group id conflict

moved to newer wine
one more warning suppressed in MSVC
2023-02-08 11:46:39 +01:00 · 2023-02-07 21:56:06 +01:00 · 2023-02-07 13:25:13 +01:00 · 2023-02-07 12:26:44 +01:00 · 2023-02-06 22:49:37 +01:00 · 2023-02-06 22:45:00 +01:00
150 changed files with 1333 additions and 1571 deletions
--- a/.gitmodules
+++ b/.gitmodules
@ -0,0 +1,3 @@
+[submodule "automation/msvc-wine"]
+	path = automation/msvc-wine
+	url = https://github.com/mstorsjo/msvc-wine
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -8,71 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-## Fixes
-
- PUS Health Service: Size check for set health command.
-  Perform operation completion for announce health command.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
- Small tweak for version getter
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
-
-## Added
-
- add CFDP subsystem ID
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
-
-## Changed
- Bump ETL version to 20.35.14
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
- Assert that `FixedArrayList` is larger than 0 at compile time.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
-
-## Added
-
- `EventManager`: Add function to print all listeners.
-
-## Changed
-
- `EventManager`: Queue depth is configurable now
-
-# [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
@ -82,82 +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
@ -187,41 +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
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
- comment tweak to event parser can read everything
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
- 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
-
+- 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

 ## CFDP

@ -241,7 +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

--- a/CMakeLists.txt
+++ b/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)

@ -64,6 +64,13 @@ elseif(${CMAKE_CXX_STANDARD} LESS 17)
      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
 endif()

+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+  # Manually tweak MSVC to emit (about) the same warnings as clang and gcc on linux
+  # needs to be done here using add_compile_definitions() (as opposed to target_compile_definitions()) to be available for all binaries and libraries
+  add_compile_options("/permissive-" /wd4267 /wd4244 /wd4244 /wd4305 /wd4805 /wd4267 /wd4646 /wd4065 /wd4996 /Dand=&& /Dor=|| /Dnot=!)
+  add_compile_definitions(NOMINMAX)
+endif()
+
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")

 set(FSFW_ETL_LIB_NAME etl)
@ -72,7 +79,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
    20
    CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.36.0
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
    CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)

@ -80,7 +87,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
    3
    CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.3.2
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
    CACHE STRING "Catch2 library exact version requirement")

 # Keep this off by default for now. See PR:
@ -158,7 +165,7 @@ 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 +181,27 @@ if(FSFW_BUILD_TESTS)
  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)

+  if(FSFW_OSAL MATCHES "freertos")
+    message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
+    include(FetchContent)
+
+    set(FreeRTOS_PORT posix)
+
+    FetchContent_Declare(
+      FreeRTOS
+      GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
+      GIT_TAG develop
+      GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
+
+    FetchContent_MakeAvailable(FreeRTOS)
+
+    set(LIB_OS_NAME FreeRTOS)
+    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
+    set(THREADS_PREFER_PTHREAD_FLAG ON)
+    find_package(Threads REQUIRED)
+    target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+
  project(${FSFW_TEST_TGT} CXX C)
  add_executable(${FSFW_TEST_TGT})
  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@ -201,8 +229,8 @@ find_package(${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 +254,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
  endif()
+
 endif()

 set(FSFW_CORE_INC_PATH "inc")
@ -360,6 +389,9 @@ 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
@ -447,8 +479,8 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")

 endif()

-if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  set(COMPILER_FLAGS "/permissive-")
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  set(FSFW_WARNING_FLAGS -Wall -Wno-gnu-anonymous-struct)
 endif()

 # Required include paths to compile the FSFW
--- a/automation/Dockerfile
+++ b/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 ca-certificates clang cmake doxygen g++ gcc git graphviz iputils-ping lcov make msitools nano ninja-build pip python3 python3-simplejson python3-six qemu-system-arm rsync valgrind wget winbind

 RUN python3 -m pip install sphinx breathe

@ -21,9 +21,37 @@ RUN git clone https://github.com/ETLCPP/etl.git && \
        cmake -B build . && \
        cmake --install build/

+        
+# install our own rtems build
+RUN wget -qO- https://buggy.irs.uni-stuttgart.de/rtems_releases/rtems6-12.2.1.tar.bz2 | tar -xj -C /opt/
+ENV PATH="$PATH:/opt/rtems/6/bin"
+
+# install modern wine for MSVC, removing a conflicting file
+RUN dpkg --add-architecture i386 && \
+    mkdir -pm755 /etc/apt/keyrings && \
+    wget -O /etc/apt/keyrings/winehq-archive.key https://dl.winehq.org/wine-builds/winehq.key && \
+    wget -NP /etc/apt/sources.list.d/ https://dl.winehq.org/wine-builds/ubuntu/dists/focal/winehq-focal.sources && \
+    apt-get update && \
+    apt-get --yes install winehq-stable
+# silence wine
+ENV WINEDEBUG=-all 
+
+
+# install MSVC using https://github.com/mstorsjo/msvc-wine
+# see msvc-wine/LICENSE.txt
+COPY msvc-wine/lowercase msvc-wine/fixinclude msvc-wine/install.sh msvc-wine/vsdownload.py ./
+COPY msvc-wine/wrappers/* ./wrappers/
+RUN PYTHONUNBUFFERED=1 ./vsdownload.py --accept-license --dest /opt/msvc && \
+    ./install.sh /opt/msvc && \
+    rm lowercase fixinclude install.sh vsdownload.py && \
+    rm -rf wrappers
+RUN wine64 wineboot --init && \
+    while pgrep wineserver > /dev/null; do sleep 1; done
+
+
 #ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+RUN addgroup -q --gid 117 jenkins && adduser -q --uid 114 --gid 117 jenkins

 #add documentation server to known hosts
 RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
-RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -2,86 +2,71 @@ 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'
+        BUILDDIR_WIN = 'cmake-build-tests-windows'
        DOCDDIR = 'cmake-build-documentation'
    }
    agent {
        docker { 
-            image 'fsfw-ci:d6'
+            image 'fsfw-ci:d8'
            args '--network host --sysctl fs.mqueue.msg_max=100'
        }
    }
    stages {
-        stage('Host') {
-            stages{
-                stage('Clean') {
-                    steps {
-                        sh 'rm -rf $BUILDDIR_HOST'
-                    }
-                }
-                stage('Configure') {
-                    steps {
-                        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('Host-clang') {
+            steps {
+                sh 'rm -rf $BUILDDIR_HOST'
+
+                dir(BUILDDIR_HOST) {
+                    sh 'CC=clang CXX=clang++ cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
            }
        }
-        stage('Linux') {
-            stages{
-                stage('Clean') {
-                    steps {
-                        sh 'rm -rf $BUILDDIR_LINUX'
-                    }
+        stage('Linux-gcc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_LINUX'
+
+                dir(BUILDDIR_LINUX) {
+                    sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
-                stage('Configure') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
+            }
+        }
+        stage('FreeRTOS-gcc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_FREERTOS'
+
+                dir(BUILDDIR_FREERTOS) {
+                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh './fsfw-tests'
+                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -j4'
-                        }
-                    }
+            }
+        }
+        stage('rtems-gcc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_RTEMS'
+
+                dir(BUILDDIR_RTEMS) {
+                    sh 'cmake -DFSFW_OSAL=rtems -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_TOOLCHAIN_FILE=../unittests/testcfg/rtems/cmake/aarch64-rtems6-toolchain.cmake ..'
+                    sh 'cmake --build . -j4'
+                    sh 'qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -semihosting -machine virt,gic-version=3 -cpu cortex-a72 -m 4000  -kernel fsfw-tests'
                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
+            }
+        }
+        stage('Host-msvc') {
+            steps {
+                sh 'rm -rf $BUILDDIR_WIN'
+
+                dir(BUILDDIR_WIN) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../unittests/testcfg/windows/cmake/x64-windows-toolchain.cmake -GNinja ..'
+                    sh 'cmake --build . -j4'
                }
            }
        }
@ -97,7 +82,7 @@ pipeline {
                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
                    }
                }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
                    }
@ -116,7 +101,7 @@ pipeline {
                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
                    }
                }
-                dir(BUILDDIR) {
+                dir(BUILDDIR_LINUX) {
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
                    }
--- a/automation/msvc-wine
+++ b/automation/msvc-wine
--- a/scripts/check_release.py
+++ b/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()
--- a/src/fsfw/cfdp/FileSize.h
+++ b/src/fsfw/cfdp/FileSize.h
@ -21,7 +21,7 @@ struct FileSize : public SerializeIF {
    this->largeFile = isLarge;
    return serialize(buffer, size, maxSize, streamEndianness);
  }
-
+  using SerializeIF::serialize;
  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                          Endianness streamEndianness) const override {
    if (not largeFile) {
--- a/src/fsfw/cfdp/VarLenFields.cpp
+++ b/src/fsfw/cfdp/VarLenFields.cpp
@ -3,7 +3,7 @@
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"

-cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
+cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, uint64_t value) : VarLenField() {
  ReturnValue_t result = this->setValue(width, value);
  if (result != returnvalue::OK) {
 #if FSFW_DISABLE_PRINTOUT == 0
@ -20,7 +20,7 @@ cfdp::VarLenField::VarLenField() : width(cfdp::WidthInBytes::ONE_BYTE) { value.o

 cfdp::WidthInBytes cfdp::VarLenField::getWidth() const { return width; }

-ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value_) {
+ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, uint64_t value_) {
  switch (widthInBytes) {
    case (cfdp::WidthInBytes::ONE_BYTE): {
      if (value_ > UINT8_MAX) {
@ -51,7 +51,7 @@ ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_
  return returnvalue::OK;
 }

