clocks suck a little less

CHANGELOG.md

@@ -8,38 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v6.0.0] 2023-02-10
+# [v6.0.0]
 
 ## Fixes
 
-- Mode Service: Add allowed subservice
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
-- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
-  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
-  subservice not working properly.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
-- Memory leak fixes for the TCP/IP TMTC bridge.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
-- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
-  seconds instead of uptime.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
-- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
-  only the X scaling factor was used.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
-- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
-- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
-  to false correctly because the `read` and `write` calls were missing.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
-- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
-  of the correct unsegmented flags (0b11) as specified in the standard.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
 - TC Scheduler Service 11: Add size and CRC check for contained TC.
-  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
 - Only delete health table entry in `HealthHelper` destructor if
   health table was set.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
   Also properly reset the reply size for successfull transfers and erroneous transfers.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
@@ -49,82 +25,22 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `TcpTmTcServer.cpp`: The server was actually not able to handle
   CCSDS packets which were clumped together. This has been fixed now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
-- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
-- various fixes related to linux Unittests and memory leaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
-- small fix to allow teardown handling
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
-- fix compiler warning for fixed array list copy ctor
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
-- missing include
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
-- defaultconfig did not build anymore
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
-- hotfix
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
-- small fix for helper
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
-- missing retval conv
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
-- DHB Countdown Bug
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
-- doc corrections
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
-- better error printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
-- include correction
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
-- better warning for missing include paths
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
-- Service 11 regression
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
 
 ## Added
 
-- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
-- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
-- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
-  option on the TCP server. CTOR prototype has changed and expects an explicit
-  TCP configuration struct to be passed.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
 - `DleParser` helper class to parse DLE encoded packets from a byte stream.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
 - `UioMapper` is able to resolve symlinks now.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
-- publish documentation for development and master branch
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
-- Add Linux HAL options
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
-- Expand SerializeIF
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
-- PUS Service 11: Additional Safety Check
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
-- improvements for auto-formatter script
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
-- provide a weak print char impl
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
-
-## Removed
-
-- now that doc server is up, remove markdown files
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
-- remove bsp specific code
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
 
 ## Changes
 
-- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
-  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
-  `HealthServiceCfg` now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
 - Moved some container returnvalues to dedicated header and namespace
-  so they can be used without template specification.
+  to they can be used without template specification.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
   `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
@@ -154,41 +70,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
   a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
+- Move some generic `StorageManagerIF` implementations from `LocalPool` to
+  interface itself so it can be re-used more easily. Also add new
+  abstract function `bool hasDataAtId(store_address_t storeId) const`.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
   - Make functions `const` where it makes sense
   - Add `const char* getName const` abstract function
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
-- Generic TMTC Bridge Update
+- Move some generic `StorageManagerIF` implementations from `LocalPool` to
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
+  interface itself so it can be re-used more easily. Also add new
-- comment tweak to event parser can read everything
+  abstract function `bool hasDataAtId(store_address_t storeId) const`.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
-- CMakeLists file updates
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
-- improve srv20 error messages
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
-- I2C Linux: remove duplicate printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
-- printout handling improvements
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
-- vec getter, reset for content
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
-- updates for source sequence counter
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
-- SP reader getPacketData is const now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
-- refactoring of serial drivers for linux
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
-- Local Pool Update Remove Add Data Ignore Fault Argument
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
-- Switch to new documentation server
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
-- Windows Tweaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
-- Refactor Local Pool API
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
-- group MGM data in local pool vectors
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
-
 
 ## CFDP
 
@@ -208,7 +101,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
      implementation without an extra component
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
 
-# [v5.0.0] 2022-07-25
+# [v5.0.0] 25.07.2022
 
 ## Changes
 

CMakeLists.txt

@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################
 
-set(FSFW_VERSION_IF_GIT_FAILS 6)
+set(FSFW_VERSION_IF_GIT_FAILS 5)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
@@ -158,7 +158,7 @@ if(FSFW_BUILD_TESTS)
   if(NOT Catch2_FOUND)
     message(
       STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
     )
     include(FetchContent)
 
@@ -174,6 +174,27 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
+  if(FSFW_OSAL MATCHES "freertos")
+    message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
+    include(FetchContent)
+
+    set(FreeRTOS_PORT posix)
+
+    FetchContent_Declare(
+      FreeRTOS
+      GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
+      GIT_TAG develop
+      GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
+
+    FetchContent_MakeAvailable(FreeRTOS)
+
+    set(LIB_OS_NAME FreeRTOS)
+    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
+    set(THREADS_PREFER_PTHREAD_FLAG ON)
+    find_package(Threads REQUIRED)
+    target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@@ -201,8 +222,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
+      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-  )
+      "etl with FindPackage")
   include(FetchContent)
 
   FetchContent_Declare(
@@ -226,6 +247,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
+
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -360,6 +382,9 @@ if(FSFW_BUILD_TESTS)
   endif()
   target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                  ${LIB_FSFW_NAME})
+  if(FSFW_OSAL MATCHES "freertos")
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
+  endif()
 endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If

automation/Dockerfile

@@ -5,7 +5,7 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync wget qemu-system-arm
 
 RUN python3 -m pip install sphinx breathe
 
@@ -21,8 +21,12 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
         cmake -B build . && \
         cmake --install build/
 
+RUN wget -qO- https://buggy.irs.uni-stuttgart.de/rtems_releases/rtems6-12.2.1.tar.bz2 | tar -xj -C /opt/
+
+ENV PATH="$PATH:/opt/rtems/6/bin"
+
 #ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+RUN adduser -q --uid 114 jenkins
 
 #add documentation server to known hosts
 RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts

automation/Jenkinsfile

@@ -2,86 +2,61 @@ pipeline {
     environment {
         BUILDDIR_HOST = 'cmake-build-tests-host'
         BUILDDIR_LINUX = 'cmake-build-tests-linux'
+        BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
+        BUILDDIR_RTEMS = 'cmake-build-tests-rtems'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
-            image 'fsfw-ci:d6'
+            image 'fsfw-ci:d7'
             args '--network host --sysctl fs.mqueue.msg_max=100'
         }
     }
     stages {
         stage('Host') {
-            stages{
+            steps {
-                stage('Clean') {
+                sh 'rm -rf $BUILDDIR_HOST'
-                    steps {
+
-                        sh 'rm -rf $BUILDDIR_HOST'
+                dir(BUILDDIR_HOST) {
-                    }
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                }
+                    sh 'cmake --build . -j4'
-                stage('Configure') {
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                    steps {
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
-                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
                 }
             }
         }
         stage('Linux') {
-            stages{
+            steps {
-                stage('Clean') {
+                sh 'rm -rf $BUILDDIR_LINUX'
-                    steps {
+
-                        sh 'rm -rf $BUILDDIR_LINUX'
+                dir(BUILDDIR_LINUX) {
-                    }
+                    sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
-                stage('Configure') {
+            }
-                    steps {
+        }
-                        dir(BUILDDIR_LINUX) {
+        stage('FreeRTOS') {
-                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+            steps {
-                        }
+                sh 'rm -rf $BUILDDIR_FREERTOS'
-                    }
+
+                dir(BUILDDIR_FREERTOS) {
+                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
-                stage('Build') {
+            }
-                    steps {
+        }
-                        dir(BUILDDIR_LINUX) {
+        stage('rtems') {
-                            sh 'cmake --build . -j4'
+            steps {
-                        }
+                sh 'rm -rf $BUILDDIR_RTEMS'
-                    }
+
-                }
+                dir(BUILDDIR_RTEMS) {
-                stage('Unittests') {
+                    sh 'cmake -DFSFW_OSAL=rtems -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_TOOLCHAIN_FILE=../unittests/testcfg/rtems/cmake/aarch64-rtems6-toolchain.cmake ..'
-                    steps {
+                    sh 'cmake --build . -j4'
-                        dir(BUILDDIR_LINUX) {
+                    sh 'qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -semihosting -machine virt,gic-version=3 -cpu cortex-a72 -m 4000  -kernel fsfw-tests'
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
                 }
             }
         }

