == 0
@@ -20,7 +20,7 @@ cfdp::VarLenField::VarLenField() : width(cfdp::WidthInBytes::ONE_BYTE) { value.o
 
 cfdp::WidthInBytes cfdp::VarLenField::getWidth() const { return width; }
 
-ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value_) {
+ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, uint64_t value_) {
   switch (widthInBytes) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       if (value_ > UINT8_MAX) {
@@ -51,7 +51,7 @@ ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_
   return returnvalue::OK;
 }
 
-size_t cfdp::VarLenField::getValue() const {
+uint64_t cfdp::VarLenField::getValue() const {
   switch (width) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       return value.oneByte;

src/fsfw/cfdp/VarLenFields.h

@@ -25,13 +25,13 @@ class VarLenField : public SerializeIF {
   template <typename T>
   explicit VarLenField(UnsignedByteField<T> byteField);
 
-  VarLenField(cfdp::WidthInBytes width, size_t value);
+  VarLenField(cfdp::WidthInBytes width, uint64_t value);
 
   bool operator==(const VarLenField &other) const;
   bool operator!=(const VarLenField &other) const;
   bool operator<(const VarLenField &other) const;
 
-  ReturnValue_t setValue(cfdp::WidthInBytes, size_t value);
+  ReturnValue_t setValue(cfdp::WidthInBytes, uint64_t value);
 
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override;
@@ -42,7 +42,7 @@ class VarLenField : public SerializeIF {
                             Endianness streamEndianness);
 
   [[nodiscard]] cfdp::WidthInBytes getWidth() const;
-  [[nodiscard]] size_t getValue() const;
+  [[nodiscard]] uint64_t getValue() const;
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   friend std::ostream &operator<<(std::ostream &os, const VarLenField &id) {
@@ -53,6 +53,7 @@ class VarLenField : public SerializeIF {
 #endif
 
  private:
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/definitions.h

@@ -9,6 +9,11 @@
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 
+// Thanks, windows
+#ifdef NO_ERROR
+#undef NO_ERROR
+#endif
+
 namespace cfdp {
 
 static constexpr char CFDP_VERSION_2_NAME[] = "CCSDS 727.0-B-5";

src/fsfw/cfdp/handler/UserBase.h

@@ -68,6 +68,7 @@ class UserBase {
 
  public:
   explicit UserBase(HasFileSystemIF& vfs);
+  virtual ~UserBase() = default;
 
   virtual void transactionIndication(const TransactionId& id) = 0;
   virtual void eofSentIndication(const TransactionId& id) = 0;

src/fsfw/cfdp/helpers.cpp

@@ -1,6 +1,6 @@
 #include "helpers.h"
 
-const char* COND_CODE_STRINGS[14] = {"Unknown",
+static const char* COND_CODE_STRINGS[14] = {"Unknown",
                                      "No Error",
                                      "Positive ACK Limit Reached",
                                      "Keep Alive Limit Reached",

src/fsfw/cfdp/pdu/EofInfo.cpp

@@ -42,6 +42,6 @@ size_t EofInfo::getSerializedSize(bool fssLarge) {
   return size;
 }
 
-ReturnValue_t EofInfo::setFileSize(size_t fileSize, bool isLarge) {
+ReturnValue_t EofInfo::setFileSize(uint64_t fileSize, bool isLarge) {
   return this->fileSize.setFileSize(fileSize, isLarge);
 }

src/fsfw/cfdp/pdu/EofInfo.h

@@ -21,7 +21,7 @@ struct EofInfo {
   void setChecksum(uint32_t checksum);
   void setConditionCode(cfdp::ConditionCode conditionCode);
   void setFaultLoc(EntityIdTlv* faultLoc);
-  ReturnValue_t setFileSize(size_t size, bool isLarge);
+  ReturnValue_t setFileSize(uint64_t size, bool isLarge);
 
  private:
   cfdp::ConditionCode conditionCode;

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/cfdp/pdu/FinishedPduReader.cpp

@@ -1,5 +1,10 @@
 #include "FinishedPduReader.h"
 