-size_t cfdp::VarLenField::getValue() const {
+uint64_t cfdp::VarLenField::getValue() const {
  switch (width) {
    case (cfdp::WidthInBytes::ONE_BYTE): {
      return value.oneByte;
--- a/src/fsfw/cfdp/VarLenFields.h
+++ b/src/fsfw/cfdp/VarLenFields.h
@ -25,13 +25,13 @@ class VarLenField : public SerializeIF {
  template <typename T>
  explicit VarLenField(UnsignedByteField<T> byteField);

-  VarLenField(cfdp::WidthInBytes width, size_t value);
+  VarLenField(cfdp::WidthInBytes width, uint64_t value);

  bool operator==(const VarLenField &other) const;
  bool operator!=(const VarLenField &other) const;
  bool operator<(const VarLenField &other) const;

-  ReturnValue_t setValue(cfdp::WidthInBytes, size_t value);
+  ReturnValue_t setValue(cfdp::WidthInBytes, uint64_t value);

  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                          Endianness streamEndianness) const override;
@ -42,7 +42,7 @@ class VarLenField : public SerializeIF {
                            Endianness streamEndianness);

  [[nodiscard]] cfdp::WidthInBytes getWidth() const;
-  [[nodiscard]] size_t getValue() const;
+  [[nodiscard]] uint64_t getValue() const;

 #if FSFW_CPP_OSTREAM_ENABLED == 1
  friend std::ostream &operator<<(std::ostream &os, const VarLenField &id) {
@ -51,9 +51,9 @@ class VarLenField : public SerializeIF {
    return os;
  }
 #endif
+
 private:
-  using SerializeIF::deSerialize;  // we overloaded above, so this is needed to uncofuse the
-                                   // compiler
+  using SerializeIF::deSerialize;
  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                            Endianness streamEndianness) override;

--- a/src/fsfw/cfdp/definitions.h
+++ b/src/fsfw/cfdp/definitions.h
@ -9,6 +9,11 @@
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"

+// Thanks, windows
+#ifdef NO_ERROR
+#undef NO_ERROR
+#endif
+
 namespace cfdp {

 static constexpr char CFDP_VERSION_2_NAME[] = "CCSDS 727.0-B-5";
--- a/src/fsfw/cfdp/pdu/EofInfo.cpp
+++ b/src/fsfw/cfdp/pdu/EofInfo.cpp
@ -42,6 +42,6 @@ size_t EofInfo::getSerializedSize(bool fssLarge) {
  return size;
 }

-ReturnValue_t EofInfo::setFileSize(size_t fileSize, bool isLarge) {
+ReturnValue_t EofInfo::setFileSize(uint64_t fileSize, bool isLarge) {
  return this->fileSize.setFileSize(fileSize, isLarge);
 }
--- a/src/fsfw/cfdp/pdu/EofInfo.h
+++ b/src/fsfw/cfdp/pdu/EofInfo.h
@ -21,7 +21,7 @@ struct EofInfo {
  void setChecksum(uint32_t checksum);
  void setConditionCode(cfdp::ConditionCode conditionCode);
  void setFaultLoc(EntityIdTlv* faultLoc);
-  ReturnValue_t setFileSize(size_t size, bool isLarge);
+  ReturnValue_t setFileSize(uint64_t size, bool isLarge);

 private:
  cfdp::ConditionCode conditionCode;
--- a/src/fsfw/cfdp/pdu/FinishedPduReader.cpp
+++ b/src/fsfw/cfdp/pdu/FinishedPduReader.cpp
@ -1,5 +1,10 @@
 #include "FinishedPduReader.h"

+// Thanks, windows
+#ifdef NO_ERROR
+#undef NO_ERROR
+#endif
+
 FinishPduReader::FinishPduReader(const uint8_t* pduBuf, size_t maxSize, FinishedInfo& info)
    : FileDirectiveReader(pduBuf, maxSize), finishedInfo(info) {}

--- a/src/fsfw/cfdp/tlv/EntityIdTlv.h
+++ b/src/fsfw/cfdp/tlv/EntityIdTlv.h
@ -23,8 +23,7 @@ class EntityIdTlv : public TlvIF {
   */
  ReturnValue_t deSerialize(cfdp::Tlv& tlv, Endianness endianness);

-  using SerializeIF::deSerialize;  // we overloaded this function, so this is needed to unconfuse
-                                   // the compiler
+  using SerializeIF::deSerialize;
  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                            Endianness streamEndianness) override;

--- a/src/fsfw/cfdp/tlv/FilestoreRequestTlv.h
+++ b/src/fsfw/cfdp/tlv/FilestoreRequestTlv.h
@ -26,6 +26,7 @@ class FilestoreRequestTlv : public cfdp::FilestoreTlvBase {
   */
  ReturnValue_t deSerialize(cfdp::Tlv &tlv, Endianness endianness);

+  using SerializeIF::deSerialize;
  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                            Endianness streamEndianness) override;

--- a/src/fsfw/cfdp/tlv/FilestoreResponseTlv.h
+++ b/src/fsfw/cfdp/tlv/FilestoreResponseTlv.h
@ -29,8 +29,7 @@ class FilestoreResponseTlv : public cfdp::FilestoreTlvBase {
   */
  ReturnValue_t deSerialize(const cfdp::Tlv& tlv, Endianness endianness);

-  using SerializeIF::deSerialize;  // we overloaded this function, so this is needed to unconfuse
-                                   // the compiler
+  using SerializeIF::deSerialize;
  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                            Endianness streamEndianness) override;

--- a/src/fsfw/container/FixedArrayList.h
+++ b/src/fsfw/container/FixedArrayList.h
@ -12,7 +12,6 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
  static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                "count_t is not large enough to hold MAX_SIZE");
-  static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");

 private:
  T data[MAX_SIZE];
--- a/src/fsfw/container/FixedMap.h
+++ b/src/fsfw/container/FixedMap.h
@ -155,8 +155,8 @@ class FixedMap : public SerializeIF {

  uint32_t maxSize() const { return theMap.maxSize(); }

-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          Endianness streamEndianness) const override {
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                  Endianness streamEndianness) const {
    ReturnValue_t result =
        SerializeAdapter::serialize(&this->_size, buffer, size, maxSize, streamEndianness);
    uint32_t i = 0;
@ -170,7 +170,7 @@ class FixedMap : public SerializeIF {
    return result;
  }

-  size_t getSerializedSize() const override {
+  virtual size_t getSerializedSize() const {
    uint32_t printSize = sizeof(_size);
    uint32_t i = 0;

@ -182,8 +182,8 @@ class FixedMap : public SerializeIF {
    return printSize;
  }

-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            Endianness streamEndianness) override {
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    Endianness streamEndianness) {
    ReturnValue_t result =
        SerializeAdapter::deSerialize(&this->_size, buffer, size, streamEndianness);
    if (this->_size > theMap.maxSize()) {
--- a/src/fsfw/datapool/PoolDataSetBase.h
+++ b/src/fsfw/datapool/PoolDataSetBase.h
@ -64,8 +64,8 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF {
   * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
   *      commit() in between
   */
-  ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                     uint32_t lockTimeout = 20) override;
+  virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+                             uint32_t lockTimeout = 20) override;
  /**
   * @brief	The commit call initializes writing back the registered variables.
   * @details
@ -84,15 +84,15 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF {
   * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
   * 			  contains non write-only variables
   */
-  ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                       uint32_t lockTimeout = 20) override;
+  virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+                               uint32_t lockTimeout = 20) override;

  /**
   * Register the passed pool variable instance into the data set.
   * @param variable
   * @return
   */
-  ReturnValue_t registerVariable(PoolVariableIF* variable) override;
+  virtual ReturnValue_t registerVariable(PoolVariableIF* variable) override;

  /**
   * Provides the means to lock the underlying data structure to ensure
--- a/src/fsfw/datapoollocal/LocalDataPoolManager.h
+++ b/src/fsfw/datapoollocal/LocalDataPoolManager.h
@ -364,6 +364,10 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
  void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
                           ReturnValue_t errorCode = returnvalue::FAILED,
                           const char* errorPrint = nullptr);
+
+ private:
+  using ProvidesDataPoolSubscriptionIF::subscribeForPeriodicPacket;
+  using ProvidesDataPoolSubscriptionIF::subscribeForUpdatePacket;
 };

 template <class T>
--- a/src/fsfw/datapoollocal/LocalPoolVariable.h
+++ b/src/fsfw/datapoollocal/LocalPoolVariable.h
@ -87,9 +87,9 @@ class LocalPoolVariable : public LocalPoolObjectBase {

  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                          SerializeIF::Endianness streamEndianness) const override;
-  size_t getSerializedSize() const override;
-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            SerializeIF::Endianness streamEndianness) override;
+  virtual size_t getSerializedSize() const override;
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    SerializeIF::Endianness streamEndianness) override;

  /**
   * @brief	This is a call to read the array's values
--- a/src/fsfw/datapoollocal/LocalPoolVector.h
+++ b/src/fsfw/datapoollocal/LocalPoolVector.h
@ -98,11 +98,11 @@ class LocalPoolVector : public LocalPoolObjectBase {
  T& operator[](size_t i);
  const T& operator[](size_t i) const;

-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
-                          SerializeIF::Endianness streamEndiannes) const override;
-  size_t getSerializedSize() const override;
-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            SerializeIF::Endianness streamEndianness) override;
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
+                                  SerializeIF::Endianness streamEndiannes) const override;
+  virtual size_t getSerializedSize() const override;
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    SerializeIF::Endianness streamEndianness) override;

  /**
   * @brief	This is a call to read the array's values
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/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;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();
      if (currentUptime - timeoutStart >= childTransitionDelay) {
 #if FSFW_VERBOSE_LEVEL >= 1 && FSFW_OBJ_EVENT_TRANSLATION == 0
        char printout[60];
@ -347,8 +345,7 @@ void DeviceHandlerBase::doStateMachine() {
      setMode(_MODE_WAIT_ON);
      break;
    case _MODE_WAIT_ON: {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();
      if (powerSwitcher != nullptr and
          currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
        triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
@ -367,8 +364,7 @@ void DeviceHandlerBase::doStateMachine() {
      }
    } break;
    case _MODE_WAIT_OFF: {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();

