fixes warning for good

.gitignore

@@ -1,14 +1,6 @@
-# PyCharm and CLion
-/.idea/*
-!/.idea/runConfigurations
-!/.idea/cmake.xml
-!/.idea/codeStyles
-
-# Eclipse
 .cproject
 .project
 .settings
 .metadata
 
 /build*
-/cmake-build*

.idea/codeStyles/Project.xml

@@ -1,14 +0,0 @@
-<component name="ProjectCodeStyleConfiguration">
-  <code_scheme name="Project" version="173">
-    <clangFormatSettings>
-      <option name="ENABLED" value="true" />
-    </clangFormatSettings>
-    <codeStyleSettings language="CMake">
-      <indentOptions>
-        <option name="INDENT_SIZE" value="2" />
-        <option name="CONTINUATION_INDENT_SIZE" value="0" />
-        <option name="TAB_SIZE" value="2" />
-      </indentOptions>
-    </codeStyleSettings>
-  </code_scheme>
-</component>

.idea/codeStyles/codeStyleConfig.xml

@@ -1,5 +0,0 @@
-<component name="ProjectCodeStyleConfiguration">
-  <state>
-    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
-  </state>
-</component>

CHANGELOG

@@ -0,0 +1,175 @@
+# Changed from ASTP 1.1.0 to 1.2.0
+
+## API Changes
+
+### FSFW Architecture
+
+- New src folder which contains all source files except the HAL, contributed code and test code
+- External and internal API mostly stayed the same
+- Folder names are now all smaller case: internalError was renamed to internalerror and
+  FreeRTOS was renamed to freertos
+- Warning if optional headers are used but the modules was not added to the source files to compile
+
+### HAL
+
+- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
+  made using it more complicated than necessary
+
+## Bugfixes
+
+### FreeRTOS QueueMapManager
+
+- Fixed a bug which causes the first generated Queue ID to be invalid
+
+## Enhancements
+
+### FSFW Architecture
+
+- See API changes chapter. This change will keep the internal API consistent in the future
+
+# Changes from ASTP 1.0.0 to 1.1.0
+
+## API Changes
+
+### PUS
+
+- Added PUS C support
+- SUBSYSTEM_IDs added for PUS Services
+- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
+
+### ObjectManager
+
+ - ObjectManager is now a singelton
+
+
+### Configuration
+
+- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
+  need to be specified in FSFWConfig.h
+
+### CMake
+
+- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
+
+## Bugfixes 
+
+- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
+- TCP server fixes
+
+## Enhancements
+
+### FreeRTOS Queue Handles
+
+- Fixed an internal issue how FreeRTOS MessageQueues were handled
+
+### Linux OSAL
+
+- Better printf error messages
+
+### CMake
+
+- Check for C++11 as mininimum required Version
+
+### Debug Output
+
+- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
+
+
+# Changes from ASTP 0.0.1 to 1.0.0
+
+### Host OSAL
+
+- Bugfix in MessageQueue, which caused the sender not to be set properly
+
+### FreeRTOS OSAL
+
+- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
+a C file without issues
+
+### PUS Services
+
+- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
+- The same is possible for the event reporting service (PUS5)
+- PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+
+### EnhancedControllerBase
+
+- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
+
+### Local Pool
+
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
+bucket number of the pools per page and the number of pages are passed to the ctor instead of
+two ctor arguments and a template parameter
+
+### Parameter Service
+
+- The API of the parameter service has been changed to prevent inconsistencies
+between documentation and actual code and to clarify usage.
+- The parameter ID now consists of:
+	1. Domain ID (1 byte)
+	2. Unique Identifier (1 byte)
+	3. Linear Index (2 bytes)
+The linear index can be used for arrays as well as matrices.
+The parameter load command now explicitely expects the ECSS PTC and PFC
+information as well as  the rows and column number. Rows and column will
+default to one, which is equivalent to one scalar parameter (the most
+important use-case)
+   
+### File System Interface
+
+- A new interfaces specifies the functions for a software object which exposes the file system of
+a given hardware to use message based file handling (e.g. PUS commanding)
+
+### Internal Error Reporter
+
+- The new internal error reporter uses the local data pools. The pool IDs for
+the exisiting three error values and the new error set will be hardcoded for
+now, the the constructor for the internal error reporter just takes an object
+ID for now.
+
+### Device Handler Base
+
+- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
+a clear distinction between operation and communication steps
+- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
+- getTransitionDelayMs is now an abstract method
+
+### DeviceHandlerIF
+
+- Typo for UNKNOWN_DEVICE_REPLY 
+
+### Events
+
+- makeEvent function: Now takes three input parameters instead of two and
+allows setting a unique ID. Event.cpp source file removed, functions now
+defined in header directly. Namespaces renamed. Functions declared `constexpr`
+now
+
+### Commanding Service Base
+
+- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
+CSB instance. This variable has to be set in the FSFWConfig.h file
+
+### Service Interface
+
+- Proper printf support contained in ServiceInterfacePrinter.h
+- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
+- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
+  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
+- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
+  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
+  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
+  If this is not the case, everything should work as usual.
+
+### ActionHelper and ActionMessage
+
+- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
+information whether to report a success or failure message instead of deriving it implicitely 
+from returnvalue
+
+### PUS Parameter Service 20
+
+Added PUS parameter service 20 (only custom subservices available).

CHANGELOG.md

@@ -1,566 +0,0 @@
-Change Log
-=======
-
-All notable changes to this project will be documented in this file.
-
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
-and this project adheres to [Semantic Versioning](http://semver.org/).
-
-# [unreleased]
-
-# [v6.0.0]
-
-## Added
-
-- Add new `UnsignedByteField` class
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
-
-## Changes
-
-- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
-  constants.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
-- Overhaul of the TMTC stack, including various changes and improvements
-  for other modules
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
-  which also includes a migration guide
-
-# [v5.0.0] 25.07.2022
-
-## Changes
-
-- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
-  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
-- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
-  compiler supports it
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
-- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
-- HAL Devicehandlers: Periodic printout is run-time configurable now
-- `oneShotAction` flag in the `TestTask` class is not static anymore
-- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
-  Buffer and rejects such writeData calls with `returnvalue::FAILED`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
-- Major update for version handling, using `git describe` to fetch version information with git.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
-  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
-    manually now. Those should not change too often and only a small subset is needed
-  - Separate folder for easier update and for distinction
-  - LICENSE file included
-  - use `int` for version numbers to allow unset or uninitialized version
-  - Initialize Version object with numbers set to -1
-  - Instead of hardcoding the git hash, it is now retrieved from git
-  - `Version` now allows specifying additional version information like the git SHA1 hash and the
-    versions since the last tag
-  - Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
-  - Version still need to be hand-updated if the FSFW is not included as a submodule for now.
-- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
-  creation call. It allows passing context information and an arbitrary user argument into
-  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
-  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
-
-### Task Module Refactoring
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
-
-**Refactoring general task code**
-
-- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
-  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
-
-**Refactor PeriodicTaskIF**
-
-- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
-  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
-  the operation code passed to `performOperation`. Updated API taking
-  an `ExecutableObjectIF` accordingly
-
-**Refactor FixedTimeslotTaskIF**
-
-- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
-
-**Refactor FixedSequenceSlot**
-
-- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
-- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
-  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
-  for the custom checker
-
-**Linux Task Module**
-
-- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
-  member of the class
-
-### HAL
-
-- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
-- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
-- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
-- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
-
-### Time
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
-https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
-
-- `timeval` to `TimeOfDay_t`
-- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
-- Moved the statics used by Clock in ClockCommon.cpp to this file
-- Better check for leap seconds
-- Added Unittests for Clock (only getter)
-
-### Power 
-
-- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
-  also specify a `ReturnValue_t` return type
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
-- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
-  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
-
-## Removed
-
-- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
-  datapools have been implemented.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
-
-## Additions
-
-- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
-  This is also the new default constructor for scalar value with 0 as an initial value
-- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
-  whether it is running in CI/CD
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
-- Basic `clion` support: Update `.gitignore` and add some basic run configurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
-- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
-  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
-  can make good use of it and it usually makes the code faster and/or smaller.
-  After some more research:
-  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
-  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
-  because if an application linking against the FSFW does not use LTO, there can be compile
-  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
-  can be seen in the multiple CMake issues for it: 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
-  Easiest solution for now: Keep this option OFF by default.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
-- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
-- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
-  inside `fsfw/version.h`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
-- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
-  (ETL) dependency.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
-- Added ETL dependency and improved library dependency management
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
-- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
-- New typedef for switcher type
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
-- `Subsystem`: New API to add table and sequence entries
-
-## Fixed
-
-- TCP TMTC Server: `MutexGuard` was not created properly in
-  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
-- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
-  Is not currently used right now but might be used in the future
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
-- Move some CMake directives further up top so they are not ignored
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
-- Small bugfix in STM32 HAL for SPI
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
-- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
-  configuration fails, the function will exit prematurely with a dedicated error code
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
-
-# [v4.0.0]
-
-## Additions
-
-- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
-  allow sending of CFDP packets to the CCSDS handlers.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
-- added virtual function to print datasets
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
-- doSendRead Hook
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
-- Dockumentation for DHB
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
-  
-### HAL additions
-
-- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
-- uio Mapper
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
-
-## Changes
-
-- Applied the `clang-format` auto-formatter to all source code
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
-- Updated Catch2 to v3.0.0-preview4
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
-- Changed CI to use prebuilt docker image
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
-
-## Bugfix
-
-- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
-  if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
-  could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
-- Fix for build regression in Catch2 v3.0.0-preview4
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
-- Fix in unittest which failed on CI
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
-- Fix in helper script
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
-
-## API Changes
-
-- Aforementioned changes to existing TMTC stack
-
-## Known bugs
-
-- 
-
-# [v3.0.1]
-
-## API Changes
-
-* 
-
-## Bugfixes
-
-* Version number was not updated for v3.0.0 #542
-
-## Enhancement
-
-* 
-
-## Known bugs
-
-* 
-
-# [v3.0.0]
-
-## API Changes
-
-#### TCP Socket Changes
-
-* Keep Open TCP Implementation #496
-    * The socket will now kept open after disconnect. This allows reconnecting. 
-    * Only one connection is allowed
-    * No internal influence but clients need to change their Code.
-
-### GPIO IF
-
-* Add feature to open GPIO by line name #506
-
-### Bitutil
-
-* Unittests for Op Divider and Bitutility #510
-
-### Filesystem IF changed
-
-*  Filesystem Base Interface: Use IF instead of void pointer #511 
-
-### STM32
-
-* STM32 SPI Updates #518
-
-## Bugfixes
-
-* Small bugfix for LIS3 handler #504
-* Spelling fixed for function names #509
-* CMakeLists fixes #517
-* Out of bound reads and writes in unittests #519
-* Bug in TmPacketStoredPusC (#478)
-* Windows ifdef fixed #529
-
-## Enhancement
-
-* FSFW.h.in more default values #491
-* Minor updates for PUS services #498
-* HasReturnvaluesIF naming for parameter #499
-* Tests can now be built as part of FSFW and versioning moved to CMake #500
-*  Added integration test code #508 
-* More printouts for rejected TC packets #505
-* Arrayprinter format improvements #514
-* Adding code for CI with docker and jenkins #520
-* Added new function in SerializeAdapter  #513
-    *  Enables simple deSerialize if you keep track of the buffer position yourself
-    *  `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
-            size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
-* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser  #525
-    * ``'-o', '--open', Open coverage data in webbrowser`` 
-* Documentation updated. Sphinx Documentation can now be build with python script #526
-
-## Known bugs
-
-* Version number was not updated for v3.0.0 #542
-
-
-All Pull Requests:
-
-Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
-
-# [v2.0.0]
-
-## API Changes
-
-
-### File Structure changed to fit more common structure
-
-* See pull request (#445)
-  * HAL is now part of the main project
-    * **See Instructions below:**
-
-#### Instruction how to update existing / user code
-
-* Changes in `#include`:
-  * Rename `internalError` in includes to `internalerror`
-  * Rename `fsfw/hal` to `fsfw_hal`
-  * Rename `fsfw/tests` to `fsfw_tests`
-  * Rename `osal/FreeRTOS` to `osal/freertos`
-
-* Changes in `CMakeLists.txt`: 
-  * Rename `OS_FSFW` to `FSFW_OSAL`
-
-* Changes in `DleEncoder.cpp`
-    * Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
-
-### Removed osal/linux/Timer (#486)
-
-* Was redundant to timemanager/Countdown
-
-#### Instruction how to update existing / user code
-
-* Use timemanager/Countdown instead
-
-## Bugfixes
-
-### TM Stack
-
-* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
-
-#### Host OSAL / FreeRTOS 
-
-* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
-
-#### Events
-
-* Event output is now consistent (#447)
-
-#### DLE Encoder
-
-* Fixed possible out of bounds access in DLE Encoder (#492)
-
-## Enhancment
-
-* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
-* Linux HAL updates (#456)
-* FreeRTOS Header cleaning update and Cmake tweaks (#442)
-* Printer updates (#453)
-* New returnvalue for for empty PST (#485)
-* TMTC Bridge: Increase limit of packets stored (#484)
-
-## Known bugs
-
-* Bug in TmPacketStoredPusC (#478)
-
-
-All Pull Requests:
-
-Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
-
-# [v1.2.0]
-
-## API Changes
-
-### FSFW Architecture
-
-- New src folder which contains all source files except the HAL, contributed code and test code
-- External and internal API mostly stayed the same
-- Folder names are now all smaller case: internalError was renamed to internalerror and
-  FreeRTOS was renamed to freertos
-- Warning if optional headers are used but the modules was not added to the source files to compile
-
-### HAL
-
-- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
-  made using it more complicated than necessary
-
-## Bugfixes
-
-### FreeRTOS QueueMapManager
-
-- Fixed a bug which causes the first generated Queue ID to be invalid
-
-## Enhancements
-
-### FSFW Architecture
-
-- See API changes chapter. This change will keep the internal API consistent in the future
-
-# [v1.1.0]
-
-## API Changes
-
-### PUS
-
-- Added PUS C support
-- SUBSYSTEM_IDs added for PUS Services
-- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
-
-### ObjectManager
-
- - ObjectManager is now a singelton
-
-
-### Configuration
-
-- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
-  need to be specified in FSFWConfig.h
-
-### CMake
-
-- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
-
-## Bugfixes 
-
-- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
-- TCP server fixes
-
-## Enhancements
-
-### FreeRTOS Queue Handles
-
-- Fixed an internal issue how FreeRTOS MessageQueues were handled
-
-### Linux OSAL
-
-- Better printf error messages
-
-### CMake
-
-- Check for C++11 as mininimum required Version
-
-### Debug Output
-
-- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
-
-
-# Changes from ASTP 0.0.1 to 1.0.0
-
-### Host OSAL
-
-- Bugfix in MessageQueue, which caused the sender not to be set properly
-
-### FreeRTOS OSAL
-
-- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
-a C file without issues
-
-### PUS Services
-
-- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
-- The same is possible for the event reporting service (PUS5)
-- PUS Health Service added, which allows to command and retrieve health via PUS packets
-
-
-### EnhancedControllerBase
-
-- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
-
-### Local Pool
-
-- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
-bucket number of the pools per page and the number of pages are passed to the ctor instead of
-two ctor arguments and a template parameter
-
-### Parameter Service
-
-- The API of the parameter service has been changed to prevent inconsistencies
-between documentation and actual code and to clarify usage.
-- The parameter ID now consists of:
-	1. Domain ID (1 byte)
-	2. Unique Identifier (1 byte)
-	3. Linear Index (2 bytes)
-The linear index can be used for arrays as well as matrices.
-The parameter load command now explicitely expects the ECSS PTC and PFC
-information as well as  the rows and column number. Rows and column will
-default to one, which is equivalent to one scalar parameter (the most
-important use-case)
-   
-### File System Interface
-
-- A new interfaces specifies the functions for a software object which exposes the file system of
-a given hardware to use message based file handling (e.g. PUS commanding)
-
-### Internal Error Reporter
-
-- The new internal error reporter uses the local data pools. The pool IDs for
-the exisiting three error values and the new error set will be hardcoded for
-now, the the constructor for the internal error reporter just takes an object
-ID for now.
-
-### Device Handler Base
-
-- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
-that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
-a clear distinction between operation and communication steps
-- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
-- getTransitionDelayMs is now an abstract method
-
-### DeviceHandlerIF
-
-- Typo for UNKNOWN_DEVICE_REPLY 
-
-### Events
-
-- makeEvent function: Now takes three input parameters instead of two and
-allows setting a unique ID. Event.cpp source file removed, functions now
-defined in header directly. Namespaces renamed. Functions declared `constexpr`
-now
-
-### Commanding Service Base
-
-- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
-CSB instance. This variable has to be set in the FSFWConfig.h file
-
-### Service Interface
-
-- Proper printf support contained in ServiceInterfacePrinter.h
-- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
-- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
-  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
-- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
-  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
-  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
-  If this is not the case, everything should work as usual.
-
-### ActionHelper and ActionMessage
-
-- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
-information whether to report a success or failure message instead of deriving it implicitely 
-from returnvalue
-
-### PUS Parameter Service 20
-
-Added PUS parameter service 20 (only custom subservices available).