scripts/check_release.py

@@ -1,110 +0,0 @@
-#! /bin/python
-
-
-import argparse
-import json
-import urllib.request
-import re
-from pathlib import Path
-
-def main() -> None:
-    parser = argparse.ArgumentParser(
-        description="List undocumented PRs"
-    )
-    parser.add_argument("-v", "--version", type=str, required=True)
-    args = parser.parse_args()
-    
-    match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version)
-    
-    if not match:
-        print("invalid version")
-        exit(1)
-    
-    version = "v" + match.group(1)
-    
-    print("looking for milestone for " + version + " ...")
-    
-    
-    with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json:
-        milestones = json.load(milestone_json)
-        if (len(milestones) == 0):
-            print("did not find any milestone")
-            exit(1)
-        if (len(milestones) > 1):
-            print("found multiple milestons")
-        milestone_title = milestones[0]['title']
-        milestone = str(milestones[0]['id'])
-        print("Using Milestone \""+ milestone_title + "\" with id " + milestone)
-    
-    milestone_prs = []
-    
-    page = 1
-    last_count = 1;
-    while last_count != 0:
-        with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
-            pull_requests = json.load(pull_requests_json)
-            for pr in pull_requests:
-                milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']})
-            page += 1
-            last_count = len(pull_requests)
-    
-    print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
-    
-    print("looking for CHANGELOG.md ...")
-    
-    path = Path(".")
-    
-    files = list(path.glob("CHANGELOG.md"))
-    
-    if (len(files) != 1):
-        files = list(path.glob("../CHANGELOG.md"))
-        
-    if (len(files) != 1):
-        print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.")
-        exit(1)
-        
-    print("Scanning CHANGELOG.md ...")
-    
-    changelog_prs = []
-    
-    with open(files[0]) as changelog:
-        line = changelog.readline()
-        while (line):
-            #print("line: " + line)
-            match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line)
-            if (match):
-                if match.group(1) == version:
-                    #print("found version")
-                    line = changelog.readline()
-                    continue
-                else:
-                    #print("done with " + match.group(1))
-                    break
-            
-            match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line)
-            if match:
-                changelog_prs.append(match.group(1))
-                
-            line = changelog.readline()
-    
-    print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md")
-    
-    print("")
-    
-    copy_array = changelog_prs.copy()
-    print("PRs in CHANGELOG.md that are not in Milestone:")
-    for pr in milestone_prs:
-        if pr['number'] in copy_array:
-            copy_array.remove(pr['number'])
-    for pr in copy_array:
-        print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr)
-
-    print("")
-
-    print("PRs in milestone that are not in CHANGELOG.md:")
-    
-    for pr in milestone_prs:
-        if pr['number'] not in changelog_prs:
-            print("- " + pr['title'] + "\n  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number'])
-
-main()

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,6 +1,5 @@
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -322,8 +321,7 @@ void DeviceHandlerBase::doStateMachine() {
       if (mode != currentMode) {
         break;
       }
-      uint32_t currentUptime;
+      uint32_t currentUptime = Clock::getUptime_ms();
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= childTransitionDelay) {
 #if FSFW_VERBOSE_LEVEL >= 1 && FSFW_OBJ_EVENT_TRANSLATION == 0
         char printout[60];
@@ -347,8 +345,7 @@ void DeviceHandlerBase::doStateMachine() {
       setMode(_MODE_WAIT_ON);
       break;
     case _MODE_WAIT_ON: {
-      uint32_t currentUptime;
+      uint32_t currentUptime = Clock::getUptime_ms();
-      Clock::getUptime(&currentUptime);
       if (powerSwitcher != nullptr and
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
@@ -367,8 +364,7 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
-      uint32_t currentUptime;
+      uint32_t currentUptime = Clock::getUptime_ms();
-      Clock::getUptime(&currentUptime);
 
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
@@ -578,7 +574,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
-  Clock::getUptime(&timeoutStart);
+  timeoutStart = Clock::getUptime_ms();
 
   if (mode == MODE_OFF and thermalSet != nullptr) {
     ReturnValue_t result = thermalSet->read();
@@ -1509,10 +1505,7 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   for (const auto& reply : deviceReplyMap) {
     if (reply.second.dataSet != nullptr) {
-      PoolReadGuard pg(reply.second.dataSet);
+      reply.second.dataSet->setValidity(false, true);
-      if (pg.getReadResult() == returnvalue::OK) {
-        reply.second.dataSet->setValidity(false, true);
-      }
     }
   }
 }

src/fsfw/health/HasHealthIF.h

@@ -16,24 +16,26 @@ class HasHealthIF {
   };
 
   static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = returnvalue::makeCode(INTERFACE_ID, 1);
+  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
-  static constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2);
+  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
-  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
-  //! P1: New Health, P2: Old Health
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  //! Assembly overwrites health information of children to keep satellite alive.
+  static const Event OVERWRITING_HEALTH =
-  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
+      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
-  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
+                                     //!< satellite alive.
-  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
+  static const Event TRYING_RECOVERY =
-  //! Recovery is ongoing. Comes twice during recovery.
+      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
-  //! P1: 0 for the first, 1 for the second event. P2: 0
+                                         //!< power-cycle). No parameters.
-  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
+  static const Event RECOVERY_STEP =
-  //! Recovery was completed. Not necessarily successful. No parameters.
+      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
-  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
+                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(
+      12,
+      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
+
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/health/HealthTable.h

@@ -8,8 +8,6 @@
 #include "HealthTableIF.h"
 
 class HealthTable : public HealthTableIF, public SystemObject {
-  friend class CServiceHealthCommanding;
-
  public:
   explicit HealthTable(object_id_t objectid);
   ~HealthTable() override;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,10 +7,10 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
+      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   mutex = MutexFactory::instance()->createMutex();
 }
 

src/fsfw/modes/ModeMessage.cpp

@@ -24,19 +24,3 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
   message->setParameter(reason);
   message->setParameter2(0);
 }
-
-void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
-  Command_t cmd;
-  if (recursive) {
-    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
-  } else {
-    cmd = CMD_MODE_ANNOUNCE;
-  }
-  message.setCommand(cmd);
-}
-
-void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
-  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
-}
-
-void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); }

src/fsfw/modes/ModeMessage.h

@@ -45,9 +45,6 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
-  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
-  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
-  static void setModeReadMessage(CommandMessage& message);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

src/fsfw/osal/CMakeLists.txt

@@ -18,10 +18,7 @@ elseif(FSFW_OSAL MATCHES "host")
   endif()
   set(FSFW_OSAL_HOST 1)
 else()
-  message(
+  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
-    WARNING
-      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
-
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)

src/fsfw/osal/common/TcpTmTcServer.cpp

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

src/fsfw/osal/common/TcpTmTcServer.h

@@ -41,11 +41,11 @@ class SpacePacketParser;
  */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
  public:
+  enum class ReceptionModes { SPACE_PACKETS };
+
   struct TcpConfig {
    public:
-    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
-    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
-        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
 
