starting a bit with event manage replacements

Reviewed-on: KSat/fsfw#27

.run/fsfw-tests_coverage.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

.run/fsfw.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

CHANGELOG.md

@@ -8,24 +8,23 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v5.0.0] 25.07.2022
+# [v5.0.0]
 
 ## Changes
 
-- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
-  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
   compiler supports it
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
-- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
-  Buffer and rejects such writeData calls with `HasReturnvaluesIF::RETURN_FAILED`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
   - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
@@ -43,41 +42,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
-  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
-
-### Task Module Refactoring
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
-
-**Refactoring general task code**
-
-- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
-  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
-
-**Refactor PeriodicTaskIF**
-
-- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
-  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
-  the operation code passed to `performOperation`. Updated API taking
-  an `ExecutableObjectIF` accordingly
-
-**Refactor FixedTimeslotTaskIF**
-
-- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
-
-**Refactor FixedSequenceSlot**
-
-- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
-- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
-  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
-  for the custom checker
-
-**Linux Task Module**
-
-- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
-  member of the class
 
 ### HAL
 
@@ -120,13 +84,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
-- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
-  This is also the new default constructor for scalar value with 0 as an initial value
-- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
-  whether it is running in CI/CD
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
-- Basic `clion` support: Update `.gitignore` and add some basic run configurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
 - LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
   the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
   can make good use of it and it usually makes the code faster and/or smaller.

CMakeLists.txt

@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################
 
-set(FSFW_VERSION_IF_GIT_FAILS 5)
+set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
@@ -72,9 +72,8 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
     CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)
 
 set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
@@ -83,6 +82,15 @@ set(FSFW_CATCH2_LIB_VERSION
     v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
     CACHE STRING "Catch2 library exact version requirement")
 
+set(FSFW_FMT_LIB_NAME fmt)
+set(FSFW_FMT_LINK_TARGET fmt::fmt)
+set(FSFW_FMT_LIB_MAJOR_VERSION
+    8
+    CACHE STRING "{fmt} library major version requirement")
+set(FSFW_FMT_LIB_VERSION
+    ${FSFW_FMT_LIB_MAJOR_VERSION}.1.1
+    CACHE STRING "{fmt} library exact version requirement")
+
 # Keep this off by default for now. See PR:
 # https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
 # keeping this on by default is problematic
@@ -104,11 +112,10 @@ if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
-       OFF)
-option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
@@ -140,7 +147,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                 TRUE)
 endif()
 
-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
   message(
     STATUS
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
@@ -163,17 +170,18 @@ if(FSFW_BUILD_TESTS)
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
-  set(FSFW_CONFIG_PATH unittests/testcfg)
-  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
+
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
     set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                   TRUE)
   endif()
-
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
     message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
@@ -183,7 +191,7 @@ if(FSFW_BUILD_TESTS)
   endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
+message(STATUS "${MSG_PREFIX} Finding and/or etl (Embedded Template Library)")
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -203,6 +211,26 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
+message(STATUS "Finding and/or providing {fmt} formatting library")
+
+# Check whether the user has already installed ETL first
+find_package(fmt ${FSFW_FMT_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_FMT_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No {fmt} installation was found with find_package. Installing and providing "
+      "{fmt} with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_FMT_LIB_NAME}
+    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
+    GIT_TAG ${FSFW_FMT_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_FMT_LIB_NAME})
+endif()
+
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
@@ -212,7 +240,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
   endif()
   if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
+    # Fixes regression -preview4, to be confirmed in later releases. Related
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
@@ -281,15 +309,16 @@ message(
 )
 
 add_subdirectory(src)
-add_subdirectory(contrib)
-if(FSFW_BUILD_TESTS)
-  add_subdirectory(unittests)
+add_subdirectory(tests)
+if(FSFW_ADD_HAL)
+  add_subdirectory(hal)
 endif()
+add_subdirectory(contrib)
 if(FSFW_BUILD_DOCS)
   add_subdirectory(docs)
 endif()
 
-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
   if(FSFW_TESTS_GEN_COV)
     if(CMAKE_COMPILER_IS_GNUCXX)
       include(CodeCoverage)
@@ -446,8 +475,13 @@ target_include_directories(
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                 ${COMPILER_FLAGS})
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_FMT_LINK_TARGET})
+
+target_link_libraries(
+  ${LIB_FSFW_NAME}
+  PRIVATE # If any ELT headers are ever exposed inside a header or as part of
+          # the API, the ETL target needs to be linked PUBLIC
+          ${FSFW_ETL_LINK_TARGET} ${FSFW_ADDITIONAL_LINK_LIBS})
 
 string(
   CONCAT
@@ -457,6 +491,13 @@ string(
     "Target OSAL: ${FSFW_OS_NAME}\n"
     "######################################################################\n")
 