CMakeLists.txt

@@ -1,115 +1,23 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(MSG_PREFIX "fsfw |")
+set(FSFW_VERSION 2)
+set(FSFW_SUBVERSION 0)
+set(FSFW_REVISION 0)
 
 # Add the cmake folder so the FindSphinx module is found
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-list(APPEND CMAKE_MODULE_PATH
-     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
-list(APPEND CMAKE_MODULE_PATH
-     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
-
-# ##############################################################################
-# Version file handling  #
-# ##############################################################################
-
-set(FSFW_VERSION_IF_GIT_FAILS 5)
-set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
-set(FSFW_REVISION_IF_GIT_FAILS 0)
-
-set(FSFW_GIT_VER_HANDLING_OK FALSE)
-# Version handling
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-  message(STATUS "${MSG_PREFIX} Determining version information with git")
-  include(FsfwHelpers)
-  determine_version_with_git("--exclude" "docker_*")
-  if(GIT_INFO)
-    set(FSFW_GIT_INFO
-        ${GIT_INFO}
-        CACHE STRING "Version information retrieved with git describe")
-    list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
-    list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
-    list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
-    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
-    if(NOT FSFW_VERSION)
-      set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-    endif()
-    if(NOT FSFW_SUBVERSION)
-      set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-    endif()
-    if(NOT FSFW_REVISION)
-      set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
-    endif()
-    set(FSFW_GIT_VER_HANDLING_OK TRUE)
-  else()
-    set(FSFW_GIT_VER_HANDLING_OK FALSE)
-  endif()
-endif()
-if(NOT FSFW_GIT_VER_HANDLING_OK)
-  set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-  set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-  set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
-endif()
-
-set(LIB_FSFW_NAME fsfw)
-project(${LIB_FSFW_NAME}
-        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 17)
-  message(
-    FATAL_ERROR
-      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
-endif()
-
-set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
-
-set(FSFW_ETL_LIB_NAME etl)
-set(FSFW_ETL_LINK_TARGET etl::etl)
-set(FSFW_ETL_LIB_MAJOR_VERSION
-    20
-    CACHE STRING "ETL library major version requirement")
-set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
-    CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)
-
-set(FSFW_CATCH2_LIB_MAJOR_VERSION
-    3
-    CACHE STRING "Catch2 library major version requirement")
-set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
-    CACHE STRING "Catch2 library exact version requirement")
-
-# Keep this off by default for now. See PR:
-# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
-# keeping this on by default is problematic
-option(
-  FSFW_ENABLE_IPO
-  "Enable interprocedural optimization or link-time optimization if available"
-  OFF)
-if(FSFW_ENABLE_IPO)
-  include(CheckIPOSupported)
-  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
-  if(NOT IPO_SUPPORTED)
-    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
-  endif()
-endif()
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
 option(FSFW_GENERATE_SECTIONS
-       "Generate function and data sections. Required to remove unused code" ON)
+    "Generate function and data sections. Required to remove unused code" ON
+)
 if(FSFW_GENERATE_SECTIONS)
-  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
-       OFF)
-option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
+option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_TESTS)
-  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
+if(FSFW_BUILD_UNITTESTS)
+    option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
@@ -118,12 +26,6 @@ option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
 option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 
-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)
-endif()
-
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@@ -136,95 +38,52 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
+set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
+project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
-if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-                                                TRUE)
-endif()
+if(FSFW_BUILD_UNITTESTS)
+    message(STATUS "Building the FSFW unittests in addition to the static library")
+    # Check whether the user has already installed Catch2 first
+    find_package(Catch2 3)
+    # Not installed, so use FetchContent to download and provide Catch2
+    if(NOT Catch2_FOUND)
+        include(FetchContent)
 
-if(FSFW_BUILD_TESTS)
-  message(
-    STATUS
-      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
-  )
-  # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
-  # Not installed, so use FetchContent to download and provide Catch2
-  if(NOT Catch2_FOUND)
-    message(
-      STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
-    )
-    include(FetchContent)
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG        v3.0.0-preview4
+        )
 
-    FetchContent_Declare(
-      Catch2
-      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
+        FetchContent_MakeAvailable(Catch2)
+    endif()
 
-    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
-  endif()
+    set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
-  set(FSFW_CONFIG_PATH unittests/testcfg)
-  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+    project(${FSFW_TEST_TGT} CXX C)
+    add_executable(${FSFW_TEST_TGT})
 
-  project(${FSFW_TEST_TGT} CXX C)
-  add_executable(${FSFW_TEST_TGT})
-  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-                                                  TRUE)
-  endif()
-
-  if(FSFW_TESTS_GEN_COV)
-    message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
-    message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-                   "will be compiled with coverage data as well")
-    set(CMAKE_BUILD_TYPE "Debug")
-    include(CodeCoverage)
-  endif()
-endif()
-
-message(
-  STATUS
-    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
-)
-
-# Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
-# Not installed, so use FetchContent to download and provide etl
-if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
-  message(
-    STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-      "etl with FindPackage")
-  include(FetchContent)
-
-  FetchContent_Declare(
-    ${FSFW_ETL_LIB_NAME}
-    GIT_REPOSITORY https://github.com/ETLCPP/etl
-    GIT_TAG ${FSFW_ETL_LIB_VERSION})
-
-  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
-endif()
-
-# The documentation for FetchContent recommends declaring all the dependencies
-# before making them available. We make all declared dependency available here
-# after their declaration
-if(FSFW_FETCH_CONTENT_TARGETS)
-  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
-  if(TARGET ${FSFW_ETL_LIB_NAME})
-    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
-  endif()
-  if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
-    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
-    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-  endif()
+    if(FSFW_TESTS_GEN_COV)
+        message(STATUS "Generating coverage data for the library")
+        message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
+            "will be compiled with coverage data as well"
+        )
+        include(FetchContent)
+        FetchContent_Declare(
+            cmake-modules
+            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
+        )
+        FetchContent_MakeAvailable(cmake-modules)
+        set(CMAKE_BUILD_TYPE "Debug")
+        list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
+        include(CodeCoverage)
+    endif()
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -232,242 +91,256 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-target_include_directories(${LIB_FSFW_NAME}
-                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
+endif()
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-  message(
-    WARNING
-      "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
-  set(FSFW_OSAL OS_FSFW)
+    message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+    set(FSFW_OSAL OS_FSFW)
 endif()
 
 if(NOT FSFW_OSAL)
-  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
-  # Assume host OS and autodetermine from OS_FSFW
-  if(UNIX)
-    set(FSFW_OSAL
-        "linux"
-        CACHE STRING "OS abstraction layer used in the FSFW")
-  elseif(WIN32)
-    set(FSFW_OSAL
-        "host"
-        CACHE STRING "OS abstraction layer used in the FSFW")
-  endif()
+	message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+	# Assume host OS and autodetermine from OS_FSFW
+	if(UNIX)
+		set(FSFW_OSAL  "linux" 
+			CACHE STRING 
+			"OS abstraction layer used in the FSFW"
+		)
+	elseif(WIN32)
+		set(FSFW_OSAL  "host" 
+			CACHE STRING "OS abstraction layer used in the FSFW"
+		)
+	endif()
+
 endif()
 
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
-  set(FSFW_OS_NAME "Host")
-  set(FSFW_OSAL_HOST ON)
+    set(FSFW_OS_NAME "Host")
+    set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-  set(FSFW_OS_NAME "Linux")
-  set(FSFW_OSAL_LINUX ON)
+    set(FSFW_OS_NAME "Linux")
+    set(FSFW_OSAL_LINUX ON)
 elseif(FSFW_OSAL MATCHES freertos)
-  set(FSFW_OS_NAME "FreeRTOS")
-  set(FSFW_OSAL_FREERTOS ON)
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
+    set(FSFW_OS_NAME "FreeRTOS")
+    set(FSFW_OSAL_FREERTOS ON)
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_OS_NAME}
+    )
 elseif(FSFW_OSAL STREQUAL rtems)
-  set(FSFW_OS_NAME "RTEMS")
-  set(FSFW_OSAL_RTEMS ON)
+    set(FSFW_OS_NAME "RTEMS")
+    set(FSFW_OSAL_RTEMS ON)
 else()
-  message(
-    WARNING
-      "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
-  )
-  set(FSFW_OS_NAME "Host")
-  set(OS_FSFW "host")
+    message(WARNING
+        "Invalid operating system for FSFW specified! Setting to host.."
+    )
+    set(FSFW_OS_NAME "Host")
+    set(OS_FSFW "host")
 endif()
 
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 
-message(
-  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
-)
+message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
 add_subdirectory(src)
+add_subdirectory(tests)
+if(FSFW_ADD_HAL)
+    add_subdirectory(hal)
+endif()
 add_subdirectory(contrib)
-if(FSFW_BUILD_TESTS)
-  add_subdirectory(unittests)
-endif()
 if(FSFW_BUILD_DOCS)
-  add_subdirectory(docs)
+    add_subdirectory(docs)
 endif()
 
-if(FSFW_BUILD_TESTS)
-  if(FSFW_TESTS_GEN_COV)
-    if(CMAKE_COMPILER_IS_GNUCXX)
-      include(CodeCoverage)
+if(FSFW_BUILD_UNITTESTS)
+    if(FSFW_TESTS_GEN_COV)
+        if(CMAKE_COMPILER_IS_GNUCXX)
+            include(CodeCoverage)
 
-      # Remove quotes.
-      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
-                         "${COVERAGE_COMPILER_FLAGS}")
+            # Remove quotes.
+            separate_arguments(COVERAGE_COMPILER_FLAGS
+                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+            )
 
-      # Add compile options manually, we don't want coverage for Catch2
-      target_compile_options(${FSFW_TEST_TGT}
-                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-      target_compile_options(${LIB_FSFW_NAME}
-                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
+            # Add compile options manually, we don't want coverage for Catch2
+            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )
+            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )
 
-      # Exclude directories here
-      if(WIN32)
-        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
-                                  "--exclude-unreachable-branches")
-        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
-      elseif(UNIX)
-        set(COVERAGE_EXCLUDES
-            "/usr/include/*"
-            "/usr/bin/*"
-            "Catch2/*"
-            "/usr/local/include/*"
-            "*/fsfw_tests/*"
-            "*/catch2-src/*"
-            "*/fsfw_hal/*")
-      endif()
+            # Exclude directories here
+            if(WIN32)
+                set(GCOVR_ADDITIONAL_ARGS
+                    "--exclude-throw-branches"
+                    "--exclude-unreachable-branches"
+                )
+                set(COVERAGE_EXCLUDES
+                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
+                )
+            elseif(UNIX)
+                set(COVERAGE_EXCLUDES
+                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+                    "/usr/local/include/*" "*/fsfw_tests/*"
+                    "*/catch2-src/*" "*/fsfw_hal/*"
+                )
+            endif()
 
-      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-                          -ftest-coverage)
-      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-                          -ftest-coverage)
-      # Need to specify this as an interface, otherwise there will the compile
-      # issues
-      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-                          -ftest-coverage)
+            target_link_options(${FSFW_TEST_TGT} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            target_link_options(${LIB_FSFW_NAME} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            # Need to specify this as an interface, otherwise there will the compile issues
+            target_link_options(${LIB_FSFW_NAME} INTERFACE
+                -fprofile-arcs
+                -ftest-coverage
+            )
 
-      if(WIN32)
-        setup_target_for_coverage_gcovr_html(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
-      else()
-        setup_target_for_coverage_lcov(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
-      endif()
+            if(WIN32)
+                setup_target_for_coverage_gcovr_html(
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
+            else()
+                setup_target_for_coverage_lcov(
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
+            endif()
+        endif()
     endif()
-  endif()
-  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
-                                                 ${LIB_FSFW_NAME})
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
 endif()
 
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
-# this is not given, we include the default configuration and emit a warning.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-  set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
-  if(NOT FSFW_BUILD_DOCS)
-    message(
-      WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
-    )
-    message(
-      WARNING
-        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
-  endif()
-  add_subdirectory(${DEF_CONF_PATH})
-  set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
+    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+    if(NOT FSFW_BUILD_DOCS)
+        message(WARNING "Flight Software Framework configuration path not set!")
+        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    endif()
+    add_subdirectory(${DEF_CONF_PATH})
+    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
-# FSFW might be part of a possibly complicated folder structure, so we extract
-# the absolute path of the fsfwconfig folder.
+# FSFW might be part of a possibly complicated folder structure, so we 
+# extract the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
-  set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
+	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
-                         BASE_DIR ${CMAKE_SOURCE_DIR})
+	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+	)
 endif()
 
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
-  if(IS_ABSOLUTE ${INCLUDE_PATH})
-    set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-  else()
-    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
-                           ${CMAKE_SOURCE_DIR})
-  endif()
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
 
-  if(CMAKE_VERBOSE)
-    message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-  endif()
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
 
-  list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
 endforeach()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  if(NOT DEFINED FSFW_WARNING_FLAGS)
-    set(FSFW_WARNING_FLAGS
-        -Wall
-        -Wextra
-        -Wimplicit-fallthrough=1
-        -Wno-unused-parameter
-        -Wno-psabi
-        -Wduplicated-cond # check for duplicate conditions
-        -Wduplicated-branches # check for duplicate branches
-        -Wlogical-op # Search for bitwise operations instead of logical
-        -Wnull-dereference # Search for NULL dereference
-        -Wundef # Warn if undefind marcos are used
-        -Wformat=2 # Format string problem detection
-        -Wformat-overflow=2 # Formatting issues in printf
-        -Wformat-truncation=2 # Formatting issues in printf
-        -Wformat-security # Search for dangerous printf operations
-        -Wstrict-overflow=3 # Warn if integer overflows might happen
-        -Warray-bounds=2 # Some array bounds violations will be found
-        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-        -Wcast-qual # Warn if the constness is cast away
-        -Wstringop-overflow=4
-        # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives -Warith-conversion # Use
-        # with Wconversion to find more implicit conversions -fanalyzer # Should
-        # be used to look through problems
-    )
-  endif()
+    if(NOT DEFINED FSFW_WARNING_FLAGS)
+	   set(FSFW_WARNING_FLAGS
+		  -Wall
+		  -Wextra
+		  -Wimplicit-fallthrough=1
+		  -Wno-unused-parameter
+		  -Wno-psabi
+        )
+    endif()
 
