fix for raspberry pi code

Reviewed-on: eive/fsfw#15

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -1,15 +1,13 @@
-#include "GyroL3GD20Handler.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 
-#include <cmath>
-
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint32_t transitionDelayMs):
+        CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        transitionDelayMs(transitionDelayMs), dataset(this) {
+        switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(5);
 #endif
 }
 
@@ -217,32 +215,11 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
         PoolReadGuard readSet(&dataset);
         if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(angVelocX) < this->absLimitX) {
-                dataset.angVelocX = angVelocX;
-                dataset.angVelocX.setValid(true);
-            }
-            else {
-                dataset.angVelocX.setValid(false);
-            }
-
-            if(std::abs(angVelocY) < this->absLimitY) {
-                dataset.angVelocY = angVelocY;
-                dataset.angVelocY.setValid(true);
-            }
-            else {
-                dataset.angVelocY.setValid(false);
-            }
-
-            if(std::abs(angVelocZ) < this->absLimitZ) {
-                dataset.angVelocZ = angVelocZ;
-                dataset.angVelocZ.setValid(true);
-            }
-            else {
-                dataset.angVelocZ.setValid(false);
-            }
-
+            dataset.angVelocX = angVelocX;
+            dataset.angVelocY = angVelocY;
+            dataset.angVelocZ = angVelocZ;
             dataset.temperature = temperature;
-            dataset.temperature.setValid(true);
+            dataset.setValidity(true, true);
         }
         break;
     }
@@ -257,7 +234,7 @@ uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
     return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
+void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
     this->goNormalModeImmediately = true;
 }
 
@@ -279,9 +256,3 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
 void GyroHandlerL3GD20H::modeChanged() {
     internalState = InternalState::NONE;
 }
-
-void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
-    this->absLimitX = limitX;
-    this->absLimitY = limitY;
-    this->absLimitZ = limitZ;
-}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -19,22 +19,13 @@
 class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
     GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie, uint32_t transitionDelayMs);
+            CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
     virtual ~GyroHandlerL3GD20H();
 
-    /**
-     * Set the absolute limit for the values on the axis in degrees per second.
-     * The dataset values will be marked as invalid if that limit is exceeded
-     * @param xLimit
-     * @param yLimit
-     * @param zLimit
-     */
-    void setAbsoluteLimits(float limitX, float limitY, float limitZ);
-
     /**
      * @brief   Configure device handler to go to normal mode immediately
      */
-    void setToGoToNormalMode(bool enable);
+    void setGoNormalModeAtStartup();
 protected:
 
     /* DeviceHandlerBase overrides */
@@ -49,23 +40,20 @@ protected:
             size_t commandDataLen) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
 
     void fillCommandAndReplyMap() override;
     void modeChanged() override;
-    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
     ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
             LocalDataPoolManager &poolManager) override;
 
 private:
+    uint8_t switchId = 0;
     uint32_t transitionDelayMs = 0;
     GyroPrimaryDataset dataset;
 
-    float absLimitX = L3GD20H::RANGE_DPS_00;
-    float absLimitY = L3GD20H::RANGE_DPS_00;
-    float absLimitZ = L3GD20H::RANGE_DPS_00;
-
     enum class InternalState {
         NONE,
         CONFIGURE,

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -5,16 +5,14 @@
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #endif
 
-#include <cmath>
-
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF* comCookie, uint32_t transitionDelay):
+        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         dataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(5);
 #endif
-    // Set to default values right away
+    /* Set to default values right away. */
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
     registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
     registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -293,6 +291,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
+            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Magnetic field strength in"
                     " microtesla:" << std::endl;
@@ -309,29 +308,10 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 #endif /* OBSW_VERBOSE_LEVEL >= 1 */
         PoolReadGuard readHelper(&dataset);
         if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(mgmX) < absLimitX) {
-                dataset.fieldStrengthX = mgmX;
-                dataset.fieldStrengthX.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthX.setValid(false);
-            }
-
-            if(std::abs(mgmY) < absLimitY) {
-                dataset.fieldStrengthY = mgmY;
-                dataset.fieldStrengthY.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthY.setValid(false);
-            }
-
-            if(std::abs(mgmZ) < absLimitZ) {
-                dataset.fieldStrengthZ = mgmZ;
-                dataset.fieldStrengthZ.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthZ.setValid(false);
-            }
+            dataset.fieldStrengthX = mgmX;
+            dataset.fieldStrengthY = mgmY;
+            dataset.fieldStrengthZ = mgmZ;
+            dataset.setValidity(true, true);
         }
         break;
     }
@@ -341,6 +321,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
         float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
     #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->check()) {
+            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
                     std::endl;
@@ -463,6 +444,16 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
 }
 
 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
+    /*
+     * Regarding ArduinoBoard:
+     * Actually SPI answers directly, but as commanding ArduinoBoard the
+     * communication could be delayed
+     * SPI always has to be triggered, so there could be no periodic answer of
+     * the device, the device has to asked with a command, so periodic is zero.
+     *
+     * We dont read single registers, we just expect special
+     * reply from he Readall_MGM
+     */
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
     insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
@@ -484,7 +475,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
     rawPacket = commandBuffer;
     rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
-    // We dont have to check if this is working because we just did i
+    /* We dont have to check if this is working because we just did it */
     return RETURN_OK;
 }
 
@@ -512,9 +503,3 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
             new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
-
-void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
-    this->absLimitX = xLimit;
-    this->absLimitY = yLimit;
-    this->absLimitZ = zLimit;
-}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -31,17 +31,9 @@ public:
     static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
 
     MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
-            uint32_t transitionDelay);
+            uint8_t switchId, uint32_t transitionDelay = 10000);
     virtual ~MgmLIS3MDLHandler();
 
-    /**
-     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
-     * be marked as invalid if that limit is exceeded
-     * @param xLimit
-     * @param yLimit
-     * @param zLimit
-     */
-    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
     void setToGoToNormalMode(bool enable);
 
 protected:
@@ -50,7 +42,7 @@ protected:
     void doShutDown() override;
     void doStartUp() override;
     void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
     ReturnValue_t buildCommandFromCommand(
             DeviceCommandId_t deviceCommand, const uint8_t *commandData,
             size_t commandDataLen) override;
@@ -60,14 +52,7 @@ protected:
             DeviceCommandId_t *id) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    /**
-     * This implementation is tailored towards space applications and will flag values larger
-     * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
-     * @param id
-     * @param packet
-     * @return
-     */
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
     void fillCommandAndReplyMap() override;
     void modeChanged(void) override;
@@ -76,19 +61,15 @@ protected:
 
 private:
     MGMLIS3MDL::MgmPrimaryDataset dataset;
-    //Length a single command SPI answer
+    //Length a sindgle command SPI answer
     static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
 
     uint32_t transitionDelay;
-    // Single SPI command has 2 bytes, first for adress, second for content
+    //Single SPIcommand has 2 bytes, first for adress, second for content
     size_t singleComandSize = 2;
-    // Has the size for all adresses of the lis3mdl + the continous write bit
+    //has the size for all adresses of the lis3mdl + the continous write bit
     uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
 
-    float absLimitX = 100;
-    float absLimitY = 100;
-    float absLimitZ = 150;
-
     /**
      * We want to save the registers we set, so we dont have to read the
      * registers when we want to change something.

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -8,9 +8,10 @@
 
 
 MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
+        object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId,
+        uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        primaryDataset(this), transitionDelay(transitionDelay) {
+        primaryDataset(this), switchId(switchId), transitionDelay(transitionDelay) {
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(3);
 #endif
@@ -89,16 +90,9 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
         break;
     }
     default:
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         // Might be a configuration error
-        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state" << std::endl;
-#else
-        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state\n");
-#endif
-#endif
+        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
+                std::endl;
         return HasReturnvaluesIF::RETURN_OK;
     }
 
@@ -328,7 +322,13 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
 }
 
 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return this->transitionDelay;
+    return 25000;
+}
+
+ReturnValue_t MgmRM3100Handler::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
+    *switches = &switchId;
+    *numberOfSwitches = 1;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
@@ -349,18 +349,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     if(debugDivider->checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::info << "MgmRM3100Handler: Magnetic field strength in"
                 " microtesla:" << std::endl;
+        /* Set terminal to utf-8 if there is an issue with micro printout. */
         sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
         sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
         sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
-#else
-        sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", fieldStrengthX);
-        sif::printInfo("Y: %f uT\n", fieldStrengthY);
-        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
-#endif
     }
 #endif
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "fsfw/FSFW.h"
+#include "devices/powerSwitcherList.h"
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
@@ -31,7 +32,7 @@ public:
 			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
 
 	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
-	        CookieIF* comCookie, uint32_t transitionDelay);
+	        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay = 10000);
 	virtual ~MgmRM3100Handler();
 
 	/**
@@ -47,16 +48,21 @@ protected:
 	        DeviceCommandId_t *id) override;
 	void doStartUp() override;
 	void doShutDown() override;
-	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-	        const uint8_t *commandData, size_t commandDataLen) override;
+	ReturnValue_t buildNormalDeviceCommand(
+	        DeviceCommandId_t *id) override;
+	ReturnValue_t buildCommandFromCommand(
+	        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+			size_t commandDataLen) override;
 	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
 			DeviceCommandId_t *foundId, size_t *foundLen) override;
-	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+	        const uint8_t *packet) override;
+    ReturnValue_t getSwitches(const uint8_t **switches,
+            uint8_t *numberOfSwitches) override;
 
 	void fillCommandAndReplyMap() override;
 	void modeChanged(void) override;
-	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
 	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
 
@@ -91,6 +97,7 @@ private:
 	float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
 
 	bool goToNormalModeAtStartup = false;
+	uint8_t switchId;
 	uint32_t transitionDelay;
 
 	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,

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

@@ -154,7 +154,7 @@ enum MgmPoolIds: lp_id_t {
     TEMPERATURE_CELCIUS
 };
 