      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);
-      if (pg.getReadResult() == returnvalue::OK) {
-        reply.second.dataSet->setValidity(false, true);
-      }
+      reply.second.dataSet->setValidity(false, true);
    }
  }
 }
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h
@ -206,9 +206,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,

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

  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode);
+                                         uint32_t *msToReachTheMode) override;

  virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);

--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@ -15,12 +15,11 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
    {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS, sizeof(EventIdRangeMatcher)},
    {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS, sizeof(ReporterRangeMatcher)}};

-EventManager::EventManager(object_id_t setObjectId, uint32_t eventQueueDepth)
+EventManager::EventManager(object_id_t setObjectId)
    : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
  mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      eventQueueDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }

 EventManager::~EventManager() {
@ -48,20 +47,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {

 void EventManager::notifyListeners(EventMessage* message) {
  lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
-                   << result << std::setfill(' ') << std::endl;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
    }
  }
  unlockMutex();
@ -212,19 +200,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
  }
 }

-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */
--- a/src/fsfw/events/EventManager.h
+++ b/src/fsfw/events/EventManager.h
@ -21,28 +21,30 @@ extern const char* translateEvents(Event event);

 class EventManager : public EventManagerIF, public ExecutableObjectIF, public SystemObject {
 public:
-  EventManager(object_id_t setObjectId, uint32_t eventQueueDepth);
+  static const uint16_t MAX_EVENTS_PER_CYCLE = 80;
+
+  EventManager(object_id_t setObjectId);
  virtual ~EventManager();

  void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);

-  MessageQueueId_t getEventReportQueue();
+  MessageQueueId_t getEventReportQueue() override;

-  ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
+  ReturnValue_t registerListener(MessageQueueId_t listener,
+                                 bool forwardAllButSelected = false) override;
  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
-  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
-  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
+  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) override;
+  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) override;
  ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                      EventId_t idTo = 0, bool idInverted = false,
                                      object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
-                                      bool reporterInverted = false);
-  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
+                                      bool reporterInverted = false) override;
+  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) override;
  ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                          EventId_t idTo = 0, bool idInverted = false,
                                          object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
-                                          bool reporterInverted = false);
-  ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();
+                                          bool reporterInverted = false) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;

 protected:
  MessageQueueIF* eventReportQueue = nullptr;
--- a/src/fsfw/events/fwSubsystemIdRanges.h
+++ b/src/fsfw/events/fwSubsystemIdRanges.h
@ -10,7 +10,7 @@ enum : uint8_t {
  CDH = 28,
  TCS_1 = 59,
  PCDU_1 = 42,
-  POWER_SWITCH_IF = 43,
+  PCDU_2 = 43,
  HEATER = 50,
  T_SENSORS = 52,
  FDIR = 70,
@ -33,7 +33,6 @@ enum : uint8_t {
  PUS_SERVICE_23 = 103,
  MGM_LIS3MDL = 106,
  MGM_RM3100 = 107,
-  CFDP = 108,

  FW_SUBSYSTEM_ID_RANGE
 };
--- a/src/fsfw/globalfunctions/DleParser.cpp
+++ b/src/fsfw/globalfunctions/DleParser.cpp
@ -52,6 +52,7 @@ ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
        // without skipping the STX
        readSize = vectorIdx;
        ErrorInfo info;
+        info.len = vectorIdx;
        setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
        return POSSIBLE_PACKET_LOSS;
      }
--- a/src/fsfw/globalfunctions/Type.h
+++ b/src/fsfw/globalfunctions/Type.h
@ -44,13 +44,13 @@ class Type : public SerializeIF {

  static ActualType_t getActualType(uint8_t ptc, uint8_t pfc);

-  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                          Endianness streamEndianness) const override;
+  virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                  Endianness streamEndianness) const override;

-  size_t getSerializedSize() const override;
+  virtual size_t getSerializedSize() const override;

-  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                            Endianness streamEndianness) override;
+  virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                                    Endianness streamEndianness) override;

 private:
  ActualType_t actualType;
@ -58,7 +58,7 @@ class Type : public SerializeIF {

 template <typename T>
 struct PodTypeConversion {
-  static_assert(not std::is_same<T, bool>::value,
+  static_assert(!std::is_same<T, bool>::value,
                "Do not use boolean for the PoolEntry type, use uint8_t "
                "instead! The ECSS standard defines a boolean as a one bit "
                "field. Therefore it is preferred to store a boolean as an "
--- a/src/fsfw/globalfunctions/arrayprinter.cpp
+++ b/src/fsfw/globalfunctions/arrayprinter.cpp
@ -37,16 +37,16 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool
  }
 }

-void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerLine) {
+void arrayprinter::printHex(const uint8_t *data, size_t datasize, size_t maxCharPerLine) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
  if (sif::info.crAdditionEnabled()) {
    std::cout << "\r" << std::endl;
  }

  std::cout << "hex [" << std::setfill('0') << std::hex;
-  for (size_t i = 0; i < size; i++) {
+  for (size_t i = 0; i < datasize; i++) {
    std::cout << std::setw(2) << static_cast<int>(data[i]);
-    if (i < size - 1) {
+    if (i < datasize - 1) {
      std::cout << ",";
      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
        std::cout << std::endl;
@ -56,27 +56,11 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerL
  std::cout << std::dec << std::setfill(' ');
  std::cout << "]" << std::endl;
 #else
-  // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
-  // plus line break plus small safety margin.
-  char printBuffer[(size + 1) * 7 + 1] = {};
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 7) {
-      break;
-    }
-
-    currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
-    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
-    }
+  printf("hex [");
+  for (size_t i = 0; i < datasize; i++) {
+    printf("0x%02x ", data[i]);
  }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("hex [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
+  printf("]\n");
 #endif
 }

@ -100,26 +84,10 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, size_t maxCharPerL
 #else
  // General format: 32,243,-12 so it is number of chars times 4
  // plus line break plus small safety margin.
-  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
-  char printBuffer[size * 4 + 1 + expectedLines] = {};
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 4) {
-      break;
-    }

-    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
-    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
-    }
+  for (size_t i = 0; i < size; i++) {
+    // TODO
  }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("dec [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }

--- a/src/fsfw/health/HasHealthIF.h
+++ b/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 constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2);
-  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3);
+  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
+  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);

  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 = MAKE_EVENT(9, severity::LOW);
-  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-  //! Recovery is ongoing. Comes twice during recovery.
-  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-  //! Recovery was completed. Not necessarily successful. No parameters.
-  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
+  static const Event OVERWRITING_HEALTH =
+      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+                                     //!< satellite alive.
+  static const Event TRYING_RECOVERY =
+      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+                                         //!< power-cycle). No parameters.
+  static const Event RECOVERY_STEP =
+      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+                                         //!< 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;
--- a/src/fsfw/health/HealthTable.h
+++ b/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;
--- a/src/fsfw/housekeeping/HousekeepingSnapshot.h
+++ b/src/fsfw/housekeeping/HousekeepingSnapshot.h
@ -54,8 +54,8 @@ class HousekeepingSnapshot : public SerializeIF {
  HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize, LocalPoolObjectBase* dataSetPtr)
      : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr){};

-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          Endianness streamEndianness) const {
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                  Endianness streamEndianness) const override {
    if (timeStamp != nullptr) {
      /* Endianness will always be MACHINE, so we can simply use memcpy
      here. */
@ -70,15 +70,15 @@ class HousekeepingSnapshot : public SerializeIF {
    return updateData->serialize(buffer, size, maxSize, streamEndianness);
  }

-  size_t getSerializedSize() const {
+  virtual size_t getSerializedSize() const override {
    if (updateData == nullptr) {
      return 0;
    }
    return timeStampSize + updateData->getSerializedSize();
  }

-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            SerializeIF::Endianness streamEndianness) override {
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    SerializeIF::Endianness streamEndianness) override {
    if (*size < timeStampSize) {
      return SerializeIF::STREAM_TOO_SHORT;
    }
--- a/src/fsfw/internalerror/InternalErrorReporter.cpp
+++ b/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();
 }

--- a/src/fsfw/modes/ModeMessage.cpp
+++ b/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); }
--- a/src/fsfw/modes/ModeMessage.h
+++ b/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);
 };
--- a/src/fsfw/monitoring/AbsLimitMonitor.h
+++ b/src/fsfw/monitoring/AbsLimitMonitor.h
@ -18,7 +18,7 @@ class AbsLimitMonitor : public MonitorBase<T> {
        violationEvent(violationEvent),
        aboveIsViolation(aboveIsViolation) {}
  virtual ~AbsLimitMonitor() {}
-  virtual ReturnValue_t checkSample(T sample, T *crossedLimit) {
+  ReturnValue_t checkSample(T sample, T *crossedLimit) override {
    *crossedLimit = limit;
    if (aboveIsViolation) {
      if ((std::abs(sample) > limit)) {
@ -61,7 +61,7 @@ class AbsLimitMonitor : public MonitorBase<T> {
  void setLimit(T value) { limit = value; }

 protected:
-  void sendTransitionEvent(T currentValue, ReturnValue_t state) {
+  void sendTransitionEvent(T currentValue, ReturnValue_t state) override {
    switch (state) {
      case MonitoringIF::OUT_OF_RANGE:
        EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->globalPoolId.objectId,
--- a/src/fsfw/monitoring/MonitoringMessage.h
+++ b/src/fsfw/monitoring/MonitoringMessage.h
@ -13,7 +13,6 @@ class MonitoringMessage : public CommandMessage {
  static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10);
  virtual ~MonitoringMessage();
  static void setLimitViolationReport(CommandMessage* message, store_address_t storeId);
-  using CommandMessage::clear;
  static void clear(CommandMessage* message);
  static store_address_t getStoreId(const CommandMessage* message);
  static void setTypicalMessage(CommandMessage* message, Command_t type, store_address_t storeId);
--- a/src/fsfw/osal/CMakeLists.txt
+++ b/src/fsfw/osal/CMakeLists.txt
@ -18,10 +18,7 @@ elseif(FSFW_OSAL MATCHES "host")
  endif()
  set(FSFW_OSAL_HOST 1)
 else()
-  message(
-    WARNING
-      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
-
+  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
  # Not set. Assumuing this is a host build, try to determine host OS
  if(WIN32)
    add_subdirectory(host)
--- a/src/fsfw/osal/Endiness.h
+++ b/src/fsfw/osal/Endiness.h
@ -24,8 +24,11 @@
 #else