+# The additional / is important to remove the last character from the path. Note
+# that it does not matter if the OS uses / or \, because we are only saving the
+# path size.
+string(LENGTH "${CMAKE_SOURCE_DIR}/" FSFW_SOURCE_PATH_SIZE)
+target_compile_definitions(
+  ${LIB_FSFW_NAME} PRIVATE "-DFSFW_SOURCE_PATH_SIZE=${FSFW_SOURCE_PATH_SIZE}")
+
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD

README.md

@@ -99,7 +99,7 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-   ```sh
+   ```cmake
    target_link_libraries(${YourProjectName} PRIVATE fsfw)
    ```
 
@@ -131,7 +131,7 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system
 
 ```sh
-mkdir build-tests && cd build-tests
+mkdir build-Unittest && cd build-Unittest
 cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
@@ -139,7 +139,7 @@ You can also use `-DFSFW_OSAL=linux` on Linux systems.
 
 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generate the coverage data in this format,
+To build the unittests, run them and then generare the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 
 ```sh
@@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
-````sh
-sudo pip install cmakelang
-````
+can run the `apply-clang-format.sh` helper script to format all source files consistently.
 
 ## Index
 

automation/Dockerfile

@@ -12,9 +12,3 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
 	git checkout v3.0.0-preview5 && \
 	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
 	cmake --build build/ --target install
-
-RUN git clone https://github.com/ETLCPP/etl.git && \
-	cd etl && \
-	git checkout 20.28.0 && \
-	cmake -B build . && \
-	cmake --install build/

automation/Jenkinsfile

@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image 'fsfw-ci:d3'}
+        docker { image 'fsfw-ci:d2'}
     }
     stages {
         stage('Clean') {
@@ -14,7 +14,7 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
                 }
             }
         }

hal/CMakeLists.txt

@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.13)
+
+# Can also be changed by upper CMakeLists.txt file
+find_library(LIB_FSFW_NAME fsfw REQUIRED)
+
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
+
+option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
+option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
+option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
+
+set(LINUX_HAL_PATH_NAME linux)
+set(STM32H7_PATH_NAME stm32h7)
+
+add_subdirectory(src)
+
+foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_ADD_INC_PATHS_ABS}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_DEFINES}
+)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_LINK_LIBS}
+)

hal/src/CMakeLists.txt

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

hal/src/fsfw_hal/CMakeLists.txt

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

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

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

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

@@ -1,30 +1,19 @@
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
-GpioCookie::GpioCookie() {}
+GpioCookie::GpioCookie() = default;
 
 ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
   if (gpioConfig == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
-#else
-    sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
-#endif
+    FSFW_LOGW("addGpio: gpioConfig is nullpointer\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   auto gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
     auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
-    if (statusPair.second == false) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
-                   << std::endl;
-#else
-      sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
-#endif
-#endif
+    if (!statusPair.second) {
+      FSFW_LOGW("addGpio: Failed to add GPIO {} to GPIO map\n", gpioId);
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;

hal/src/fsfw_hal/devicehandlers/CMakeLists.txt

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

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -60,16 +60,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
       /* Might be a configuration error. */
-      sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                      "Unknown internal state!"
-                   << std::endl;
-#else
-      sif::printDebug(
-          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-          "Unknown internal state!\n");
-#endif
+      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
       return HasReturnvaluesIF::RETURN_OK;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -192,17 +184,8 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
       if (periodicPrintout) {
         if (debugDivider.checkAndIncrement()) {
           /* Set terminal to utf-8 if there is an issue with micro printout. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-          sif::info << "X: " << angVelocX << std::endl;
-          sif::info << "Y: " << angVelocY << std::endl;
-          sif::info << "Z: " << angVelocZ << std::endl;
-#else
-          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-          sif::printInfo("X: %f\n", angVelocX);
-          sif::printInfo("Y: %f\n", angVelocY);
-          sif::printInfo("Z: %f\n", angVelocZ);
-#endif
+          FSFW_LOGI("GyroHandlerL3GD20H: Angular velocities (deg/s):\nX {} | Y {} | Z {}\n",
+                    angVelocX, angVelocY, angVelocZ);
         }
       }
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -76,21 +76,16 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
     }
     default: {