-class MgmPrimaryDataset: public StaticLocalDataSet<4> {
+class MgmPrimaryDataset: public StaticLocalDataSet<5> {
 public:
     MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
         StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}

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

@@ -49,7 +49,7 @@ static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
 
 static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
 static constexpr uint8_t BIST_REGISTER = 0x33;
-static constexpr uint8_t DATA_READY_VAL = 0b10000000;
+static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
 static constexpr uint8_t STATUS_REGISTER = 0x34;
 static constexpr uint8_t REVID_REGISTER = 0x36;
 
@@ -108,7 +108,7 @@ enum MgmPoolIds: lp_id_t {
     FIELD_STRENGTH_Z,
 };
 
-class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
+class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
 public:
 	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
         StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}

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

@@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
-                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                 "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@@ -227,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
-#if FSFW_HAL_SPI_WIRETAPPING == 1
+#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
         performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
     }
@@ -398,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
     int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
     if(retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
     }
 
     retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
     if(retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
     }
 }

src/fsfw/FSFW.h.in

@@ -16,9 +16,13 @@
 #cmakedefine FSFW_ADD_MONITORING
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
-// Can be used for low-level debugging of the SPI bus
-#ifndef FSFW_HAL_SPI_WIRETAPPING
-#define FSFW_HAL_SPI_WIRETAPPING      0
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
+/* Can be used for low-level debugging of the SPI bus */
+#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING      0
 #endif
 
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
@@ -30,7 +34,7 @@
 #endif /* FSFW_HAL_RM3100_MGM_DEBUG */
 
 #ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
+#define FSFW_HAL_LIS3MDL_MGM_DEBUG           0
 #endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
 
 #endif /* FSFW_FSFW_H_ */

src/fsfw/FSFWVersion.h

@@ -3,8 +3,8 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION        2
-#define FSFW_SUBVERSION     0
+#define FSFW_VERSION        1
+#define FSFW_SUBVERSION     2
 #define FSFW_REVISION       0
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,9 +85,10 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return - @c RETURN_OK if data was sent successfull
-	 * 		   - Everything else triggers falure event with
-	 * 		     returnvalue as parameter 1
+	 * @return
+	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
+	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,7 +120,8 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/events/fwSubsystemIdRanges.h

@@ -29,8 +29,6 @@ enum: uint8_t {
     PUS_SERVICE_9 = 89,
     PUS_SERVICE_17 = 97,
     PUS_SERVICE_23 = 103,
-    MGM_LIS3MDL = 106,
-    MGM_RM3100 = 107,
 
     FW_SUBSYSTEM_ID_RANGE
 };

src/fsfw/globalfunctions/DleEncoder.cpp

@@ -165,9 +165,11 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
     if (sourceStream[encodedIndex++] != STX_CHAR) {
         return DECODING_ERROR;
     }
-    while ((encodedIndex < sourceStreamLen) and (decodedIndex < maxDestStreamlen)) {
-        switch(sourceStream[encodedIndex]) {
-        case(DLE_CHAR): {
+    while ((encodedIndex < sourceStreamLen)
+            and (decodedIndex < maxDestStreamlen)
+            and (sourceStream[encodedIndex] != ETX_CHAR)
+            and (sourceStream[encodedIndex] != STX_CHAR)) {
+        if (sourceStream[encodedIndex] == DLE_CHAR) {
             if(encodedIndex + 1 >= sourceStreamLen) {
                 //reached the end of the sourceStream
                 *readLen = sourceStreamLen;
@@ -195,33 +197,29 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
                 }
             }
             ++encodedIndex;
-            break;
         }
-        case(STX_CHAR): {
-            *readLen = encodedIndex;
-            return DECODING_ERROR;
-        }
-        case(ETX_CHAR): {
-            *readLen = ++encodedIndex;
-            *decodedLen = decodedIndex;
-            return RETURN_OK;
-        }
-        default: {
+        else {
             destStream[decodedIndex] = sourceStream[encodedIndex];
-            break;
-        }
         }
+
         ++encodedIndex;
         ++decodedIndex;
     }
-
-    if(decodedIndex == maxDestStreamlen) {
-        //so far we did not find anything wrong here, so let user try again
-        *readLen = 0;
-        return STREAM_TOO_SHORT;
-    } else {
-        *readLen = encodedIndex;
-        return DECODING_ERROR;
+    if (sourceStream[encodedIndex] != ETX_CHAR) {
+        if(decodedIndex == maxDestStreamlen) {
+            //so far we did not find anything wrong here, so let user try again
+            *readLen = 0;
+            return STREAM_TOO_SHORT;
+        }
+        else {
+            *readLen = ++encodedIndex;
+            return DECODING_ERROR;
+        }
+    }
+    else {
+        *readLen = ++encodedIndex;
+        *decodedLen = decodedIndex;
+        return RETURN_OK;
     }
 }
 

src/fsfw/globalfunctions/PeriodicOperationDivider.cpp

@@ -2,43 +2,43 @@
 
 
 PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
-		bool resetAutomatically): resetAutomatically(resetAutomatically),
-		counter(divider), divider(divider) {
+        bool resetAutomatically): resetAutomatically(resetAutomatically),
+        counter(divider), divider(divider) {
 }
 
 bool PeriodicOperationDivider::checkAndIncrement() {
-	bool opNecessary = check();
-	if(opNecessary) {
-		if(resetAutomatically) {
-			counter = 0;
-		}
-		return opNecessary;
-	}
-	counter ++;
-	return opNecessary;
+    bool opNecessary = check();
+    if(opNecessary) {
+        if(resetAutomatically) {
+            counter = 1;
+        }
+        return opNecessary;
+    }
+    counter++;
+    return opNecessary;
 }
 
 bool PeriodicOperationDivider::check() {
-	if(counter >= divider) {
-		return true;
-	}
-	return false;
+    if(counter >= divider) {
+        return true;
+    }
+    return false;
 }
 
 
 
 void PeriodicOperationDivider::resetCounter() {
-	counter = 0;
+    counter = 0;
 }
 
 void PeriodicOperationDivider::setDivider(uint32_t newDivider) {
-	divider = newDivider;
+    divider = newDivider;
 }
 
 uint32_t PeriodicOperationDivider::getCounter() const {
-	return counter;
+    return counter;
 }
 
 uint32_t PeriodicOperationDivider::getDivider() const {
-	return divider;
+    return divider;
 }

src/fsfw/globalfunctions/PeriodicOperationDivider.h

@@ -13,51 +13,51 @@
  */
 class PeriodicOperationDivider {
 public:
-	/**
-	 * Initialize with the desired divider and specify whether the internal
-	 * counter will be reset automatically.
-	 * @param divider
-	 * @param resetAutomatically
-	 */
-	PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
+    /**
+     * Initialize with the desired divider and specify whether the internal
+     * counter will be reset automatically.
+     * @param divider
+     * @param resetAutomatically
+     */
+    PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
 
 
-	/**
-	 * Check whether operation is necessary.
-	 * If an operation is necessary and the class has been
-	 * configured to be reset automatically, the counter will be reset.
-	 *
-	 * @return
-	 * -@c true if the counter is larger or equal to the divider
-	 * -@c false otherwise
-	 */
-	bool checkAndIncrement();
+    /**
+     * Check whether operation is necessary.
+     * If an operation is necessary and the class has been
+     * configured to be reset automatically, the counter will be reset.
+     *
+     * @return
+     * -@c true if the counter is larger or equal to the divider
+     * -@c false otherwise
+     */
+    bool checkAndIncrement();
 
-	/**
-	 * Checks whether an operation is necessary.
-	 * This function will not increment the counter!
-	 * @return
-	 * -@c true if the counter is larger or equal to the divider
-	 * -@c false otherwise
-	 */
-	bool check();
+    /**
+     * Checks whether an operation is necessary.
+     * This function will not increment the counter!
+     * @return
+     * -@c true if the counter is larger or equal to the divider
+     * -@c false otherwise
+     */
+    bool check();
 
-	/**
-	 * Can be used to reset the counter to 0 manually.
-	 */
-	void resetCounter();
-	uint32_t getCounter() const;
+    /**
+     * Can be used to reset the counter to 0 manually.
+     */
+    void resetCounter();
+    uint32_t getCounter() const;
 
-	/**
-	 * Can be used to set a new divider value.
-	 * @param newDivider
-	 */
-	void setDivider(uint32_t newDivider);
-	uint32_t getDivider() const;
+    /**
+     * Can be used to set a new divider value.
+     * @param newDivider
+     */
+    void setDivider(uint32_t newDivider);
+    uint32_t getDivider() const;
 private:
-	bool resetAutomatically = true;
-	uint32_t counter = 0;
-	uint32_t divider = 0;
+    bool resetAutomatically = true;
+    uint32_t counter = 0;
+    uint32_t divider = 0;
 };
 
 

src/fsfw/memory/HasFileSystemIF.h

@@ -81,7 +81,7 @@ public:
 	 * @param args Any other arguments which an implementation might require
 	 * @return
 	 */
-	virtual ReturnValue_t deleteFile(const char* repositoryPath,
+	virtual ReturnValue_t removeFile(const char* repositoryPath,
 	        const char* filename, void* args = nullptr) = 0;
 