 #ifdef WIN32
-#include <windows.h>
+// Thanks, windows
+// clang-format off
 #include <winsock2.h>
+#include <windows.h>
+// clang-format on
 #if REG_DWORD == REG_DWORD_LITTLE_ENDIAN
 #define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
 #else
--- a/src/fsfw/osal/common/TcpIpBase.cpp
+++ b/src/fsfw/osal/common/TcpIpBase.cpp
@ -40,8 +40,6 @@ int TcpIpBase::closeSocket(socket_t socket) {
  return closesocket(socket);
 #elif defined(PLATFORM_UNIX)
  return close(socket);
-#else
-  return -1;
 #endif
 }

@ -50,7 +48,5 @@ int TcpIpBase::getLastSocketError() {
  return WSAGetLastError();
 #elif defined(PLATFORM_UNIX)
  return errno;
-#else
-  return 0;
 #endif
 }
--- a/src/fsfw/osal/common/TcpTmTcBridge.cpp
+++ b/src/fsfw/osal/common/TcpTmTcBridge.cpp
@ -16,9 +16,9 @@

 #endif

-TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             uint32_t msgQueueDepth, object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
+TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
+                             object_id_t tcStoreId)
+    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
  mutex = MutexFactory::instance()->createMutex();
  // Connection is always up, TM is requested by connecting to server and receiving packets
  registerCommConnect();
--- a/src/fsfw/osal/common/TcpTmTcBridge.h
+++ b/src/fsfw/osal/common/TcpTmTcBridge.h
@ -38,7 +38,7 @@ class TcpTmTcBridge : public TmTcBridge {
   * @param tmStoreId TM store object ID. It is recommended to the default object ID
   * @param tcStoreId TC store object ID. It is recommended to the default object ID
   */
-  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
+  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
                object_id_t tmStoreId = objects::TM_STORE,
                object_id_t tcStoreId = objects::TC_STORE);
  virtual ~TcpTmTcBridge();
--- a/src/fsfw/osal/common/TcpTmTcServer.cpp
+++ b/src/fsfw/osal/common/TcpTmTcServer.cpp
@ -16,7 +16,7 @@

 #ifdef PLATFORM_WIN
 #include <winsock2.h>
-#include <ws2tcpip.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <netdb.h>

@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;

 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
-                             size_t ringBufferSize, ReceptionModes receptionMode)
+                             size_t receptionBufferSize, size_t ringBufferSize,
+                             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) {
--- a/src/fsfw/osal/common/TcpTmTcServer.h
+++ b/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) {}
-    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
-        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}

    /**
     * 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;
-
-    /**
-     * 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;
+    const std::string tcpPort;
  };
-  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;

@ -130,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb

  ReceptionModes receptionMode;
  TcpConfig tcpConfig;
-  struct sockaddr tcpAddress = {};
+  // struct sockaddr tcpAddress = {};
  socket_t listenerTcpSocket = 0;

  MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
--- a/src/fsfw/osal/common/UdpTcPollingTask.cpp
+++ b/src/fsfw/osal/common/UdpTcPollingTask.cpp
@ -8,6 +8,7 @@

 #ifdef PLATFORM_WIN
 #include <winsock2.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <sys/socket.h>
 #include <sys/types.h>
--- a/src/fsfw/osal/common/UdpTmTcBridge.cpp
+++ b/src/fsfw/osal/common/UdpTmTcBridge.cpp
@ -7,6 +7,7 @@

 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
+typedef SSIZE_T ssize_t;
 #elif defined(PLATFORM_UNIX)
 #include <arpa/inet.h>
 #include <netdb.h>
@ -20,9 +21,9 @@
 const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;

 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             uint32_t msgQueueDepth, const std::string &udpServerPort_,
-                             object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
+                             const std::string &udpServerPort_, object_id_t tmStoreId,
+                             object_id_t tcStoreId)
+    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
  if (udpServerPort_.empty()) {
    udpServerPort = DEFAULT_SERVER_PORT;
  } else {
@ -126,7 +127,10 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
    tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
  }
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were sent" << std::endl;
+  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent
+             << " bytes were"
+                " sent."
+             << std::endl;
 #endif
  return returnvalue::OK;
 }
--- a/src/fsfw/osal/common/UdpTmTcBridge.h
+++ b/src/fsfw/osal/common/UdpTmTcBridge.h
@ -29,7 +29,7 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
  /* The ports chosen here should not be used by any other process. */
  static const std::string DEFAULT_SERVER_PORT;

-  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
+  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
                const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
                object_id_t tcStoreId = objects::TC_STORE);
  ~UdpTmTcBridge() override;
--- a/src/fsfw/osal/freertos/BinSemaphUsingTask.h
+++ b/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);
--- a/src/fsfw/osal/freertos/BinarySemaphore.h
+++ b/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.
--- a/src/fsfw/osal/freertos/Clock.cpp
+++ b/src/fsfw/osal/freertos/Clock.cpp
@ -11,19 +11,6 @@
 // TODO sanitize input?
 // TODO much of this code can be reused for tick-only systems

-uint32_t Clock::getTicksPerSecond(void) { return 1000; }
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  timeval time_timeval;
-
-  ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return setClock(&time_timeval);
-}
-
 ReturnValue_t Clock::setClock(const timeval* time) {
  timeval uptime = getUptime();

@ -44,81 +31,12 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
  return returnvalue::OK;
 }

-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  *uptime = getUptime();
-
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
  TickType_t ticksSinceStart = xTaskGetTickCount();
  return Timekeeper::ticksToTimeval(ticksSinceStart);
 }

-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime = getUptime();
-  *uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-  return returnvalue::OK;
-}
-
 // uint32_t Clock::getUptimeSeconds() {
 //	timeval uptime = getUptime();
 //	return uptime.tv_sec;
 // }
-
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval time_timeval;
-  ReturnValue_t result = getClock_timeval(&time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  timeval time_timeval;
-  ReturnValue_t result = getClock_timeval(&time_timeval);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  struct tm time_tm;
-
-  gmtime_r(&time_timeval.tv_sec, &time_tm);
-
-  time->year = time_tm.tm_year + 1900;
-  time->month = time_tm.tm_mon + 1;
-  time->day = time_tm.tm_mday;
-
-  time->hour = time_tm.tm_hour;
-  time->minute = time_tm.tm_min;
-  time->second = time_tm.tm_sec;
-
-  time->usecond = time_timeval.tv_usec;
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm = {};
-
-  time_tm.tm_year = from->year - 1900;
-  time_tm.tm_mon = from->month - 1;
-  time_tm.tm_mday = from->day;
-
-  time_tm.tm_hour = from->hour;
-  time_tm.tm_min = from->minute;
-  time_tm.tm_sec = from->second;
-
-  time_t seconds = mktime(&time_tm);
-
-  to->tv_sec = seconds;
-  to->tv_usec = from->usecond;
-  // Fails in 2038..
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}
--- a/src/fsfw/osal/freertos/CountingSemaphUsingTask.h
+++ b/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
--- a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp
+++ b/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;
--- a/src/fsfw/osal/freertos/Mutex.cpp
+++ b/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) {
--- a/src/fsfw/osal/freertos/TaskManagement.cpp
+++ b/src/fsfw/osal/freertos/TaskManagement.cpp
@ -3,16 +3,16 @@
 void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }

 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
-  if (callContext == CallContext::ISR) {
-    // This function depends on the partmacro.h definition for the specific device
-    vRequestContextSwitchFromISR();
-  } else {
-    vRequestContextSwitchFromTask();
-  }
+  //   if (callContext == CallContext::ISR) {
+  //     // This function depends on the partmacro.h definition for the specific device
+  //     vRequestContextSwitchFromISR();
+  //   } else {
+  vRequestContextSwitchFromTask();
+  //   }
 }

 TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }

-size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
-  return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
+//   return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+// }
--- a/src/fsfw/osal/freertos/TaskManagement.h
+++ b/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