+// Thanks, windows
+#ifdef NO_ERROR
+#undef NO_ERROR
+#endif
+
 FinishPduReader::FinishPduReader(const uint8_t* pduBuf, size_t maxSize, FinishedInfo& info)
     : FileDirectiveReader(pduBuf, maxSize), finishedInfo(info) {}
 

src/fsfw/cfdp/tlv/EntityIdTlv.h

@@ -23,6 +23,7 @@ class EntityIdTlv : public TlvIF {
    */
   ReturnValue_t deSerialize(cfdp::Tlv& tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/tlv/FilestoreRequestTlv.h

@@ -26,6 +26,7 @@ class FilestoreRequestTlv : public cfdp::FilestoreTlvBase {
    */
   ReturnValue_t deSerialize(cfdp::Tlv &tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                             Endianness streamEndianness) override;
 

src/fsfw/cfdp/tlv/FilestoreResponseTlv.h

@@ -29,6 +29,7 @@ class FilestoreResponseTlv : public cfdp::FilestoreTlvBase {
    */
   ReturnValue_t deSerialize(const cfdp::Tlv& tlv, Endianness endianness);
 
+  using SerializeIF::deSerialize;
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 

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/BinaryTree.h

@@ -8,7 +8,7 @@
 template <typename Tp>
 class BinaryNode {
  public:
-  BinaryNode(Tp* setValue) : value(setValue), left(NULL), right(NULL), parent(NULL) {}
+  BinaryNode(Tp* setValue) : value(setValue), left(nullptr), right(nullptr), parent(nullptr) {}
   Tp* value;
   BinaryNode* left;
   BinaryNode* right;
@@ -23,31 +23,31 @@ class ExplicitNodeIterator {
   typedef Tp value_type;
   typedef Tp* pointer;
   typedef Tp& reference;
-  ExplicitNodeIterator() : element(NULL) {}
+  ExplicitNodeIterator() : element(nullptr) {}
   ExplicitNodeIterator(_Node* node) : element(node) {}
   BinaryNode<Tp>* element;
   _Self up() { return _Self(element->parent); }
   _Self left() {
-    if (element != NULL) {
+    if (element != nullptr) {
       return _Self(element->left);
     } else {
-      return _Self(NULL);
+      return _Self(nullptr);
     }
   }
   _Self right() {
-    if (element != NULL) {
+    if (element != nullptr) {
       return _Self(element->right);
     } else {
-      return _Self(NULL);
+      return _Self(nullptr);
     }
   }
   bool operator==(const _Self& __x) const { return element == __x.element; }
   bool operator!=(const _Self& __x) const { return element != __x.element; }
   pointer operator->() const {
-    if (element != NULL) {
+    if (element != nullptr) {
       return element->value;
     } else {
-      return NULL;
+      return nullptr;
     }
   }
   pointer operator*() const { return this->operator->(); }
@@ -62,13 +62,13 @@ class BinaryTree {
   typedef ExplicitNodeIterator<Tp> iterator;
   typedef BinaryNode<Tp> Node;
   typedef std::pair<iterator, iterator> children;
-  BinaryTree() : rootNode(NULL) {}
+  BinaryTree() : rootNode(nullptr) {}
   BinaryTree(Node* rootNode) : rootNode(rootNode) {}
   iterator begin() const { return iterator(rootNode); }
-  static iterator end() { return iterator(NULL); }
+  static iterator end() { return iterator(nullptr); }
   iterator insert(bool insertLeft, iterator parentNode, Node* newNode) {
     newNode->parent = parentNode.element;
-    if (parentNode.element != NULL) {
+    if (parentNode.element != nullptr) {
       if (insertLeft) {
         parentNode.element->left = newNode;
       } else {
@@ -84,13 +84,13 @@ class BinaryTree {
   children erase(iterator node) {
     if (node.element == rootNode) {
       // We're root node
-      rootNode = NULL;
+      rootNode = nullptr;
     } else {
       // Delete parent's reference
       if (node.up().left() == node) {
-        node.up().element->left = NULL;
+        node.up().element->left = nullptr;
       } else {
-        node.up().element->right = NULL;
+        node.up().element->right = nullptr;
       }
     }
     return children(node.element->left, node.element->right);