 	/**

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -1,8 +1,10 @@
-#include "fsfw/osal/common/TcpTmTcServer.h"
-#include "fsfw/osal/common/TcpTmTcBridge.h"
-#include "fsfw/osal/common/tcpipHelpers.h"
-
 #include "fsfw/platform.h"
+#include "fsfw/FSFW.h"
+
+#include "TcpTmTcServer.h"
+#include "TcpTmTcBridge.h"
+#include "tcpipHelpers.h"
+
 #include "fsfw/container/SharedRingBuffer.h"
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/ipc/MutexGuard.h"

src/fsfw/osal/linux/CMakeLists.txt

@@ -13,8 +13,10 @@ target_sources(${LIB_FSFW_NAME}
 		QueueFactory.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
+		Timer.cpp
 		tcpipHelpers.cpp
 		unixUtility.cpp
+		CommandExecutor.cpp
 )
 
 find_package(Threads REQUIRED)

src/fsfw/osal/linux/CommandExecutor.cpp

@@ -0,0 +1,185 @@
+#include "CommandExecutor.h"
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+CommandExecutor::CommandExecutor(const size_t maxSize):
+readVec(maxSize) {
+    waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+    if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+
+    currentCmd = command;
+    this->blocking = blocking;
+    this->printOutput = printOutput;
+    if(state == States::IDLE) {
+        state = States::COMMAND_LOADED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+    if(state == States::IDLE) {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    else if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+    currentCmdFile = popen(currentCmd.c_str(), "r");
+    if(currentCmdFile == nullptr) {
+        lastError = errno;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(blocking) {
+        return executeBlocking();
+    }
+    else {
+        currentFd = fileno(currentCmdFile);
+        waiter.fd = currentFd;
+    }
+    state = States::PENDING;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+    if(state == States::PENDING) {
+        // Attempt to close process, irrespective of if it is running or not
+        if(currentCmdFile != nullptr) {
+            pclose(currentCmdFile);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+    if(lastError != 0) {
+        sif::error << funcName << " pclose failed with code " <<
+                lastError << ": " << strerror(lastError) << std::endl;
+    }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
+        DynamicFIFO<uint16_t>* sizesFifo) {
+    this->ringBuffer = ringBuffer;
+    this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& bytesRead) {
+    if(blocking) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    switch(state) {
+    case(States::IDLE):
+    case(States::COMMAND_LOADED): {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case(States::PENDING): {
+        break;
+    }
+    }
+
+    int result = poll(&waiter, 1, 0);
+    switch(result) {
+    case(0): {
+        return HasReturnvaluesIF::RETURN_OK;
+        break;
+    }
+    case(1): {
+        if (waiter.revents & POLLIN) {
+            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+            if(readBytes == 0) {
+                // Should not happen
+                sif::warning << "CommandExecutor::check: "
+                        "No bytes read after poll event.." << std::endl;
+                break;
+            }
+            else if(readBytes > 0) {
+                bytesRead = true;
+                if(printOutput) {
+                    // It is assumed the command output is line terminated
+                    sif::info << currentCmd << " | " << readVec.data();
+                }
+                if(ringBuffer != nullptr) {
+                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
+                            readVec.data()), readBytes);
+                }
+                if(sizesFifo != nullptr) {
+                    if(not sizesFifo->full()) {
+                        sizesFifo->insert(readBytes);
+                    }
+                }
+                return BYTES_READ;
+            }
+            else {
+                // Should also not happen
+                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
+                        strerror(errno) << std::endl;
+            }
+        }
+        else if(waiter.revents & POLLERR) {
+            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+            return COMMAND_ERROR;
+        }
+        else if(waiter.revents & POLLHUP) {
+            int result = pclose(currentCmdFile);
+            if(result != 0) {
+                lastError = result;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            state = States::IDLE;
+            currentCmdFile = nullptr;
+            currentFd = 0;
+            return EXECUTION_FINISHED;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+    CommandExecutor::close();
+    currentCmdFile = nullptr;
+    currentFd = 0;
+    state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+    return this->lastError;
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const {
+    return state;
+}
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+        std::string output(readVec.data());
+        if(printOutput) {
+            sif::info << currentCmd << " | " << output;
+        }
+        if(ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+        }
+        if(sizesFifo != nullptr) {
+            if(not sizesFifo->full()) {
+                sizesFifo->insert(output.size());
+            }
+        }
+    }
+    int result = pclose(currentCmdFile);
+    if(result != 0) {
+        lastError = result;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw/osal/linux/CommandExecutor.h

@@ -0,0 +1,134 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+class SimpleRingBuffer;
+template <typename T> class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+public:
+    enum class States {
+        IDLE,
+        COMMAND_LOADED,
+        PENDING
+    };
+
+    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+    //! [EXPORT] : [COMMENT] Execution of the current command has finished
+    static constexpr ReturnValue_t EXECUTION_FINISHED =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+    //! to load another command but a command is still pending
+    static constexpr ReturnValue_t COMMAND_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+    static constexpr ReturnValue_t BYTES_READ =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static constexpr ReturnValue_t COMMAND_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+    //! [EXPORT] : [COMMENT]
+    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+    /**
+     * Constructor. Is initialized with maximum size of internal buffer to read data from the
+     * executed process.
+     * @param maxSize
+     */
+    CommandExecutor(const size_t maxSize);
+
+    /**
+     * Load a new command which should be executed
+     * @param command
+     * @param blocking
+     * @param printOutput
+     * @return
+     */
+    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+    /**
+     * Execute the loaded command.
+     * @return
+     *  - In blocking mode, it will return RETURN_FAILED if
+     *    the result of the system call was not 0. The error value can be accessed using
+     *    getLastError
+     *  - In non-blocking mode, this call will start
+     *    the execution and then return RETURN_OK
+     */
+    ReturnValue_t execute();
+    /**
+     * Only used in non-blocking mode. Checks the currently running command.
+     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+     * @return
+     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+     *    check again after this
+     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+     *  - EXECUTION_FINISHED if the process was executed successfully
+     *  - COMMAND_ERROR internal poll error
+     */
+    ReturnValue_t check(bool& bytesRead);
+    /**
+     * Abort the current command. Should normally not be necessary, check can be used to find
+     * out whether command execution was successful
+     * @return RETURN_OK
+     */
+    ReturnValue_t close();
+
+    States getCurrentState() const;
+    int getLastError() const;
+    void printLastError(std::string funcName) const;
+
+    /**
+     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+     * read from the started process
+     * @param ringBuffer
+     * @param sizesFifo
+     */
+    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+    /**
+     * Reset the executor. This calls close internally and then reset the state machine so new
+     * commands can be loaded and executed
+     */
+    void reset();
+private:
+    std::string currentCmd;
+    bool blocking = true;
+    FILE* currentCmdFile = nullptr;
+    int currentFd = 0;
+    bool printOutput = true;
+    std::vector<char> readVec;
+    struct pollfd waiter {};
+    SimpleRingBuffer* ringBuffer = nullptr;
+    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+    States state = States::IDLE;
+    int lastError = 0;
+
+    ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to: " << sendTo << " sent from "
-                    << sentFrom << "failed" << std::endl;
+            sif::warning << "mq_send to " << sendTo << " sent from "
+                    << sentFrom << " failed" << std::endl;
 #else
-            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/osal/linux/Timer.cpp

@@ -0,0 +1,57 @@
+#include "fsfw/osal/linux/Timer.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include <errno.h>
+
+
+Timer::Timer() {
+	sigevent sigEvent;
+	sigEvent.sigev_notify = SIGEV_NONE;
+	sigEvent.sigev_signo = 0;
+	sigEvent.sigev_value.sival_ptr = &timerId;
+	int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
+	if(status!=0){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::error << "Timer creation failed with: " << status <<
+				" errno: " << errno << std::endl;
+#endif
+	}
+}
+
+Timer::~Timer() {
+	timer_delete(timerId);
+}
+
+int Timer::setTimer(uint32_t intervalMs) {
+	itimerspec timer;
+	timer.it_value.tv_sec = intervalMs / 1000;
+	timer.it_value.tv_nsec = (intervalMs * 1000000) % (1000000000);
+	timer.it_interval.tv_sec = 0;
+	timer.it_interval.tv_nsec = 0;
+	set = true;
+	return timer_settime(timerId, 0, &timer, NULL);
+}
+
+
+int Timer::getTimer(uint32_t* remainingTimeMs){
+	itimerspec timer;
+	timer.it_value.tv_sec = 0;
+	timer.it_value.tv_nsec = 0;
+	timer.it_interval.tv_sec = 0;
+	timer.it_interval.tv_nsec = 0;
+	int status = timer_gettime(timerId, &timer);
+
+	*remainingTimeMs = timer.it_value.tv_sec * 1000 + timer.it_value.tv_nsec / 1000000;
+
+	return status;
+}
+
+bool Timer::isSet() const {
+    return this->set;
+}
+
+void Timer::resetTimer() {
+    if(not this->set) {
+        set = false;
+    }
+    setTimer(0);
+}

src/fsfw/osal/linux/Timer.h

@@ -0,0 +1,49 @@
+#ifndef FRAMEWORK_OSAL_LINUX_TIMER_H_
+#define FRAMEWORK_OSAL_LINUX_TIMER_H_
+
+#include <signal.h>
+#include <time.h>
+#include <stdint.h>
+
+/**
+ * This class is a helper for the creation of a Clock Monotonic timer which does not trigger a signal
+ */
+class Timer {
+public:
+	/**
+	 * Creates the Timer sets the timerId Member
+	 */
+	Timer();
+	/**
+	 * Deletes the timer
+	 *
+	 * Careful! According to POSIX documentation:
+	 * The treatment of any pending signal generated by the deleted timer is unspecified.
+	 */
+	virtual ~Timer();
+
+	/**
+	 * Set the timer given in timerId to the given interval
+	 *
+	 * @param intervalMs Interval in ms to be set
+	 * @return 0 on Success 1 else
+	 */
+	int setTimer(uint32_t intervalMs);
+
+	/**
+	 * Get the remaining time of the timer
+	 *
+	 * @param remainingTimeMs Pointer to integer value which is used to return the remaining time
+	 * @return 0 on Success 1 else (see timer_getime documentation of posix function)
+	 */
+	int getTimer(uint32_t* remainingTimeMs);
+
+	bool isSet() const;
+	void resetTimer();
+
+private:
+	bool set = true;
+	timer_t timerId;
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_TIMER_H_ */

src/fsfw/pus/Service5EventReporting.cpp

@@ -41,8 +41,7 @@ ReturnValue_t Service5EventReporting::performService() {
 	    }
 	}
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::debug <<  "Service5EventReporting::generateEventReport:"
-	        " Too many events" << std::endl;
+	sif::warning <<  "Service5EventReporting::generateEventReport: Too many events" << std::endl;
 #endif
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -64,8 +63,11 @@ ReturnValue_t Service5EventReporting::generateEventReport(
 	        requestQueue->getDefaultDestination(),requestQueue->getId());
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::debug << "Service5EventReporting::generateEventReport:"
-		        " Could not send TM packet" << std::endl;
+		sif::warning << "Service5EventReporting::generateEventReport: "
+		        "Could not send TM packet" << std::endl;
+#else
+		sif::printWarning("Service5EventReporting::generateEventReport: "
+                "Could not send TM packet\n");
 #endif
 	}
 	return result;