--- a/src/fsfw/osal/host/Clock.cpp
+++ b/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)
@ -100,73 +71,10 @@ timeval Clock::getUptime() {
    timeval.tv_usec = uptimeSeconds * (double)1e6 - (timeval.tv_sec * 1e6);
  }
 #else
+#warning Clock::getUptime() not implemented for your platform
 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
 #endif
 #endif
  return timeval;
 }
-
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  *uptime = getUptime();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime = getUptime();
-  *uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  /* Do some magic with chrono (C++20!) */
-  /* Right now, the library doesn't have the new features to get the required values yet.
-  so we work around that for now. */
-  auto now = SystemClock::now();
-  auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
-  auto fraction = now - seconds;
-  time_t tt = SystemClock::to_time_t(now);
-  ReturnValue_t result = checkOrCreateClockMutex();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  MutexGuard helper(timeMutex);
-  // gmtime writes its output in a global buffer which is not Thread Safe
-  // Therefore we have to use a Mutex here
-  struct tm* timeInfo;
-  timeInfo = gmtime(&tt);
-  time->year = timeInfo->tm_year + 1900;
-  time->month = timeInfo->tm_mon + 1;
-  time->day = timeInfo->tm_mday;
-  time->hour = timeInfo->tm_hour;
-  time->minute = timeInfo->tm_min;
-  time->second = timeInfo->tm_sec;
-  auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
-  time->usecond = usecond.count();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm {};
-
-  time_tm.tm_year = from->year - 1900;
-  time_tm.tm_mon = from->month - 1;
-  time_tm.tm_mday = from->day;
-
-  time_tm.tm_hour = from->hour;
-  time_tm.tm_min = from->minute;
-  time_tm.tm_sec = from->second;
-  time_tm.tm_isdst = 0;
-
-  time_t seconds = timegm(&time_tm);
-
-  to->tv_sec = seconds;
-  to->tv_usec = from->usecond;
-  // Fails in 2038..
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}
--- a/src/fsfw/osal/host/FixedTimeslotTask.h
+++ b/src/fsfw/osal/host/FixedTimeslotTask.h
@ -5,7 +5,6 @@
 #include <condition_variable>
 #include <thread>
 #include <vector>
-#include <string>

 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/tasks/FixedSlotSequence.h"
--- a/src/fsfw/osal/host/PeriodicTask.cpp
+++ b/src/fsfw/osal/host/PeriodicTask.cpp
@ -9,7 +9,6 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"

 #if defined(PLATFORM_WIN)
-#include <processthreadsapi.h>

 #include "fsfw/osal/windows/winTaskHelpers.h"
 #elif defined(PLATFORM_UNIX)
--- a/src/fsfw/osal/host/PeriodicTask.h
+++ b/src/fsfw/osal/host/PeriodicTask.h
@ -5,7 +5,6 @@
 #include <condition_variable>
 #include <thread>
 #include <vector>
-#include <string>

 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/tasks/PeriodicTaskBase.h"
--- a/src/fsfw/osal/host/TaskFactory.cpp
+++ b/src/fsfw/osal/host/TaskFactory.cpp
@ -50,6 +50,6 @@ void TaskFactory::printMissedDeadline() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl;
 #else
-  sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
+  sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name.c_str());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 }
--- a/src/fsfw/osal/host/taskHelpers.h
+++ b/src/fsfw/osal/host/taskHelpers.h
@ -3,8 +3,8 @@

 #include <fsfw/returnvalues/returnvalue.h>

-#include <thread>
 #include <string>
+#include <thread>

 namespace tasks {

--- a/src/fsfw/osal/linux/Clock.cpp
+++ b/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;
@ -53,107 +33,12 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
  return returnvalue::OK;
 }

-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval timeVal{};
-  ReturnValue_t result = getClock_timeval(&timeVal);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
-
-  return returnvalue::OK;
-}
-
 timeval Clock::getUptime() {
-  timeval uptime{};
-  auto result = getUptime(&uptime);
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
-#endif
+  timeval uptime{0, 0};
+  double uptimeSeconds;
+  if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) {
+    uptime.tv_sec = uptimeSeconds;
+    uptime.tv_usec = uptimeSeconds * (double)1e6 - (uptime.tv_sec * 1e6);
  }
  return uptime;
-}
-
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-  double uptimeSeconds;
-  std::ifstream ifile("/proc/uptime");
-  if (ifile.bad()) {
-    return returnvalue::FAILED;
-  }
-  if (ifile >> uptimeSeconds) {
-    uptime->tv_sec = uptimeSeconds;
-    uptime->tv_usec = uptimeSeconds * (double)1e6 - (uptime->tv_sec * 1e6);
-    return returnvalue::OK;
-  }
-  return returnvalue::FAILED;
-}
-
-// 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;
-}
+}
--- a/src/fsfw/osal/rtems/BinarySemaphore.cpp
+++ b/src/fsfw/osal/rtems/BinarySemaphore.cpp
@ -2,6 +2,8 @@

 #include <rtems/rtems/sem.h>

+// TODO
+
 BinarySemaphore::BinarySemaphore() {}

 BinarySemaphore::~BinarySemaphore() {}
--- a/src/fsfw/osal/rtems/Clock.cpp
+++ b/src/fsfw/osal/rtems/Clock.cpp
@ -6,20 +6,21 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/rtems/RtemsBasic.h"

-uint32_t Clock::getTicksPerSecond(void) {
-  rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
-  return static_cast<uint32_t>(ticks_per_second);
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+ReturnValue_t Clock::setClock(const timeval* time) {
+  TimeOfDay_t time_tod;
+  ReturnValue_t result = convertTimevalToTimeOfDay(time, &time_tod);
+  if (result != returnvalue::OK) {
+    return result;
+  }
  rtems_time_of_day timeRtems;
-  timeRtems.year = time->year;
-  timeRtems.month = time->month;
-  timeRtems.day = time->day;
-  timeRtems.hour = time->hour;
-  timeRtems.minute = time->minute;
-  timeRtems.second = time->second;
-  timeRtems.ticks = time->usecond * getTicksPerSecond() / 1e6;
+  timeRtems.year = time_tod.year;
+  timeRtems.month = time_tod.month;
+  timeRtems.day = time_tod.day;
+  timeRtems.hour = time_tod.hour;
+  timeRtems.minute = time_tod.minute;
+  timeRtems.second = time_tod.second;
+  timeRtems.ticks =
+      static_cast<uint64_t>(time_tod.usecond) * rtems_clock_get_ticks_per_second() / 1e6;
  rtems_status_code status = rtems_clock_set(&timeRtems);
  switch (status) {
    case RTEMS_SUCCESSFUL:
@ -33,27 +34,6 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
  }
 }

-ReturnValue_t Clock::setClock(const timeval* time) {
-  timespec newTime;
-  newTime.tv_sec = time->tv_sec;
-  if (time->tv_usec < 0) {
-    // better returnvalue.
-    return returnvalue::FAILED;
-  }
-  newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
-
-  ISR_lock_Context context;
-  _TOD_Lock();
-  _TOD_Acquire(&context);
-  Status_Control status = _TOD_Set(&newTime, &context);
-  _TOD_Unlock();
-  if (status == STATUS_SUCCESSFUL) {
-    return returnvalue::OK;
-  }
-  // better returnvalue
-  return returnvalue::FAILED;
-}
-
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
  // Callable from ISR
  rtems_status_code status = rtems_clock_get_tod_timeval(time);
@ -67,86 +47,13 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
  }
 }

-ReturnValue_t Clock::getUptime(timeval* uptime) {
+timeval Clock::getUptime() {
  // According to docs.rtems.org for rtems 5 this method is more accurate than
  // rtems_clock_get_ticks_since_boot
+  timeval time_timeval;
  timespec time;
  rtems_status_code status = rtems_clock_get_uptime(&time);
-  uptime->tv_sec = time.tv_sec;
-  time.tv_nsec = time.tv_nsec / 1000;
-  uptime->tv_usec = time.tv_nsec;
-  switch (status) {
-    case RTEMS_SUCCESSFUL:
-      return returnvalue::OK;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  // This counter overflows after 50 days
-  *uptimeMs = rtems_clock_get_ticks_since_boot();
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval temp_time;
-  rtems_status_code returnValue = rtems_clock_get_tod_timeval(&temp_time);
-  *time = ((uint64_t)temp_time.tv_sec * 1000000) + temp_time.tv_usec;
-  switch (returnValue) {
-    case RTEMS_SUCCESSFUL:
-      return returnvalue::OK;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  /* For all but the last field, the struct will be filled with the correct values */
-  rtems_time_of_day timeRtems;
-  rtems_status_code status = rtems_clock_get_tod(&timeRtems);
-  switch (status) {
-    case RTEMS_SUCCESSFUL: {
-      /* The last field now contains the RTEMS ticks of the seconds from 0
-      to rtems_clock_get_ticks_per_second() minus one.
-      We calculate the microseconds accordingly */
-      time->day = timeRtems.day;
-      time->hour = timeRtems.hour;
-      time->minute = timeRtems.minute;
-      time->month = timeRtems.month;
-      time->second = timeRtems.second;
-      time->usecond =
-          static_cast<float>(timeRtems.ticks) / rtems_clock_get_ticks_per_second() * 1e6;
-      time->year = timeRtems.year;
-      return returnvalue::OK;
-    }
-    case RTEMS_NOT_DEFINED:
-      /* System date and time is not set */
-      return returnvalue::FAILED;
-    case RTEMS_INVALID_ADDRESS:
-      /* time_buffer is NULL */
-      return returnvalue::FAILED;
-    default:
-      return returnvalue::FAILED;
-  }
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  // Fails in 2038..
-  rtems_time_of_day timeRtems;
-  timeRtems.year = from->year;
-  timeRtems.month = from->month;
-  timeRtems.day = from->day;
-  timeRtems.hour = from->hour;
-  timeRtems.minute = from->minute;
-  timeRtems.second = from->second;
-  timeRtems.ticks = from->usecond * getTicksPerSecond() / 1e6;
-  to->tv_sec = _TOD_To_seconds(&timeRtems);
-  to->tv_usec = from->usecond;
-  return returnvalue::OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-  *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
-  return returnvalue::OK;
-}
+  time_timeval.tv_sec = time.tv_sec;
+  time_timeval.tv_usec = time.tv_nsec / 1000;
+  return time_timeval;
+}
--- a/src/fsfw/osal/rtems/CpuUsage.cpp
+++ b/src/fsfw/osal/rtems/CpuUsage.cpp
@ -93,8 +93,8 @@ ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size, size_t maxSize
                                                       streamEndianness);
 }