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/PlacementFactory.h

@@ -61,7 +61,7 @@ class PlacementFactory {
     // Need to call destructor first, in case something was allocated by the object (shouldn't do
     // that, however).
     thisElement->~T();
-    uint8_t* pointer = (uint8_t*)(thisElement);
+    uint8_t* pointer = static_cast<uint8_t*>(thisElement);
     return dataBackend->deleteData(pointer, sizeof(T));
   }
 

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/LocalDataPoolManager.cpp

@@ -286,7 +286,6 @@ ReturnValue_t LocalDataPoolManager::addUpdateToStore(HousekeepingSnapshot& updat
   result = updatePacket.serialize(&storePtr, &serializedSize, updatePacketSize,
                                   SerializeIF::Endianness::MACHINE);
   return result;
-  ;
 }
 
 void LocalDataPoolManager::handleChangeResetLogic(DataType type, DataId dataId,

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -364,6 +364,10 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
                            ReturnValue_t errorCode = returnvalue::FAILED,
                            const char* errorPrint = nullptr);
+
+ private:
+  using ProvidesDataPoolSubscriptionIF::subscribeForPeriodicPacket;
+  using ProvidesDataPoolSubscriptionIF::subscribeForUpdatePacket;
 };
 
 template <class T>

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/ChildHandlerBase.cpp

@@ -27,7 +27,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 
   if (parentId != objects::NO_OBJECT) {
     SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == NULL) {
+    if (parent == nullptr) {
       return returnvalue::FAILED;
     }
     parentQueue = parent->getCommandQueue();

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,5 +1,6 @@
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
+#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -321,8 +322,7 @@ 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 +346,7 @@ 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 +358,14 @@ 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 +458,7 @@ 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 +517,16 @@ 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 +575,7 @@ 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();
@@ -934,19 +934,14 @@ DeviceHandlerIF::CommunicationAction DeviceHandlerBase::getComAction() {
   switch (pstStep) {
     case 0:
       return CommunicationAction::PERFORM_OPERATION;
-      break;
     case 1:
       return CommunicationAction::SEND_WRITE;
-      break;
     case 2:
       return CommunicationAction::GET_WRITE;
-      break;
     case 3:
       return CommunicationAction::SEND_READ;
-      break;
     case 4:
       return CommunicationAction::GET_READ;
-      break;
     default:
       break;
   }
@@ -962,7 +957,7 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
     replyReturnvalueToCommand(result, RAW_COMMAND_ID);
     storedRawData.raw = StorageManagerIF::INVALID_ADDRESS;
   } else {
-    cookieInfo.pendingCommand = deviceCommandMap.find((DeviceCommandId_t)RAW_COMMAND_ID);
+    cookieInfo.pendingCommand = deviceCommandMap.find(static_cast<DeviceCommandId_t>(RAW_COMMAND_ID));
     cookieInfo.pendingCommand->second.isExecuting = true;
     cookieInfo.state = COOKIE_WRITE_READY;
   }
@@ -1506,7 +1501,10 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   for (const auto& reply : deviceReplyMap) {
     if (reply.second.dataSet != nullptr) {
-      reply.second.dataSet->setValidity(false, true);
+      PoolReadGuard pg(reply.second.dataSet);
+      if (pg.getReadResult() == returnvalue::OK) {
+        reply.second.dataSet->setValidity(false, true);
+      }
     }
   }
 }

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -206,9 +206,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
-  HealthState getHealth();
-  ReturnValue_t setHealth(HealthState health);
+  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
+  HealthState getHealth() override;
+  ReturnValue_t setHealth(HealthState health) override;
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
                                      const ParameterWrapper *newValues,
@@ -1073,7 +1073,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                       bool forceDirectTm = false);
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode);
+                                         uint32_t *msToReachTheMode) override;
 
   virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 

src/fsfw/devicehandlers/DeviceHandlerMessage.cpp

@@ -72,7 +72,7 @@ void DeviceHandlerMessage::clear(CommandMessage* message) {
         ipcStore->deleteData(getStoreAddress(message));
       }
     }
-      /* NO BREAK falls through*/
+      [[fallthrough]];
     case CMD_SWITCH_ADDRESS:
     case CMD_WIRETAPPING:
       message->setCommand(CommandMessage::CMD_NONE);