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -33,8 +33,8 @@ ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
 	if(tcDataLen < sizeof(object_id_t)) {
 		return CommandingServiceBase::INVALID_TC;
 	}
-	SerializeAdapter::deSerialize(objectId, &tcData,
-			&tcDataLen, SerializeIF::Endianness::BIG);
+	// Can't fail, size was checked before
+	SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
 
 	return checkInterfaceAndAcquireMessageQueue(id,objectId);
 }

src/fsfw/returnvalues/FwClassIds.h

@@ -77,9 +77,6 @@ enum: uint8_t {
     HAL_UART, //HURT
     HAL_I2C, //HI2C
     HAL_GPIO, //HGIO
-    FIXED_SLOT_TASK_IF, //FTIF
-    MGM_LIS3MDL, //MGMLIS3
-    MGM_RM3100, //MGMRM3100
     FW_CLASS_ID_COUNT // [EXPORT] : [END]
 
 };

src/fsfw/returnvalues/HasReturnvaluesIF.h

@@ -22,9 +22,9 @@ public:
 	 * @param number
 	 * @return
 	 */
-	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
+	static constexpr ReturnValue_t makeReturnCode(uint8_t classId,
 			uint8_t number) {
-	    return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
+	    return (static_cast<ReturnValue_t>(classId) << 8) + number;
 	}
 };
 

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -1,5 +1,4 @@
 #include "fsfw/tasks/FixedSlotSequence.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include <cstdlib>
 
@@ -93,9 +92,10 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
 ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "FixedSlotSequence::checkSequence: Slot list is empty!" << std::endl;
+		sif::error << "FixedSlotSequence::checkSequence:"
+				<< " Slot list is empty!" << std::endl;
 #endif
-		return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
 	if(customCheckFunction != nullptr) {

src/fsfw/tasks/FixedSlotSequence.h

@@ -2,7 +2,7 @@
 #define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
 
 #include "FixedSequenceSlot.h"
-#include "fsfw/objectmanager/SystemObject.h"
+#include "../objectmanager/SystemObject.h"
 
 #include <set>
 
@@ -136,7 +136,6 @@ public:
 	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
 	 * @return
-	 *  - SLOT_LIST_EMPTY if the slot list is empty
 	 */
 	ReturnValue_t checkSequence() const;
 
@@ -148,7 +147,6 @@ public:
 	 * The general check will be continued for now if the custom check function
 	 * fails but a diagnostic debug output will be given.
 	 * @param customCheckFunction
-	 *
 	 */
 	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
 

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -2,8 +2,7 @@
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
 #include "PeriodicTaskIF.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/returnvalues/FwClassIds.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 /**
  * @brief Following the same principle as the base class IF.
@@ -13,8 +12,6 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
 
-	static constexpr ReturnValue_t SLOT_LIST_EMPTY = HasReturnvaluesIF::makeReturnCode(
-	        CLASS_ID::FIXED_SLOT_TASK_IF, 0);
 	/**
 	 * Add an object with a slot time and the execution step to the task.
 	 * The execution step will be passed to the object (e.g. as an operation

src/fsfw/timemanager/Countdown.cpp

@@ -6,14 +6,16 @@ Countdown::Countdown(uint32_t initialTimeout): timeout(initialTimeout) {
 Countdown::~Countdown() {
 }
 
-ReturnValue_t Countdown::setTimeout(uint32_t milliseconds) {
-	ReturnValue_t returnValue = Clock::getUptime( &startTime );
-	timeout = milliseconds;
-	return returnValue;
+ReturnValue_t Countdown::setTimeout(uint32_t miliseconds) {
+	ReturnValue_t return_value = Clock::getUptime( &startTime );
+	timeout = miliseconds;
+	return return_value;
 }
 
 bool Countdown::hasTimedOut() const {
-	if ( uint32_t( this->getCurrentTime() - startTime) >= timeout) {
+	uint32_t current_time;
+	Clock::getUptime( &current_time );
+	if ( uint32_t(current_time - startTime) >= timeout) {
 		return true;
 	} else {
 		return false;
@@ -29,23 +31,7 @@ ReturnValue_t Countdown::resetTimer() {
 }
 
 void Countdown::timeOut() {
-	startTime = this->getCurrentTime() - timeout;
-}
-
-uint32_t Countdown::getRemainingMillis() const {
-	// We fetch the time before the if-statement
-	// to be sure that the return is in
-	// range 0 <= number <= timeout
-	uint32_t currentTime = this->getCurrentTime();
-	if (this->hasTimedOut()){
-		return 0;
-	}else{
-		return (startTime + timeout) - currentTime;
-	}
-}
-
-uint32_t Countdown::getCurrentTime() const {
-	uint32_t currentTime;
-	Clock::getUptime( &currentTime );
-	return currentTime;
+	uint32_t current_time;
+		Clock::getUptime( &current_time );
+	startTime= current_time - timeout;
 }

src/fsfw/timemanager/Countdown.h

@@ -4,77 +4,28 @@
 #include "Clock.h"
 
 /**
- *
- * Countdown keeps track of a timespan.
- *
- * Countdown::resetTimer restarts the timer.
- * Countdown::setTimeout sets a new countdown duration and resets.
- *
- * Can be checked with Countdown::hasTimedOut or
- * Countdown::isBusy.
- *
- * Countdown::timeOut will force the timer to time out.
- *
+ * @brief	This file defines the Countdown class.
+ * @author	baetz
  */
 class Countdown {
 public:
-	/**
-	 * Constructor which sets the countdown duration in milliseconds
-	 *
-	 * It does not start the countdown!
-	 * Call resetTimer or setTimeout before usage!
-	 * Otherwise a call to hasTimedOut might return True.
-	 *
-	 * @param initialTimeout Countdown duration in milliseconds
-	 */
+	uint32_t timeout;
 	Countdown(uint32_t initialTimeout = 0);
 	~Countdown();
-	/**
-	 * Call to set a new countdown duration.
-	 *
-	 * Resets the countdown!
-	 *
-	 * @param milliseconds new countdown duration in milliseconds
-	 * @return Returnvalue from Clock::getUptime
-	 */
-	ReturnValue_t setTimeout(uint32_t milliseconds);
-	/**
-	 * Returns true if the countdown duration has passed.
-	 *
-	 * @return True if the countdown has passed
-	 * 		   False if it is still running
-	 */
-	bool hasTimedOut() const;
-	/**
-	 * Complementary to hasTimedOut.
-	 *
-	 * @return True if the countdown is till running
-	 * 		   False if it is still running
-	 */
-	bool isBusy() const;
-	/**
-	 *  Uses last set timeout value and restarts timer.
-	 */
-	ReturnValue_t resetTimer();
-	/**
-	 * Returns the remaining milliseconds (0 if timeout)
-	 */
-	uint32_t getRemainingMillis() const;
-	/**
-	 * Makes hasTimedOut() return true
-	 */
-	void timeOut();
-	/**
-	 * Internal countdown duration in milliseconds
-	 */
-	uint32_t timeout;
-private:
-	/**
-	 * Last time the timer was started (uptime)
-	 */
-	uint32_t startTime = 0;
+	ReturnValue_t setTimeout(uint32_t miliseconds);
 
-	uint32_t getCurrentTime() const;
+	bool hasTimedOut() const;
+
+	bool isBusy() const;
+
+	//!< Use last set timeout value and restart timer.
+	ReturnValue_t resetTimer();
+
+	//!< Make hasTimedOut() return true
+	void timeOut();
+
+private:
+	uint32_t startTime = 0;
 };
 
 #endif /* FSFW_TIMEMANAGER_COUNTDOWN_H_ */

src/fsfw/tmtcpacket/SpacePacket.h

@@ -19,8 +19,7 @@ public:
 	/**
 	 * The constructor initializes the packet and sets all header information
 	 * according to the passed parameters.
-	 * @param packetDataLength Sets the packet data length field and therefore specifies
-	 * the size of the packet.
+	 * @param packetDataLength Sets the packet data length field and therefore specifies the size of the packet.
 	 * @param isTelecommand Sets the packet type field to either TC (true) or TM (false).
 	 * @param apid Sets the packet's APID field. The default value describes an idle packet.
 	 * @param sequenceCount ets the packet's Source Sequence Count field.

src/fsfw/tmtcpacket/SpacePacketBase.cpp

@@ -4,7 +4,7 @@
 #include <cstring>
 
 SpacePacketBase::SpacePacketBase(const uint8_t* setAddress) {
-    this->data = reinterpret_cast<SpacePacketPointer*>(const_cast<uint8_t*>(setAddress));
+	this->data = reinterpret_cast<SpacePacketPointer*>(const_cast<uint8_t*>(setAddress));
 }
 
 SpacePacketBase::~SpacePacketBase() {
@@ -12,11 +12,11 @@ SpacePacketBase::~SpacePacketBase() {
 