-uint32_t CpuUsage::getSerializedSize() const {
-  uint32_t size = 0;
+size_t CpuUsage::getSerializedSize() const {
+  size_t size = 0;

  size += sizeof(timeSinceLastReset);
  size += SerialArrayListAdapter<ThreadData>::getSerializedSize(&threadData);
@ -136,8 +136,8 @@ ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, size_t* size, si
  return returnvalue::OK;
 }

-uint32_t CpuUsage::ThreadData::getSerializedSize() const {
-  uint32_t size = 0;
+size_t CpuUsage::ThreadData::getSerializedSize() const {
+  size_t size = 0;

  size += sizeof(id);
  size += MAX_LENGTH_OF_THREAD_NAME;
--- a/src/fsfw/osal/rtems/CpuUsage.h
+++ b/src/fsfw/osal/rtems/CpuUsage.h
@ -19,13 +19,13 @@ class CpuUsage : public SerializeIF {
    float timeRunning;
    float percentUsage;

-    ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                            Endianness streamEndianness) const override;
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                    Endianness streamEndianness) const override;

-    size_t getSerializedSize() const override;
+    virtual size_t getSerializedSize() const override;

-    ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                              Endianness streamEndianness) override;
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                      Endianness streamEndianness) override;
  };

  CpuUsage();
--- a/src/fsfw/osal/rtems/InternalErrorCodes.cpp
+++ b/src/fsfw/osal/rtems/InternalErrorCodes.cpp
@ -35,20 +35,19 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
      return OUT_OF_PROXIES;
    case INTERNAL_ERROR_INVALID_GLOBAL_ID:
      return INVALID_GLOBAL_ID;
-#ifndef STM32H743ZI_NUCLEO
-    case INTERNAL_ERROR_BAD_STACK_HOOK:
-      return BAD_STACK_HOOK;
-#endif
-      //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
-      //		return BAD_ATTRIBUTES;
-      //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:
-      //		return IMPLEMENTATION_KEY_CREATE_INCONSISTENCY;
-      //	case INTERNAL_ERROR_IMPLEMENTATION_BLOCKING_OPERATION_CANCEL:
-      //		return IMPLEMENTATION_BLOCKING_OPERATION_CANCEL;
-      //	case INTERNAL_ERROR_MUTEX_OBTAIN_FROM_BAD_STATE:
-      //		return MUTEX_OBTAIN_FROM_BAD_STATE;
-      //	case INTERNAL_ERROR_UNLIMITED_AND_MAXIMUM_IS_0:
-      //		return UNLIMITED_AND_MAXIMUM_IS_0;
+    // TODO this one is not there anymore in rtems-6 (5 as well?)
+    // case INTERNAL_ERROR_BAD_STACK_HOOK:
+    //   return BAD_STACK_HOOK;
+    //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
+    //		return BAD_ATTRIBUTES;
+    //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:
+    //		return IMPLEMENTATION_KEY_CREATE_INCONSISTENCY;
+    //	case INTERNAL_ERROR_IMPLEMENTATION_BLOCKING_OPERATION_CANCEL:
+    //		return IMPLEMENTATION_BLOCKING_OPERATION_CANCEL;
+    //	case INTERNAL_ERROR_MUTEX_OBTAIN_FROM_BAD_STATE:
+    //		return MUTEX_OBTAIN_FROM_BAD_STATE;
+    //	case INTERNAL_ERROR_UNLIMITED_AND_MAXIMUM_IS_0:
+    //		return UNLIMITED_AND_MAXIMUM_IS_0;
    default:
      return returnvalue::FAILED;
  }
--- a/src/fsfw/osal/rtems/SemaphoreFactory.cpp
+++ b/src/fsfw/osal/rtems/SemaphoreFactory.cpp
@ -18,7 +18,9 @@ SemaphoreFactory* SemaphoreFactory::instance() {
 }

 SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
-  return new BinarySemaphore();
+  return nullptr;
+  // TODO
+  // return new BinarySemaphore();
 }

 SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount, uint8_t initCount,
--- a/src/fsfw/osal/windows/winTaskHelpers.h
+++ b/src/fsfw/osal/windows/winTaskHelpers.h
@ -5,7 +5,11 @@

 #ifdef _WIN32

-#include <minwindef.h>
+// Thanks, windows
+// clang-format off
+#include <windows.h>
+#include <processthreadsapi.h>
+// clang-format on

 namespace tasks {

--- a/src/fsfw/parameters/ParameterWrapper.h
+++ b/src/fsfw/parameters/ParameterWrapper.h
@ -40,15 +40,14 @@ class ParameterWrapper : public SerializeIF {
  ParameterWrapper(Type type, uint8_t rows, uint8_t columns, const void *data);
  virtual ~ParameterWrapper();

-  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                          Endianness streamEndianness) const override;
+  virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                  Endianness streamEndianness) const override;

-  size_t getSerializedSize() const override;
+  virtual size_t getSerializedSize() const override;

-  using SerializeIF::deSerialize;  // we overloaded this function, so this is needed to unconfuse
-                                   // the compiler
-  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                            Endianness streamEndianness) override;
+  using SerializeIF::deSerialize;
+  virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                                    Endianness streamEndianness) override;

  virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                                    Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
--- a/src/fsfw/power/Fuse.h
+++ b/src/fsfw/power/Fuse.h
@ -32,7 +32,7 @@ class Fuse : public SystemObject,
    gp_id_t poolIdPower;
  };

-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
  //! PSS detected that current on a fuse is totally out of bounds.
  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
  //! PSS detected a fuse that went off.
@ -62,13 +62,13 @@ class Fuse : public SystemObject,
                            SerializeIF::Endianness streamEndianness) override;
  void setAllMonitorsToUnchecked();
  ReturnValue_t performOperation(uint8_t opCode);
-  MessageQueueId_t getCommandQueue() const;
+  MessageQueueId_t getCommandQueue() const override;
  void setDataPoolEntriesInvalid();
-  ReturnValue_t setHealth(HealthState health);
-  HasHealthIF::HealthState getHealth();
+  ReturnValue_t setHealth(HealthState health) override;
+  HasHealthIF::HealthState getHealth() override;

  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper *parameterWrapper,
-                             const ParameterWrapper *newValues, uint16_t startAtIndex);
+                             const ParameterWrapper *newValues, uint16_t startAtIndex) override;

 private:
  uint8_t oldFuseState;
--- a/src/fsfw/power/PowerComponent.h
+++ b/src/fsfw/power/PowerComponent.h
@ -10,15 +10,15 @@ class PowerComponent : public PowerComponentIF {
  PowerComponent(object_id_t setId, uint8_t moduleId, float minPower, float maxPower,
                 uint8_t switchId1, bool twoSwitches = false, uint8_t switchId2 = 0xFF);

-  virtual object_id_t getDeviceObjectId();
+  object_id_t getDeviceObjectId() override;

-  virtual uint8_t getSwitchId1();
-  virtual uint8_t getSwitchId2();
+  uint8_t getSwitchId1() override;
+  uint8_t getSwitchId2() override;

-  bool hasTwoSwitches();
+  bool hasTwoSwitches() override;

-  float getMin();
-  float getMax();
+  float getMin() override;
+  float getMax() override;

  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                          Endianness streamEndianness) const override;
@ -29,7 +29,7 @@ class PowerComponent : public PowerComponentIF {
                            Endianness streamEndianness) override;

  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
-                             const ParameterWrapper* newValues, uint16_t startAtIndex);
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;

 private:
  const object_id_t deviceObjectId = objects::NO_OBJECT;
--- a/src/fsfw/power/PowerSwitchIF.h
+++ b/src/fsfw/power/PowerSwitchIF.h
@ -28,12 +28,10 @@ class PowerSwitchIF {
  static const ReturnValue_t SWITCH_TIMEOUT = MAKE_RETURN_CODE(2);
  static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
  static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
-  static const ReturnValue_t SWITCH_UNKNOWN = MAKE_RETURN_CODE(5);
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
-  //!< Someone detected that a switch went off which shouldn't. Severity:
-  //!< Low, Parameter1: switchId1, Parameter2: switchId2
-  static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
+      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
+                          //!< Low, Parameter1: switchId1, Parameter2: switchId2
  /**
   * send a direct command to the Power Unit to enable/disable the specified switch.
   *
@ -52,7 +50,6 @@ class PowerSwitchIF {
   * @return
   *     - @c SWITCH_ON if the specified switch is on.
   *     - @c SWITCH_OFF if the specified switch is off.
-   *     - @c SWITCH_UNKNOWN if the state of the specified switch is unknown.
   *     - @c returnvalue::FAILED if an error occured
   */
  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
--- a/src/fsfw/pus/CMakeLists.txt
+++ b/src/fsfw/pus/CMakeLists.txt
@ -9,4 +9,4 @@ target_sources(
          Service17Test.cpp
          Service20ParameterManagement.cpp
          CService200ModeCommanding.cpp
-          CServiceHealthCommanding.cpp)
+          CService201HealthCommanding.cpp)
--- a/src/fsfw/pus/CService200ModeCommanding.cpp
+++ b/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_ANNOUNCE_RECURSIVELY):
+    case (Subservice::COMMAND_MODE_ANNCOUNCE):
      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;
-  switch (subservice) {
-    case (Subservice::COMMAND_MODE_COMMAND): {
-      ModePacket modeCommandPacket;
-      ReturnValue_t 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;
+  ModePacket modeCommandPacket;
+  ReturnValue_t 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 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) {
-        return prepareModeReply(reply, objectId);
-      }
-      return returnvalue::OK;
+      result = prepareModeReply(reply, objectId);
+      break;
    }
    case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
      result = prepareWrongModeReply(reply, objectId);
--- a/src/fsfw/pus/CService200ModeCommanding.h
+++ b/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,
--- a/src/fsfw/pus/CService201HealthCommanding.cpp
+++ b/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);
+}
--- a/src/fsfw/pus/CService201HealthCommanding.h
+++ b/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);
-  ~CServiceHealthCommanding() override = default;
-
-  ReturnValue_t initialize() override;
+  CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
+                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
+  ~CService201HealthCommanding() override = default;