       /* might be a configuration error. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
-                   << std::endl;
-#else
-      sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
       return HasReturnvaluesIF::RETURN_OK;
     }
   }
-  return buildCommandFromCommand(*id, NULL, 0);
+  return buildCommandFromCommand(*id, nullptr, 0);
 }
 
 uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
   command |= (1 << MGMLIS3MDL::RW_BIT);
-  if (continuousCom == true) {
+  if (continuousCom) {
     command |= (1 << MGMLIS3MDL::MS_BIT);
   }
   return command;
@@ -98,7 +93,7 @@ uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
 
 uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
   command &= ~(1 << MGMLIS3MDL::RW_BIT);
-  if (continuousCom == true) {
+  if (continuousCom) {
     command |= (1 << MGMLIS3MDL::MS_BIT);
   }
   return command;
@@ -186,13 +181,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
     // Check validity by checking config registers
     if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
         start[4] != registers[3] or start[5] != registers[4]) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
-      sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
+      FSFW_LOGW("scanForReply: Invalid registers\n");
       return DeviceHandlerIF::INVALID_DATA;
     }
     if (mode == _MODE_START_UP) {
@@ -210,17 +199,9 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
     *foundId = getPendingCommand();
     if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
       if (start[1] != MGMLIS3MDL::DEVICE_ID) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!"
-                     << std::endl;
-#else
-        sif::printWarning(
-            "MGMHandlerLIS3MDL::scanForReply: "
-            "Device identification failed!\n");
-#endif
-#endif
+        FSFW_LOGW(
+            "scanForReply: Device identification failed, found ID {} not equal to expected {}\n",
+            start[1], MGMLIS3MDL::DEVICE_ID);
         return DeviceHandlerIF::INVALID_DATA;
       }
 
@@ -268,19 +249,10 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 
       if (periodicPrintout) {
         if (debugDivider.checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                       " microtesla:"
-                    << std::endl;
-          sif::info << "X: " << mgmX << " uT" << std::endl;
-          sif::info << "Y: " << mgmY << " uT" << std::endl;
-          sif::info << "Z: " << mgmZ << " uT" << std::endl;
-#else
-          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-          sif::printInfo("X: %f uT\n", mgmX);
-          sif::printInfo("Y: %f uT\n", mgmY);
-          sif::printInfo("Z: %f uT\n", mgmZ);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+          FSFW_LOGI(
+              "MGMHandlerLIS3: Magnetic field strength in"
+              " microtesla (uT):\nX {} | Y {} | Z {}\n",
+              mgmX, mgmY, mgmZ);
         }
       }
 
@@ -311,15 +283,11 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     }
 
     case MGMLIS3MDL::READ_TEMPERATURE: {
-      int16_t tempValueRaw = packet[2] << 8 | packet[1];
+      auto tempValueRaw = static_cast<int16_t>((packet[2] << 8) | packet[1]);
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
       if (periodicPrintout) {
         if (debugDivider.check()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
-#else
-          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
-#endif
+          FSFW_LOGI("MGMHandlerLIS3: Temperature: {} C\n", tempValue);
         }
       }
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -81,18 +81,8 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
       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
+      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
       return HasReturnvaluesIF::RETURN_OK;
   }
 
@@ -335,19 +325,10 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
 
   if (periodicPrintout) {
     if (debugDivider.checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                   " microtesla:"
-                << std::endl;
-      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
-      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
-#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
+      FSFW_LOGI(
+          "MgmRM3100Handler: Magnetic field strength in"
+          " microtesla(uT)\nX {} | Y {} | Z {}\n",
+          fieldStrengthX, fieldStrengthY, fieldStrengthZ);
     }
   }
 

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -0,0 +1,25 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+    add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	UnixFileGuard.cpp
+	CommandExecutor.cpp
+	utility.cpp
+)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+	add_subdirectory(gpio)
+endif()
+	add_subdirectory(uart)
+	# Adding those does not really make sense on Apple systems which
+	# are generally host systems. It won't even compile as the headers
+	# are missing
+	if(NOT APPLE)
+		add_subdirectory(i2c)
+		add_subdirectory(spi)
+	endif()
+endif()
+
+add_subdirectory(uio)

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -59,22 +59,16 @@ ReturnValue_t CommandExecutor::close() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void CommandExecutor::printLastError(std::string funcName) const {
+void CommandExecutor::printLastError(const std::string& funcName) const {
   if (lastError != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << funcName << " pclose failed with code " << lastError << ": "
-                 << strerror(lastError) << std::endl;
-#else
-    sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
-                    strerror(lastError));
-#endif