 //CCSDS Methods:
 uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
-    return (this->data->header.packet_id_h & 0b11100000) >> 5;
+	return (this->data->header.packet_id_h & 0b11100000) >> 5;
 }
 
 ReturnValue_t SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
-        bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
+		bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
     if(data == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -28,42 +28,41 @@ ReturnValue_t SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
 #endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    //reset header to zero:
-    memset(data, 0, sizeof(this->data->header) );
-    //Set TC/TM bit.
-    data->header.packet_id_h = ((isTelecommand? 1 : 0)) << 4;
-    //Set secondaryHeader bit
-    data->header.packet_id_h |= ((hasSecondaryHeader? 1 : 0)) << 3;
-    this->setAPID( apid );
-    //Always initialize as standalone packets.
-    data->header.sequence_control_h = 0b11000000;
-    setPacketSequenceCount(sequenceCount);
-    return HasReturnvaluesIF::RETURN_OK;
+	//reset header to zero:
+	memset(data, 0, sizeof(this->data->header) );
+	//Set TC/TM bit.
+	data->header.packet_id_h = ((isTelecommand? 1 : 0)) << 4;
+	//Set secondaryHeader bit
+	data->header.packet_id_h |= ((hasSecondaryHeader? 1 : 0)) << 3;
+	this->setAPID( apid );
+	//Always initialize as standalone packets.
+	data->header.sequence_control_h = 0b11000000;
+	setPacketSequenceCount(sequenceCount);
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 bool SpacePacketBase::isTelecommand( void ) {
-    return (this->data->header.packet_id_h & 0b00010000) >> 4;
+	return (this->data->header.packet_id_h & 0b00010000) >> 4;
 }
 
 bool SpacePacketBase::hasSecondaryHeader( void ) {
-    return (this->data->header.packet_id_h & 0b00001000) >> 3;
+	return (this->data->header.packet_id_h & 0b00001000) >> 3;
 }
 
 uint16_t SpacePacketBase::getPacketId() {
-    return ( (this->data->header.packet_id_h) << 8 ) +
-            this->data->header.packet_id_l;
+	return ( (this->data->header.packet_id_h) << 8 ) +
+			this->data->header.packet_id_l;
 }
 
 uint16_t SpacePacketBase::getAPID( void ) const {
-    return ( (this->data->header.packet_id_h & 0b00000111) << 8 ) +
-            this->data->header.packet_id_l;
+	return ( (this->data->header.packet_id_h & 0b00000111) << 8 ) +
+			this->data->header.packet_id_l;
 }
 
 void SpacePacketBase::setAPID( uint16_t new_apid ) {
-    // Use first three bits of new APID, but keep rest of packet id as it was (see specification).
-    this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) |
-            ( ( new_apid & 0x0700 ) >> 8 );
-    this->data->header.packet_id_l = ( new_apid & 0x00FF );
+	//Use first three bits of new APID, but keep rest of packet id as it was (see specification).
+	this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) | ( ( new_apid & 0x0700 ) >> 8 );
+	this->data->header.packet_id_l = ( new_apid & 0x00FF );
 }
 
 void SpacePacketBase::setSequenceFlags( uint8_t sequenceflags ) {
@@ -72,52 +71,51 @@ void SpacePacketBase::setSequenceFlags( uint8_t sequenceflags ) {
 }
 
 uint16_t SpacePacketBase::getPacketSequenceControl( void ) {
-    return ( (this->data->header.sequence_control_h) << 8 )
-            + this->data->header.sequence_control_l;
+	return ( (this->data->header.sequence_control_h) << 8 )
+		+ this->data->header.sequence_control_l;
 }
 
 uint8_t SpacePacketBase::getSequenceFlags( void ) {
-    return (this->data->header.sequence_control_h & 0b11000000) >> 6 ;
+	return (this->data->header.sequence_control_h & 0b11000000) >> 6 ;
 }
 
 uint16_t SpacePacketBase::getPacketSequenceCount( void ) const {
-    return ( (this->data->header.sequence_control_h & 0b00111111) << 8 )
-            + this->data->header.sequence_control_l;
+	return ( (this->data->header.sequence_control_h & 0b00111111) << 8 )
+		+ this->data->header.sequence_control_l;
 }
 
 void SpacePacketBase::setPacketSequenceCount( uint16_t new_count) {
-    this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) |
-            ( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
-    this->data->header.sequence_control_l = ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x00FF );
+	this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) | ( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
+	this->data->header.sequence_control_l = ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x00FF );
 }
 
 uint16_t SpacePacketBase::getPacketDataLength() const {
-    return ( (this->data->header.packet_length_h) << 8 )
-            + this->data->header.packet_length_l;
+	return ( (this->data->header.packet_length_h) << 8 )
+		+ this->data->header.packet_length_l;
 }
 
 void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
-    this->data->header.packet_length_h = ( ( new_length & 0xFF00 ) >> 8 );
-    this->data->header.packet_length_l = ( new_length & 0x00FF );
+	this->data->header.packet_length_h = ( ( new_length & 0xFF00 ) >> 8 );
+	this->data->header.packet_length_l = ( new_length & 0x00FF );
 }
 
 size_t SpacePacketBase::getFullSize() {
-    // +1 is done because size in packet data length field is: size of data field -1
-    return this->getPacketDataLength() + sizeof(this->data->header) + 1;
+	//+1 is done because size in packet data length field is: size of data field -1
+	return this->getPacketDataLength() + sizeof(this->data->header) + 1;
 }
 
 uint8_t* SpacePacketBase::getWholeData() {
-    return (uint8_t*)this->data;
+	return (uint8_t*)this->data;
 }
 
 void SpacePacketBase::setData( const uint8_t* p_Data ) {
-    this->data = (SpacePacketPointer*)p_Data;
+	this->data = (SpacePacketPointer*)p_Data;
 }
 
 uint32_t SpacePacketBase::getApidAndSequenceCount() const {
-    return (getAPID() << 16) + getPacketSequenceCount();
+	return (getAPID() << 16) + getPacketSequenceCount();
 }
 
 uint8_t* SpacePacketBase::getPacketData() {
-    return &(data->packet_data);
+	return &(data->packet_data);
 }

src/fsfw/tmtcpacket/SpacePacketBase.h

@@ -22,8 +22,8 @@
  * @ingroup tmtcpackets
  */
 struct SpacePacketPointer {
-    CCSDSPrimaryHeader header;
-    uint8_t packet_data;
+	CCSDSPrimaryHeader header;
+	uint8_t packet_data;
 };
 
 /**
@@ -39,151 +39,150 @@ struct SpacePacketPointer {
  */
 class SpacePacketBase {
 protected:
-    /**
-     * A pointer to a structure which defines the data structure of
-     * the packet header.
-     * To be hardware-safe, all elements are of byte size.
-     */
-    SpacePacketPointer* data;
+	/**
+	 * A pointer to a structure which defines the data structure of
+	 * the packet header.
+	 * To be hardware-safe, all elements are of byte size.
+	 */
+	SpacePacketPointer* data;
 public:
-    static const uint16_t LIMIT_APID = 2048; //2^1
-    static const uint16_t LIMIT_SEQUENCE_COUNT = 16384; // 2^14
-    static const uint16_t APID_IDLE_PACKET = 0x7FF;
-    static const uint8_t TELECOMMAND_PACKET = 1;
-    static const uint8_t TELEMETRY_PACKET = 0;
-    /**
-     * This definition defines the CRC size in byte.
-     */
-    static const uint8_t CRC_SIZE = 2;
-    /**
-     * This is the minimum size of a SpacePacket.
-     */
-    static const uint16_t MINIMUM_SIZE = sizeof(CCSDSPrimaryHeader) + CRC_SIZE;
-    /**
-     * This is the default constructor.
-     * It sets its internal data pointer to the address passed.
-     * @param set_address	The position where the packet data lies.
-     */
-    SpacePacketBase( const uint8_t* set_address );
-    /**
-     * No data is allocated, so the destructor is empty.
-     */
-    virtual ~SpacePacketBase();
+	static const uint16_t LIMIT_APID = 2048; //2^1
+	static const uint16_t LIMIT_SEQUENCE_COUNT = 16384; // 2^14
+	static const uint16_t APID_IDLE_PACKET = 0x7FF;
+	static const uint8_t TELECOMMAND_PACKET = 1;
+	static const uint8_t TELEMETRY_PACKET = 0;
+	/**
+	 * This definition defines the CRC size in byte.
+	 */
+	static const uint8_t CRC_SIZE = 2;
+	/**
+	 * This is the minimum size of a SpacePacket.
+	 */
+	static const uint16_t MINIMUM_SIZE = sizeof(CCSDSPrimaryHeader) + CRC_SIZE;
+	/**
+	 * This is the default constructor.
+	 * It sets its internal data pointer to the address passed.
+	 * @param set_address	The position where the packet data lies.
+	 */
+	SpacePacketBase( const uint8_t* set_address );
+	/**
+	 * No data is allocated, so the destructor is empty.
+	 */
+	virtual ~SpacePacketBase();
 
-    //CCSDS Methods
+	//CCSDS Methods:
+	/**
+	 * Getter for the packet version number field.
+	 * @return Returns the highest three bit of the packet in one byte.
+	 */
+	uint8_t getPacketVersionNumber( void );
+	/**
+	 * This method checks the type field in the header.
+	 * This bit specifies, if the command is interpreted as Telecommand of
+	 * as Telemetry. For a Telecommand, the bit is set.
+	 * @return Returns true if the bit is set and false if not.
+	 */
+	bool isTelecommand( void );
 