 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);

--- a/src/fsfw/pus/CServiceHealthCommanding.cpp
+++ b/src/fsfw/pus/CServiceHealthCommanding.cpp
@ -1,161 +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): {
-      if (tcDataLen != sizeof(object_id_t) + sizeof(HasHealthIF::HealthState)) {
-        return CommandingServiceBase::INVALID_TC;
-      }
-      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);
-      return CommandingServiceBase::EXECUTION_COMPLETE;
-    }
-    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;
-  }
-}
--- a/src/fsfw/pus/Service1TelecommandVerification.cpp
+++ b/src/fsfw/pus/Service1TelecommandVerification.cpp
@ -13,7 +13,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
                                                                 uint16_t messageQueueDepth,
                                                                 TimeWriterIF* timeStamper)
    : SystemObject(objectId),
-      apid(apid),
+      //      apid(apid),
      serviceId(serviceId),
      targetDestination(targetDestination),
      storeHelper(apid),
--- a/src/fsfw/pus/Service1TelecommandVerification.h
+++ b/src/fsfw/pus/Service1TelecommandVerification.h
@ -72,7 +72,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
  ReturnValue_t initialize() override;

 private:
-  uint16_t apid = 0;
+  // uint16_t apid = 0;
  uint8_t serviceId = 0;

  object_id_t targetDestination = objects::NO_OBJECT;
--- a/src/fsfw/pus/Service20ParameterManagement.cpp
+++ b/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 << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
+    sif::error << "Object ID: " << std::hex << objectId << std::dec << 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;
--- a/src/fsfw/pus/Service9TimeManagement.cpp
+++ b/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;
-  Clock::getClock_timeval(&time);
+  // TODO maybe switch to getClock_usecs to report more meaningful data
+  uint32_t formerUptime = Clock::getUptime_ms();
  result = Clock::setClock(&timeToSet);

  if (result == returnvalue::OK) {
-    timeval newTime;
-    Clock::getClock_timeval(&newTime);
-    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
+    uint32_t newUptime = Clock::getUptime_ms();
+    triggerEvent(CLOCK_SET, newUptime, formerUptime);
    return returnvalue::OK;
  } else {
    triggerEvent(CLOCK_SET_FAILURE, result, 0);
--- a/src/fsfw/pus/Service9TimeManagement.h
+++ b/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;
-
-  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
-  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
-  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 Event CLOCK_SET =
+      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  static constexpr Event CLOCK_SET_FAILURE =
+      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.

  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 {
-    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
-    DUMP_TIME = 129,
+  enum SUBSERVICE {
+    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
  };
 };

--- a/src/fsfw/pus/servicepackets/Service1Packets.h
+++ b/src/fsfw/pus/servicepackets/Service1Packets.h
@ -69,7 +69,7 @@ class FailureReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 2, 4, 6
    return result;
  }

-  virtual size_t getSerializedSize() const {
+  virtual size_t getSerializedSize() const override {
    size_t size = 0;
    size += SerializeAdapter::getSerializedSize(&packetId);
    size += sizeof(packetSequenceControl);
--- a/src/fsfw/pus/servicepackets/Service5Packets.h
+++ b/src/fsfw/pus/servicepackets/Service5Packets.h
@ -24,8 +24,8 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
        parameter1(parameter1_),
        parameter2(parameter2_) {}

-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          SerializeIF::Endianness streamEndianness) const override {
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                  SerializeIF::Endianness streamEndianness) const override {
    ReturnValue_t result =
        SerializeAdapter::serialize(&reportId, buffer, size, maxSize, streamEndianness);
    if (result != returnvalue::OK) {
@ -46,7 +46,7 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
    return result;
  }

-  size_t getSerializedSize() const override {
+  virtual size_t getSerializedSize() const override {
    uint32_t size = 0;
    size += SerializeAdapter::getSerializedSize(&reportId);
    size += SerializeAdapter::getSerializedSize(&objectId);
@ -55,8 +55,8 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
    return size;
  }

-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            SerializeIF::Endianness streamEndianness) override {
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    SerializeIF::Endianness streamEndianness) override {
    return returnvalue::FAILED;
  }

--- a/src/fsfw/serialize/SerialArrayListAdapter.h
+++ b/src/fsfw/serialize/SerialArrayListAdapter.h
@ -16,10 +16,8 @@ class SerialArrayListAdapter : public SerializeIF {
 public:
  SerialArrayListAdapter(ArrayList<T, count_t>* adaptee) : adaptee(adaptee) {}

-  using SerializeIF::serialize;  // we overload this function as well, so this is needed to uncofuse
-                                 // the compiler
-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          Endianness streamEndianness) const override {
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                  Endianness streamEndianness) const {
    return serialize(adaptee, buffer, size, maxSize, streamEndianness);
  }

@ -36,7 +34,7 @@ class SerialArrayListAdapter : public SerializeIF {
    return result;
  }

-  size_t getSerializedSize() const override { return getSerializedSize(adaptee); }
+  virtual size_t getSerializedSize() const { return getSerializedSize(adaptee); }

  static uint32_t getSerializedSize(const ArrayList<T, count_t>* list) {
    uint32_t printSize = sizeof(count_t);
@ -49,10 +47,8 @@ class SerialArrayListAdapter : public SerializeIF {
    return printSize;
  }

-  using SerializeIF::deSerialize;  // we overload this function as well, so this is needed to
-                                   // uncofuse the compiler
-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            Endianness streamEndianness) override {
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    Endianness streamEndianness) {
    return deSerialize(adaptee, buffer, size, streamEndianness);
  }

--- a/src/fsfw/serialize/SerialLinkedListAdapter.h
+++ b/src/fsfw/serialize/SerialLinkedListAdapter.h
@ -33,7 +33,7 @@
 * @author baetz
 * @ingroup serialize
 */
-template <typename T, typename count_t = uint8_t>
+template <typename T, typename count_t = size_t>
 class SerialLinkedListAdapter : public SinglyLinkedList<T>, public SerializeIF {
 public:
  SerialLinkedListAdapter(typename LinkedElement<T>::Iterator start, bool printCount = false)
@ -45,10 +45,8 @@ class SerialLinkedListAdapter : public SinglyLinkedList<T>, public SerializeIF {
  SerialLinkedListAdapter(bool printCount = false)
      : SinglyLinkedList<T>(), printCount(printCount) {}

-  using SerializeIF::serialize;  // we overloaded this function, so this is needed to unconfuse the
-                                 // compiler
-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          Endianness streamEndianness) const override {
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                  Endianness streamEndianness) const override {
    if (printCount) {
      count_t mySize = SinglyLinkedList<T>::getSize();
      ReturnValue_t result =
@ -70,7 +68,7 @@ class SerialLinkedListAdapter : public SinglyLinkedList<T>, public SerializeIF {
    return result;
  }

-  size_t getSerializedSize() const override {
+  virtual size_t getSerializedSize() const override {
    if (printCount) {
      return SerialLinkedListAdapter<T>::getSerializedSize() + sizeof(count_t);
    } else {
@ -78,8 +76,6 @@ class SerialLinkedListAdapter : public SinglyLinkedList<T>, public SerializeIF {
    }
  }

-  using SerializeIF::deSerialize;  // we overloaded this function, so this is needed to unconfuse
-                                   // the compiler
  static size_t getSerializedSize(const LinkedElement<T>* element) {
    size_t size = 0;
    while (element != nullptr) {
@ -89,8 +85,8 @@ class SerialLinkedListAdapter : public SinglyLinkedList<T>, public SerializeIF {
    return size;
  }

-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            Endianness streamEndianness) override {
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    Endianness streamEndianness) override {
    return deSerialize(SinglyLinkedList<T>::start, buffer, size, streamEndianness);
  }

--- a/src/fsfw/serialize/SerializeElement.h
+++ b/src/fsfw/serialize/SerializeElement.h
@ -32,8 +32,8 @@ class SerializeElement : public SerializeIF, public LinkedElement<SerializeIF> {

  size_t getSerializedSize() const override { return SerializeAdapter::getSerializedSize(&entry); }

-  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                            Endianness streamEndianness) override {
+  virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                                    Endianness streamEndianness) override {
    return SerializeAdapter::deSerialize(&entry, buffer, size, streamEndianness);
  }