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

@@ -28,21 +28,23 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
 
-  MessageQueueId_t getEventReportQueue();
+  MessageQueueId_t getEventReportQueue() override;
 
-  ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
-  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
-  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
+  ReturnValue_t registerListener(MessageQueueId_t listener,
+                                 bool forwardAllButSelected = false) override;
+  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
+  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) override;
+  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) override;
   ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                       EventId_t idTo = 0, bool idInverted = false,
                                       object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
-                                      bool reporterInverted = false);
-  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
+                                      bool reporterInverted = false) override;
+  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) override;
   ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                           EventId_t idTo = 0, bool idInverted = false,
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
-                                          bool reporterInverted = false);
-  ReturnValue_t performOperation(uint8_t opCode);
+                                          bool reporterInverted = false) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

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 +1,174 @@
+#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;
+        info.len = vectorIdx;
+        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/Type.h

@@ -58,7 +58,7 @@ class Type : public SerializeIF {
 
 template <typename T>
 struct PodTypeConversion {
-  static_assert(not std::is_same<T, bool>::value,
+  static_assert(!std::is_same<T, bool>::value,
                 "Do not use boolean for the PoolEntry type, use uint8_t "
                 "instead! The ECSS standard defines a boolean as a one bit "
                 "field. Therefore it is preferred to store a boolean as an "

src/fsfw/globalfunctions/arrayprinter.cpp

@@ -37,16 +37,16 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool
   }
 }
 
-void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerLine) {
+void arrayprinter::printHex(const uint8_t *data, size_t datasize, size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   if (sif::info.crAdditionEnabled()) {
     std::cout << "\r" << std::endl;
   }
 
   std::cout << "hex [" << std::setfill('0') << std::hex;
-  for (size_t i = 0; i < size; i++) {
+  for (size_t i = 0; i < datasize; i++) {
     std::cout << std::setw(2) << static_cast<int>(data[i]);
-    if (i < size - 1) {
+    if (i < datasize - 1) {
       std::cout << ",";
       if (i > 0 and (i + 1) % maxCharPerLine == 0) {
         std::cout << std::endl;
@@ -56,27 +56,11 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerL
   std::cout << std::dec << std::setfill(' ');
   std::cout << "]" << std::endl;
 #else
-  // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
-  // plus line break plus small safety margin.
-  char printBuffer[(size + 1) * 7 + 1] = {};
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 7) {
-      break;
-    }
-
-    currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
-    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
-    }
+  printf("hex [");
+  for (size_t i = 0; i < datasize; i++) {
+    printf("0x%02x ", data[i]);
   }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("hex [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
+  printf("]\n");
 #endif
 }
 
@@ -100,26 +84,10 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, size_t maxCharPerL
 #else
   // General format: 32,243,-12 so it is number of chars times 4
   // plus line break plus small safety margin.
-  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
-  char printBuffer[size * 4 + 1 + expectedLines] = {};
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 4) {
-      break;
-    }
 
-    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
-    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
-    }
+  for (size_t i = 0; i < size; i++) {
+    // TODO
   }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("dec [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }
 

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/housekeeping/HousekeepingSnapshot.h

@@ -55,7 +55,7 @@ class HousekeepingSnapshot : public SerializeIF {
       : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr){};
 
   virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const {
+                                  Endianness streamEndianness) const override {
     if (timeStamp != nullptr) {
       /* Endianness will always be MACHINE, so we can simply use memcpy
       here. */
@@ -70,7 +70,7 @@ class HousekeepingSnapshot : public SerializeIF {
     return updateData->serialize(buffer, size, maxSize, streamEndianness);
   }
 
-  virtual size_t getSerializedSize() const {
+  virtual size_t getSerializedSize() const override {
     if (updateData == nullptr) {
       return 0;
     }