     /**
      * Passed to the recv call
@@ -63,23 +63,8 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    std::string tcpPort = DEFAULT_SERVER_PORT;
+    const std::string tcpPort;
-
-    /**
-     * Sets the SO_REUSEADDR option on the socket. See
-     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
-     * especially useful in a debugging and development environment where an OBSW image might be
-     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
-     * port.
-     */
-    bool reuseAddr = false;
-    /**
-     * Sets the SO_REUSEPORT option on the socket. See
-     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
-     */
-    bool reusePort = false;
   };
-  enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;
 
@@ -95,9 +80,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
    *                              size will be the Ethernet MTU size
    * @param customTcpServerPort   The user can specify another port than the default (7301) here.
    */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
                 size_t receptionBufferSize = RING_BUFFER_SIZE,
                 size_t ringBufferSize = RING_BUFFER_SIZE,
+                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
   ~TcpTmTcServer() override;
 

src/fsfw/osal/freertos/BinSemaphUsingTask.h

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

src/fsfw/osal/freertos/BinarySemaphore.h

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

src/fsfw/osal/freertos/Clock.cpp

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

src/fsfw/osal/freertos/CountingSemaphUsingTask.h

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

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

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

src/fsfw/osal/freertos/Mutex.cpp

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

src/fsfw/osal/freertos/TaskManagement.cpp

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

src/fsfw/osal/freertos/TaskManagement.h

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

src/fsfw/osal/host/Clock.cpp

@@ -15,27 +15,6 @@
 
 using SystemClock = std::chrono::system_clock;
 
-uint32_t Clock::getTicksPerSecond(void) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::getTicksPerSecond: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::getTicksPerSecond: Not implemented for host OSAL\n");
-#endif
-  /* To avoid division by zero */
-  return 1;
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  /* I don't know why someone would need to set a clock which is probably perfectly fine on a
-  host system with internet access so this is not implemented for now. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
-#endif
-  return returnvalue::OK;
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
   /* I don't know why someone would need to set a clock which is probably perfectly fine on a
   host system with internet access so this is not implemented for now. */
@@ -66,6 +45,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   time->tv_usec = timeUnix.tv_nsec / 1000.0;
   return returnvalue::OK;
 #else
+#warning Clock::getClock_timeval() not implemented for your platform
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "Clock::getUptime: Not implemented for found OS!" << std::endl;
 #else
@@ -75,15 +55,6 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 #endif
 }
 
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  if (time == nullptr) {
-    return returnvalue::FAILED;
-  }
-  using namespace std::chrono;
-  *time = duration_cast<microseconds>(system_clock::now().time_since_epoch()).count();
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
   timeval timeval;
 #if defined(PLATFORM_WIN)
@@ -100,6 +71,7 @@ timeval Clock::getUptime() {
     timeval.tv_usec = uptimeSeconds * (double)1e6 - (timeval.tv_sec * 1e6);
   }
 #else
+#warning Clock::getUptime() not implemented for your platform
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
 #endif
@@ -107,66 +79,3 @@ timeval Clock::getUptime() {
   return timeval;
 }
 
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  *uptime = getUptime();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime = getUptime();
-  *uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  /* Do some magic with chrono (C++20!) */
-  /* Right now, the library doesn't have the new features to get the required values yet.
-  so we work around that for now. */
-  auto now = SystemClock::now();
-  auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
-  auto fraction = now - seconds;
-  time_t tt = SystemClock::to_time_t(now);
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  struct tm* timeInfo;
-  timeInfo = gmtime(&tt);
-  time->year = timeInfo->tm_year + 1900;
-  time->month = timeInfo->tm_mon + 1;
-  time->day = timeInfo->tm_mday;
-  time->hour = timeInfo->tm_hour;
-  time->minute = timeInfo->tm_min;
-  time->second = timeInfo->tm_sec;
-  auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
-  time->usecond = usecond.count();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm {};
-
-  time_tm.tm_year = from->year - 1900;
-  time_tm.tm_mon = from->month - 1;
-  time_tm.tm_mday = from->day;
-
-  time_tm.tm_hour = from->hour;
-  time_tm.tm_min = from->minute;
-  time_tm.tm_sec = from->second;
-  time_tm.tm_isdst = 0;
-
-  time_t seconds = timegm(&time_tm);
-
-  to->tv_sec = seconds;
-  to->tv_usec = from->usecond;
-  // Fails in 2038..
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}

src/fsfw/osal/linux/Clock.cpp

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

src/fsfw/osal/rtems/BinarySemaphore.cpp

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

src/fsfw/osal/rtems/Clock.cpp

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

src/fsfw/osal/rtems/CpuUsage.cpp

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

src/fsfw/osal/rtems/InternalErrorCodes.cpp

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

src/fsfw/osal/rtems/SemaphoreFactory.cpp

@@ -1,5 +1,5 @@
 #include "fsfw/osal/rtems/BinarySemaphore.h"
-// #include "fsfw/osal/rtems/CountingSemaphore.h"
+//#include "fsfw/osal/rtems/CountingSemaphore.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/SemaphoreFactory.h"
@@ -18,7 +18,9 @@ SemaphoreFactory* SemaphoreFactory::instance() {
 }
 
 SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
-  return new BinarySemaphore();
+  return nullptr;
+  //TODO
+  //return new BinarySemaphore();
 }
 
 SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount, uint8_t initCount,

src/fsfw/pus/CMakeLists.txt

@@ -9,4 +9,4 @@ target_sources(
           Service17Test.cpp
           Service20ParameterManagement.cpp
           CService200ModeCommanding.cpp
-          CServiceHealthCommanding.cpp)
+          CService201HealthCommanding.cpp)

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -19,8 +19,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_ANNOUNCE):
+    case (Subservice::COMMAND_MODE_ANNCOUNCE):
-    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -54,32 +53,16 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                         const uint8_t *tcData, size_t tcDataLen,
                                                         uint32_t *state, object_id_t objectId) {
-  bool recursive = false;
+  ModePacket modeCommandPacket;
-  switch (subservice) {
+  ReturnValue_t result =
-    case (Subservice::COMMAND_MODE_COMMAND): {
+      modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      ModePacket modeCommandPacket;
+  if (result != returnvalue::OK) {
-      ReturnValue_t result =
+    return result;
-          modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-
-      ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND,
-                                  modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
-      return returnvalue::OK;
-    }
-    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
-      recursive = true;
-      [[fallthrough]];
-    case (Subservice::COMMAND_MODE_ANNOUNCE):
-      ModeMessage::setModeAnnounceMessage(*message, recursive);
-      return EXECUTION_COMPLETE;
-    case (Subservice::COMMAND_MODE_READ):
-      ModeMessage::setModeReadMessage(*message);
-      return returnvalue::OK;
-    default:
-      return CommandingServiceBase::INVALID_SUBSERVICE;
   }
+
+  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+                              modeCommandPacket.getSubmode());
+  return result;
 }
 