-  if(FSFW_GENERATE_SECTIONS)
-    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
-                                                    "-fdata-sections")
-  endif()
-
-  if(FSFW_REMOVE_UNUSED_CODE)
-    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
-  endif()
-
-  if(FSFW_WARNING_SHADOW_LOCAL_GCC)
-    list(APPEND WARNING_FLAGS "-Wshadow=local")
-  endif()
+    if(FSFW_GENERATE_SECTIONS)
+        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+            "-ffunction-sections"
+            "-fdata-sections"
+        )
+    endif()
 
+    if(FSFW_REMOVE_UNUSED_CODE)
+        target_link_options(${LIB_FSFW_NAME} PRIVATE
+            "Wl,--gc-sections"
+        )
+    endif()
+  
+    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
+        list(APPEND WARNING_FLAGS "-Wshadow=local")
+    endif()
+	
 endif()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  set(COMPILER_FLAGS "/permissive-")
+	set(COMPILER_FLAGS "/permissive-")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(
-  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_CORE_INC_PATH}
+	${FSFW_ADD_INC_PATHS_ABS}
+)
 
-# Includes path required to compile FSFW itself as well We assume that the
-# fsfwconfig folder uses include relative to the project root here!
-target_include_directories(
-  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+# Includes path required to compile FSFW itself as well
+# We assume that the fsfwconfig folder uses include relative to the project
+# root here!
+target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_CORE_INC_PATH}
+	${FSFW_ADD_INC_PATHS_ABS}
+)
 
-target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
-                                                ${COMPILER_FLAGS})
+target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+	${FSFW_WARNING_FLAGS}
+	${COMPILER_FLAGS}
+)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_ADDITIONAL_LINK_LIBS}
+)
 
-string(
-  CONCAT
-    POST_BUILD_COMMENT
+string(CONCAT POST_BUILD_COMMENT
     "######################################################################\n"
     "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
     "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n")
+    "######################################################################\n"
+)
 
 add_custom_command(
-  TARGET ${LIB_FSFW_NAME}
-  POST_BUILD
-  COMMENT ${POST_BUILD_COMMENT})
+   TARGET ${LIB_FSFW_NAME}
+   POST_BUILD
+   COMMENT ${POST_BUILD_COMMENT}
+)

README.md

@@ -11,15 +11,9 @@ with Airbus Defence and Space GmbH.
 
 ## Quick facts
 
-The framework is designed for systems, which communicate with external devices, perform control loops, 
-receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore,
-a mode and health system provides control over the states of the software and the controlled devices.
-In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 
-The FSFW provides abstraction layers for operating systems to provide a uniform operating system
-abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
-also very useful for developers to implement the same application logic on different operating
-systems with a uniform interface.
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
 
 Currently, the FSFW provides the following OSALs:
 
@@ -51,28 +45,6 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
-## Prerequisites
-
-The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
-installed and provided by the build system unless the correction version was installed.
-The current recommended version can be found inside the fsfw `CMakeLists.txt` file or by using
-`ccmake` and looking up the `FSFW_ETL_LIB_MAJOR_VERSION` variable.
-
-You can install the ETL library like this. On Linux, it might be necessary to add `sudo` before
-the install call:
-
-```cpp
-git clone https://github.com/ETLCPP/etl
-cd etl
-git checkout <currentRecommendedVersion>
-mkdir build && cd build
-cmake ..
-cmake --install .
-```
-
-It is recommended to install `20.27.2` or newer for the package version handling of
-ETL to work.
-
 ## Adding the library
 
 The following steps show how to add and use FSFW components. It is still recommended to
@@ -99,9 +71,9 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-   ```sh
-   target_link_libraries(${YourProjectName} PRIVATE fsfw)
-   ```
+	```cmake
+	target_link_libraries(<YourProjectName> PRIVATE fsfw)
+	```
 
 5. It should now be possible use the FSFW as a static library from the user code.
 
@@ -111,19 +83,6 @@ The FSFW also has unittests which use the [Catch2 library](https://github.com/ca
 These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
-You can install the Catch2 library, which prevents the build system to avoid re-downloading
-the dependency if the unit tests are completely rebuilt. The current recommended version
-can be found inside the fsfw `CMakeLists.txt` file or by using `ccmake` and looking up
-the `FSFW_CATCH2_LIB_VERSION` variable.
-
-```sh
-git clone https://github.com/catchorg/Catch2.git
-cd Catch2
-git checkout <currentRecommendedVersion>
-cmake -Bbuild -H. -DBUILD_TESTING=OFF
-sudo cmake --build build/ --target install
-```
-
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
@@ -131,15 +90,15 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system
 
 ```sh
-mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+mkdir build-Unittest && cd build-Unittest
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
 You can also use `-DFSFW_OSAL=linux` on Linux systems.
 