+    FSFW_LOGW("{} | pclose failed with code {} | {}\n", funcName, lastError, strerror(lastError));
   }
 }
 
-void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
-                                    DynamicFIFO<uint16_t>* sizesFifo) {
-  this->ringBuffer = ringBuffer;
-  this->sizesFifo = sizesFifo;
+void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer_,
+                                    DynamicFIFO<uint16_t>* sizesFifo_) {
+  this->ringBuffer = ringBuffer_;
+  this->sizesFifo = sizesFifo_;
 }
 
 ReturnValue_t CommandExecutor::check(bool& replyReceived) {
@@ -102,23 +96,13 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
         ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
         if (readBytes == 0) {
           // Should not happen
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::warning << "CommandExecutor::check: No bytes read "
-                          "after poll event.."
-                       << std::endl;
-#else
-          sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
-#endif
+          FSFW_LOGWT("CommandExecutor::check: No bytes read after poll event\n");
           break;
         } else if (readBytes > 0) {
           replyReceived = true;
           if (printOutput) {
             // It is assumed the command output is line terminated
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << currentCmd << " | " << readVec.data();
-#else
-            sif::printInfo("%s | %s", currentCmd, readVec.data());
-#endif
+            FSFW_LOGIT("{} | {}", currentCmd, readVec.data());
           }
           if (ringBuffer != nullptr) {
             ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
@@ -130,20 +114,11 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
           }
         } else {
           // Should also not happen
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
-                       << std::endl;
-#else
-          sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
-#endif
+          FSFW_LOGW("check: Error {} | {}\n", errno, strerror(errno));
         }
       }
       if (waiter.revents & POLLERR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "CommandExecuter::check: Poll error" << std::endl;
-#else
-        sif::printWarning("CommandExecuter::check: Poll error\n");
-#endif
+        FSFW_LOGW("check: Poll error\n");
         return COMMAND_ERROR;
       }
       if (waiter.revents & POLLHUP) {
@@ -183,11 +158,7 @@ ReturnValue_t CommandExecutor::executeBlocking() {
   while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
     std::string output(readVec.data());
     if (printOutput) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::info << currentCmd << " | " << output;
-#else
-      sif::printInfo("%s | %s", currentCmd, output);
-#endif
+      FSFW_LOGI("{} | {}", currentCmd, output);
     }
     if (ringBuffer != nullptr) {
       ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -93,7 +93,7 @@ class CommandExecutor {
 
   States getCurrentState() const;
   int getLastError() const;
-  void printLastError(std::string funcName) const;
+  void printLastError(const std::string& funcName) const;
 
   /**
    * Assign a ring buffer and a FIFO which will be filled by the executor with the output

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -14,15 +14,8 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
   }
   *fileDescriptor = open(device.c_str(), flags);
   if (*fileDescriptor < 0) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
-                 << strerror(errno) << std::endl;
-#else
-    sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
-                      strerror(errno));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGW("{} | Opening device failed with error code {} | {}\n", diagnosticPrefix, errno,
+              strerror(errno));
     openStatus = OPEN_FILE_FAILED;
   }
 }

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

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

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

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

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

@@ -26,19 +26,10 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
   std::string deviceFile;
 
   if (cookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
-#endif
+    FSFW_LOGE("{}", "initializeInterface: Invalid cookie\n");
     return NULLPOINTER;
   }
-  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-  if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
-#endif
-    return NULLPOINTER;
-  }
-
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   i2cAddress = i2cCookie->getAddress();
 
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
@@ -47,20 +38,14 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
     I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
     auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
     if (not statusPair.second) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
-                 << i2cAddress << "to I2C device "
-                 << "map" << std::endl;
-#endif
+      FSFW_LOGW("initializeInterface: Failed to insert device with address {} to I2C device map\n",
+                i2cAddress);
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;
   }
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
-             << "already in use" << std::endl;
-#endif
+  FSFW_LOGE("initializeInterface: Device with address {} already in use\n", i2cAddress);
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -70,9 +55,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
   std::string deviceFile;
 
   if (sendData == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