-    /**
-     * Getter for the packet version number field.
-     * @return Returns the highest three bit of the packet in one byte.
-     */
-    uint8_t getPacketVersionNumber( void );
-    /**
-     * This method checks the type field in the header.
-     * This bit specifies, if the command is interpreted as Telecommand of
-     * as Telemetry. For a Telecommand, the bit is set.
-     * @return Returns true if the bit is set and false if not.
-     */
-    bool isTelecommand( void );
+	ReturnValue_t initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
+	        uint16_t apid, uint16_t sequenceCount = 0);
+	/**
+	 * The CCSDS header provides a secondary header flag (the fifth-highest bit),
+	 *  which is checked with this method.
+	 * @return	Returns true if the bit is set and false if not.
+	 */
+	bool hasSecondaryHeader( void );
+	/**
+	 * Returns the complete first two bytes of the packet, which together form
+	 * the CCSDS packet id.
+	 * @return	The CCSDS packet id.
+	 */
+	uint16_t getPacketId( void );
+	/**
+	 * Returns the APID of a packet, which are the lowest 11 bit of the packet
+	 * id.
+	 * @return The CCSDS APID.
+	 */
+	uint16_t getAPID( void ) const;
+	/**
+	 * Sets the APID of a packet, which are the lowest 11 bit of the packet
+	 * id.
+	 * @param 	The APID to set. The highest five bits of the parameter are
+	 * 			ignored.
+	 */
+	void setAPID( uint16_t setAPID );
 
-    ReturnValue_t initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
-            uint16_t apid, uint16_t sequenceCount = 0);
-    /**
-     * The CCSDS header provides a secondary header flag (the fifth-highest bit),
-     *  which is checked with this method.
-     * @return	Returns true if the bit is set and false if not.
-     */
-    bool hasSecondaryHeader( void );
-    /**
-     * Returns the complete first two bytes of the packet, which together form
-     * the CCSDS packet id.
-     * @return	The CCSDS packet id.
-     */
-    uint16_t getPacketId( void );
-    /**
-     * Returns the APID of a packet, which are the lowest 11 bit of the packet
-     * id.
-     * @return The CCSDS APID.
-     */
-    uint16_t getAPID( void ) const;
-    /**
-     * Sets the APID of a packet, which are the lowest 11 bit of the packet
-     * id.
-     * @param 	The APID to set. The highest five bits of the parameter are
-     * 			ignored.
-     */
-    void setAPID( uint16_t setAPID );
-
-    /**
+	/**
      * Sets the sequence flags of a packet, which are bit 17 and 18 in the space packet header.
      * @param   The sequence flags to set
      */
     void setSequenceFlags( uint8_t sequenceflags );
 
-    /**
-     * Returns the CCSDS packet sequence control field, which are the third and
-     * the fourth byte of the CCSDS primary header.
-     * @return The CCSDS packet sequence control field.
-     */
-    uint16_t getPacketSequenceControl( void );
-    /**
-     * Returns the SequenceFlags, which are the highest two bit of the packet
-     * sequence control field.
-     * @return	The CCSDS sequence flags.
-     */
-    uint8_t getSequenceFlags( void );
-    /**
-     * Returns the packet sequence count, which are the lowest 14 bit of the
-     * packet sequence control field.
-     * @return The CCSDS sequence count.
-     */
-    uint16_t getPacketSequenceCount( void ) const;
-    /**
-     * Sets the packet sequence count, which are the lowest 14 bit of the
-     * packet sequence control field.
-     * setCount is modulo-divided by \c LIMIT_SEQUENCE_COUNT to avoid overflows.
-     * @param setCount	The value to set the count to.
-     */
-    void setPacketSequenceCount( uint16_t setCount );
-    /**
-     * Returns the packet data length, which is the fifth and sixth byte of the
-     * CCSDS Primary Header. The packet data length is the size of every kind
-     * of data \b after the CCSDS Primary Header \b -1.
-     * @return
-     * The CCSDS packet data length. uint16_t is sufficient,
-     * because this is limit in CCSDS standard
-     */
-    uint16_t getPacketDataLength(void) const;
-    /**
-     * Sets the packet data length, which is the fifth and sixth byte of the
-     * CCSDS Primary Header.
-     * @param setLength The value of the length to set. It must fit the true
-     * 					CCSDS packet data length . The packet data length is
-     * 					the size of every kind of data \b after the CCSDS
-     * 					Primary Header \b -1.
-     */
-    void setPacketDataLength( uint16_t setLength );
+	/**
+	 * Returns the CCSDS packet sequence control field, which are the third and
+	 * the fourth byte of the CCSDS primary header.
+	 * @return The CCSDS packet sequence control field.
+	 */
+	uint16_t getPacketSequenceControl( void );
+	/**
+	 * Returns the SequenceFlags, which are the highest two bit of the packet
+	 * sequence control field.
+	 * @return	The CCSDS sequence flags.
+	 */
+	uint8_t getSequenceFlags( void );
+	/**
+	 * Returns the packet sequence count, which are the lowest 14 bit of the
+	 * packet sequence control field.
+	 * @return The CCSDS sequence count.
+	 */
+	uint16_t getPacketSequenceCount( void ) const;
+	/**
+	 * Sets the packet sequence count, which are the lowest 14 bit of the
+	 * packet sequence control field.
+	 * setCount is modulo-divided by \c LIMIT_SEQUENCE_COUNT to avoid overflows.
+	 * @param setCount	The value to set the count to.
+	 */
+	void setPacketSequenceCount( uint16_t setCount );
+	/**
+	 * Returns the packet data length, which is the fifth and sixth byte of the
+	 * CCSDS Primary Header. The packet data length is the size of every kind
+	 * of data \b after the CCSDS Primary Header \b -1.
+	 * @return
+	 * The CCSDS packet data length. uint16_t is sufficient,
+	 * because this is limit in CCSDS standard
+	 */
+	uint16_t getPacketDataLength(void) const;
+	/**
+	 * Sets the packet data length, which is the fifth and sixth byte of the
+	 * CCSDS Primary Header.
+	 * @param setLength The value of the length to set. It must fit the true
+	 * 					CCSDS packet data length . The packet data length is
+	 * 					the size of every kind of data \b after the CCSDS
+	 * 					Primary Header \b -1.
+	 */
+	void setPacketDataLength( uint16_t setLength );
 
-    // Helper methods
-    /**
-     * This method returns a raw uint8_t pointer to the packet.
-     * @return	A \c uint8_t pointer to the first byte of the CCSDS primary header.
-     */
-    virtual uint8_t* getWholeData( void );
+	//Helper methods:
+	/**
+	 * This method returns a raw uint8_t pointer to the packet.
+	 * @return	A \c uint8_t pointer to the first byte of the CCSDS primary header.
+	 */
+	virtual uint8_t* getWholeData( void );
 
-    uint8_t* getPacketData();
-    /**
-     * With this method, the packet data pointer can be redirected to another
-     * location.
-     * @param p_Data A pointer to another raw Space Packet.
-     */
-    virtual void setData( const uint8_t* p_Data );
-    /**
-     * This method returns the full raw packet size.
-     * @return	The full size of the packet in bytes.
-     */
-    size_t getFullSize();
+	uint8_t* getPacketData();
+	/**
+	 * With this method, the packet data pointer can be redirected to another
+	 * location.
+	 * @param p_Data A pointer to another raw Space Packet.
+	 */
+	virtual void setData( const uint8_t* p_Data );
+	/**
+	 * This method returns the full raw packet size.
+	 * @return	The full size of the packet in bytes.
+	 */
+	size_t getFullSize();
 
-    uint32_t getApidAndSequenceCount() const;
+	uint32_t getApidAndSequenceCount() const;
 
 };
 

src/fsfw/tmtcpacket/pus/definitions.h

@@ -1,16 +0,0 @@
-#ifndef FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
-#define FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
-
-#include <cstdint>
-
-namespace pus {
-
-//! Version numbers according to ECSS-E-ST-70-41C p.439
-enum PusVersion: uint8_t {
-    PUS_A_VERSION = 1,
-    PUS_C_VERSION = 2
-};
-
-}
-
-#endif /* FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_ */

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

@@ -1,4 +1,4 @@
-#include "TcPacketPus.h"
+#include "fsfw/tmtcpacket/pus/tc/TcPacketPus.h"
 #include "fsfw/globalfunctions/CRC.h"
 
 #include <cstring>
@@ -8,13 +8,14 @@ TcPacketPus::TcPacketPus(const uint8_t *setData): TcPacketBase(setData) {
 }
 
 void TcPacketPus::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
-        uint8_t ack, uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
-        uint16_t sourceId) {
+        uint8_t ack, uint8_t service, uint8_t subservice, uint16_t sourceId) {
     initSpacePacketHeader(true, true, apid, sequenceCount);
     std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
     setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
-    // Data Field Header. For PUS A, the first bit (CCSDS Secondary Header Flag) is zero
-    tcData->dataField.versionTypeAck = pusVersion << 4 | (ack & 0x0F);
+    // Data Field Header:
+    // Set CCSDS_secondary_header_flag to 0 and version number to 001
+    tcData->dataField.versionTypeAck = 0b00010000;
+    tcData->dataField.versionTypeAck |= (ack & 0x0F);
     tcData->dataField.serviceType = service;
     tcData->dataField.serviceSubtype = subservice;
 #if FSFW_USE_PUS_C_TELECOMMANDS == 1

src/fsfw/tmtcpacket/pus/tc/TcPacketPus.h

@@ -2,7 +2,6 @@
 #define FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
 
 #include "fsfw/FSFW.h"
-#include "../definitions.h"
 #include "fsfw/tmtcpacket/ccsds_header.h"
 #include "TcPacketBase.h"
 
@@ -76,8 +75,7 @@ protected:
      * @param subservice PUS Subservice
      */
     void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
-            uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
-            uint16_t sourceId = 0);
+            uint8_t service, uint8_t subservice, uint16_t sourceId = 0);
 
     /**
      * A pointer to a structure which defines the data structure of

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

@@ -23,12 +23,7 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid,  uint8_t service,
         return;
     }
     this->setData(pData);
-#if FSFW_USE_PUS_C_TELECOMMANDS == 1
-    pus::PusVersion pusVersion = pus::PusVersion::PUS_C_VERSION;
-#else
-    pus::PusVersion pusVersion = pus::PusVersion::PUS_A_VERSION;
-#endif
-    initializeTcPacket(apid, sequenceCount, ack, service, subservice, pusVersion);
+    initializeTcPacket(apid, sequenceCount, ack, service, subservice);
     std::memcpy(&tcData->appData, data, size);
     this->setPacketDataLength(
             size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);

src/fsfw/tmtcpacket/pus/tm/TmPacketBase.h

@@ -31,6 +31,8 @@ public:
     //! Maximum size of a TM Packet in this mission.
     //! TODO: Make this dependant on a config variable.
     static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
+    //! First four bits of first byte of secondary header
+    static const uint8_t VERSION_NUMBER_BYTE = 0b00010000;
 
     /**
      * This is the default constructor.