 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generate the coverage data in this format,
+To build the unittests, run them and then generare the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 
 ```sh
@@ -148,50 +107,11 @@ cmake --build . -- fsfw-tests_coverage -j
 
 The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
 
-## Building the documentations
-
-The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
-instructions provided in  [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
-want to do this locally, set up the prerequisites first. This requires a ``python3``
-installation as well. Example here is for Ubuntu.
-
-```sh
-sudo apt-get install doxygen graphviz
-```
-
-And the following Python packages
-
-```sh
-python3 -m pip install sphinx breathe
-```
-
-You can set up a documentation build system using the following commands
-
-```sh
-mkdir build-docs && cd build-docs
-cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
-```
-
-Then you can generate the documentation using
-
-```sh
-cmake --build . -j
-```
-
-You can find the generated documentation inside the `docs/sphinx` folder inside the build
-folder. Simply open the `index.html` in the webbrowser of your choice.
-
-The `helper.py` script located in the script` folder can also be used to create, build
-and open the documentation conveniently. Try `helper.py -h for more information.
-
 ## Formatting the sources
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
-````sh
-sudo pip install cmakelang
-````
+can run the `apply-clang-format.sh` helper script to format all source files consistently.
 
 ## Index
 

automation/Dockerfile

@@ -5,21 +5,10 @@ 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 python3 -m pip install sphinx breathe
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
 
 RUN git clone https://github.com/catchorg/Catch2.git && \
-        cd Catch2 && \
-        git checkout v3.1.0 && \
-        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-        cmake --build build/ --target install
-
-RUN git clone https://github.com/ETLCPP/etl.git && \
-        cd etl && \
-        git checkout 20.28.0 && \
-        cmake -B build . && \
-        cmake --install build/
-
-#ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+	cd Catch2 && \
+	git checkout v3.0.0-preview4 && \
+	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+	cmake --build build/ --target install

automation/Jenkinsfile

@@ -1,10 +1,15 @@
 pipeline {
     environment {
-        BUILDDIR = 'cmake-build-tests'
-        DOCDDIR = 'cmake-build-documentation'
+        BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image 'fsfw-ci:d5'}
+        dockerfile {
+            dir 'automation'
+            //force docker to redownload base image and rebuild all steps instead of caching them
+            //this way, we always get an up to date docker image one each build
+            additionalBuildArgs  '--no-cache --pull'
+            reuseNode true
+        }
     }
     stages {
         stage('Clean') {
@@ -15,21 +20,21 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
                 }
             }
         }
         stage('Build') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -j'
                 }
             }
         }
         stage('Unittests') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j'
                 }
             }
         }
@@ -40,35 +45,5 @@ pipeline {
                 }
             }
         }
-        stage('Documentation') {
-            when {
-                branch 'development'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sh 'cd docs/sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'scp -r ./* buildfix@documents.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
-                    }
-                }
-            }
-        }
-        stage('Master Documentation') {
-            when {
-                branch 'master'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sh 'cd docs/sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'scp -r ./* buildfix@documents.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
-                    }
-                }
-            }
-        }
     }
 }

cmake/FsfwHelpers.cmake

@@ -1,28 +0,0 @@
-# Determines the git version with git describe and returns it by setting
-# the GIT_INFO list in the parent scope. The list has the following entries
-# 1. Full version string
-# 2. Major version
-# 3. Minor version
-# 4. Revision
-# 5. git SHA hash and commits since tag
-function(determine_version_with_git)
-    include(GetGitRevisionDescription)
-    git_describe(VERSION ${ARGN})
-    string(FIND ${VERSION} "." VALID_VERSION)
-    if(VALID_VERSION EQUAL -1)
-        message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
-        return()
-    endif()
-    # Parse the version information into pieces.
-    string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
-    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
-    set(GIT_INFO ${VERSION})
-    list(APPEND GIT_INFO ${_VERSION_MAJOR})
-    list(APPEND GIT_INFO ${_VERSION_MINOR})
-    list(APPEND GIT_INFO ${_VERSION_PATCH})
-    list(APPEND GIT_INFO ${VERSION_SHA1})
-    set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
-    message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
-endfunction()

cmake/cmake-modules/README.md

@@ -1,7 +0,0 @@
-The files in the `bilke` folder were manually copy and pasted from the
-[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
-this because only a small subset of its provided functions are needed.
-
-The files in the `rpavlik` folder were manually copy and pasted from the
-[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
-this because only a small subset of its provided functions are needed.

cmake/cmake-modules/bilke/CodeCoverage.cmake

@@ -1,719 +0,0 @@
-# Copyright (c) 2012 - 2017, Lars Bilke
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without modification,
-# are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice, this
-#    list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-#    this list of conditions and the following disclaimer in the documentation
-#    and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its contributors
-#    may be used to endorse or promote products derived from this software without
-#    specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-# CHANGES:
-#
-# 2012-01-31, Lars Bilke
-# - Enable Code Coverage
-#
-# 2013-09-17, Joakim Söderberg
-# - Added support for Clang.
-# - Some additional usage instructions.
-#
-# 2016-02-03, Lars Bilke
-# - Refactored functions to use named parameters
-#
-# 2017-06-02, Lars Bilke
-# - Merged with modified version from github.com/ufz/ogs
-#
-# 2019-05-06, Anatolii Kurotych
-# - Remove unnecessary --coverage flag
-#
-# 2019-12-13, FeRD (Frank Dana)
-# - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor
-#   of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments.
-# - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY
-# - All setup functions: accept BASE_DIRECTORY, EXCLUDE list
-# - Set lcov basedir with -b argument
-# - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be
-#   overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().)
-# - Delete output dir, .info file on 'make clean'
-# - Remove Python detection, since version mismatches will break gcovr
-# - Minor cleanup (lowercase function names, update examples...)
-#
-# 2019-12-19, FeRD (Frank Dana)
-# - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets
-#
-# 2020-01-19, Bob Apthorpe
-# - Added gfortran support
-#
-# 2020-02-17, FeRD (Frank Dana)
-# - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters
-#   in EXCLUDEs, and remove manual escaping from gcovr targets
-#
-# 2021-01-19, Robin Mueller
-# - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run
-# - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional
-#   flags to the gcovr command
-#
-# 2020-05-04, Mihchael Davis
-#     - Add -fprofile-abs-path to make gcno files contain absolute paths
-#     - Fix BASE_DIRECTORY not working when defined
-#     - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines
-#
-# 2021-05-10, Martin Stump
-#     - Check if the generator is multi-config before warning about non-Debug builds
-#
-# 2022-02-22, Marko Wehle
-#     - Change gcovr output from -o <filename> for --xml <filename> and --html <filename> output respectively.
-#       This will allow for Multiple Output Formats at the same time by making use of GCOVR_ADDITIONAL_ARGS, e.g. GCOVR_ADDITIONAL_ARGS "--txt".
-#
-# USAGE:
-#
-# 1. Copy this file into your cmake modules path.
-#
-# 2. Add the following line to your CMakeLists.txt (best inside an if-condition
-#    using a CMake option() to enable it just optionally):
-#      include(CodeCoverage)
-#
-# 3. Append necessary compiler flags for all supported source files:
-#      append_coverage_compiler_flags()
-#    Or for specific target:
-#      append_coverage_compiler_flags_to_target(YOUR_TARGET_NAME)
-#
-# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
-#
-# 4. If you need to exclude additional directories from the report, specify them
-#    using full paths in the COVERAGE_EXCLUDES variable before calling
-#    setup_target_for_coverage_*().
-#    Example:
-#      set(COVERAGE_EXCLUDES
-#          '${PROJECT_SOURCE_DIR}/src/dir1/*'
-#          '/path/to/my/src/dir2/*')
-#    Or, use the EXCLUDE argument to setup_target_for_coverage_*().
-#    Example:
-#      setup_target_for_coverage_lcov(
-#          NAME coverage
-#          EXECUTABLE testrunner
-#          EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*")
-#
-# 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set
-#     relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR)
-#     Example:
-#       set(COVERAGE_EXCLUDES "dir1/*")
-#       setup_target_for_coverage_gcovr_html(
-#           NAME coverage
-#           EXECUTABLE testrunner
-#           BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src"
-#           EXCLUDE "dir2/*")
-#
-# 5. Use the functions described below to create a custom make target which
-#    runs your test executable and produces a code coverage report.
-#
-# 6. Build a Debug build:
-#      cmake -DCMAKE_BUILD_TYPE=Debug ..
-#      make
-#      make my_coverage_target
-#
-
-include(CMakeParseArguments)
-
-option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE)
-
-# Check prereqs
-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 ${CMAKE_SOURCE_DIR}/scripts/test)
-find_program( CPPFILT_PATH NAMES c++filt )
-
-if(NOT GCOV_PATH)
-    message(FATAL_ERROR "gcov not found! Aborting...")
-endif() # NOT GCOV_PATH
-
-get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
-list(GET LANGUAGES 0 LANG)
-
-if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
-    if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3)
-        message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
-    endif()
-elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
-    if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang")
-        # Do nothing; exit conditional without error if true
-    elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU")
-        # Do nothing; exit conditional without error if true
-    else()
-        message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
-    endif()
-endif()
-
-set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage"
-    CACHE INTERNAL "")
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-    include(CheckCXXCompilerFlag)
-    check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path)
-    if(HAVE_fprofile_abs_path)
-        set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path")
-    endif()
-endif()
-
-set(CMAKE_Fortran_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the Fortran compiler during coverage builds."
-    FORCE )
-set(CMAKE_CXX_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the C++ compiler during coverage builds."
-    FORCE )
-set(CMAKE_C_FLAGS_COVERAGE
-    ${COVERAGE_COMPILER_FLAGS}
-    CACHE STRING "Flags used by the C compiler during coverage builds."
-    FORCE )
-set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used for linking binaries during coverage builds."
-    FORCE )
-set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
-    FORCE )
-mark_as_advanced(
-    CMAKE_Fortran_FLAGS_COVERAGE
-    CMAKE_CXX_FLAGS_COVERAGE
-    CMAKE_C_FLAGS_COVERAGE
-    CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
-
-get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG))
-    message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
-endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)
-
-if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU")
-    link_libraries(gcov)
-endif()
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_lcov(
-#     NAME testrunner_coverage                    # New target name
-#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES testrunner                     # Dependencies to build first
-#     BASE_DIRECTORY "../"                        # Base directory for report
-#                                                 #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"           # Patterns to exclude (can be relative
-#                                                 #  to BASE_DIRECTORY, with CMake 3.4+)
-#     NO_DEMANGLE                                 # Don't demangle C++ symbols
-#                                                 #  even if c++filt is found
-# )
-function(setup_target_for_coverage_lcov)
-
-    set(options NO_DEMANGLE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT LCOV_PATH)
-        message(FATAL_ERROR "lcov not found! Aborting...")
-    endif() # NOT LCOV_PATH
-
-    if(NOT GENHTML_PATH)
-        message(FATAL_ERROR "genhtml not found! Aborting...")
-    endif() # NOT GENHTML_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(LCOV_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND LCOV_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES LCOV_EXCLUDES)
-
-    # Conditional arguments
-    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
-      set(GENHTML_EXTRA_ARGS "--demangle-cpp")
-    endif()
-     
-    # Setting up commands which will be run to generate coverage data.
-    # Cleanup lcov
-    set(LCOV_CLEAN_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory . 
-        -b ${BASEDIR} --zerocounters
-    )
-    # Create baseline to make sure untouched files show up in the report
-    set(LCOV_BASELINE_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b 
-        ${BASEDIR} -o ${Coverage_NAME}.base
-    )
-    # Run tests
-    set(LCOV_EXEC_TESTS_CMD 
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )    
-    # Capturing lcov counters and generating report
-    set(LCOV_CAPTURE_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b 
-        ${BASEDIR} --capture --output-file ${Coverage_NAME}.capture
-    )
-    # add baseline counters
-    set(LCOV_BASELINE_COUNT_CMD
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base 
-        -a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total
-    ) 
-    # filter collected data to final coverage report
-    set(LCOV_FILTER_CMD 
-        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove 
-        ${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info
-    )    
-    # Generate HTML output
-    set(LCOV_GEN_HTML_CMD
-        ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o 
-        ${Coverage_NAME} ${Coverage_NAME}.info
-    )
-    
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-        message(STATUS "Command to clean up lcov: ")
-        string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}")
-        message(STATUS "${LCOV_CLEAN_CMD_SPACED}")
-
-        message(STATUS "Command to create baseline: ")
-        string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}")
-        message(STATUS "${LCOV_BASELINE_CMD_SPACED}")
-
-        message(STATUS "Command to run the tests: ")
-        string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}")
-        message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to capture counters and generate report: ")
-        string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}")
-        message(STATUS "${LCOV_CAPTURE_CMD_SPACED}")
-
-        message(STATUS "Command to add baseline counters: ")
-        string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}")
-        message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}")
-
-        message(STATUS "Command to filter collected data: ")
-        string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}")
-        message(STATUS "${LCOV_FILTER_CMD_SPACED}")
-
-        message(STATUS "Command to generate lcov HTML output: ")
-        string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}")
-        message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}")
-    endif()
-
-    # Setup target
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${LCOV_CLEAN_CMD}
-        COMMAND ${LCOV_BASELINE_CMD} 
-        COMMAND ${LCOV_EXEC_TESTS_CMD}
-        COMMAND ${LCOV_CAPTURE_CMD}
-        COMMAND ${LCOV_BASELINE_COUNT_CMD}
-        COMMAND ${LCOV_FILTER_CMD} 
-        COMMAND ${LCOV_GEN_HTML_CMD}
-
-        # Set output files as GENERATED (will be removed on 'make clean')
-        BYPRODUCTS
-            ${Coverage_NAME}.base
-            ${Coverage_NAME}.capture
-            ${Coverage_NAME}.total
-            ${Coverage_NAME}.info
-            ${Coverage_NAME}/index.html
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
-    )
-
-    # Show where to find the lcov info report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
-    )
-
-endfunction() # setup_target_for_coverage_lcov
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_gcovr_xml(
-#     NAME ctest_coverage                    # New target name
-#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES executable_target         # Dependencies to build first
-#     BASE_DIRECTORY "../"                   # Base directory for report
-#                                            #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
-#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
-# )
-# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
-# GCVOR command.
-function(setup_target_for_coverage_gcovr_xml)
-
-    set(options NONE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT GCOVR_PATH)
-        message(FATAL_ERROR "gcovr not found! Aborting...")
-    endif() # NOT GCOVR_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(GCOVR_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
-
-    # Combine excludes to several -e arguments
-    set(GCOVR_EXCLUDE_ARGS "")
-    foreach(EXCLUDE ${GCOVR_EXCLUDES})
-        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
-        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
-    endforeach()
-    
-    # Set up commands which will be run to generate coverage data
-    # Run tests
-    set(GCOVR_XML_EXEC_TESTS_CMD
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )
-    # Running gcovr
-    set(GCOVR_XML_CMD
-        ${GCOVR_PATH} --xml ${Coverage_NAME}.xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
-        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
-    )
-    
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-
-        message(STATUS "Command to run tests: ")
-        string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}")
-        message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to generate gcovr XML coverage data: ")
-        string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}")
-        message(STATUS "${GCOVR_XML_CMD_SPACED}")
-    endif()
-
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${GCOVR_XML_EXEC_TESTS_CMD}
-        COMMAND ${GCOVR_XML_CMD}
-        
-        BYPRODUCTS ${Coverage_NAME}.xml
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Running gcovr to produce Cobertura code coverage report."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
-    )
-endfunction() # setup_target_for_coverage_gcovr_xml
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_gcovr_html(
-#     NAME ctest_coverage                    # New target name
-#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES executable_target         # Dependencies to build first
-#     BASE_DIRECTORY "../"                   # Base directory for report
-#                                            #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
-#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
-# )
-# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
-# GCVOR command.
-function(setup_target_for_coverage_gcovr_html)
-
-    set(options NONE)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT GCOVR_PATH)
-        message(FATAL_ERROR "gcovr not found! Aborting...")
-    endif() # NOT GCOVR_PATH
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(DEFINED Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (CMake 3.4+: Also compute absolute paths)
-    set(GCOVR_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
-        if(CMAKE_VERSION VERSION_GREATER 3.4)
-            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
-        endif()
-        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
-
-    # Combine excludes to several -e arguments
-    set(GCOVR_EXCLUDE_ARGS "")
-    foreach(EXCLUDE ${GCOVR_EXCLUDES})
-        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
-        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
-    endforeach()
-
-    # Set up commands which will be run to generate coverage data
-    # Run tests
-    set(GCOVR_HTML_EXEC_TESTS_CMD
-        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
-    )
-    # Create folder
-    set(GCOVR_HTML_FOLDER_CMD
-        ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
-    )
-    # Running gcovr
-    set(GCOVR_HTML_CMD
-        ${GCOVR_PATH} --html ${Coverage_NAME}/index.html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
-        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
-    )
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Executed command report")
-
-        message(STATUS "Command to run tests: ")
-        string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}")
-        message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}")
-
-        message(STATUS "Command to create a folder: ")
-        string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}")
-        message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}")
-
-        message(STATUS "Command to generate gcovr HTML coverage data: ")
-        string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}")
-        message(STATUS "${GCOVR_HTML_CMD_SPACED}")
-    endif()
-
-    add_custom_target(${Coverage_NAME}
-        COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD}
-        COMMAND ${GCOVR_HTML_FOLDER_CMD}
-        COMMAND ${GCOVR_HTML_CMD}
-
-        BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html  # report directory
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Running gcovr to produce HTML code coverage report."
-    )
-
-    # Show info where to find the report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ;
-        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
-    )
-
-endfunction() # setup_target_for_coverage_gcovr_html
-
-# Defines a target for running and collection code coverage information
-# Builds dependencies, runs the given executable and outputs reports.
-# NOTE! The executable should always have a ZERO as exit code otherwise
-# the coverage generation will not complete.
-#
-# setup_target_for_coverage_fastcov(
-#     NAME testrunner_coverage                    # New target name
-#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
-#     DEPENDENCIES testrunner                     # Dependencies to build first
-#     BASE_DIRECTORY "../"                        # Base directory for report
-#                                                 #  (defaults to PROJECT_SOURCE_DIR)
-#     EXCLUDE "src/dir1/" "src/dir2/"             # Patterns to exclude.
-#     NO_DEMANGLE                                 # Don't demangle C++ symbols
-#                                                 #  even if c++filt is found
-#     SKIP_HTML                                   # Don't create html report
-#     POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json  # E.g. for stripping source dir from file paths
-# )
-function(setup_target_for_coverage_fastcov)
-
-    set(options NO_DEMANGLE SKIP_HTML)
-    set(oneValueArgs BASE_DIRECTORY NAME)
-    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD)
-    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-    if(NOT FASTCOV_PATH)
-        message(FATAL_ERROR "fastcov not found! Aborting...")
-    endif()
-
-    if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH)
-        message(FATAL_ERROR "genhtml not found! Aborting...")
-    endif()
-
-    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
-    if(Coverage_BASE_DIRECTORY)
-        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
-    else()
-        set(BASEDIR ${PROJECT_SOURCE_DIR})
-    endif()
-
-    # Collect excludes (Patterns, not paths, for fastcov)
-    set(FASTCOV_EXCLUDES "")
-    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES})
-        list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}")
-    endforeach()
-    list(REMOVE_DUPLICATES FASTCOV_EXCLUDES)
-
-    # Conditional arguments
-    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
-        set(GENHTML_EXTRA_ARGS "--demangle-cpp")
-    endif()
-
-    # Set up commands which will be run to generate coverage data
-    set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS})
-
-    set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
-        --search-directory ${BASEDIR}
-        --process-gcno
-        --output ${Coverage_NAME}.json
-        --exclude ${FASTCOV_EXCLUDES}
-        --exclude ${FASTCOV_EXCLUDES}
-    )
-    
-    set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH}
-        -C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info
-    )
-
-    if(Coverage_SKIP_HTML)
-        set(FASTCOV_HTML_CMD ";")
-    else()
-        set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS}
-            -o ${Coverage_NAME} ${Coverage_NAME}.info
-        )
-    endif()
-
-    set(FASTCOV_POST_CMD ";")
-    if(Coverage_POST_CMD)
-        set(FASTCOV_POST_CMD ${Coverage_POST_CMD})
-    endif()
-
-    if(CODE_COVERAGE_VERBOSE)
-        message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):")
-
-        message("   Running tests:")
-        string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}")
-        message("     ${FASTCOV_EXEC_TESTS_CMD_SPACED}")
-
-        message("   Capturing fastcov counters and generating report:")
-        string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}")
-        message("     ${FASTCOV_CAPTURE_CMD_SPACED}")
-
-        message("   Converting fastcov .json to lcov .info:")
-        string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}")
-        message("     ${FASTCOV_CONVERT_CMD_SPACED}")
-
-        if(NOT Coverage_SKIP_HTML)
-            message("   Generating HTML report: ")
-            string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}")
-            message("     ${FASTCOV_HTML_CMD_SPACED}")
-        endif()
-        if(Coverage_POST_CMD)
-            message("   Running post command: ")
-            string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}")
-            message("     ${FASTCOV_POST_CMD_SPACED}")
-        endif()
-    endif()
-
-    # Setup target
-    add_custom_target(${Coverage_NAME}
-
-        # Cleanup fastcov
-        COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
-            --search-directory ${BASEDIR}
-            --zerocounters
-
-        COMMAND ${FASTCOV_EXEC_TESTS_CMD}
-        COMMAND ${FASTCOV_CAPTURE_CMD}
-        COMMAND ${FASTCOV_CONVERT_CMD}
-        COMMAND ${FASTCOV_HTML_CMD}
-        COMMAND ${FASTCOV_POST_CMD}
-
-        # Set output files as GENERATED (will be removed on 'make clean')
-        BYPRODUCTS
-             ${Coverage_NAME}.info
-             ${Coverage_NAME}.json
-             ${Coverage_NAME}/index.html  # report directory
-
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_DEPENDENCIES}
-        VERBATIM # Protect arguments to commands
-        COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report."
-    )
-
-    set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.")
-    if(NOT Coverage_SKIP_HTML)
-        string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.")
-    endif()
-    # Show where to find the fastcov info report
-    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG}
-    )
-
-endfunction() # setup_target_for_coverage_fastcov
-
-function(append_coverage_compiler_flags)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
-    message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
-endfunction() # append_coverage_compiler_flags
-
-# Setup coverage for specific library
-function(append_coverage_compiler_flags_to_target name)
-    target_compile_options(${name}
-        PRIVATE ${COVERAGE_COMPILER_FLAGS})
-endfunction()

cmake/cmake-modules/bilke/LICENSE_1_0.txt

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

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake

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

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

@@ -1,43 +0,0 @@
-#
-# Internal file for GetGitRevisionDescription.cmake
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-# Iowa State University HCI Graduate Program/VRAC
-#
-# Copyright 2009-2012, Iowa State University
-# Copyright 2011-2015, Contributors
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-# SPDX-License-Identifier: BSL-1.0
-
-set(HEAD_HASH)
-
-file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
-
-string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
-if(HEAD_CONTENTS MATCHES "ref")
-    # named branch
-    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
-    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
-        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    else()
-        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
-        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
-        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
-            set(HEAD_HASH "${CMAKE_MATCH_1}")
-        endif()
-    endif()
-else()
-    # detached HEAD
-    configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
-endif()
-
-if(NOT HEAD_HASH)
-    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
-    string(STRIP "${HEAD_HASH}" HEAD_HASH)
-endif()

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

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

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

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

cmake/cmake-modules/rpavlik/LICENSE_1_0.txt

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

docs/README-highlevel.md

@@ -14,7 +14,7 @@ FSFW to achieve that. The fsfw uses run-time type information but exceptions are
 # 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`
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
 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.

docs/README-localpools.md

@@ -144,7 +144,7 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDat
 			new PoolEntry<uint8_t>({0}));
 
 	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-	return returnvalue::OK;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 ```
 
@@ -154,7 +154,7 @@ in any case:
 