-#endif
+    FSFW_LOGW("{}", "sendMessage: Send Data is nullptr\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -80,21 +63,16 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
     return HasReturnvaluesIF::RETURN_OK;
   }
 
-  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "sendMessage: Invalid I2C Cookie\n");
     return NULLPOINTER;
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
-               << "registered in i2cDeviceMap" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "sendMessage: I2C address of cookie not registered in I2C device map\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -109,11 +87,8 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
   }
 
   if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                  "device with error code "
-               << errno << ". Error description: " << strerror(errno) << std::endl;
-#endif
+    FSFW_LOGE("sendMessage: Failed to send data to I2C device with error code {} | {}\n", errno,
+              strerror(errno));
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -135,11 +110,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     return HasReturnvaluesIF::RETURN_OK;
   }
 
-  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "requestReceiveMessage: Invalid I2C Cookie\n");
     i2cDeviceMapIter->second.replyLen = 0;
     return NULLPOINTER;
   }
@@ -147,10 +120,8 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
   address_t i2cAddress = i2cCookie->getAddress();
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
-               << "registered in i2cDeviceMap" << std::endl;
-#endif
+    FSFW_LOGW("requestReceiveMessage: I2C address {} of Cookie not registered in i2cDeviceMap",
+              i2cAddress);
     i2cDeviceMapIter->second.replyLen = 0;
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -168,20 +139,13 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 
   uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
 
-  int readLen = read(fd, replyBuffer, requestLen);
+  ssize_t readLen = read(fd, replyBuffer, requestLen);
   if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
-               << "device failed with error code " << errno << ". Description"
-               << " of error: " << strerror(errno) << std::endl;
-    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
-               << " bytes" << std::endl;
-#endif
+    FSFW_LOGWT(
+        "requestReceiveMessage: Reading from I2C device failed with error code "
+        "{} | {}\nRead only {} from {} bytes\n",
+        errno, strerror(errno), readLen, requestLen);
     i2cDeviceMapIter->second.replyLen = 0;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
-               << " bytes" << std::endl;
-#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -195,21 +159,17 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 }
 
 ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
-#endif
+    FSFW_LOGW("{}", "readReceivedMessage: Invalid I2C Cookie\n");
     return NULLPOINTER;
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
-               << "found in i2cDeviceMap" << std::endl;
-#endif
+    FSFW_LOGE("readReceivedMessage: I2C address {} of cookie not found in I2C device map\n",
+              i2cAddress);
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   *buffer = i2cDeviceMapIter->second.replyBuffer.data();
@@ -221,16 +181,8 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
 ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
                                    int* fileDescriptor) {
   if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
-                 << std::endl;
-    sif::warning << "Error description " << strerror(errno) << std::endl;
-#else
-    sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
-    sif::printWarning("Error description: %s\n", strerror(errno));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGWT("openDevice: Specifying target device failed with error code {} | {}\n", errno,
+               strerror(errno));
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;

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

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

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

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

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

@@ -11,6 +11,7 @@
 #include <cstring>
 
 #include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/utility.h"
@@ -18,13 +19,7 @@
 SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
     : SystemObject(objectId), gpioComIF(gpioComIF) {
   if (gpioComIF == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
-#else
-    sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGET("{}", "SpiComIF::SpiComIF: GPIO communication interface invalid\n");
   }
 
   spiMutex = MutexFactory::instance()->createMutex();
@@ -32,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
   int retval = 0;
-  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
   if (spiCookie == nullptr) {
     return NULLPOINTER;
   }
@@ -45,30 +40,17 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
     SpiInstance spiInstance(bufferSize);
     auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
     if (not statusPair.second) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
-                 << spiAddress << "to SPI device map" << std::endl;
-#else
-      sif::printError(
-          "SpiComIF::initializeInterface: Failed to insert device with address "
-          "%lu to SPI device map\n",
-          static_cast<unsigned long>(spiAddress));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+      FSFW_LOGWT(