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

@@ -1,6 +1,5 @@
-#include "../definitions.h"
-#include "TmPacketPusA.h"
-#include "TmPacketBase.h"
+#include "fsfw/tmtcpacket/pus/tm/TmPacketPusA.h"
+#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -63,7 +62,12 @@ void TmPacketPusA::initializeTmPacket(uint16_t apid, uint8_t service,
     //First, set to zero.
     memset(&tmData->data_field, 0, sizeof(tmData->data_field));
 
-    tmData->data_field.version_type_ack = pus::PusVersion::PUS_A_VERSION << 4;
+    // NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
+    // The other 4 bits of the first byte are the spacecraft time reference
+    // status. To change to PUS-C, set 0b00100000.
+    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
+    // to 0000
+    tmData->data_field.version_type_ack = 0b00010000;
     tmData->data_field.service_type = service;
     tmData->data_field.service_subtype = subservice;
     tmData->data_field.subcounter = packetSubcounter;

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

@@ -1,6 +1,5 @@
-#include "../definitions.h"
-#include "TmPacketPusC.h"
-#include "TmPacketBase.h"
+#include "fsfw/tmtcpacket/pus/tm/TmPacketPusC.h"
+#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -68,8 +67,7 @@ ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
 
     /* Only account for last 4 bytes for time reference field */
     timeRefField &= 0b1111;
-    tmData->dataField.versionTimeReferenceField =
-            (pus::PusVersion::PUS_C_VERSION << 4) | timeRefField;
+    tmData->dataField.versionTimeReferenceField = VERSION_NUMBER_BYTE | timeRefField;
     tmData->dataField.serviceType = service;
     tmData->dataField.serviceSubtype = subservice;
     tmData->dataField.subcounterMsb = packetSubcounter << 8 & 0xff;

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

@@ -91,34 +91,4 @@ void TmPacketStoredBase::checkAndReportLostTm() {
     }
 }
 
-void TmPacketStoredBase::handleStoreFailure(const char *const packetType, ReturnValue_t result,
-        size_t sizeToReserve) {
-    checkAndReportLostTm();
-#if FSFW_VERBOSE_LEVEL >= 1
-    switch(result) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    case(StorageManagerIF::DATA_STORAGE_FULL): {
-        sif::warning << "TmPacketStoredPus" << packetType << ": " <<
-                "Store full for packet with size" << sizeToReserve << std::endl;
-        break;
-    }
-    case(StorageManagerIF::DATA_TOO_LARGE): {
-        sif::warning << "TmPacketStoredPus" << packetType << ": Data with size " <<
-                sizeToReserve << " too large" <<  std::endl;
-        break;
-    }
-#else
-    case(StorageManagerIF::DATA_STORAGE_FULL): {
-        sif::printWarning("TmPacketStoredPus%s: Store full for packet with "
-                "size %d\n", packetType, sizeToReserve);
-        break;
-    }
-    case(StorageManagerIF::DATA_TOO_LARGE): {
-        sif::printWarning("TmPacketStoredPus%s: Data with size "
-                "%d too large\n", packetType, sizeToReserve);
-        break;
-    }
-#endif
-#endif
-    }
-}
+

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredBase.h

@@ -82,9 +82,6 @@ protected:
     bool checkAndSetStore();
 
     void checkAndReportLostTm();
-
-    void handleStoreFailure(const char* const packetType, ReturnValue_t result,
-            size_t sizeToReserve);
 };
 
 

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

@@ -5,70 +5,69 @@
 
 #include <cstring>
 
-TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress):
-        TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){
+TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress) :
+		TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
-        uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
-        uint32_t size, const uint8_t *headerData, uint32_t headerSize):
+		uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
+		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
 		TmPacketPusA(nullptr) {
-    storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-    if (not TmPacketStoredBase::checkAndSetStore()) {
-        return;
-    }
-    uint8_t *pData = nullptr;
-    size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
-    ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-            sizeToReserve, &pData);
+	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+	if (not TmPacketStoredBase::checkAndSetStore()) {
+		return;
+	}
+	uint8_t *pData = nullptr;
+	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+			(getPacketMinimumSize() + size + headerSize), &pData);
 
-    if (returnValue != store->RETURN_OK) {
-        handleStoreFailure("A", returnValue, sizeToReserve);
-        return;
-    }
-    setData(pData);
-    initializeTmPacket(apid, service, subservice, packetSubcounter);
-    memcpy(getSourceData(), headerData, headerSize);
-    memcpy(getSourceData() + headerSize, data, size);
-    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+	if (returnValue != store->RETURN_OK) {
+	    TmPacketStoredBase::checkAndReportLostTm();
+		return;
+	}
+	setData(pData);
+	initializeTmPacket(apid, service, subservice, packetSubcounter);
+	memcpy(getSourceData(), headerData, headerSize);
+	memcpy(getSourceData() + headerSize, data, size);
+	setPacketDataLength(
+			size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
-        uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
-        SerializeIF *header) :
-		        TmPacketPusA(nullptr) {
-    storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-    if (not TmPacketStoredBase::checkAndSetStore()) {
-        return;
-    }
-    size_t sourceDataSize = 0;
-    if (content != nullptr) {
-        sourceDataSize += content->getSerializedSize();
-    }
-    if (header != nullptr) {
-        sourceDataSize += header->getSerializedSize();
-    }
-    uint8_t *pData = nullptr;
-    size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
-    ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-            sizeToReserve, &pData);
-    if (returnValue != store->RETURN_OK) {
-        handleStoreFailure("A", returnValue, sizeToReserve);
-        return;
-    }
-    setData(pData);
-    initializeTmPacket(apid, service, subservice, packetSubcounter);
-    uint8_t *putDataHere = getSourceData();
-    size_t size = 0;
-    if (header != nullptr) {
-        header->serialize(&putDataHere, &size, sourceDataSize,
-                SerializeIF::Endianness::BIG);
-    }
-    if (content != nullptr) {
-        content->serialize(&putDataHere, &size, sourceDataSize,
-                SerializeIF::Endianness::BIG);
-    }
-    setPacketDataLength(sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
+		SerializeIF *header) :
+		TmPacketPusA(nullptr) {
+	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+	if (not TmPacketStoredBase::checkAndSetStore()) {
+		return;
+	}
+	size_t sourceDataSize = 0;
+	if (content != NULL) {
+		sourceDataSize += content->getSerializedSize();
+	}
+	if (header != NULL) {
+		sourceDataSize += header->getSerializedSize();
+	}
+	uint8_t *p_data = NULL;
+	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+			(getPacketMinimumSize() + sourceDataSize), &p_data);
+	if (returnValue != store->RETURN_OK) {
+	    TmPacketStoredBase::checkAndReportLostTm();
+	}
+	setData(p_data);
+	initializeTmPacket(apid, service, subservice, packetSubcounter);
+	uint8_t *putDataHere = getSourceData();
+	size_t size = 0;
+	if (header != NULL) {
+		header->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
+	}
+	if (content != NULL) {
+		content->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
+	}
+	setPacketDataLength(
+			sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 uint8_t* TmPacketStoredPusA::getAllTmData() {

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusA.h

@@ -15,46 +15,46 @@
  *	packets in a store with the help of a storeAddress.
  *	@ingroup tmtcpackets
  */
-class TmPacketStoredPusA:
+class TmPacketStoredPusA :
         public TmPacketStoredBase,
         public TmPacketPusA {
 public:
-    /**
-     * This is a default constructor which does not set the data pointer.
-     * However, it does try to set the packet store.
-     */
-    TmPacketStoredPusA( store_address_t setAddress );
-    /**
-     * With this constructor, new space is allocated in the packet store and
-     * a new PUS Telemetry Packet is created there.
-     * Packet Application Data passed in data is copied into the packet.
-     * The Application data is passed in two parts, first a header, then a
-     * data field. This allows building a Telemetry Packet from two separate
-     * data sources.
-     * @param apid			Sets the packet's APID field.
-     * @param service		Sets the packet's Service ID field.
-     * 		This specifies the source service.
-     * @param subservice	Sets the packet's Service Subtype field.
-     * 		This specifies the source sub-service.
-     * @param packet_counter	Sets the Packet counter field of this packet
-     * @param data			The payload data to be copied to the
-     * 						Application Data Field
-     * @param size			The amount of data to be copied.
-     * @param headerData 	The header Data of the Application field,
-     * 						 will be copied in front of data
-     * @param headerSize	The size of the headerDataF
-     */
-    TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
-            uint8_t packet_counter = 0, const uint8_t* data = nullptr,
-            uint32_t size = 0, const uint8_t* headerData = nullptr,
-            uint32_t headerSize = 0);
-    /**
-     * Another ctor to directly pass structured content and header data to the
-     * packet to avoid additional buffers.
-     */
-    TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
-            uint8_t packet_counter, SerializeIF* content,
-            SerializeIF* header = nullptr);
+	/**
+	 * This is a default constructor which does not set the data pointer.
+	 * However, it does try to set the packet store.
+	 */
+	TmPacketStoredPusA( store_address_t setAddress );
+	/**
+	 * With this constructor, new space is allocated in the packet store and
+	 * a new PUS Telemetry Packet is created there.
+	 * Packet Application Data passed in data is copied into the packet.
+	 * The Application data is passed in two parts, first a header, then a
+	 * data field. This allows building a Telemetry Packet from two separate
+	 * data sources.
+	 * @param apid			Sets the packet's APID field.
+	 * @param service		Sets the packet's Service ID field.
+	 * 		This specifies the source service.
+	 * @param subservice	Sets the packet's Service Subtype field.
+	 * 		This specifies the source sub-service.
+	 * @param packet_counter	Sets the Packet counter field of this packet
+	 * @param data			The payload data to be copied to the
+	 * 						Application Data Field
+	 * @param size			The amount of data to be copied.
+	 * @param headerData 	The header Data of the Application field,
+	 * 						 will be copied in front of data
+	 * @param headerSize	The size of the headerDataF
+	 */
+	TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter = 0, const uint8_t* data = nullptr,
+			uint32_t size = 0, const uint8_t* headerData = nullptr,
+			uint32_t headerSize = 0);
+	/**
+	 * Another ctor to directly pass structured content and header data to the
+	 * packet to avoid additional buffers.
+	 */
+	TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter, SerializeIF* content,
+			SerializeIF* header = nullptr);
 
     uint8_t* getAllTmData() override;
     void setDataPointer(const uint8_t* newPointer) override;