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,14 +7,17 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
-      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
+  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   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/ipc/CommandMessage.h

@@ -48,7 +48,7 @@ class CommandMessage : public MessageQueueMessage, public CommandMessageIF {
   /**
    * @brief 	Default Destructor
    */
-  virtual ~CommandMessage() {}
+  ~CommandMessage() override {}
 
   /**
    * Read the DeviceHandlerCommand_t that is stored in the message,

src/fsfw/ipc/CommandMessageIF.h

@@ -37,7 +37,7 @@ class CommandMessageIF {
   //! par1 should contain the error code
   static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2);
 
-  virtual ~CommandMessageIF(){};
+  virtual ~CommandMessageIF() = default;
 
   /**
    * A command message shall have a uint16_t command ID field.

src/fsfw/ipc/definitions.h

@@ -5,7 +5,7 @@
 #include <fsfw/objectmanager/frameworkObjects.h>
 
 struct MqArgs {
-  MqArgs(){};
+  MqArgs(){}
   MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
   object_id_t objectId = objects::NO_OBJECT;
   void* args = nullptr;

src/fsfw/monitoring/AbsLimitMonitor.h

@@ -18,7 +18,7 @@ class AbsLimitMonitor : public MonitorBase<T> {
         violationEvent(violationEvent),
         aboveIsViolation(aboveIsViolation) {}
   virtual ~AbsLimitMonitor() {}
-  virtual ReturnValue_t checkSample(T sample, T *crossedLimit) {
+  ReturnValue_t checkSample(T sample, T *crossedLimit) override {
     *crossedLimit = limit;
     if (aboveIsViolation) {
       if ((std::abs(sample) > limit)) {
@@ -32,9 +32,9 @@ class AbsLimitMonitor : public MonitorBase<T> {
     return returnvalue::OK;  // We're not out of range.
   }
 
-  virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-                                     ParameterWrapper *parameterWrapper,
-                                     const ParameterWrapper *newValues, uint16_t startAtIndex) {
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+                             uint16_t startAtIndex) override {
     ReturnValue_t result = this->MonitorBase<T>::getParameter(
         domainId, parameterId, parameterWrapper, newValues, startAtIndex);
     // We'll reuse the DOMAIN_ID of MonitorReporter,
@@ -61,7 +61,7 @@ class AbsLimitMonitor : public MonitorBase<T> {
   void setLimit(T value) { limit = value; }
 
  protected:
-  void sendTransitionEvent(T currentValue, ReturnValue_t state) {
+  void sendTransitionEvent(T currentValue, ReturnValue_t state) override {
     switch (state) {
       case MonitoringIF::OUT_OF_RANGE:
         EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->globalPoolId.objectId,

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/objectmanager/ObjectManagerIF.h

@@ -40,7 +40,7 @@ class ObjectManagerIF {
   /**
    * @brief	This is the empty virtual destructor as requested by C++ interfaces.
    */
-  virtual ~ObjectManagerIF(void){};
+  virtual ~ObjectManagerIF(void){}
   /**
    * @brief	With this call, new objects are inserted to the list.
    * @details	The implementation shall return an error code in case the

src/fsfw/objectmanager/SystemObject.h

@@ -45,7 +45,7 @@ class SystemObject : public SystemObjectIF {
   /**
    * @brief	On destruction, the object removes itself from the list.
    */
-  virtual ~SystemObject();
+  ~SystemObject() override;
   object_id_t getObjectId() const override;
   virtual ReturnValue_t initialize() override;
   virtual ReturnValue_t checkObjectConnections() override;

src/fsfw/objectmanager/SystemObjectIF.h

@@ -36,7 +36,7 @@ class SystemObjectIF : public EventReportingProxyIF {
   /**
    * The empty virtual destructor as required for C++ interfaces.
    */
-  virtual ~SystemObjectIF() {}
+  ~SystemObjectIF() override {}
   /**
    * @brief   Initializes the object.
    * There are initialization steps which can also be done in the constructor.