+          "SpiComIF::initializeInterface: Failed to insert device with address {} to SPI device "
+          "map\n",
+          spiAddress);
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     /* Now we emplaced the read buffer in the map, we still need to assign that location
     to the SPI driver transfer struct */
     spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
   } else {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
-#else
-    sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGWT("{}", "initializeInterface: SPI address already exists\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -133,7 +115,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
 }
 
 ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
   if (spiCookie == nullptr) {
@@ -141,19 +123,9 @@ 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;
-#else
-    sif::printWarning(
-        "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
-        "than maximum buffer length %lu!\n",
-        static_cast<unsigned long>(sendLen),
-        static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGW(
+        "sendMessage: Too much data sent, send length {} larger than maximum buffer length {}\n",
+        spiCookie->getMaxBufferSize(), sendLen);
     return DeviceCommunicationIF::TOO_MUCH_DATA;
   }
 
@@ -201,24 +173,12 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   if (gpioId != gpio::NO_GPIO) {
     result = spiMutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
-#else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
-#endif
-#endif
+      FSFW_LOGET("{}", "sendMessage: Failed to lock mutex\n");
       return result;
     }
     result = gpioComIF->pullLow(gpioId);
     if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
-#else
-      sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
-#endif
-#endif
+      FSFW_LOGW("{}", "sendMessage: Pulling low CS pin failed\n");
       return result;
     }
   }
@@ -237,13 +197,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
   } else {
     /* We write with a blocking half-duplex transfer here */
     if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
-#else
-      sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+      FSFW_LOGET("{}", "sendMessage: Half-Duplex write operation failed\n");
       result = HALF_DUPLEX_TRANSFER_FAILED;
     }
   }
@@ -252,9 +206,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
-#endif
+      FSFW_LOGWT("{}", "sendMessage: Failed to unlock mutex\n");
       return result;
     }
   }
@@ -264,7 +216,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
-  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
   if (spiCookie == nullptr) {
     return NULLPOINTER;
   }
@@ -296,22 +248,14 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   if (gpioId != gpio::NO_GPIO) {
     result = spiMutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
-#endif
+      FSFW_LOGW("{}", "getSendSuccess: Failed to lock mutex\n");
       return result;
     }
     gpioComIF->pullLow(gpioId);
   }
 
   if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
-#else
-    sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGW("{}", "sendMessage: Half-Duplex read operation failed\n");
     result = HALF_DUPLEX_TRANSFER_FAILED;
   }
 
@@ -319,9 +263,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
-#endif
+      FSFW_LOGW("{}", "getSendSuccess: Failed to unlock mutex\n");
       return result;
     }
   }
@@ -330,7 +272,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 }
 
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
   if (spiCookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -361,16 +303,10 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
     return;
   }
   size_t dataLen = spiCookie->getTransferStructHandle()->len;
-  uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Sent SPI data: " << std::endl;
+  auto* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+  sif::info("Sent SPI data:\n");
   arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-  sif::info << "Received SPI data: " << std::endl;
-#else
-  sif::printInfo("Sent SPI data: \n");
-  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-  sif::printInfo("Received SPI data: \n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+  sif::info("Received SPI data:\n");
   dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
   arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
 }

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

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

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

@@ -1,10 +1,10 @@
 #include "UartComIF.h"
 
-#include <errno.h>
 #include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
 
+#include <cerrno>
 #include <cstring>
 
 #include "fsfw/FSFW.h"
@@ -23,11 +23,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
     return NULLPOINTER;
   }
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
-#endif
+    FSFW_LOGE("{}", "initializeInterface: Invalid UART Cookie\n");
     return NULLPOINTER;
   }
 
@@ -42,18 +40,12 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
     size_t maxReplyLen = uartCookie->getMaxReplyLen();
     UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
     auto status = uartDeviceMap.emplace(deviceFile, uartElements);
-    if (status.second == false) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
-                   << "to UART device map" << std::endl;
-#endif
+    if (!status.second) {
+      FSFW_LOGW("initializeInterface: Failed to insert device {} to UART device map\n", deviceFile);
       return RETURN_FAILED;
     }