 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
@@ -90,10 +73,8 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
   ReturnValue_t result = returnvalue::FAILED;
   switch (replyId) {
     case (ModeMessage::REPLY_MODE_REPLY): {
-      if (previousCommand != ModeMessage::CMD_MODE_COMMAND) {
+      result = prepareModeReply(reply, objectId);
-        return prepareModeReply(reply, objectId);
+      break;
-      }
-      return returnvalue::OK;
     }
     case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
       result = prepareWrongModeReply(reply, objectId);

src/fsfw/pus/CService200ModeCommanding.h

@@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
     COMMAND_MODE_READ = 3,
     //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
     //! This command does NOT have a reply
-    COMMAND_MODE_ANNOUNCE = 4,
+    COMMAND_MODE_ANNCOUNCE = 4,
     //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
     //! command to every child. This command does NOT have a reply.
     COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -0,0 +1,106 @@
+#include "fsfw/pus/CService201HealthCommanding.h"
+
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthMessage.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/pus/servicepackets/Service201Packets.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
+                                                         uint8_t serviceId,
+                                                         uint8_t numParallelCommands,
+                                                         uint16_t commandTimeoutSeconds)
+    : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
+                            commandTimeoutSeconds) {}
+
+ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
+      return returnvalue::OK;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Invalid Subservice" << std::endl;
+#endif
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+  }
+}
+
+ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
+                                                                    const uint8_t *tcData,
+                                                                    size_t tcDataLen,
+                                                                    MessageQueueId_t *id,
+                                                                    object_id_t *objectId) {
+  if (tcDataLen < sizeof(object_id_t)) {
+    return CommandingServiceBase::INVALID_TC;
+  }
+  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+
+  return checkInterfaceAndAcquireMessageQueue(id, objectId);
+}
+
+ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+  if (destination == nullptr) {
+    return CommandingServiceBase::INVALID_OBJECT;
+  }
+
+  *messageQueueToSet = destination->getCommandQueue();
+  return returnvalue::OK;
+}
+
+ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
+                                                          uint8_t subservice, const uint8_t *tcData,
+                                                          size_t tcDataLen, uint32_t *state,
+                                                          object_id_t objectId) {
+  ReturnValue_t result = returnvalue::OK;
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH): {
+      HealthSetCommand healthCommand;
+      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        break;
+      }
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
+                                      healthCommand.getHealth());
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
+      break;
+    }
+    default: {
+      // Should never happen, subservice was already checked
+      result = returnvalue::FAILED;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
+                                                       Command_t previousCommand, uint32_t *state,
+                                                       CommandMessage *optionalNextCommand,
+                                                       object_id_t objectId, bool *isStep) {
+  Command_t replyId = reply->getCommand();
+  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
+    return EXECUTION_COMPLETE;
+  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
+    return reply->getReplyRejectedReason();
+  }
+  return CommandingServiceBase::INVALID_REPLY;
+}
+
+// Not used for now, health state already reported by event
+[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
+    const CommandMessage *reply) {
+  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+  HealthSetReply healthSetReply(health, oldHealth);
+  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
+}

src/fsfw/pus/CService201HealthCommanding.h

@@ -1,26 +1,8 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 
-#include <fsfw/health/HealthTable.h>
-
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 
-struct HealthServiceCfg {
-  HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable,
-                   uint16_t maxNumHealthInfoPerCycle)
-      : objectId(objectId),
-        apid(apid),
-        table(healthTable),
-        maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
-  object_id_t objectId;
-  uint16_t apid;
-  object_id_t table;
-  uint16_t maxNumHealthInfoPerCycle;
-  uint8_t service = 201;
-  uint8_t numParallelCommands = 4;
-  uint16_t commandTimeoutSeconds = 60;
-};
-
 /**
  * @brief   Custom PUS service to set health of all objects
  *          implementing hasHealthIF.
@@ -35,12 +17,11 @@ struct HealthServiceCfg {
  * child class like this service
  *
  */
-class CServiceHealthCommanding : public CommandingServiceBase {
+class CService201HealthCommanding : public CommandingServiceBase {
  public:
-  CServiceHealthCommanding(HealthServiceCfg args);
+  CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-  ~CServiceHealthCommanding() override = default;
+                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-
+  ~CService201HealthCommanding() override = default;
-  ReturnValue_t initialize() override;
 
  protected:
   /* CSB abstract function implementations */
@@ -56,14 +37,7 @@ class CServiceHealthCommanding : public CommandingServiceBase {
                             CommandMessage *optionalNextCommand, object_id_t objectId,
                             bool *isStep) override;
 
-  void doPeriodicOperation() override;
-
  private:
-  const object_id_t healthTableId;
-  HealthTable *healthTable;
-  uint16_t maxNumHealthInfoPerCycle = 0;
-  bool reportAllHealth = false;
-  ReturnValue_t iterateHealthTable(bool reset);
   static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
                                                             const object_id_t *objectId);
 

src/fsfw/pus/CServiceHealthCommanding.cpp

@@ -1,158 +0,0 @@
-#include <fsfw/events/EventManagerIF.h>
-#include <fsfw/pus/CServiceHealthCommanding.h>
-
-#include "fsfw/health/HasHealthIF.h"
-#include "fsfw/health/HealthMessage.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/pus/servicepackets/Service201Packets.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
-    : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
-                            args.numParallelCommands, args.commandTimeoutSeconds),
-      healthTableId(args.table),
-      maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
-
-ReturnValue_t CServiceHealthCommanding::initialize() {
-  ReturnValue_t result = CommandingServiceBase::initialize();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
-  if (healthTable == nullptr) {
-    return returnvalue::FAILED;
-  }
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
-      return returnvalue::OK;
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Invalid Subservice" << std::endl;
-#endif
-      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-  }
-}
-
-ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
-                                                                 const uint8_t *tcData,
-                                                                 size_t tcDataLen,
-                                                                 MessageQueueId_t *id,
-                                                                 object_id_t *objectId) {
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
-      if (tcDataLen < sizeof(object_id_t)) {
-        return CommandingServiceBase::INVALID_TC;
-      }
-      SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-
-      return checkInterfaceAndAcquireMessageQueue(id, objectId);
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
-      return returnvalue::OK;
-    }
-    default: {
-      return returnvalue::FAILED;
-    }
-  }
-}
-
-ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
-  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
-  if (destination == nullptr) {
-    return CommandingServiceBase::INVALID_OBJECT;
-  }
-
-  *messageQueueToSet = destination->getCommandQueue();
-  return returnvalue::OK;
-}
-
-ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
-                                                       const uint8_t *tcData, size_t tcDataLen,
-                                                       uint32_t *state, object_id_t objectId) {
-  ReturnValue_t result = returnvalue::OK;
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH): {
-      HealthSetCommand healthCommand;
-      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        break;
-      }
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
-                                      healthCommand.getHealth());
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
-      ReturnValue_t result = iterateHealthTable(true);
-      if (result == returnvalue::OK) {
-        reportAllHealth = true;
-        return EXECUTION_COMPLETE;
-      }
-      return result;
-    }
-    default: {
-      // Should never happen, subservice was already checked
-      result = returnvalue::FAILED;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
-                                                    Command_t previousCommand, uint32_t *state,
-                                                    CommandMessage *optionalNextCommand,
-                                                    object_id_t objectId, bool *isStep) {
-  Command_t replyId = reply->getCommand();
-  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
-    return EXECUTION_COMPLETE;
-  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
-    return reply->getReplyRejectedReason();
-  }
-  return CommandingServiceBase::INVALID_REPLY;
-}
-
-void CServiceHealthCommanding::doPeriodicOperation() {
-  if (reportAllHealth) {
-    for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
-      ReturnValue_t result = iterateHealthTable(false);
-      if (result != returnvalue::OK) {
-        reportAllHealth = false;
-        break;
-      }
-    }
-  }
-}
-
-// Not used for now, health state already reported by event
-[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply(
-    const CommandMessage *reply) {
-  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
-  HealthSetReply healthSetReply(health, oldHealth);
-  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
-}
-
-ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
-  std::pair<object_id_t, HasHealthIF::HealthState> pair;
-
-  ReturnValue_t result = healthTable->iterate(&pair, reset);
-  if (result != returnvalue::OK) {
-    return result;
-  } else {
-    EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
-    return returnvalue::OK;
-  }
-}