 ```cpp
 PoolReadGuard readHelper(&gyroData);
-if(readHelper.getReadResult() == returnvalue::OK) {
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 	if(not gyroData.isValid()) {
 		gyroData.setValidity(true, true);
 	}

docs/api/returnvalue.rst

@@ -3,7 +3,7 @@
 Returnvalue API
 ==================
 
-.. doxygenfile:: returnvalue.h
+.. doxygenfile:: HasReturnvaluesIF.h
 
 .. _fwclassids:
 

docs/devicehandlers.rst

@@ -1,110 +1,3 @@
-.. _dhb-prim-doc:
-
 Device Handlers
 ==================
 
-Device handler components represent, control and monitor equipment, for example sensors or actuators
-of a spacecraft or the payload.
-
-Most device handlers have the same common functionality or
-requirements, which are fulfilled by implementing certain interfaces:
-
-- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
-- The handler needs to communicate with the physical device via a dedicated
-  communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
-- The handler has housekeeping data which has to be exposed to the operator and/or other software
-  components: :cpp:class:`HasLocalDataPoolIF`
-- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
-  also implements :cpp:class:`HasParametersIF`
-- The handler has health states, for example to indicate a broken device:
-  :cpp:class:`HasHealthIF`
-- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
-  and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
-  but that it is not periodically polling data from the
-  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
-
-The device handler base therefore provides abstractions for a lot of common
-functionality, which can potentially avoid high amounts or logic and code duplication.
-
-Template Device Handler Base File
-----------------------------------
-
-This is an example template device handler header file with all necessary
-functions implemented:
-
-.. code-block:: cpp
-
-	#ifndef __TESTDEVICEHANDLER_H_
-	#define __TESTDEVICEHANDLER_H_
-
-	#include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
-	class TestDeviceHandler: DeviceHandlerBase {
-	public:
-	  TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
-	private:
-	  void doStartUp() override;
-	  void doShutDown() override;
-	  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
-	  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
-	  void fillCommandAndReplyMap() override;
-	  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
-	                                        size_t commandDataLen) override;
-	  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
-	                             size_t* foundLen) override;
-	  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-	  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
-	  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-	                                        LocalDataPoolManager& poolManager) override;
-
-	};
-
-	#endif /* __TESTDEVICEHANDLER_H_ */
-
-and the respective source file with sensible default return values:
-
-.. code-block:: cpp
-
-	#include "TestDeviceHandler.h"
-
-	TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
-	    : DeviceHandlerBase(objectId, comIF, cookie) {}
-
-	void TestDeviceHandler::doStartUp() {}
-
-	void TestDeviceHandler::doShutDown() {}
-
-	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
-	}
-
-	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
-	}
-
-	void TestDeviceHandler::fillCommandAndReplyMap() {}
-
-	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-	                                                         const uint8_t* commandData,
-	                                                         size_t commandDataLen) {
-	  return returnvalue::OK;
-	}
-
-	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
-	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-	  return returnvalue::OK;
-	}
-
-	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
-	                                                      const uint8_t* packet) {
-	  return returnvalue::OK;
-	}
-
-	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-	  return 10000;
-	}
-
-	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-	                                                         LocalDataPoolManager& poolManager) {
-	  return returnvalue::OK;
-	}

docs/getting_started.rst

@@ -19,29 +19,6 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
-Prerequisites
--------------------
-
-The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
-installed and provided by the build system unless the correction version was installed.
-The current recommended version can be found inside the fsfw ``CMakeLists.txt`` file or by using
-``ccmake`` and looking up the ``FSFW_ETL_LIB_MAJOR_VERSION`` variable.
-
-You can install the ETL library like this. On Linux, it might be necessary to add ``sudo`` before
-the install call:
-
-.. code-block:: console
-
-   git clone https://github.com/ETLCPP/etl
-   cd etl
-   git checkout <currentRecommendedVersion>
-   mkdir build && cd build
-   cmake ..
-   cmake --install .
-
-It is recommended to install ``20.27.2`` or newer for the package version handling of
-ETL to work.
-
 Adding the library
 -------------------
 
@@ -83,20 +60,6 @@ The FSFW also has unittests which use the `Catch2 library`_.
 These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
-You can install the Catch2 library, which prevents the build system to avoid re-downloading
-the dependency if the unit tests are completely rebuilt. The current recommended version
-can be found inside the fsfw ``CMakeLists.txt`` file or by using ``ccmake`` and looking up
-the ``FSFW_CATCH2_LIB_VERSION`` variable.
-
-.. code-block:: console
-
-   git clone https://github.com/catchorg/Catch2.git
-   cd Catch2
-   git checkout <currentRecommendedVersion>
-   cmake -Bbuild -H. -DBUILD_TESTING=OFF
-   sudo cmake --build build/ --target install
-
-
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
@@ -106,7 +69,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console
 
    mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
 
 
 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
@@ -127,21 +90,8 @@ Building the documentation
 ----------------------------
 
 The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
-instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
-want to do this locally, set up the prerequisites first. This requires a ``python3``
-installation as well. Example here is for Ubuntu.
-
-.. code-block:: console
-
-   sudo apt-get install doxygen graphviz
-
-And the following Python packages
-
-.. code-block:: console
-
-   python3 -m pip install sphinx breathe
-
-You can set up a documentation build system using the following commands
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
+documentation build system using the following commands
 
 .. code-block:: bash
 
@@ -160,14 +110,6 @@ folder. Simply open the ``index.html`` in the webbrowser of your choice.
 The ``helper.py`` script located in the ``script`` folder can also be used to create, build
 and open the documentation conveniently. Try ``helper.py -h`` for more information.
 
-Formatting the source
------------------------
-
-The formatting is done by the ``clang-format`` tool. The configuration is contained within the
-``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
-can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
-
-
 .. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
 .. _`Catch2 library`: https://github.com/catchorg/Catch2
 .. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

docs/highlevel.rst

@@ -18,7 +18,7 @@ Failure Handling
 -----------------
 
 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.
@@ -118,7 +118,7 @@ The DH has mechanisms to monitor the communication with the physical device whic
 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 :ref:`documentation section <dhb-prim-doc>`.
+related [documentation section](doc/README-devicehandlers.md#top).
 
 Modes and Health
 --------------------

docs/localpools.rst

@@ -150,7 +150,7 @@ with a housekeeping service command.
 				new PoolEntry<uint8_t>({0}));
 
 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-		return returnvalue::OK;
+		return HasReturnvaluesIF::RETURN_OK;
 	}
 
 Now, if we receive some sensor data and converted them into the right format,
@@ -160,7 +160,7 @@ in any case:
 .. code-block:: cpp
 
 	PoolReadGuard readHelper(&gyroData);
-	if(readHelper.getReadResult() == returnvalue::OK) {
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}

hal/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.13)
+
+# Can also be changed by upper CMakeLists.txt file
+find_library(LIB_FSFW_NAME fsfw REQUIRED)
+
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+
+option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
+option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
+option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
+
+set(LINUX_HAL_PATH_NAME linux)
+set(STM32H7_PATH_NAME stm32h7)
+
+add_subdirectory(src)
+
+foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_ADD_INC_PATHS_ABS}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_DEFINES}
+)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_LINK_LIBS}
+)

hal/src/CMakeLists.txt

@@ -0,0 +1,9 @@
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_subdirectory(fsfw_hal)

hal/src/fsfw_hal/CMakeLists.txt

@@ -2,9 +2,9 @@ add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
 if(UNIX)
-  add_subdirectory(linux)
+    add_subdirectory(linux)
 endif()
 
 if(FSFW_HAL_ADD_STM32H7)
-  add_subdirectory(stm32h7)
+    add_subdirectory(stm32h7)
 endif()

hal/src/fsfw_hal/common/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gpio)

hal/src/fsfw_hal/common/gpio/CMakeLists.txt

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

hal/src/fsfw_hal/common/gpio/GpioCookie.cpp

@@ -11,7 +11,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
 #else
     sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   auto gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
@@ -25,9 +25,9 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
       sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
 #endif
 #endif
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -36,7 +36,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
   sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
 #endif
 #endif
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 GpioMap GpioCookie::getGpioMap() const { return gpioMap; }

hal/src/fsfw_hal/common/gpio/GpioCookie.h

@@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 #include "GpioIF.h"
 #include "gpioDefinitions.h"

hal/src/fsfw_hal/common/gpio/GpioIF.h

@@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOIF_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 #include "gpioDefinitions.h"
 
@@ -13,7 +13,7 @@ class GpioCookie;
  * 			over GPIOs.
  * @author	J. Meier
  */
-class GpioIF {
+class GpioIF : public HasReturnvaluesIF {
  public:
   virtual ~GpioIF(){};
 
@@ -29,7 +29,7 @@ class GpioIF {
    * 			functionality to pull a certain GPIO to high logic level.
    *
    * @param gpioId	A unique number which specifies the GPIO to drive.
-   * @return  Returns returnvalue::OK for success. This should never return returnvalue::FAILED.
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
    */
   virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
 

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -9,18 +9,18 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
+enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
 
-enum class Direction : int { IN = 0, OUT = 1 };
+enum Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 };
 
-enum class GpioOperation { READ, WRITE };
+enum GpioOperation { READ, WRITE };
 
 enum class GpioTypes {
   NONE,
   GPIO_REGULAR_BY_CHIP,
   GPIO_REGULAR_BY_LABEL,
   GPIO_REGULAR_BY_LINE_NAME,
-  CALLBACK
+  TYPE_CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
@@ -57,7 +57,7 @@ class GpioBase {
   // Can be used to cast GpioBase to a concrete child implementation
   gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
   std::string consumer;
-  gpio::Direction direction = gpio::Direction::IN;
+  gpio::Direction direction = gpio::Direction::DIR_IN;
   gpio::Levels initValue = gpio::Levels::NONE;
 };
 
@@ -79,8 +79,8 @@ class GpiodRegularBase : public GpioBase {
 class GpiodRegularByChip : public GpiodRegularBase {
  public:
   GpiodRegularByChip()
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
-                         gpio::Levels::LOW, 0) {}
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(),
+                         gpio::Direction::DIR_IN, gpio::LOW, 0) {}
 
   GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
                      gpio::Direction direction_, gpio::Levels initValue_)
@@ -89,8 +89,8 @@ class GpiodRegularByChip : public GpiodRegularBase {
         chipname(chipname_) {}
 
   GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
-                         gpio::Levels::LOW, lineNum_),
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::DIR_IN,
+                         gpio::LOW, lineNum_),
         chipname(chipname_) {}
 
   std::string chipname;
@@ -105,8 +105,8 @@ class GpiodRegularByLabel : public GpiodRegularBase {
         label(label_) {}
 
   GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
-                         gpio::Levels::LOW, lineNum_),
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::DIR_IN,
+                         gpio::LOW, lineNum_),
         label(label_) {}
 
   std::string label;
@@ -126,8 +126,8 @@ class GpiodRegularByLineName : public GpiodRegularBase {
         lineName(lineName_) {}
 
   GpiodRegularByLineName(std::string lineName_, std::string consumer_)
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
-                         gpio::Levels::LOW),
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
+                         gpio::Direction::DIR_IN, gpio::LOW),
         lineName(lineName_) {}
 
   std::string lineName;
@@ -137,7 +137,7 @@ class GpioCallback : public GpioBase {
  public:
   GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
                gpio::gpio_cb_t callback, void* callbackArgs)
-      : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+      : GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_),
         callback(callback),
         callbackArgs(callbackArgs) {}
 

hal/src/fsfw_hal/devicehandlers/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20Handler.cpp
+    MgmRM3100Handler.cpp
+    MgmLIS3MDLHandler.cpp
+)

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -8,7 +8,11 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
                                        CookieIF *comCookie, uint32_t transitionDelayMs)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       transitionDelayMs(transitionDelayMs),
-      dataset(this) {}
+      dataset(this) {
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+  debugDivider = new PeriodicOperationDivider(10);
+#endif
+}
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
@@ -70,9 +74,9 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
           "GyroL3GD20Handler::buildTransitionDeviceCommand: "
           "Unknown internal state!\n");
 #endif
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
@@ -135,7 +139,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
     default:
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
@@ -144,12 +148,12 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
   *foundId = this->getPendingCommand();
   *foundLen = this->rawPacketLen;
 
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
                                                        const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   switch (id) {
     case (L3GD20H::CONFIGURE_CTRL_REGS): {
       commandExecuted = true;
@@ -189,25 +193,25 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
       int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
       float temperature = 25.0 + temperaturOffset;
-      if (periodicPrintout) {
-        if (debugDivider.checkAndIncrement()) {
-          /* Set terminal to utf-8 if there is an issue with micro printout. */
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+      if (debugDivider->checkAndIncrement()) {
+        /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-          sif::info << "X: " << angVelocX << std::endl;
-          sif::info << "Y: " << angVelocY << std::endl;
-          sif::info << "Z: " << angVelocZ << std::endl;
+        sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
+        sif::info << "X: " << angVelocX << std::endl;
+        sif::info << "Y: " << angVelocY << std::endl;
+        sif::info << "Z: " << angVelocZ << std::endl;
 #else
-          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-          sif::printInfo("X: %f\n", angVelocX);
-          sif::printInfo("Y: %f\n", angVelocY);
-          sif::printInfo("Z: %f\n", angVelocZ);
+        sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+        sif::printInfo("X: %f\n", angVelocX);
+        sif::printInfo("Y: %f\n", angVelocY);
+        sif::printInfo("Z: %f\n", angVelocZ);
 #endif
-        }
       }
+#endif
 
       PoolReadGuard readSet(&dataset);
-      if (readSet.getReadResult() == returnvalue::OK) {
+      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(angVelocX) < this->absLimitX) {
           dataset.angVelocX = angVelocX;
           dataset.angVelocX.setValid(true);
@@ -252,7 +256,7 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
@@ -268,8 +272,3 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
   this->absLimitY = limitY;
   this->absLimitZ = limitZ;
 }
-
-void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
-  periodicPrintout = enable;
-  debugDivider.setDivider(divider);
-}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -5,6 +5,7 @@
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
 #include "devicedefinitions/GyroL3GD20Definitions.h"
+#include "fsfw/FSFW.h"
 
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
@@ -21,8 +22,6 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
                      uint32_t transitionDelayMs);
   virtual ~GyroHandlerL3GD20H();
 
-  void enablePeriodicPrintouts(bool enable, uint8_t divider);
-
   /**
    * Set the absolute limit for the values on the axis in degrees per second.
    * The dataset values will be marked as invalid if that limit is exceeded
@@ -81,8 +80,9 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
   // Set default value
   float sensitivity = L3GD20H::SENSITIVITY_00;
 
-  bool periodicPrintout = false;
-  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+  PeriodicOperationDivider *debugDivider = nullptr;
+#endif
 };
 
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -1,14 +1,20 @@
 #include "MgmLIS3MDLHandler.h"
 
-#include <cmath>
-
 #include "fsfw/datapool/PoolReadGuard.h"
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
+
+#include <cmath>
 
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       dataset(this),
       transitionDelay(transitionDelay) {
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+  debugDivider = new PeriodicOperationDivider(10);
+#endif
   // Set to default values right away
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@@ -82,7 +88,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
 #else
       sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
   }
   return buildCommandFromCommand(*id, NULL, 0);
@@ -137,7 +143,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
 
       rawPacket = commandBuffer;
       rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-      return returnvalue::OK;
+      return RETURN_OK;
     }
     case (MGMLIS3MDL::READ_TEMPERATURE): {
       std::memset(commandBuffer, 0, 3);
@@ -145,7 +151,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
 
       rawPacket = commandBuffer;
       rawPacketLen = 3;
-      return returnvalue::OK;
+      return RETURN_OK;
     }
     case (MGMLIS3MDL::IDENTIFY_DEVICE): {
       return identifyDevice();
@@ -155,7 +161,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
     }
     case (MGMLIS3MDL::SETUP_MGM): {
       setupMgm();
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
     case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
       return setOperatingMode(commandData, commandDataLen);
@@ -163,7 +169,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
     default:
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
@@ -174,7 +180,7 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
   rawPacket = commandBuffer;
   rawPacketLen = size;
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
@@ -234,7 +240,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
 