--- a/src/fsfw/storagemanager/LocalPool.cpp
+++ b/src/fsfw/storagemanager/LocalPool.cpp
@ -109,7 +109,8 @@ ReturnValue_t LocalPool::deleteData(uint8_t* ptr, size_t size, store_address_t*
  ReturnValue_t result = ILLEGAL_ADDRESS;
  for (uint16_t n = 0; n < NUMBER_OF_SUBPOOLS; n++) {
    // Not sure if new allocates all stores in order. so better be careful.
-    if ((store[n].data() <= ptr) and (&store[n][numberOfElements[n] * elementSizes[n]] > ptr)) {
+    if ((store[n].data() <= ptr) and
+        (&store[n][numberOfElements[n] * elementSizes[n] - 1] >= ptr)) {
      localId.poolIndex = n;
      uint32_t deltaAddress = ptr - store[n].data();
      // Getting any data from the right "block" is ok.
--- a/src/fsfw/subsystem/Subsystem.cpp
+++ b/src/fsfw/subsystem/Subsystem.cpp
@ -91,11 +91,10 @@ void Subsystem::performChildOperation() {
      }
      if (currentSequenceIterator->getWaitSeconds() != 0) {
        if (uptimeStartTable == 0) {
-          Clock::getUptime(&uptimeStartTable);
+          uptimeStartTable = Clock::getUptime_ms();
          return;
        } else {
-          uint32_t uptimeNow;
-          Clock::getUptime(&uptimeNow);
+          uint32_t uptimeNow = Clock::getUptime_ms();
          if ((uptimeNow - uptimeStartTable) < (currentSequenceIterator->getWaitSeconds() * 1000)) {
            return;
          }
@ -586,7 +585,12 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command, SerializeIF
    return;
  }
  for (uint8_t i = 0; i < count; i++) {
-    elements[i]->serialize(&storeBuffer, &size, maxSize, SerializeIF::Endianness::BIG);
+    result = elements[i]->serialize(&storeBuffer, &size, maxSize, SerializeIF::Endianness::BIG);
+    if (result != returnvalue::OK) {
+      replyToCommand(result, 0);
+      IPCStore->deleteData(address);
+      return;
+    }
  }
  CommandMessage reply;
  ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
--- a/src/fsfw/subsystem/modes/ModeDefinitions.h
+++ b/src/fsfw/subsystem/modes/ModeDefinitions.h
@ -15,8 +15,8 @@ class ModeListEntry : public SerializeIF, public LinkedElement<ModeListEntry> {
  uint8_t value3 = 0;
  uint8_t value4 = 0;

-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          Endianness streamEndianness) const override {
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                  Endianness streamEndianness) const {
    ReturnValue_t result;

    result = SerializeAdapter::serialize(&value1, buffer, size, maxSize, streamEndianness);
@ -40,12 +40,12 @@ class ModeListEntry : public SerializeIF, public LinkedElement<ModeListEntry> {
    return result;
  }

-  size_t getSerializedSize() const override {
+  virtual size_t getSerializedSize() const {
    return sizeof(value1) + sizeof(value2) + sizeof(value3) + sizeof(value4);
  }

-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            Endianness streamEndianness) override {
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    Endianness streamEndianness) {
    ReturnValue_t result;

    result = SerializeAdapter::deSerialize(&value1, buffer, size, streamEndianness);
--- a/src/fsfw/tasks/FixedTimeslotTaskBase.h
+++ b/src/fsfw/tasks/FixedTimeslotTaskBase.h
@ -9,7 +9,6 @@ class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
 public:
  explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
  ~FixedTimeslotTaskBase() override = default;
-  ;

 protected:
  /**
--- a/src/fsfw/thermal/Heater.cpp
+++ b/src/fsfw/thermal/Heater.cpp
@ -196,12 +196,11 @@ void Heater::setSwitch(uint8_t number, ReturnValue_t state, uint32_t* uptimeOfSw
  if (powerSwitcher->getSwitchState(number) == state) {
    *uptimeOfSwitching = INVALID_UPTIME;
  } else {
-    if ((*uptimeOfSwitching == INVALID_UPTIME)) {
+    if (*uptimeOfSwitching == INVALID_UPTIME) {
      powerSwitcher->sendSwitchCommand(number, state);
-      Clock::getUptime(uptimeOfSwitching);
+      *uptimeOfSwitching = Clock::getUptime_ms();
    } else {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
+      uint32_t currentUptime = Clock::getUptime_ms();
      if (currentUptime - *uptimeOfSwitching > powerSwitcher->getSwitchDelayMs()) {
        *uptimeOfSwitching = INVALID_UPTIME;
        if (healthHelper.healthTable->isHealthy(getObjectId())) {
--- a/src/fsfw/timemanager/CCSDSTime.cpp
+++ b/src/fsfw/timemanager/CCSDSTime.cpp
@ -552,10 +552,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short*
  if (to == nullptr or from == nullptr) {
    return returnvalue::FAILED;
  }
-  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
-  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
-    return INVALID_TIME_FORMAT;
-  }
+  int32_t days = (from->dayMSB << 8) + from->dayLSB;
  days -= DAYS_CCSDS_TO_UNIX_EPOCH;
  to->tv_sec = days * SECONDS_PER_DAY;
  uint32_t msDay =
--- a/src/fsfw/timemanager/CMakeLists.txt
+++ b/src/fsfw/timemanager/CMakeLists.txt
@ -1,4 +1,9 @@
 target_sources(
  ${LIB_FSFW_NAME}
-  PRIVATE CCSDSTime.cpp Countdown.cpp Stopwatch.cpp TimeMessage.cpp
-          CdsShortTimeStamper.cpp ClockCommon.cpp)
+  PRIVATE CCSDSTime.cpp
+          Countdown.cpp
+          Stopwatch.cpp
+          TimeMessage.cpp
+          CdsShortTimeStamper.cpp
+          ClockCommon.cpp
+          boost_timegm.cpp)
--- a/src/fsfw/timemanager/CdsShortTimeStamper.cpp
+++ b/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,
--- a/src/fsfw/timemanager/CdsShortTimeStamper.h
+++ b/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.
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ulrich Mohr	3772db4753	group id conflict All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-02-08 11:46:39 +01:00
Ulrich Mohr	3d13ead275	moved to newer wine All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-02-07 21:56:06 +01:00
Ulrich Mohr	e7e9ce4baf	one more warning suppressed in MSVC	2023-02-07 13:25:13 +01:00
Ulrich Mohr	e4c11f8107	fixing problem which causes a looooooong hang in CI by illegaly overrideing internal CMake Variable All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-02-07 12:26:44 +01:00
Ulrich Mohr	270622a5f1	no coverage with clang so far; using correct path to push coverage data All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-02-06 22:49:37 +01:00
Ulrich Mohr	4b52e5bec4	windows and clang builds in CI Some checks failed fsfw/fsfw/pipeline/head There was a failure building this commit Details	2023-02-06 22:45:00 +01:00
Ulrich Mohr	efc2773f84	docker update for windows All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-02-06 16:29:53 +01:00
Ulrich Mohr	87bb29a66a	compiler parameter tuning All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-02-06 13:10:50 +01:00
Ulrich Mohr	45963b2064	tuning win build All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-27 17:26:03 +01:00
Ulrich Mohr	bc312243df	clang -Weverything -Wno-gnu-anonymous-struct All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-27 00:50:10 +01:00
Ulrich Mohr	9589d702dd	windows unittests succeed All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-26 18:14:35 +01:00
Ulrich Mohr	c66fab90f9	filesystem stuff works on linux/host All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-26 17:05:25 +01:00
Ulrich Mohr	3e8446ba8b	windows building again	2023-01-26 15:30:23 +01:00
Ulrich Mohr	e37af4fe70	format All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-26 13:40:44 +01:00
Ulrich Mohr	941bf61f28	constant number of assertions in unittests All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-26 13:26:11 +01:00
Ulrich Mohr	70fd9ff3e5	fixed impact of windows fixes on other builds All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-26 12:33:39 +01:00
Ulrich Mohr	81c5b2ec95	Merge branch 'mohr/rtems' into windows Some checks failed fsfw/fsfw/pipeline/head There was a failure building this commit Details	2023-01-26 11:55:16 +01:00
Ulrich Mohr	7426e10f82	clocks suck a little less All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-26 11:33:40 +01:00
uli	123c81777a	clocks suck	2023-01-26 00:01:40 +01:00
Ulrich Mohr	dcc28622a5	windows compiles, some unittests give exceptions Some checks failed fsfw/fsfw/pipeline/head There was a failure building this commit Details	2023-01-25 23:54:46 +01:00
Ulrich Mohr	6d85fa155e	cleaning up unittest build All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-20 16:05:04 +01:00
Ulrich Mohr	e6af6200ae	updating CI All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-19 17:32:23 +01:00
Ulrich Mohr	5ca3e83934	working on rtems CI build All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-19 16:46:43 +01:00
Ulrich Mohr	6adabb059a	fixing rtems cmake config All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-19 16:27:10 +01:00
Ulrich Mohr	5d0a5cd201	exiting qemu nonzero when tests fail	2023-01-19 14:47:40 +01:00
Ulrich Mohr	adb8483bb0	unittests for rtems working All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-19 14:24:33 +01:00
Ulrich Mohr	fdfdce2fb0	compiling, crashing when run All checks were successful fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-18 00:25:25 +01:00
Ulrich Mohr	90efb132d0	fixing rebase error Some checks failed fsfw/fsfw/pipeline/pr-development There was a failure building this commit Details fsfw/fsfw/pipeline/head This commit looks good Details	2023-01-16 12:41:23 +01:00
Ulrich Mohr	fe9804d922	format Some checks failed fsfw/fsfw/pipeline/head There was a failure building this commit Details	2023-01-16 12:35:14 +01:00
Ulrich Mohr	a0eae66c35	checking if this helps docker build Some checks failed fsfw/fsfw/pipeline/head There was a failure building this commit Details	2023-01-16 12:32:16 +01:00
Ulrich Mohr	e131480d5f	two errors found by valgrind	2023-01-16 12:32:15 +01:00
Ulrich Mohr	90bafbb6de	typos in Jenkinsfile	2023-01-16 12:31:54 +01:00
Ulrich Mohr	47d85fb61c	finished freertos unittests, valgrind not happy yet	2023-01-16 12:31:53 +01:00
Ulrich Mohr	39dad5f45b	unittests running but failing	2023-01-16 12:31:53 +01:00
Ulrich Mohr	a993c4e0d4	adding linux ci and fixing problems	2023-01-16 12:31:53 +01:00
Robin Mueller	fe9cc20d00	make get const	2023-01-16 12:31:53 +01:00
Robin Mueller	552a12a6ad	updates for source sequence counter	2023-01-16 12:31:47 +01:00
Ulrich Mohr	13639feec6	FreeRTOS unittests building (but not running)	2023-01-16 12:30:36 +01:00
Ulrich Mohr	654de0f586	WIP	2023-01-16 12:30:36 +01:00