src/fsfw/pus/Service20ParameterManagement.cpp

@@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
                << "MessageQueue: Can't access object" << std::endl;
-    sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
+    sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
+    sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
 #else
     sif::printError(
         "Service20ParameterManagement::checkInterfaceAndAcquire"
         "MessageQueue: Can't access object\n");
     sif::printError("Object ID: 0x%08x\n", *objectId);
-    sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
+    sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
 #endif
 
     return CommandingServiceBase::INVALID_OBJECT;

src/fsfw/pus/Service9TimeManagement.cpp

@@ -1,7 +1,5 @@
 #include "fsfw/pus/Service9TimeManagement.h"
 
-#include <cmath>
-
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -17,17 +15,9 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
-    case Subservice::SET_TIME: {
+    case SUBSERVICE::SET_TIME: {
       return setTime();
     }
-    case Subservice::DUMP_TIME: {
-      timeval newTime;
-      Clock::getClock_timeval(&newTime);
-      uint32_t subsecondMs =
-          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
-      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
-      return returnvalue::OK;
-    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
@@ -43,14 +33,13 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  timeval time;
+  // TODO maybe switch to getClock_usecs to report more meaningful data
-  Clock::getClock_timeval(&time);
+  uint32_t formerUptime = Clock::getUptime_ms();
   result = Clock::setClock(&timeToSet);
 
   if (result == returnvalue::OK) {
-    timeval newTime;
+    uint32_t newUptime = Clock::getUptime_ms();
-    Clock::getClock_timeval(&newTime);
+    triggerEvent(CLOCK_SET, newUptime, formerUptime);
-    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
     return returnvalue::OK;
   } else {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);

src/fsfw/pus/Service9TimeManagement.h

@@ -6,13 +6,10 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-
+  static constexpr Event CLOCK_SET =
-  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
+      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
+  static constexpr Event CLOCK_SET_FAILURE =
-  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
-  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
@@ -33,9 +30,8 @@ class Service9TimeManagement : public PusServiceBase {
   virtual ReturnValue_t setTime();
 
  private:
-  enum Subservice {
+  enum SUBSERVICE {
-    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
-    DUMP_TIME = 129,
   };
 };
 

src/fsfw/rmap/rmapStructs.h

@@ -10,11 +10,11 @@
 
 //////////////////////////////////////////////////////////////////////////////////
 // RMAP command bits
-// #define RMAP_COMMAND_BIT_INCREMENT	2
+//#define RMAP_COMMAND_BIT_INCREMENT	2
-// #define RMAP_COMMAND_BIT_REPLY		3
+//#define RMAP_COMMAND_BIT_REPLY		3
-// #define RMAP_COMMAND_BIT_WRITE		5
+//#define RMAP_COMMAND_BIT_WRITE		5
-// #define RMAP_COMMAND_BIT_VERIFY		4
+//#define RMAP_COMMAND_BIT_VERIFY		4
-// #define RMAP_COMMAND_BIT			6
+//#define RMAP_COMMAND_BIT			6
 
 namespace RMAPIds {
 
@@ -32,14 +32,14 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C
 static const uint8_t RMAP_REPLY_WRITE =
     ((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY));
 static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY));
-// #define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
+//#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
 //| (1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY	((1<<RMAP_COMMAND_BIT) |
 //(1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define
-//  RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
+// RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
 
-// #define RMAP_REPLY_WRITE			((1<<RMAP_COMMAND_BIT_WRITE) |
+//#define RMAP_REPLY_WRITE			((1<<RMAP_COMMAND_BIT_WRITE) |
 //(1<<RMAP_COMMAND_BIT_REPLY))
-// #define RMAP_REPLY_WRITE_VERIFY		((1<<RMAP_COMMAND_BIT_WRITE) |
+//#define RMAP_REPLY_WRITE_VERIFY		((1<<RMAP_COMMAND_BIT_WRITE) |
 //(1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define RMAP_REPLY_READ
 //((1<<RMAP_COMMAND_BIT_REPLY))
 
@@ -49,9 +49,9 @@ static const uint8_t RMAP_COMMAND_HEADER_LEN = 16;
 static const uint8_t RMAP_WRITE_REPLY_HEADER_LEN = 8;
 static const uint8_t RMAP_READ_REPLY_HEADER_LEN = 12;
 static const uint8_t RMAP_DATA_FOOTER_SIZE = 1;  // SIZE OF CRC
-// #define RMAP_COMMAND_HEADER_LEN		16
+//#define RMAP_COMMAND_HEADER_LEN		16
-// #define RMAP_WRITE_REPLY_HEADER_LEN	8
+//#define RMAP_WRITE_REPLY_HEADER_LEN	8
-// #define RMAP_READ_REPLY_HEADER_LEN	12
+//#define RMAP_READ_REPLY_HEADER_LEN	12
 
 }  // namespace RMAPIds
 

src/fsfw/subsystem/Subsystem.cpp

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

src/fsfw/thermal/Heater.cpp

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

src/fsfw/timemanager/CCSDSTime.cpp

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

src/fsfw/timemanager/CdsShortTimeStamper.cpp

@@ -4,8 +4,6 @@
 
 #include "fsfw/timemanager/Clock.h"
 
-CdsShortTimeStamper::CdsShortTimeStamper() : SystemObject(0, false) {}
-
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
 
 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,

src/fsfw/timemanager/CdsShortTimeStamper.h

@@ -18,7 +18,6 @@
 class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
  public:
   static constexpr size_t TIMESTAMP_LEN = 7;
-  CdsShortTimeStamper();
   /**
    * @brief   Default constructor which also registers the time stamper as a
    *          system object so it can be found with the #objectManager.