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/Endiness.h

@@ -24,8 +24,11 @@
 #else
 
 #ifdef WIN32
-#include <windows.h>
+// Thanks, windows
+// clang-format off
 #include <winsock2.h>
+#include <windows.h>
+// clang-format on
 #if REG_DWORD == REG_DWORD_LITTLE_ENDIAN
 #define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
 #else

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/common/TcpTmTcServer.cpp

@@ -16,7 +16,7 @@
 
 #ifdef PLATFORM_WIN
 #include <winsock2.h>
-#include <ws2tcpip.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <netdb.h>
 
@@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             size_t receptionBufferSize, size_t ringBufferSize,
-                             std::string customTcpServerPort, ReceptionModes receptionMode)
+                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
+                             size_t ringBufferSize, ReceptionModes receptionMode)
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(std::move(customTcpServerPort)),
+      tcpConfig(cfg),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() {
     return returnvalue::FAILED;
   }
 
+  if (tcpConfig.reuseAddr) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
+  }
+  if (tcpConfig.reusePort) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
+  }
+
   // Bind to the address found by getaddrinfo
   retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
   if (retval == SOCKET_ERROR) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -41,11 +41,11 @@ class SpacePacketParser;
  */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
  public:
-  enum class ReceptionModes { SPACE_PACKETS };
-
   struct TcpConfig {
    public:
-    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
+    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
+    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
+        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
 
     /**
      * Passed to the recv call
@@ -63,8 +63,24 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    const std::string tcpPort;
+    std::string tcpPort = DEFAULT_SERVER_PORT;
+
+    /**
+     * Sets the SO_REUSEADDR option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
+     * especially useful in a debugging and development environment where an OBSW image might be
+     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
+     * port.
+     */
+    bool reuseAddr = false;
+    /**
+     * Sets the SO_REUSEPORT option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
+     */
+    bool reusePort = false;
+
   };
+  enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;
 
@@ -80,10 +96,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
    *                              size will be the Ethernet MTU size
    * @param customTcpServerPort   The user can specify another port than the default (7301) here.
    */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
                 size_t receptionBufferSize = RING_BUFFER_SIZE,
                 size_t ringBufferSize = RING_BUFFER_SIZE,
-                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
   ~TcpTmTcServer() override;
 
@@ -116,7 +131,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
 
   ReceptionModes receptionMode;
   TcpConfig tcpConfig;
-  struct sockaddr tcpAddress = {};
+  // struct sockaddr tcpAddress = {};
   socket_t listenerTcpSocket = 0;
 
   MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;

src/fsfw/osal/common/UdpTcPollingTask.cpp

@@ -8,6 +8,7 @@
 
 #ifdef PLATFORM_WIN
 #include <winsock2.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <sys/socket.h>
 #include <sys/types.h>

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -7,6 +7,7 @@
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <arpa/inet.h>
 #include <netdb.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 +31,12 @@ 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)
@@ -99,73 +71,10 @@ 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
 #endif
   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/host/PeriodicTask.cpp

@@ -9,7 +9,6 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 #if defined(PLATFORM_WIN)
-#include <processthreadsapi.h>
 
 #include "fsfw/osal/windows/winTaskHelpers.h"
 #elif defined(PLATFORM_UNIX)

src/fsfw/osal/host/TaskFactory.cpp

@@ -50,6 +50,6 @@ void TaskFactory::printMissedDeadline() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl;
 #else
-  sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
+  sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name.c_str());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 }

src/fsfw/osal/host/taskHelpers.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/returnvalues/returnvalue.h>
 