   /* Data with SPI Interface always has this answer */
   if (start[0] == 0b11111111) {
-    return returnvalue::OK;
+    return RETURN_OK;
   } else {
     return DeviceHandlerIF::INVALID_DATA;
   }
@@ -266,42 +272,45 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
                    MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
-      if (periodicPrintout) {
-        if (debugDivider.checkAndIncrement()) {
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                       " microtesla:"
-                    << std::endl;
-          sif::info << "X: " << mgmX << " uT" << std::endl;
-          sif::info << "Y: " << mgmY << " uT" << std::endl;
-          sif::info << "Z: " << mgmZ << " uT" << std::endl;
+        sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+                     " microtesla:"
+                  << std::endl;
+        sif::info << "X: " << mgmX << " uT" << std::endl;
+        sif::info << "Y: " << mgmY << " uT" << std::endl;
+        sif::info << "Z: " << mgmZ << " uT" << std::endl;
 #else
-          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-          sif::printInfo("X: %f uT\n", mgmX);
-          sif::printInfo("Y: %f uT\n", mgmY);
-          sif::printInfo("Z: %f uT\n", mgmZ);
+        sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+        sif::printInfo("X: %f uT\n", mgmX);
+        sif::printInfo("Y: %f uT\n", mgmY);
+        sif::printInfo("Z: %f uT\n", mgmZ);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
-        }
       }
-
+#endif /* OBSW_VERBOSE_LEVEL >= 1 */
       PoolReadGuard readHelper(&dataset);
-      if (readHelper.getReadResult() == returnvalue::OK) {
-        if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
-            std::abs(mgmZ) > absLimitZ) {
-          dataset.fieldStrengths.setValid(false);
-        }
+      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(mgmX) < absLimitX) {
-          dataset.fieldStrengths[0] = mgmX;
+          dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengthX.setValid(true);
+        } else {
+          dataset.fieldStrengthX.setValid(false);
         }
 
         if (std::abs(mgmY) < absLimitY) {
-          dataset.fieldStrengths[1] = mgmY;
+          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengthY.setValid(true);
+        } else {
+          dataset.fieldStrengthY.setValid(false);
         }
 
         if (std::abs(mgmZ) < absLimitZ) {
-          dataset.fieldStrengths[2] = mgmZ;
+          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengthZ.setValid(true);
+        } else {
+          dataset.fieldStrengthZ.setValid(false);
         }
-        dataset.fieldStrengths.setValid(true);
       }
       break;
     }
@@ -309,18 +318,17 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case MGMLIS3MDL::READ_TEMPERATURE: {
       int16_t tempValueRaw = packet[2] << 8 | packet[1];
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-      if (periodicPrintout) {
-        if (debugDivider.check()) {
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (debugDivider->check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
 #else
-          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+        sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
-        }
       }
-
+#endif
       ReturnValue_t result = dataset.read();
-      if (result == returnvalue::OK) {
+      if (result == HasReturnvaluesIF::RETURN_OK) {
         dataset.temperature = tempValue;
         dataset.commit();
       }
@@ -331,7 +339,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
   }
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
@@ -394,7 +402,7 @@ ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandD
   rawPacket = commandBuffer;
   rawPacketLen = size;
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
@@ -451,7 +459,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
   rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
   // We dont have to check if this is working because we just did i
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
@@ -464,10 +472,11 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE
 
 ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                          LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
-  poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
@@ -475,8 +484,3 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
   this->absLimitY = yLimit;
   this->absLimitZ = zLimit;
 }
-
-void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
-  periodicPrintout = enable;
-  debugDivider.setDivider(divider);
-}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -2,8 +2,9 @@
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
+#include "events/subsystemIdRanges.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 
 class PeriodicOperationDivider;
 
@@ -29,7 +30,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
                     uint32_t transitionDelay);
   virtual ~MgmLIS3MDLHandler();
 
-  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Set the absolute limit for the values on the axis in microtesla. The dataset values will
    * be marked as invalid if that limit is exceeded
@@ -102,8 +102,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
   CommunicationStep communicationStep = CommunicationStep::DATA;
   bool commandExecuted = false;
 
-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
-  PoolEntry<float> temperature = PoolEntry<float>();
   /*------------------------------------------------------------------------*/
   /* Device specific commands and variables */
   /*------------------------------------------------------------------------*/
@@ -169,8 +167,9 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   ReturnValue_t prepareCtrlRegisterWrite();
 
-  bool periodicPrintout = false;
-  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+  PeriodicOperationDivider *debugDivider;
+#endif
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -4,13 +4,17 @@
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
 #include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
                                    CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       primaryDataset(this),
-      transitionDelay(transitionDelay) {}
+      transitionDelay(transitionDelay) {
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+  debugDivider = new PeriodicOperationDivider(10);
+#endif
+}
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
@@ -93,7 +97,7 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
           "Unknown internal state\n");
 #endif
 #endif
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
   }
 
   return buildCommandFromCommand(*id, commandBuffer, commandLen);
@@ -146,7 +150,7 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
     default:
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
@@ -159,11 +163,11 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
   // For SPI, ID will always be the one of the last sent command
   *foundId = this->getPendingCommand();
   *foundLen = len;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   switch (id) {
     case (RM3100::CONFIGURE_CMM):
     case (RM3100::CONFIGURE_CYCLE_COUNT):
@@ -250,7 +254,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
   std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
   rawPacketLen = 7;
   rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
@@ -258,7 +262,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uin
   RM3100::CycleCountCommand command(oneCycleValue);
   ReturnValue_t result =
       command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -274,7 +278,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uin
   cycleCountRegValueX = command.cycleCountX;
   cycleCountRegValueY = command.cycleCountY;
   cycleCountRegValueZ = command.cycleCountZ;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
@@ -289,7 +293,7 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
   tmrcRegValue = commandData[0];
   rawPacketLen = 2;
   rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmRM3100Handler::fillCommandAndReplyMap() {
@@ -305,13 +309,14 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
   insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }
 
-void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
+void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
 
 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
-  poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
@@ -332,36 +337,31 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
   float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
-  if (periodicPrintout) {
-    if (debugDivider.checkAndIncrement()) {
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+  if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                   " microtesla:"
-                << std::endl;
-      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
-      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+    sif::info << "MgmRM3100Handler: Magnetic field strength in"
+                 " microtesla:"
+              << std::endl;
+    sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+    sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+    sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
 #else
-      sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-      sif::printInfo("X: %f uT\n", fieldStrengthX);
-      sif::printInfo("Y: %f uT\n", fieldStrengthY);
-      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+    sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+    sif::printInfo("X: %f uT\n", fieldStrengthX);
+    sif::printInfo("Y: %f uT\n", fieldStrengthY);
+    sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
-    }
   }
+#endif
 
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
-  if (readGuard.getReadResult() == returnvalue::OK) {
-    primaryDataset.fieldStrengths[0] = fieldStrengthX;
-    primaryDataset.fieldStrengths[1] = fieldStrengthY;
-    primaryDataset.fieldStrengths[2] = fieldStrengthZ;
+  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+    primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengthZ = fieldStrengthZ;
     primaryDataset.setValidity(true, true);
   }
-  return returnvalue::OK;
-}
-
-void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
-  periodicPrintout = enable;
-  debugDivider.setDivider(divider);
+  return RETURN_OK;
 }

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -2,8 +2,12 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
 
 /**
  * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
@@ -29,7 +33,6 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                    uint32_t transitionDelay);
   virtual ~MgmRM3100Handler();
 
-  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Configure device handler to go to normal mode after startup immediately
    * @param enable
@@ -85,7 +88,6 @@ class MgmRM3100Handler : public DeviceHandlerBase {
 
   bool goToNormalModeAtStartup = false;
   uint32_t transitionDelay;
-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
 
   ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
                                               const uint8_t *commandData, size_t commandDataLen);
@@ -96,9 +98,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                                         size_t commandDataLen);
 
   ReturnValue_t handleDataReadout(const uint8_t *packet);
-
-  bool periodicPrintout = false;
-  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+  PeriodicOperationDivider *debugDivider;
+#endif
 };
 
 #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h

@@ -139,7 +139,12 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;
 
 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
 
-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+  TEMPERATURE_CELCIUS
+};
 
 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
  public:
@@ -147,10 +152,9 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {
 
   MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
 
-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
   lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
 };
 

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -101,7 +101,11 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
 
 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
 
-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+};
 
 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
  public:
@@ -109,10 +113,10 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
 
   Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
 
-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  // Field strengths in micro Tesla.
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
 };
 
 }  // namespace RM3100

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -0,0 +1,18 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+    add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	UnixFileGuard.cpp
+	CommandExecutor.cpp
+	utility.cpp
+)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+	add_subdirectory(gpio)
+	add_subdirectory(spi)
+	add_subdirectory(i2c)
+	add_subdirectory(uart)
+endif()
+
+add_subdirectory(uio)

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -23,7 +23,7 @@ ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool pri
   if (state == States::IDLE) {
     state = States::COMMAND_LOADED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CommandExecutor::execute() {
@@ -35,7 +35,7 @@ ReturnValue_t CommandExecutor::execute() {
   currentCmdFile = popen(currentCmd.c_str(), "r");
   if (currentCmdFile == nullptr) {
     lastError = errno;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (blocking) {
     ReturnValue_t result = executeBlocking();
@@ -46,7 +46,7 @@ ReturnValue_t CommandExecutor::execute() {
     waiter.fd = currentFd;
   }
   state = States::PENDING;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CommandExecutor::close() {
@@ -56,7 +56,7 @@ ReturnValue_t CommandExecutor::close() {
       pclose(currentCmdFile);
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void CommandExecutor::printLastError(std::string funcName) const {
@@ -79,7 +79,7 @@ void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
 
 ReturnValue_t CommandExecutor::check(bool& replyReceived) {
   if (blocking) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
   switch (state) {
     case (States::IDLE):
@@ -94,7 +94,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
   int result = poll(&waiter, 1, 0);
   switch (result) {
     case (0): {
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
       break;
     }
     case (1): {
@@ -151,7 +151,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
         ReturnValue_t retval = EXECUTION_FINISHED;
         if (result != 0) {
           lastError = result;
-          retval = returnvalue::FAILED;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
         }
         state = States::IDLE;
         currentCmdFile = nullptr;
@@ -161,7 +161,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
       break;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void CommandExecutor::reset() {
@@ -201,7 +201,7 @@ ReturnValue_t CommandExecutor::executeBlocking() {
   int result = pclose(currentCmdFile);
   if (result != 0) {
     lastError = result;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -7,7 +7,7 @@
 #include <vector>
 
 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 class SimpleRingBuffer;
 template <typename T>
@@ -31,25 +31,27 @@ class CommandExecutor {
   static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
 
   //! [EXPORT] : [COMMENT] Execution of the current command has finished
-  static constexpr ReturnValue_t EXECUTION_FINISHED = returnvalue::makeCode(CLASS_ID, 0);
+  static constexpr ReturnValue_t EXECUTION_FINISHED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
 
   //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
   //! to load another command but a command is still pending
-  static constexpr ReturnValue_t COMMAND_PENDING = returnvalue::makeCode(CLASS_ID, 1);
+  static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
   //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
-  static constexpr ReturnValue_t BYTES_READ = returnvalue::makeCode(CLASS_ID, 2);
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
   //! [EXPORT] : [COMMENT] Command execution failed
-  static constexpr ReturnValue_t COMMAND_ERROR = returnvalue::makeCode(CLASS_ID, 3);
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
   //! [EXPORT] : [COMMENT]
-  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING = returnvalue::makeCode(CLASS_ID, 4);
-  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = returnvalue::makeCode(CLASS_ID, 6);
+  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
 
   /**
    * Constructor. Is initialized with maximum size of internal buffer to read data from the
    * executed process.
    * @param maxSize
    */
-  explicit CommandExecutor(size_t maxSize);
+  CommandExecutor(const size_t maxSize);
 
   /**
    * Load a new command which should be executed
@@ -62,11 +64,11 @@ class CommandExecutor {
   /**
    * Execute the loaded command.
    * @return
-   *  - In blocking mode, it will return returnvalue::FAILED if
+   *  - In blocking mode, it will return RETURN_FAILED if
    *    the result of the system call was not 0. The error value can be accessed using
    *    getLastError
    *  - In non-blocking mode, this call will start
-   *    the execution and then return returnvalue::OK
+   *    the execution and then return RETURN_OK
    */
   ReturnValue_t execute();
   /**
@@ -75,8 +77,8 @@ class CommandExecutor {
    * @return
    *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
    *    check again after this
-   *  - returnvalue::OK execution is pending, but no bytes have been read from the executing process
-   *  - returnvalue::FAILED if execution has failed, error value can be accessed using getLastError
+   *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+   *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
    *  - EXECUTION_FINISHED if the process was executed successfully
    *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
    *  - COMMAND_ERROR internal poll error
@@ -85,7 +87,7 @@ class CommandExecutor {
   /**
    * Abort the current command. Should normally not be necessary, check can be used to find
    * out whether command execution was successful
-   * @return returnvalue::OK
+   * @return RETURN_OK
    */
   ReturnValue_t close();
 

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -2,7 +2,7 @@
 #define LINUX_UTILITY_UNIXFILEGUARD_H_
 
 #include <fcntl.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <unistd.h>
 
 #include <string>
@@ -24,7 +24,7 @@ class UnixFileGuard {
 
  private:
   int* fileDescriptor = nullptr;
-  ReturnValue_t openStatus = returnvalue::OK;
+  ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };
 
 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -0,0 +1,16 @@
+# This abstraction layer requires the gpiod library. You can install this library
+# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
+# to install the package before syncing the sysroot to your host computer.
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_GPIO}
+    )
+endif()
+

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

@@ -20,33 +20,30 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
   ReturnValue_t result;
   if (gpioCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
   GpioMap mapToAdd = gpioCookie->getGpioMap();
 
   /* Check whether this ID already exists in the map and remove duplicates */
   result = checkForConflicts(mapToAdd);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
     return result;
   }
 
   result = configureGpios(mapToAdd);
-  if (result != returnvalue::OK) {
-    return returnvalue::FAILED;
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
   }
 
   /* Register new GPIOs in gpioMap */
   gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-  ReturnValue_t result = returnvalue::OK;
   for (auto& gpioConfig : mapToAdd) {
     auto& gpioType = gpioConfig.second->gpioType;
     switch (gpioType) {
@@ -58,7 +55,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        result = configureGpioByChip(gpioConfig.first, *regularGpio);
+        configureGpioByChip(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
@@ -66,7 +63,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        result = configureGpioByLabel(gpioConfig.first, *regularGpio);
+        configureGpioByLabel(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
@@ -74,10 +71,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        result = configureGpioByLineName(gpioConfig.first, *regularGpio);
+        configureGpioByLineName(gpioConfig.first, *regularGpio);
         break;
       }
-      case (gpio::GpioTypes::CALLBACK): {
+      case (gpio::GpioTypes::TYPE_CALLBACK): {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
         if (gpioCallback->callback == nullptr) {
           return GPIO_INVALID_INSTANCE;
@@ -86,11 +83,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                                gpioCallback->initValue, gpioCallback->callbackArgs);
       }
     }
-    if (result != returnvalue::OK) {
-      return GPIO_INIT_FAILED;
-    }
   }
-  return result;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
@@ -98,11 +92,9 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
   std::string& label = gpioByLabel.label;
   struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
   if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                  << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
   std::string failOutput = "label: " + label;
   return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
@@ -112,11 +104,9 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
   std::string& chipname = gpioByChip.chipname;
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
   if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                  << ". Gpio ID: " << gpioId << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
   std::string failOutput = "chipname: " + chipname;
   return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
@@ -132,18 +122,16 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
       gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
   if (result != LINE_FOUND) {
     parseFindeLineResult(result, lineName);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
   gpioByLineName.lineNum = static_cast<int>(lineOffset);
 
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
   if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                  << ". <Gpio ID: " << gpioId << std::endl;
-#endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
   std::string failOutput = "line name: " + lineName;
   return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
@@ -161,33 +149,28 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   lineNum = regularGpio.lineNum;
   lineHandle = gpiod_chip_get_line(chip, lineNum);
   if (!lineHandle) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
     sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                  << std::endl;
     sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
-#endif
     gpiod_chip_close(chip);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
   direction = regularGpio.direction;
   consumer = regularGpio.consumer;
   /* Configure direction and add a description to the GPIO */
   switch (direction) {
-    case (gpio::Direction::OUT): {
-      result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                                         static_cast<int>(regularGpio.initValue));
+    case (gpio::DIR_OUT): {
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
       break;
     }
-    case (gpio::Direction::IN): {
+    case (gpio::DIR_IN): {
       result = gpiod_line_request_input(lineHandle, consumer.c_str());
       break;
     }
     default: {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
-#endif
       return GPIO_INVALID_INSTANCE;
     }
 