src/fsfw/timemanager/Clock.h

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

src/fsfw/timemanager/ClockCommon.cpp

@@ -1,4 +1,5 @@
 #include <ctime>
+#include <cstdlib>
 
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/timemanager/Clock.h"
@@ -53,34 +54,74 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 }
 
 ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
-  struct tm* timeInfo;
+  struct tm time_tm;
-  // According to https://en.cppreference.com/w/c/chrono/gmtime, the implementation of gmtime_s
+  // WINDOWS does not provide gmtime_r, but gmtime_s
-  // in the Windows CRT is incompatible with the C standard but this should not be an issue for
-  // this implementation
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  MutexGuard helper(timeMutex);
 #ifdef PLATFORM_WIN
-  time_t time;
+  errno_t result = gmtime_s(&time_tm, &from->tv_sec);
-  time = from->tv_sec;
+  if (result != 0) {
-  timeInfo = gmtime(&time);
+    return returnvalue::FAILED;
+  }
 #else
-  timeInfo = gmtime(&from->tv_sec);
+  void* result = gmtime_r(&from->tv_sec, &time_tm);
+
+  if (result == nullptr) {
+    return returnvalue::FAILED;
+  }
 #endif
-  to->year = timeInfo->tm_year + 1900;
+
-  to->month = timeInfo->tm_mon + 1;
+  to->year = time_tm.tm_year + 1900;
-  to->day = timeInfo->tm_mday;
+  to->month = time_tm.tm_mon + 1;
-  to->hour = timeInfo->tm_hour;
+  to->day = time_tm.tm_mday;
-  to->minute = timeInfo->tm_min;
+  to->hour = time_tm.tm_hour;
-  to->second = timeInfo->tm_sec;
+  to->minute = time_tm.tm_min;
+  to->second = time_tm.tm_sec;
   to->usecond = from->tv_usec;
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
+  struct tm time_tm = {};
+
+  time_tm.tm_year = from->year - 1900;
+  time_tm.tm_mon = from->month - 1;
+  time_tm.tm_mday = from->day;
+
+  time_tm.tm_hour = from->hour;
+  time_tm.tm_min = from->minute;
+  time_tm.tm_sec = from->second;
+
+  time_tm.tm_isdst = 0;
+
+  // Windows:
+  // time_t seconds = _mkgmtime(&time_tm);
+  // Glibc:
+  // time_t seconds = timegm(&time_tm);
+  // Portable (?)
+  char* tz;
+  tz = getenv("TZ");
+  setenv("TZ", "", 1);
+  tzset();
+  time_t seconds = mktime(&time_tm);
+  if (tz)
+    setenv("TZ", tz, 1);
+  else
+    unsetenv("TZ");
+  tzset();
+  to->tv_sec = seconds;
+  to->tv_usec = from->usecond;
+
+  if (seconds == (time_t) -1) {
+    return returnvalue::FAILED;
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
+  return returnvalue::OK;
+}
+
 ReturnValue_t Clock::checkOrCreateClockMutex() {
   if (timeMutex == nullptr) {
     MutexFactory* mutexFactory = MutexFactory::instance();
@@ -94,3 +135,37 @@ ReturnValue_t Clock::checkOrCreateClockMutex() {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+  timeval time_timeval;
+  ReturnValue_t result = getClock_timeval(&time_timeval);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return convertTimevalToTimeOfDay(&time_timeval, time);
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+  timeval timeVal{};
+  ReturnValue_t result = getClock_timeval(&timeVal);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+  timeval timeTimeval{};
+  ReturnValue_t result = convertTimeOfDayToTimeval(time, &timeTimeval);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return setClock(&timeTimeval);
+}
+uint32_t Clock::getUptime_ms() {
+  timeval uptime = getUptime();
+  // TODO verify that overflow is correct
+  return uptime.tv_sec * 1e3 + uptime.tv_usec / 1e3;
+}

src/fsfw/timemanager/Countdown.cpp

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

src/fsfw/timemanager/Stopwatch.cpp

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

src/fsfw/timemanager/TimeReaderIF.h

@@ -3,6 +3,8 @@
 
 #include <cstdio>
 #include <cstdlib>
+#include <sys/time.h>
+
 
 #include "fsfw/platform.h"
 

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp

@@ -100,6 +100,5 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa
 void PusTcCreator::setup() {
   spCreator.setPacketType(ccsds::PacketType::TC);
   spCreator.setSecHeaderFlag();
-  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
   updateSpLengthField();
 }

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp

@@ -119,7 +119,6 @@ void PusTmCreator::setup() {
   updateSpLengthField();
   spCreator.setPacketType(ccsds::PacketType::TM);
   spCreator.setSecHeaderFlag();
-  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
 }
 
 void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {

src/fsfw/tmtcservices/CommandingServiceBase.cpp

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

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -16,9 +16,7 @@ TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDes
       tcDestination(tcDestination)
 
 {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
-      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@@ -37,7 +35,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC
   }
 }
 
-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) {
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) {
   if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
     this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
     return returnvalue::OK;
@@ -145,17 +143,13 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 #endif /* FSFW_VERBOSE_LEVEL >= 3 */
 
     if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) {
-      ReturnValue_t result = storeDownlinkData(&message);
+      storeDownlinkData(&message);
-      if (result != returnvalue::OK) {
-        tmStore->deleteData(message.getStorageId());
-      }
       continue;
     }
 
     result = tmStore->getData(message.getStorageId(), &data, &size);
     if (result != returnvalue::OK) {
       status = result;
-      tmStore->deleteData(message.getStorageId());
       continue;
     }
 
@@ -163,9 +157,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
     if (result != returnvalue::OK) {
       status = result;
     } else {
+      tmStore->deleteData(message.getStorageId());
       packetSentCounter++;
     }
-    tmStore->deleteData(message.getStorageId());
   }
   return status;
 }
@@ -177,18 +171,15 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
   }
 
   if (tmFifo->full()) {
-    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-                      "of stored packet IDs reached!"
+                    "of stored packet IDs reached!"
-                   << std::endl;
+                 << std::endl;
 #else
-      sif::printWarning(
+    sif::printWarning(
-          "TmTcBridge::storeDownlinkData: TM downlink max. number "
+        "TmTcBridge::storeDownlinkData: TM downlink max. number "
-          "of stored packet IDs reached!\n");
+        "of stored packet IDs reached!\n");
 #endif
-      warningSwitch = false;
-    }
     if (overwriteOld) {
       tmFifo->retrieve(&storeId);
       tmStore->deleteData(storeId);
@@ -230,7 +221,6 @@ ReturnValue_t TmTcBridge::handleStoredTm() {
     packetSentCounter++;
 
     if (tmFifo->empty()) {
-      warningSwitch = true;
       tmStored = false;
     }
     tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -17,7 +17,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
  public:
   static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
   static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-  static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500;
+  static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
 
   static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
   static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
@@ -42,7 +42,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    * @return -@c returnvalue::OK if value was set successfully
    *         -@c returnvalue::FAILED otherwise, stored value stays the same
    */
-  ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored);
+  ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
 