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

@@ -19,19 +19,19 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
         return;
     }
     uint8_t *pData = nullptr;
-    size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-            sizeToReserve, &pData);
+            (getPacketMinimumSize() + size + headerSize), &pData);
 
     if (returnValue != store->RETURN_OK) {
-        handleStoreFailure("C", returnValue, sizeToReserve);
+        TmPacketStoredBase::checkAndReportLostTm();
         return;
     }
     setData(pData);
     initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
     memcpy(getSourceData(), headerData, headerSize);
     memcpy(getSourceData() + headerSize, data, size);
-    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
+    setPacketDataLength(
+            size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
@@ -53,7 +53,34 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
     size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress, sizeToReserve, &pData);
     if (returnValue != store->RETURN_OK) {
-        handleStoreFailure("C", returnValue, sizeToReserve);
+#if FSFW_VERBOSE_LEVEL >= 1
+        switch(returnValue) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        case(StorageManagerIF::DATA_STORAGE_FULL): {
+            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
+                    "size " << sizeToReserve << std::endl;
+            break;
+        }
+        case(StorageManagerIF::DATA_TOO_LARGE): {
+            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Data with size " <<
+                    sizeToReserve << " too large" <<  std::endl;
+            break;
+        }
+#else
+        case(StorageManagerIF::DATA_STORAGE_FULL): {
+            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
+                    "size %d\n", sizeToReserve);
+            break;
+        }
+        case(StorageManagerIF::DATA_TOO_LARGE): {
+            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Data with size "
+                    "%d too large\n", sizeToReserve);
+            break;
+        }
+#endif
+#endif
+        }
+        TmPacketStoredBase::checkAndReportLostTm();
         return;
     }
     setData(pData);

tests/src/fsfw_tests/internal/InternalUnitTester.cpp

@@ -16,18 +16,15 @@ InternalUnitTester::~InternalUnitTester() {}
 ReturnValue_t InternalUnitTester::performTests(
         const struct InternalUnitTester::TestConfig& testConfig) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::info << "Running internal unit tests.. Error messages might follow" <<
-	        std::endl;
+	sif::info << "Running internal unit tests.." << std::endl;
 #else
 	sif::printInfo("Running internal unit tests..\n");
 #endif
 
 	testserialize::test_serialization();
 	testmq::testMq();
-	if(testConfig.testSemaphores) {
-	    testsemaph::testBinSemaph();
-	    testsemaph::testCountingSemaph();
-	}
+	testsemaph::testBinSemaph();
+	testsemaph::testCountingSemaph();
 	testmutex::testMutex();
 	if(testConfig.testArrayPrinter) {
 	    arrayprinter::testArrayPrinter();

tests/src/fsfw_tests/internal/InternalUnitTester.h

@@ -18,7 +18,6 @@ class InternalUnitTester: public HasReturnvaluesIF {
 public:
     struct TestConfig {
         bool testArrayPrinter = false;
-        bool testSemaphores = true;
     };
 
 	InternalUnitTester();

tests/src/fsfw_tests/internal/osal/IntTestMutex.cpp

@@ -1,12 +1,10 @@
 #include "fsfw_tests/internal/osal/IntTestMutex.h"
 #include "fsfw_tests/internal/UnittDefinitions.h"
-#include "fsfw/platform.h"
 
 #include <fsfw/ipc/MutexFactory.h>
 
-#if defined PLATFORM_WIN || defined PLATFORM_UNIX
-#include "fsfw/osal/host/Mutex.h"
-
+#if defined(WIN32) || defined(UNIX)
+#include <fsfw/osal/host/Mutex.h>
 #include <thread>
 #include <future>
 #endif
@@ -22,7 +20,7 @@ void testmutex::testMutex() {
 	// timed_mutex from the C++ library specifies undefined behaviour if
 	// the timed mutex is locked twice from the same thread.
     // TODO: we should pass a define like FSFW_OSAL_HOST to the build.
-#if defined PLATFORM_WIN || defined PLATFORM_UNIX
+#if defined(WIN32) || defined(UNIX)
 	// This calls the function from
 	// another thread and stores the returnvalue in a future.
 	auto future = std::async(&MutexIF::lockMutex, mutex, MutexIF::TimeoutType::WAITING, 1);
@@ -39,7 +37,8 @@ void testmutex::testMutex() {
 		unitt::put_error(id);
 	}
 
-#if !defined PLATFORM_WIN && !defined PLATFORM_UNIX
+	// TODO: we should pass a define like FSFW_OSAL_HOST to the build.
+#if !defined(WIN32) && !defined(UNIX)
     result = mutex->unlockMutex();
 	if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
 		unitt::put_error(id);

tests/src/fsfw_tests/internal/osal/IntTestSemaphore.cpp

@@ -1,10 +1,9 @@
-#include "fsfw/FSFW.h"
 #include "fsfw_tests/internal/osal/IntTestSemaphore.h"
 #include "fsfw_tests/internal/UnittDefinitions.h"
 
-#include "fsfw/tasks/SemaphoreFactory.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/timemanager/Stopwatch.h"
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/timemanager/Stopwatch.h>
 
 #include <cstdlib>
 
@@ -17,7 +16,7 @@ void testsemaph::testBinSemaph() {
 	}
 	testBinSemaphoreImplementation(binSemaph, id);
 	SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
-#if defined FSFW_OSAL_FREERTOS
+#if defined(freeRTOS)
 	SemaphoreIF* binSemaphUsingTask =
 			SemaphoreFactory::instance()->createBinarySemaphore(1);
 	testBinSemaphoreImplementation(binSemaphUsingTask, id);
@@ -37,7 +36,7 @@ void testsemaph::testCountingSemaph() {
 		}
 		testBinSemaphoreImplementation(countingSemaph, id);
 		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
-#if defined FSFW_OSAL_FREERTOS
+#if defined(freeRTOS)
 		countingSemaph = SemaphoreFactory::instance()->
 				createCountingSemaphore(1, 1, 1);
 		testBinSemaphoreImplementation(countingSemaph, id);
@@ -51,7 +50,7 @@ void testsemaph::testCountingSemaph() {
 				createCountingSemaphore(3,3);
 		testCountingSemaphImplementation(countingSemaph, id);
 		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
-#if defined FSFW_OSAL_FREERTOS
+#if defined(freeRTOS)
 		countingSemaph = SemaphoreFactory::instance()->
 				createCountingSemaphore(3, 0, 1);
 		uint8_t semaphCount = countingSemaph->getSemaphoreCounter();

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -18,5 +18,4 @@ add_subdirectory(serialize)
 add_subdirectory(datapoollocal)
 add_subdirectory(storagemanager)
 add_subdirectory(globalfunctions)
-add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)

tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp

@@ -103,7 +103,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
             for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) {
                 result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(),
                         buffer.data(), faultyDestSize, &encodedLen);
-                REQUIRE(result == static_cast<int>(DleEncoder::STREAM_TOO_SHORT));
+                REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
             }
         };
 
@@ -218,10 +218,5 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
 
         dleEncoder.setEscapeMode(true);
-        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_ESCAPED;
-        testArray1EncodedFaulty[5] = 0;
-        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
-                &readLen, buffer.data(), buffer.size(), &encodedLen);
-        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
     }
 }

tests/src/fsfw_tests/unit/timemanager/CMakeLists.txt

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

tests/src/fsfw_tests/unit/timemanager/TestCountdown.cpp

@@ -1,27 +0,0 @@
-#include "fsfw_tests/unit/CatchDefinitions.h"
-#include <fsfw/timemanager/Countdown.h>
-#include <catch2/catch_test_macros.hpp>
-
-
-TEST_CASE( "Countdown Tests", "[TestCountdown]") {
-	INFO("Countdown Tests");
-	Countdown count(20);
-	REQUIRE(count.timeout == 20);
-	REQUIRE(count.setTimeout(100) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
-	REQUIRE(count.timeout == 100);
-	REQUIRE(count.setTimeout(150) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
-	REQUIRE(count.isBusy());
-	REQUIRE(not count.hasTimedOut());
-	uint32_t number = count.getRemainingMillis();
-	REQUIRE(number > 0);
-	bool blocked = false;
-	while(not count.hasTimedOut()){
-		blocked = true;
-	};
-	REQUIRE(blocked);
-	number = count.getRemainingMillis();
-	REQUIRE(number==0);
-	count.resetTimer();
-	REQUIRE(not count.hasTimedOut());
-	REQUIRE(count.isBusy());
-}