@@ -202,7 +185,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
             lineNum, gpioId);
 #endif
         gpiod_line_release(lineHandle);
-        return returnvalue::FAILED;
+        return RETURN_FAILED;
       }
   }
   /**
@@ -210,15 +193,13 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
    * read states of GPIOs.
    */
   regularGpio.lineHandle = lineHandle;
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
-#endif
     return UNKNOWN_GPIO_ID;
   }
 
@@ -230,7 +211,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
+    return driveGpio(gpioId, *regularGpio, gpio::HIGH);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -238,7 +219,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
     }
     gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
                            gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
   }
   return GPIO_TYPE_FAILURE;
 }
@@ -262,7 +243,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
+    return driveGpio(gpioId, *regularGpio, gpio::LOW);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -270,18 +251,18 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     }
     gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
                            gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
   }
   return GPIO_TYPE_FAILURE;
 }
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
                                         gpio::Levels logicLevel) {
-  int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
+  int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
   if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
-                 << " to logic level " << static_cast<int>(logicLevel) << std::endl;
+                 << " to logic level " << logicLevel << std::endl;
 #else
     sif::printWarning(
         "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
@@ -291,7 +272,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
     return DRIVE_GPIO_FAILURE;
   }
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
@@ -321,14 +302,14 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
     }
     gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
                            gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
   }
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
-  ReturnValue_t status = returnvalue::OK;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   for (auto& gpioConfig : mapToAdd) {
     switch (gpioConfig.second->gpioType) {
       case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
@@ -340,19 +321,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
         }
         // Check for conflicts and remove duplicates if necessary
         result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
           status = result;
         }
         break;
       }
-      case (gpio::GpioTypes::CALLBACK): {
+      case (gpio::GpioTypes::TYPE_CALLBACK): {
         auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
         if (callbackGpio == nullptr) {
           return GPIO_TYPE_FAILURE;
         }
         // Check for conflicts and remove duplicates if necessary
         result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
           status = result;
         }
         break;
@@ -385,13 +366,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
       case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
-        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) {
           eraseDuplicateDifferentType = true;
         }
         break;
       }
-      case (gpio::GpioTypes::CALLBACK): {
-        if (gpioType != gpio::GpioTypes::CALLBACK) {
+      case (gpio::GpioTypes::TYPE_CALLBACK): {
+        if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) {
           eraseDuplicateDifferentType = true;
         }
       }
@@ -426,7 +407,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
     mapToAdd.erase(gpioIdToCheck);
     return GPIO_DUPLICATE_DETECTED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {

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

@@ -19,12 +19,16 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
  public:
   static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
 
-  static constexpr ReturnValue_t UNKNOWN_GPIO_ID = returnvalue::makeCode(gpioRetvalId, 1);
-  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE = returnvalue::makeCode(gpioRetvalId, 2);
-  static constexpr ReturnValue_t GPIO_TYPE_FAILURE = returnvalue::makeCode(gpioRetvalId, 3);
-  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = returnvalue::makeCode(gpioRetvalId, 4);
-  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = returnvalue::makeCode(gpioRetvalId, 5);
-  static constexpr ReturnValue_t GPIO_INIT_FAILED = returnvalue::makeCode(gpioRetvalId, 6);
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();
@@ -65,7 +69,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
    *
    * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
    *
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
    */
   ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 

hal/src/fsfw_hal/linux/i2c/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    I2cComIF.cpp
+    I2cCookie.cpp
+)
+
+
+
+

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -1,14 +1,9 @@
 #include "I2cComIF.h"
-
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/utility.h"
 
-#if FSFW_HAL_I2C_WIRETAPPING == 1
-#include "fsfw/globalfunctions/arrayprinter.h"
-#endif
-
 #include <errno.h>
 #include <fcntl.h>
 #include <linux/i2c-dev.h>
@@ -17,6 +12,7 @@
 
 #include <cstring>
 
+
 I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 I2cComIF::~I2cComIF() {}
@@ -52,16 +48,16 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
                  << i2cAddress << "to I2C device "
                  << "map" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
              << "already in use" << std::endl;
 #endif
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
@@ -73,11 +69,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   if (sendLen == 0) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
@@ -95,16 +91,16 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
     sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
                << "registered in i2cDeviceMap" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   deviceFile = i2cCookie->getDeviceFile();
   UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
   result = openDevice(deviceFile, i2cAddress, &fd);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -114,17 +110,12 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
                   "device with error code "
                << errno << ". Error description: " << strerror(errno) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-
-#if FSFW_HAL_I2C_WIRETAPPING == 1
-  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
-  arrayprinter::print(sendData, sendLen);
-#endif
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   ReturnValue_t result;
@@ -132,7 +123,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
   std::string deviceFile;
 
   if (requestLen == 0) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
@@ -152,16 +143,16 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
                << "registered in i2cDeviceMap" << std::endl;
 #endif
     i2cDeviceMapIter->second.replyLen = 0;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   deviceFile = i2cCookie->getDeviceFile();
   UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
   result = openDevice(deviceFile, i2cAddress, &fd);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     i2cDeviceMapIter->second.replyLen = 0;
     return result;
   }
@@ -182,16 +173,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
                << " bytes" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-#if FSFW_HAL_I2C_WIRETAPPING == 1
-  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
-  arrayprinter::print(replyBuffer, requestLen);
-#endif
-
   i2cDeviceMapIter->second.replyLen = requestLen;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
@@ -210,12 +196,12 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
     sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
                << "found in i2cDeviceMap" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   *buffer = i2cDeviceMapIter->second.replyBuffer.data();
   *size = i2cDeviceMapIter->second.replyLen;
 
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
@@ -231,7 +217,7 @@ ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
     sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/i2c/I2cComIF.h

@@ -49,7 +49,7 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
    * @param deviceFile	The name of the device file. E.g. i2c-0
    * @param i2cAddress	The address of the i2c slave device.
    * @param fileDescriptor	Pointer to device descriptor.
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED.
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
    */
   ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
 };

hal/src/fsfw_hal/linux/rpi/CMakeLists.txt

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

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -9,7 +9,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
                                         std::string consumer, gpio::Direction direction,
                                         gpio::Levels initValue) {
   if (cookie == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   auto config = new GpiodRegularByChip();
@@ -30,9 +30,9 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
     sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   config->lineNum = bcmPin;
   cookie->addGpio(gpioId, config);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/rpi/GpioRPi.h

@@ -1,7 +1,7 @@
 #ifndef BSP_RPI_GPIO_GPIORPI_H_
 #define BSP_RPI_GPIO_GPIORPI_H_
 
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 #include "../../common/gpio/gpioDefinitions.h"
 

hal/src/fsfw_hal/linux/spi/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
+)
+
+
+
+

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -56,7 +56,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
           static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     /* Now we emplaced the read buffer in the map, we still need to assign that location
     to the SPI driver transfer struct */
@@ -69,7 +69,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
     sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   /* Pull CS high in any case to be sure that device is inactive */
@@ -87,7 +87,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
   int fileDescriptor = 0;
   UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
                            "SpiComIF::initializeInterface");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
 
@@ -129,12 +129,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
           "Could not write bits per word!");
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
   SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
   if (spiCookie == nullptr) {
     return NULLPOINTER;
@@ -178,13 +178,13 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
   }
 
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   int retval = 0;
   /* Prepare transfer */
   int fileDescriptor = 0;
   std::string device = spiCookie->getSpiDevice();
   UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
@@ -200,7 +200,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   /* Pull SPI CS low. For now, no support for active high given  */
   if (gpioId != gpio::NO_GPIO) {
     result = spiMutex->lockMutex(timeoutType, timeoutMs);
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
@@ -210,8 +210,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
       return result;
     }
-    result = gpioComIF->pullLow(gpioId);
-    if (result != returnvalue::OK) {
+    ReturnValue_t result = gpioComIF->pullLow(gpioId);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
@@ -251,7 +251,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
 #endif
@@ -261,7 +261,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   return result;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
@@ -270,32 +270,32 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
   }
 
   if (spiCookie->isFullDuplex()) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
   }
 
   return performHalfDuplexReception(spiCookie);
 }
 
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   std::string device = spiCookie->getSpiDevice();
   int fileDescriptor = 0;
   UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
 
   uint8_t* rxBuf = nullptr;
   size_t readSize = spiCookie->getCurrentTransferSize();
   result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
   gpioId_t gpioId = spiCookie->getChipSelectPin();
   if (gpioId != gpio::NO_GPIO) {
     result = spiMutex->lockMutex(timeoutType, timeoutMs);
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
@@ -318,7 +318,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
 #endif
@@ -332,18 +332,18 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
   SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
   if (spiCookie == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   uint8_t* rxBuf = nullptr;
   ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
   *buffer = rxBuf;
   *size = spiCookie->getCurrentTransferSize();
   spiCookie->setTransferSize(0);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
@@ -377,16 +377,16 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
 
 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
   if (buffer == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   auto iter = spiDeviceMap.find(spiAddress);
   if (iter == spiDeviceMap.end()) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   *buffer = iter->second.replyBuffer.data();
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
@@ -401,12 +401,4 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
-  // This updates the SPI clock default polarity. Only setting the mode does not update
-  // the line state, which can be an issue on mode switches because the clock line will
-  // switch the state after the chip select is pulled low
-  clockUpdateTransfer.len = 0;
-  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
-  }
 }

hal/src/fsfw_hal/linux/spi/SpiComIF.h

@@ -23,13 +23,14 @@ class SpiCookie;
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  public:
   static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
-  static constexpr ReturnValue_t OPENING_FILE_FAILED = returnvalue::makeCode(spiRetvalId, 0);
+  static constexpr ReturnValue_t OPENING_FILE_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
   /* Full duplex (ioctl) transfer failure */
   static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      returnvalue::makeCode(spiRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
   /* Half duplex (read/write) transfer failure */
   static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      returnvalue::makeCode(spiRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
 
   SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
@@ -73,7 +74,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
-  spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
   using SpiDeviceMapIter = SpiDeviceMap::iterator;

hal/src/fsfw_hal/linux/spi/SpiCookie.cpp

@@ -1,4 +1,4 @@
-#include "SpiCookie.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                      const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)

hal/src/fsfw_hal/linux/spi/spiDefinitions.h

@@ -7,7 +7,7 @@
 
 #include "../../common/gpio/gpioDefinitions.h"
 #include "../../common/spi/spiCommon.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 class SpiCookie;
 class SpiComIF;

hal/src/fsfw_hal/linux/uart/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UartComIF.cpp
+	UartCookie.cpp
+)

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -1,4 +1,7 @@
 #include "UartComIF.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/utility.h"
 
 #include <errno.h>
 #include <fcntl.h>
@@ -7,10 +10,6 @@
 
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/utility.h"
-
 UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 UartComIF::~UartComIF() {}
@@ -37,7 +36,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
   if (uartDeviceMapIter == uartDeviceMap.end()) {
     int fileDescriptor = configureUartPort(uartCookie);
     if (fileDescriptor < 0) {
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
     }
     size_t maxReplyLen = uartCookie->getMaxReplyLen();
     UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
@@ -47,17 +46,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
       sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
                    << "to UART device map" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
     }
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
                  << " already in use" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 int UartComIF::configureUartPort(UartCookie* uartCookie) {
@@ -148,16 +147,16 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
   /* Clear size bits */
   options->c_cflag &= ~CSIZE;
   switch (uartCookie->getBitsPerWord()) {
-    case BitsPerWord::BITS_5:
+    case 5:
       options->c_cflag |= CS5;
       break;
-    case BitsPerWord::BITS_6:
+    case 6:
       options->c_cflag |= CS6;
       break;
-    case BitsPerWord::BITS_7:
+    case 7:
       options->c_cflag |= CS7;
       break;
-    case BitsPerWord::BITS_8:
+    case 8:
       options->c_cflag |= CS8;
       break;
     default:
@@ -193,128 +192,82 @@ void UartComIF::setFixedOptions(struct termios* options) {
 
 void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
   switch (uartCookie->getBaudrate()) {
-    case UartBaudRate::RATE_50:
+    case 50:
       cfsetispeed(options, B50);
       cfsetospeed(options, B50);
       break;
-    case UartBaudRate::RATE_75:
+    case 75:
       cfsetispeed(options, B75);
       cfsetospeed(options, B75);
       break;
-    case UartBaudRate::RATE_110:
+    case 110:
       cfsetispeed(options, B110);
       cfsetospeed(options, B110);
       break;
-    case UartBaudRate::RATE_134:
+    case 134:
       cfsetispeed(options, B134);
       cfsetospeed(options, B134);
       break;
-    case UartBaudRate::RATE_150:
+    case 150:
       cfsetispeed(options, B150);
       cfsetospeed(options, B150);
       break;
-    case UartBaudRate::RATE_200:
+    case 200:
       cfsetispeed(options, B200);
       cfsetospeed(options, B200);
       break;
-    case UartBaudRate::RATE_300:
+    case 300:
       cfsetispeed(options, B300);
       cfsetospeed(options, B300);
       break;
-    case UartBaudRate::RATE_600:
+    case 600:
       cfsetispeed(options, B600);
       cfsetospeed(options, B600);
       break;
-    case UartBaudRate::RATE_1200:
+    case 1200:
       cfsetispeed(options, B1200);
       cfsetospeed(options, B1200);
       break;
-    case UartBaudRate::RATE_1800:
+    case 1800:
       cfsetispeed(options, B1800);
       cfsetospeed(options, B1800);
       break;
-    case UartBaudRate::RATE_2400:
+    case 2400:
       cfsetispeed(options, B2400);
       cfsetospeed(options, B2400);
       break;
-    case UartBaudRate::RATE_4800:
+    case 4800:
       cfsetispeed(options, B4800);
       cfsetospeed(options, B4800);
       break;
-    case UartBaudRate::RATE_9600:
+    case 9600:
       cfsetispeed(options, B9600);
       cfsetospeed(options, B9600);
       break;
-    case UartBaudRate::RATE_19200:
+    case 19200:
       cfsetispeed(options, B19200);
       cfsetospeed(options, B19200);
       break;
-    case UartBaudRate::RATE_38400:
+    case 38400:
       cfsetispeed(options, B38400);
       cfsetospeed(options, B38400);
       break;
-    case UartBaudRate::RATE_57600:
+    case 57600:
       cfsetispeed(options, B57600);
       cfsetospeed(options, B57600);
       break;
-    case UartBaudRate::RATE_115200:
+    case 115200:
       cfsetispeed(options, B115200);
       cfsetospeed(options, B115200);
       break;
-    case UartBaudRate::RATE_230400:
+    case 230400:
       cfsetispeed(options, B230400);
       cfsetospeed(options, B230400);
       break;
-#ifndef __APPLE__
-    case UartBaudRate::RATE_460800:
+    case 460800:
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
       break;
-    case UartBaudRate::RATE_500000:
-      cfsetispeed(options, B500000);
-      cfsetospeed(options, B500000);
-      break;
-    case UartBaudRate::RATE_576000:
-      cfsetispeed(options, B576000);
-      cfsetospeed(options, B576000);
-      break;
-    case UartBaudRate::RATE_921600:
-      cfsetispeed(options, B921600);
-      cfsetospeed(options, B921600);
-      break;
-    case UartBaudRate::RATE_1000000:
-      cfsetispeed(options, B1000000);
-      cfsetospeed(options, B1000000);
-      break;
-    case UartBaudRate::RATE_1152000:
-      cfsetispeed(options, B1152000);
-      cfsetospeed(options, B1152000);
-      break;
-    case UartBaudRate::RATE_1500000:
-      cfsetispeed(options, B1500000);
-      cfsetospeed(options, B1500000);
-      break;
-    case UartBaudRate::RATE_2000000:
-      cfsetispeed(options, B2000000);
-      cfsetospeed(options, B2000000);
-      break;
-    case UartBaudRate::RATE_2500000:
-      cfsetispeed(options, B2500000);
-      cfsetospeed(options, B2500000);
-      break;
-    case UartBaudRate::RATE_3000000:
-      cfsetispeed(options, B3000000);
-      cfsetospeed(options, B3000000);
-      break;
-    case UartBaudRate::RATE_3500000:
-      cfsetispeed(options, B3500000);
-      cfsetospeed(options, B3500000);
-      break;
-    case UartBaudRate::RATE_4000000:
-      cfsetispeed(options, B4000000);
-      cfsetospeed(options, B4000000);
-      break;
-#endif  // ! __APPLE__
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
@@ -329,14 +282,14 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   UartDeviceMapIter uartDeviceMapIter;
 
   if (sendLen == 0) {
-    return returnvalue::OK;
+    return RETURN_OK;
   }
 
   if (sendData == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
@@ -354,7 +307,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
     sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
                << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
   fd = uartDeviceMapIter->second.fileDescriptor;
@@ -364,13 +317,13 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
     sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
                << ": Error description: " << strerror(errno) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
-ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
 
 ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   std::string deviceFile;
@@ -389,7 +342,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
 
   if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
-    return returnvalue::OK;
+    return RETURN_OK;
   }
 
   if (uartDeviceMapIter == uartDeviceMap.end()) {
@@ -397,7 +350,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
     sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                << " not in uart map" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
   if (uartMode == UartModes::CANONICAL) {
@@ -405,13 +358,13 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
   } else if (uartMode == UartModes::NON_CANONICAL) {
     return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
   } else {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
 
 ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                              size_t requestLen) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   uint8_t maxReadCycles = uartCookie.getReadCycles();
   uint8_t currentReadCycles = 0;
   int bytesRead = 0;
@@ -454,7 +407,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
                           strerror(errno));
 #endif
 #endif
-        return returnvalue::FAILED;
+        return RETURN_FAILED;
       }
 
     } else if (bytesRead > 0) {
@@ -473,7 +426,7 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
   auto bufferPtr = iter->second.replyBuffer.data();
   // Size check to prevent buffer overflow
   if (requestLen > uartCookie.getMaxReplyLen()) {
-#if FSFW_VERBOSE_LEVEL >= 1
+#if OBSW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                  << std::endl;
@@ -487,18 +440,18 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
   }
   int bytesRead = read(fd, bufferPtr, requestLen);
   if (bytesRead < 0) {
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   } else if (bytesRead != static_cast<int>(requestLen)) {
     if (uartCookie.isReplySizeFixed()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
                    << requestLen << " bytes" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
     }
   }
   iter->second.replyLen = bytesRead;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
@@ -520,7 +473,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
     sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
                << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
   }
 
   *buffer = uartDeviceMapIter->second.replyBuffer.data();
@@ -529,7 +482,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   /* Length is reset to 0 to prevent reading the same data twice */
   uartDeviceMapIter->second.replyLen = 0;
 
-  return returnvalue::OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
@@ -547,9 +500,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
   }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }
 
 ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
@@ -567,9 +520,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCOFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
   }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }
 
 ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
@@ -587,9 +540,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIOFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
   }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }
 
 void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {

hal/src/fsfw_hal/linux/uart/UartComIF.h

@@ -22,9 +22,12 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
  public:
   static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
 
-  static constexpr ReturnValue_t UART_READ_FAILURE = returnvalue::makeCode(uartRetvalId, 1);
-  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
-  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
+  static constexpr ReturnValue_t UART_READ_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
 
   UartComIF(object_id_t objectId);
 

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -3,7 +3,7 @@
 #include <fsfw/serviceinterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-                       UartBaudRate baudrate, size_t maxReplyLen)
+                       uint32_t baudrate, size_t maxReplyLen)
     : handlerId(handlerId),
       deviceFile(deviceFile),
       uartMode(uartMode),
@@ -12,7 +12,7 @@ UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes
 
 UartCookie::~UartCookie() {}
 
-UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
+uint32_t UartCookie::getBaudrate() const { return baudrate; }
 
 size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
 
@@ -24,9 +24,23 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
 Parity UartCookie::getParity() const { return parity; }
 
-void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
+void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
+  switch (bitsPerWord_) {
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+      break;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#endif
+      return;
+  }
+  bitsPerWord = bitsPerWord_;
+}
 
-BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
+uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
 
 StopBits UartCookie::getStopBits() const { return stopBits; }
 

hal/src/fsfw_hal/linux/uart/UartCookie.h

@@ -12,41 +12,6 @@ enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
 
 enum class UartModes { CANONICAL, NON_CANONICAL };
 
-enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
-
-enum class UartBaudRate {
-  RATE_50,
-  RATE_75,
-  RATE_110,
-  RATE_134,
-  RATE_150,
-  RATE_200,
-  RATE_300,
-  RATE_600,
-  RATE_1200,
-  RATE_1800,
-  RATE_2400,
-  RATE_4800,
-  RATE_9600,
-  RATE_19200,
-  RATE_38400,
-  RATE_57600,
-  RATE_115200,
-  RATE_230400,
-  RATE_460800,
-  RATE_500000,
-  RATE_576000,
-  RATE_921600,
-  RATE_1000000,
-  RATE_1152000,
-  RATE_1500000,
-  RATE_2000000,
-  RATE_2500000,
-  RATE_3000000,
-  RATE_3500000,
-  RATE_4000000
-};
-
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
  *          The constructor only requests for common options like the baudrate. Other options can
@@ -62,23 +27,25 @@ class UartCookie : public CookieIF {
    * @param uartMode      Specify the UART mode. The canonical mode should be used if the
    *                      messages are separated by a delimited character like '\n'. See the
    *                      termios documentation for more information
-   * @param baudrate      The baudrate to use for input and output.
+   * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
+   *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
+   *                      38400, 57600, 115200, 230400, 460800
    * @param maxReplyLen   The maximum size an object using this cookie expects
    * @details
    * Default configuration: No parity
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-             UartBaudRate baudrate, size_t maxReplyLen);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
+             size_t maxReplyLen);
 
   virtual ~UartCookie();
 
-  UartBaudRate getBaudrate() const;
+  uint32_t getBaudrate() const;
   size_t getMaxReplyLen() const;
   std::string getDeviceFile() const;
   Parity getParity() const;
-  BitsPerWord getBitsPerWord() const;
+  uint8_t getBitsPerWord() const;
   StopBits getStopBits() const;
   UartModes getUartMode() const;
   object_id_t getHandlerId() const;
@@ -109,7 +76,7 @@ class UartCookie : public CookieIF {
   /**
    * Function two set number of bits per UART frame.
    */
-  void setBitsPerWord(BitsPerWord bitsPerWord_);
+  void setBitsPerWord(uint8_t bitsPerWord_);
 
   /**
    * Function to specify the number of stopbits.
@@ -130,10 +97,10 @@ class UartCookie : public CookieIF {
   std::string deviceFile;
   const UartModes uartMode;
   bool flushInput = false;
-  UartBaudRate baudrate;
+  uint32_t baudrate;
   size_t maxReplyLen = 0;
   Parity parity = Parity::NONE;
-  BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
+  uint8_t bitsPerWord = 8;
   uint8_t readCycles = 1;
   StopBits stopBits = StopBits::ONE_STOP_BIT;
   bool replySizeFixed = true;

hal/src/fsfw_hal/linux/uio/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)

hal/src/fsfw_hal/linux/uio/UioMapper.cpp

@@ -18,17 +18,17 @@ UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum
 UioMapper::~UioMapper() {}
 
 ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   int fd = open(uioFile.c_str(), O_RDWR);
   if (fd < 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
+    sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   size_t size = 0;
   result = getMapSize(&size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   *address = static_cast<uint32_t*>(
@@ -36,12 +36,12 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
 
   if (*address == MAP_FAILED) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
-               << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
+    sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
+                 << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t UioMapper::getMapSize(size_t* size) {
@@ -52,35 +52,33 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
   fp = fopen(namestream.str().c_str(), "r");
   if (fp == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
+    sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   char hexstring[SIZE_HEX_STRING] = "";
   int items = fscanf(fp, "%s", hexstring);
   if (items != 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UioMapper::getMapSize: Failed with error code " << errno
-               << " to read size "
-                  "string from file "
-               << namestream.str() << std::endl;
+    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno
+                 << " to read size "
+                    "string from file "
+                 << namestream.str() << std::endl;
 #endif
-    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   uint32_t sizeTmp = 0;
   items = sscanf(hexstring, "%x", &sizeTmp);
-  if (size != nullptr) {
-    *size = sizeTmp;
+  if(size != nullptr) {
+      *size = sizeTmp;
   }
   if (items != 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
-               << "size of map" << mapNum << " to integer" << std::endl;
+    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
+                 << "size of map" << mapNum << " to integer" << std::endl;
 #endif
-    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   fclose(fp);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/uio/UioMapper.h

@@ -5,7 +5,7 @@
 
 #include <string>
 
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief   Class to help opening uio device files and mapping the physical addresses into the user

hal/src/fsfw_hal/stm32h7/CMakeLists.txt

@@ -2,4 +2,6 @@ add_subdirectory(spi)
 add_subdirectory(gpio)
 add_subdirectory(devicetest)
 
-target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    dma.cpp
+)

hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20H.cpp
+)

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp

@@ -84,7 +84,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
   spiHandle->Init.Mode = SPI_MODE_MASTER;
   if (HAL_SPI_Init(spiHandle) != HAL_OK) {
     sif::printWarning("Error initializing SPI\n");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   delete mspCfg;
@@ -106,11 +106,11 @@ ReturnValue_t GyroL3GD20H::initialize() {
       return handlePollingTransferInit();
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::performOperation() {
@@ -125,10 +125,10 @@ ReturnValue_t GyroL3GD20H::performOperation() {
       return handleInterruptSensorRead();
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
@@ -162,10 +162,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     case (TransferStates::FAILURE): {
       sif::printWarning("Transfer failure\n");
       transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
@@ -194,10 +194,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     case (TransferStates::FAILURE): {
       sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
       transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
@@ -228,13 +228,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     case (TransferStates::FAILURE): {
       sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
       transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
@@ -259,13 +259,13 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
     case (TransferStates::FAILURE): {
       sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
       transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
@@ -298,14 +298,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
     }
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
@@ -323,14 +323,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
     }
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
@@ -353,17 +353,17 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
     }
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
@@ -380,17 +380,17 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
     }
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
@@ -416,7 +416,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
     case (HAL_ERROR):
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
@@ -438,7 +438,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
     case (HAL_ERROR):
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
@@ -465,10 +465,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
     case (HAL_ERROR):
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
@@ -489,10 +489,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
     case (HAL_ERROR):
     case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h

@@ -6,14 +6,10 @@
 
 #include "../spi/mspInit.h"
 #include "../spi/spiDefinitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
 
-#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
-#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
-#endif
-
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
 
 class GyroL3GD20H {

hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt

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

hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+)

hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt

@@ -0,0 +1,9 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    spiCore.cpp
+    spiDefinitions.cpp
+    spiInterrupts.cpp
+    mspInit.cpp
+    SpiCookie.cpp
+    SpiComIF.cpp
+    stm32h743zi.cpp
+)

hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp

@@ -35,7 +35,7 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
   spi::setDmaHandles(txHandle, rxHandle);
 }
 
-ReturnValue_t SpiComIF::initialize() { return returnvalue::OK; }
+ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
   SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
@@ -55,7 +55,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     spi::getDmaHandles(&txHandle, &rxHandle);
     if (txHandle == nullptr or rxHandle == nullptr) {
       sif::printError("SpiComIF::initialize: DMA handles not set!\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
   // This semaphore ensures thread-safety for a given bus
@@ -79,7 +79,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
           static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
   auto gpioPin = spiCookie->getChipSelectGpioPin();
@@ -98,7 +98,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 #endif
   } else {
     printCfgError("SPI Bus Index");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   auto mspCfg = spiCookie->getMspCfg();
@@ -107,21 +107,21 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
     if (typedCfg == nullptr) {
       printCfgError("Polling MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     spi::setSpiPollingMspFunctions(typedCfg);
   } else if (transferMode == spi::TransferModes::INTERRUPT) {
     auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
     if (typedCfg == nullptr) {
       printCfgError("IRQ MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     spi::setSpiIrqMspFunctions(typedCfg);
   } else if (transferMode == spi::TransferModes::DMA) {
     auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
     if (typedCfg == nullptr) {
       printCfgError("DMA MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     // Check DMA handles
     DMA_HandleTypeDef *txHandle = nullptr;
@@ -129,7 +129,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     spi::getDmaHandles(&txHandle, &rxHandle);
     if (txHandle == nullptr or rxHandle == nullptr) {
       printCfgError("DMA Handle");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     spi::setSpiDmaMspFunctions(typedCfg);
   }
@@ -145,12 +145,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 
   if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
     sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   // The MSP configuration struct is not required anymore
   spiCookie->deleteMspCfg();
 
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
@@ -163,7 +163,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
 
   auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
   if (iter == spiDeviceMap.end()) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
   }
   iter->second.currentTransferLen = sendLen;
 
@@ -176,7 +176,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     case (spi::TransferStates::FAILURE):
     case (spi::TransferStates::SUCCESS):
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
@@ -194,13 +194,13 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
                                     sendData, sendLen);
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@@ -212,7 +212,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
     case (spi::TransferStates::SUCCESS): {
       auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
       if (iter == spiDeviceMap.end()) {
-        return returnvalue::FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
       }
       *buffer = iter->second.replyBuffer.data();
       *size = iter->second.currentTransferLen;
@@ -228,18 +228,18 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 #endif
 #endif
       spiCookie->setTransferState(spi::TransferStates::IDLE);
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     case (spi::TransferStates::WAIT):
     case (spi::TransferStates::IDLE): {
       break;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
@@ -252,7 +252,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
   auto gpioPort = spiCookie.getChipSelectGpioPort();
   auto gpioPin = spiCookie.getChipSelectGpioPin();
   auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
-  if (returnval != returnvalue::OK) {
+  if (returnval != HasReturnvaluesIF::RETURN_OK) {
     return returnval;
   }
   spiCookie.setTransferState(spi::TransferStates::WAIT);
@@ -299,7 +299,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
       return spi::HAL_ERROR_RETVAL;
     }
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
@@ -318,7 +318,7 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
                                                SpiCookie &spiCookie, const uint8_t *sendData,
                                                size_t sendLen) {
   ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   // yet another HAL driver which is not const-correct..
@@ -366,7 +366,7 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
       return spi::HAL_TIMEOUT_RETVAL;
     }
     default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 }
@@ -379,7 +379,7 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef
 
   // Take the semaphore which will be released by a callback when the transfer is complete
   ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     // Configuration error
     sif::printWarning(
         "SpiComIF::handleInterruptSendOperation: Semaphore "
@@ -399,7 +399,7 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef
     HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
                       GPIO_PIN_RESET);
   }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
@@ -445,7 +445,7 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
 #elif defined FSFW_OSAL_RTEMS
   ReturnValue_t result = comIF->spiSemaphore->release();
 #endif
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     // Configuration error
     printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
   }

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

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