   /**
    * This will set up the bridge to overwrite old data in the FIFO.
@@ -91,7 +91,6 @@ class TmTcBridge : public AcceptsTelemetryIF,
   //! by default, so telemetry will be handled immediately.
   bool communicationLinkUp = true;
   bool tmStored = false;
-  bool warningSwitch = true;
   bool overwriteOld = true;
   uint8_t packetSentCounter = 0;
 
@@ -153,7 +152,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    */
   DynamicFIFO<store_address_t>* tmFifo = nullptr;
   uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-  unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+  uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -325,12 +325,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   // trickery here to calculate the raw values first
   int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
   int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
 
   // Now scale to physical value in microtesla
   float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
   if (periodicPrintout) {
     if (debugDivider.checkAndIncrement()) {

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -180,6 +180,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     }
 #else
 #endif
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
 #endif
     return returnvalue::FAILED;
   }

unittests/CMakeLists.txt

@@ -20,7 +20,9 @@ add_subdirectory(globalfunctions)
 add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
 add_subdirectory(cfdp)
+IF(NOT FSFW_OSAL MATCHES "rtems")
 add_subdirectory(hal)
+ENDIF()
 add_subdirectory(internalerror)
 add_subdirectory(devicehandler)
 add_subdirectory(tmtcservices)

unittests/CatchRunner.cpp

@@ -10,16 +10,120 @@
 
 #define CATCH_CONFIG_COLOUR_WINDOWS
 
+#include <fsfw/osal/osal.h>
+
 #include <catch2/catch_session.hpp>
 
+#ifdef FSFW_OSAL_FREERTOS
+#include <FreeRTOS.h>
+
+#include "task.h"
+#endif
+
 extern int customSetup();
 extern int customTeardown();
 
+#ifdef FSFW_OSAL_FREERTOS
+struct Taskparameters {
+  int argc;
+  char** argv;
+  TaskHandle_t catchTask;
+} taskParameters;
+
+void unittestTaskFunction(void* pvParameters) {
+  Taskparameters* parameters = (Taskparameters*)pvParameters;
+
+  int result = Catch::Session().run(parameters->argc, parameters->argv);
+
+  vTaskDelay(pdMS_TO_TICKS(10));
+  vTaskSuspendAll();
+  vTaskDelete(parameters->catchTask);
+  customTeardown();
+  exit(result);
+}
+#endif
+
+#ifdef FSFW_OSAL_RTEMS
+#include <signal.h>
+
+int sigaltstack(const stack_t* ss, stack_t* old_ss) { return 0; }
+extern "C" {
+
+void exit_qemu_failing(int error) {
+  asm(/* 0x20026 == ADP_Stopped_ApplicationExit */
+         "mov x1, #0x26\n\t"
+        "movk x1, #2, lsl #16\n\t"
+        "str x1, [sp,#0]\n\t");
+
+    /* Exit status code. Host QEMU process exits with that status. */
+    asm("mov x0, %[error]\n\t" : : [error] "r" (error));
+    asm(
+        "str x0, [sp,#8]\n\t"
+
+    /* x1 contains the address of parameter block.
+     * Any memory address could be used. */
+        "mov x1, sp\n\t"
+
+    /* SYS_EXIT */
+        "mov w0, #0x18\n\t"
+
+    /* Do the semihosting call on A64. */
+        "hlt 0xf000\n\t"
+);
+}
+
+#include <rtemsConfig.h>
+
+void user_handle_fatal(Internal_errors_Source source, bool internal,  Internal_errors_t error_code){
+  if ( source == RTEMS_FATAL_SOURCE_EXIT ) {
+    if (error_code != 0) {
+      printk("*** EXIT STATUS NOT ZERO ***\n");
+      printk("Quitting qemu with exit code %i\n", error_code);
+      exit_qemu_failing(error_code);
+    }
+  }
+}
+
+rtems_task Init(rtems_task_argument ignored) {
+  rtems_time_of_day now;
+  now.year = 2023;
+  now.month = 1;
+  now.day = 15;
+  now.hour = 0;
+  now.minute = 0;
+  now.second = 0;
+  now.ticks = 0;
+  rtems_clock_set(&now);
+  customSetup();
+  const char* argv[] = {"fsfw-test", ""};
+  int result = Catch::Session().run(1, argv);
+  customTeardown();
+  exit(result);
+}
+}
+#endif
+
 int main(int argc, char* argv[]) {
   customSetup();
 
+  int result = 0;
+
+#ifdef FSFW_OSAL_FREERTOS
+  xTaskCreate(
+      unittestTaskFunction, /* The function that implements the task. */
+      "Unittests", /* The text name assigned to the task - for debug only as it is not used by the
+                      kernel. */
+      configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
+      &taskParameters, /* The parameter passed to the task - not used in this simple case. */
+      1,               /* The priority assigned to the task. */
+      &taskParameters.catchTask); /* The task handle is not required, so NULL is passed. */
+  taskParameters.argc = argc;
+  taskParameters.argv = argv;
+  vTaskStartScheduler();
+#else
   // Catch internal function call
-  int result = Catch::Session().run(argc, argv);
+  result = Catch::Session().run(argc, argv);
+#endif
 
   // global clean-up
   customTeardown();

unittests/osal/CMakeLists.txt

@@ -1,2 +1,5 @@
-target_sources(${FSFW_TEST_TGT} PRIVATE testMq.cpp TestSemaphore.cpp
+target_sources(${FSFW_TEST_TGT} PRIVATE testMq.cpp TestClock.cpp)
-                                        TestClock.cpp)
+
+if(FSFW_OSAL MATCHES "linux" OR FSFW_OSAL MATCHES "freertos")
+target_sources(${FSFW_TEST_TGT} PRIVATE TestSemaphore.cpp)
+endif()

unittests/osal/TestClock.cpp

@@ -1,5 +1,6 @@
 #include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/timemanager/Clock.h>
+#include <stdio.h>
 
 #include <array>
 #include <catch2/catch_approx.hpp>
@@ -7,6 +8,8 @@
 
 #include "CatchDefinitions.h"
 
+//TODO setClock()
+
 TEST_CASE("OSAL::Clock Test", "[OSAL::Clock Test]") {
   SECTION("Test getClock") {
     timeval time;
@@ -21,7 +24,7 @@ TEST_CASE("OSAL::Clock Test", "[OSAL::Clock Test]") {
     // We require timeOfDayAsTimeval to be larger than time as it
     // was request a few ns later
     double difference = timevalOperations::toDouble(timeOfDayAsTimeval - time);
-    CHECK(difference >= 0.0);
+    CHECK(difference >= 0);
     CHECK(difference <= 0.005);
 
     // Conversion in the other direction

unittests/osal/TestSemaphore.cpp

@@ -4,8 +4,6 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-// binary semaphores currently only supported on linux
-#ifdef FSFW_OSAL_LINUX
 
 TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
   // perform set-up here
@@ -33,6 +31,4 @@ TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
 
 TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") {
   SECTION("Simple Test") {}
-}
+}
-
-#endif

unittests/testcfg/devices/logicalAddresses.h

@@ -7,7 +7,7 @@
 
 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum LogicAddress : address_t {};
+enum logicalAddresses : address_t {};
 }  // namespace addresses
 