+#include <string>
 #include <thread>
 
 namespace tasks {

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

@@ -35,20 +35,19 @@ 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
-      //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
-      //		return BAD_ATTRIBUTES;
-      //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:
-      //		return IMPLEMENTATION_KEY_CREATE_INCONSISTENCY;
-      //	case INTERNAL_ERROR_IMPLEMENTATION_BLOCKING_OPERATION_CANCEL:
-      //		return IMPLEMENTATION_BLOCKING_OPERATION_CANCEL;
-      //	case INTERNAL_ERROR_MUTEX_OBTAIN_FROM_BAD_STATE:
-      //		return MUTEX_OBTAIN_FROM_BAD_STATE;
-      //	case INTERNAL_ERROR_UNLIMITED_AND_MAXIMUM_IS_0:
-      //		return UNLIMITED_AND_MAXIMUM_IS_0;
+    // 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:
+    //		return IMPLEMENTATION_KEY_CREATE_INCONSISTENCY;
+    //	case INTERNAL_ERROR_IMPLEMENTATION_BLOCKING_OPERATION_CANCEL:
+    //		return IMPLEMENTATION_BLOCKING_OPERATION_CANCEL;
+    //	case INTERNAL_ERROR_MUTEX_OBTAIN_FROM_BAD_STATE:
+    //		return MUTEX_OBTAIN_FROM_BAD_STATE;
+    //	case INTERNAL_ERROR_UNLIMITED_AND_MAXIMUM_IS_0:
+    //		return UNLIMITED_AND_MAXIMUM_IS_0;
     default:
       return returnvalue::FAILED;
   }

src/fsfw/osal/rtems/SemaphoreFactory.cpp

@@ -1,5 +1,5 @@
 #include "fsfw/osal/rtems/BinarySemaphore.h"
-//#include "fsfw/osal/rtems/CountingSemaphore.h"
+// #include "fsfw/osal/rtems/CountingSemaphore.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/SemaphoreFactory.h"
@@ -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 +1,16 @@
 #include <map>
 #include <thread>
 
-#include "../../tasks/TaskFactory.h"
+#include "fsfw/tasks/TaskFactory.h"
 
 #ifdef _WIN32
 
+// Thanks, windows
+// clang-format off
+#include <windows.h>
+#include <processthreadsapi.h>
+// clang-format on
+
 namespace tasks {
 
 enum PriorityClass : uint16_t {

src/fsfw/parameters/ParameterWrapper.h

@@ -45,6 +45,7 @@ class ParameterWrapper : public SerializeIF {
 
   virtual size_t getSerializedSize() const override;
 
+  using SerializeIF::deSerialize;
   virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                                     Endianness streamEndianness) override;
 

src/fsfw/power/Fuse.h

@@ -62,13 +62,13 @@ class Fuse : public SystemObject,
                             SerializeIF::Endianness streamEndianness) override;
   void setAllMonitorsToUnchecked();
   ReturnValue_t performOperation(uint8_t opCode);
-  MessageQueueId_t getCommandQueue() const;
+  MessageQueueId_t getCommandQueue() const override;
   void setDataPoolEntriesInvalid();
-  ReturnValue_t setHealth(HealthState health);
-  HasHealthIF::HealthState getHealth();
+  ReturnValue_t setHealth(HealthState health) override;
+  HasHealthIF::HealthState getHealth() override;
 
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper *parameterWrapper,
-                             const ParameterWrapper *newValues, uint16_t startAtIndex);
+                             const ParameterWrapper *newValues, uint16_t startAtIndex) override;
 
  private:
   uint8_t oldFuseState;

src/fsfw/power/PowerComponent.h

@@ -10,15 +10,15 @@ class PowerComponent : public PowerComponentIF {
   PowerComponent(object_id_t setId, uint8_t moduleId, float minPower, float maxPower,
                  uint8_t switchId1, bool twoSwitches = false, uint8_t switchId2 = 0xFF);
 
-  virtual object_id_t getDeviceObjectId();
+  object_id_t getDeviceObjectId() override;
 
-  virtual uint8_t getSwitchId1();
-  virtual uint8_t getSwitchId2();
+  uint8_t getSwitchId1() override;
+  uint8_t getSwitchId2() override;
 
-  bool hasTwoSwitches();
+  bool hasTwoSwitches() override;
 
-  float getMin();
-  float getMax();
+  float getMin() override;
+  float getMax() override;
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
@@ -29,7 +29,7 @@ class PowerComponent : public PowerComponentIF {
                             Endianness streamEndianness) override;
 
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
-                             const ParameterWrapper* newValues, uint16_t startAtIndex);
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
 
  private:
   const object_id_t deviceObjectId = objects::NO_OBJECT;