 #endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

unittests/testcfg/freertos/FreeRTOSConfig.h

@@ -0,0 +1,102 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define configUSE_PREEMPTION 1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_TICKLESS_IDLE 0
+#define configTICK_RATE_HZ 1000
+#define configMAX_PRIORITIES 5
+#define configMINIMAL_STACK_SIZE ((unsigned short)PTHREAD_STACK_MIN)
+#define configMAX_TASK_NAME_LEN 16
+#define configUSE_16_BIT_TICKS 0
+#define configIDLE_SHOULD_YIELD 1
+#define configUSE_TASK_NOTIFICATIONS 1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
+#define configUSE_MUTEXES 1
+#define configUSE_RECURSIVE_MUTEXES 0
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
+#define configQUEUE_REGISTRY_SIZE 20
+#define configUSE_QUEUE_SETS 0
+#define configUSE_TIME_SLICING 0
+#define configUSE_NEWLIB_REENTRANT 0
+#define configENABLE_BACKWARD_COMPATIBILITY 1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+#define configUSE_MINI_LIST_ITEM 1
+#define configSTACK_DEPTH_TYPE uint16_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
+#define configHEAP_CLEAR_MEMORY_ON_FREE 1
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION 0
+#define configSUPPORT_DYNAMIC_ALLOCATION 1
+#define configTOTAL_HEAP_SIZE ((size_t)(1024 * 1024))
+#define configAPPLICATION_ALLOCATED_HEAP 1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configCHECK_FOR_STACK_OVERFLOW 0
+#define configUSE_MALLOC_FAILED_HOOK 0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
+#define configUSE_SB_COMPLETED_CALLBACK 0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS 0
+#define configUSE_TRACE_FACILITY 0
+#define configUSE_STATS_FORMATTING_FUNCTIONS 0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES 0
+#define configMAX_CO_ROUTINE_PRIORITIES 1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS 1
+#define configTIMER_TASK_PRIORITY 3
+#define configTIMER_QUEUE_LENGTH 10
+#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
+
+/* Interrupt nesting behaviour configuration. */
+#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
+
+/* Define to trap errors during development. */
+//#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
+
+/* FreeRTOS MPU specific definitions. */
+#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
+#define configTOTAL_MPU_REGIONS 8    /* Default value. */
+#define configTEX_S_C_B_FLASH 0x07UL /* Default value. */
+#define configTEX_S_C_B_SRAM 0x07UL  /* Default value. */
+#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
+#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
+#define configENABLE_ERRATA_837070_WORKAROUND 1
+
+/* ARMv8-M secure side port related definitions. */
+#define secureconfigMAX_SECURE_CONTEXTS 5
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_xResumeFromISR 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTaskGetCurrentTaskHandle 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 0
+#define INCLUDE_uxTaskGetStackHighWaterMark2 0
+#define INCLUDE_xTaskGetIdleTaskHandle 0
+#define INCLUDE_eTaskGetState 0
+#define INCLUDE_xEventGroupSetBitFromISR 1
+#define INCLUDE_xTimerPendFunctionCall 0
+#define INCLUDE_xTaskAbortDelay 0
+#define INCLUDE_xTaskGetHandle 0
+#define INCLUDE_xTaskResumeFromISR 1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */

unittests/testcfg/rtems/cmake/Platform/a72_lp64_qemu.cmake

@@ -0,0 +1,3 @@
+add_compile_options("-mcpu=cortex-a72" "-I/opt/rtems/6/aarch64-rtems6/a72_lp64_qemu/lib/include")
+
+add_link_options("-B/opt/rtems/6/aarch64-rtems6/a72_lp64_qemu/lib" "-qrtems")

unittests/testcfg/rtems/cmake/aarch64-rtems6-toolchain.cmake

@@ -0,0 +1,36 @@
+## the name of the target operating system
+set(CMAKE_SYSTEM_NAME a72_lp64_qemu)
+
+set(CMAKE_SYSTEM_PROCESSOR a72)
+
+# which compilers to use for C and C++
+set(CMAKE_C_COMPILER   aarch64-rtems6-gcc)
+set(CMAKE_CXX_COMPILER aarch64-rtems6-g++)
+
+# built in tests fail
+set(CMAKE_C_COMPILER_WORKS 1)
+set(CMAKE_CXX_COMPILER_WORKS 1)
+
+# adjust the default behavior of the FIND_XXX() commands:
+# search programs in the host environment
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+
+# search headers and libraries in the target environment
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+
+# ignore host installed libraries
+# makes find_package() ignore the <package>Config.cmake files
+set(CMAKE_IGNORE_PATH /usr/local)
+
+
+# supress errors
+add_compile_definitions("__STDC_VERSION__")
+
+# make newlib behave like glib with an intercepted cmath
+add_compile_options("-I${CMAKE_SOURCE_DIR}/unittests/testcfg/rtems/include")
+
+# we supply an a72_lp64_qemu.cmake there
+list(APPEND CMAKE_MODULE_PATH
+     "${CMAKE_CURRENT_SOURCE_DIR}/unittests/testcfg/rtems/cmake")

unittests/testcfg/rtems/include/cmath

@@ -0,0 +1,39 @@
+#pragma once
+
+#include_next <cmath>
+
+extern "C++"
+{
+namespace std _GLIBCXX_VISIBILITY(default)
+{
+
+#undef lround
+#undef erfc
+#undef round
+
+
+using ::lround;
+
+long
+  lround(float __x);
+
+  constexpr long
+  lround(long double __x);
+
+using ::erfc;
+  
+constexpr float
+  erfc(float __x);
+
+  constexpr long double
+  erfc(long double __x);
+  
+  constexpr float
+  round(float __x);
+
+  using ::round;
+  
+  constexpr long double
+  round(long double __x);
+}
+}

unittests/testcfg/rtems/include/rtemsConfig.h

@@ -0,0 +1,32 @@
+#pragma once
+
+
+#include <rtems/extension.h>
+#include <rtems/bspIo.h>
+void user_handle_fatal(Internal_errors_Source source, bool internal,  Internal_errors_t error_code);
+
+#define RTEMS_USE_UNLIMITED_OBJECTS_ALLOCATION 0
+
+#define CONFIGURE_MICROSECONDS_PER_TICK 1000
+
+#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
+
+#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
+#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
+
+#define CONFIGURE_MAXIMUM_TASKS 20
+#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 30
+#define CONFIGURE_MAXIMUM_SEMAPHORES 20
+#define CONFIGURE_MAXIMUM_TIMERS 10
+//! Required for Rate-Monotonic Scheduling (RMS)
+#define CONFIGURE_MAXIMUM_PERIODS 15
+#define CONFIGURE_INIT_TASK_STACK_SIZE (RTEMS_MINIMUM_STACK_SIZE * 6)
+//! Around 41 kB extra task stack for now.
+#define CONFIGURE_EXTRA_TASK_STACKS (10 * RTEMS_MINIMUM_STACK_SIZE)
+
+#define CONFIGURE_INITIAL_EXTENSIONS { NULL, NULL, NULL, NULL, NULL, NULL, NULL, user_handle_fatal, NULL }
+
+#define CONFIGURE_INIT
+
+#include <rtems.h>
+#include <rtems/confdefs.h>