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
-                 << " already in use" << std::endl;
-#endif
+    FSFW_LOGW("initializeInterface: UART device {} already in use\n", deviceFile);
     return RETURN_FAILED;
   }
 
@@ -73,19 +65,14 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
   int fd = open(deviceFile.c_str(), flags);
 
   if (fd < 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
-                 << "with error code " << errno << strerror(errno) << std::endl;
-#endif
+    FSFW_LOGW("configureUartPort: Failed to open UART {} with error code {} | {}\n", deviceFile,
+              errno, strerror(errno));
     return fd;
   }
 
   /* Read in existing settings */
   if (tcgetattr(fd, &options) != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Error " << errno
-                 << "from tcgetattr: " << strerror(errno) << std::endl;
-#endif
+    FSFW_LOGW("configureUartPort: Error {} from tcgetattr: {}\n", errno, strerror(errno));
     return fd;
   }
 
@@ -106,10 +93,8 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
   /* Save option settings */
   if (tcsetattr(fd, TCSANOW, &options) != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
-                 << ": " << strerror(errno);
-#endif
+    FSFW_LOGW("configureUartPort: Failed to set options with error {} | {}\n", errno,
+              strerror(errno));
     return fd;
   }
   return fd;
@@ -161,9 +146,8 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
       options->c_cflag |= CS8;
       break;
     default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
-#endif
+      FSFW_LOGW("setDatasizeOptions: Invalid size {} specified\n",
+                static_cast<unsigned int>(uartCookie->getBitsPerWord()));
       break;
   }
 }
@@ -316,9 +300,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       break;
 #endif  // ! __APPLE__
     default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
-#endif
+      FSFW_LOGW("{}", "UartComIF::configureBaudrate: Baudrate not supported\n");
       break;
   }
 }
@@ -333,37 +315,27 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   }
 
   if (sendData == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "sendMessage: Send data is nullptr");
     return RETURN_FAILED;
   }
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "sendMessage: Invalid UART Cookie\n");
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
-               << std::endl;
-#endif
+    FSFW_LOGWT("{}", "sendMessage: Device file {} not in UART map\n", deviceFile);
     return RETURN_FAILED;
   }
 
   fd = uartDeviceMapIter->second.fileDescriptor;
 
   if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
-               << ": Error description: " << strerror(errno) << std::endl;
-#endif
+    FSFW_LOGE("sendMessage: Failed to send data with error code {} | {}", errno, strerror(errno));
     return RETURN_FAILED;
   }
 
@@ -376,11 +348,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "requestReceiveMessage: Invalid UART Cookie\n");
     return NULLPOINTER;
   }
 
@@ -393,10 +363,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
   }
 
   if (uartDeviceMapIter == uartDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
-               << " not in uart map" << std::endl;
-#endif
+    FSFW_LOGW("requestReceiveMessage: Device file {} not in UART map\n", deviceFile);
     return RETURN_FAILED;
   }
 
@@ -414,7 +381,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   uint8_t maxReadCycles = uartCookie.getReadCycles();
   uint8_t currentReadCycles = 0;
-  int bytesRead = 0;
+  ssize_t bytesRead = 0;
   size_t currentBytesRead = 0;
   size_t maxReplySize = uartCookie.getMaxReplyLen();
   int fd = iter->second.fileDescriptor;
@@ -425,16 +392,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
     if (currentBytesRead >= maxReplySize) {
       // Overflow risk. Emit warning, trigger event and break. If this happens,
       // the reception buffer is not large enough or data is not polled often enough.
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
-                   << std::endl;
-#else
-      sif::printWarning(
-          "UartComIF::requestReceiveMessage: "
-          "Next read would cause overflow!");
-#endif
-#endif
+      FSFW_LOGWT("{}", "requestReceiveMessage: Next read would cause overflow\n");
       result = UART_RX_BUFFER_TOO_SMALL;
       break;
     } else {
@@ -445,15 +403,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
     if (bytesRead < 0) {
       // EAGAIN: No data available in non-blocking mode
       if (errno != EAGAIN) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
-                     << strerror(errno) << std::endl;
-#else
-        sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
-                          strerror(errno));
-#endif
-#endif
+        FSFW_LOGWT("handleCanonicalRead: read failed with code {} | {}\n", errno, strerror(errno));
         return RETURN_FAILED;
       }
 
@@ -473,27 +423,16 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
   auto bufferPtr = iter->second.replyBuffer.data();
   // Size check to prevent buffer overflow
   if (requestLen > uartCookie.getMaxReplyLen()) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "UartComIF::requestReceiveMessage: "
-        "Next read would cause overflow!");
-#endif
-#endif
+    FSFW_LOGW("{}", "requestReceiveMessage: Next read would cause overflow\n");
     return UART_RX_BUFFER_TOO_SMALL;
   }
-  int bytesRead = read(fd, bufferPtr, requestLen);
+  ssize_t bytesRead = read(fd, bufferPtr, requestLen);
   if (bytesRead < 0) {
     return RETURN_FAILED;
   } else if (bytesRead != static_cast<int>(requestLen)) {
     if (uartCookie.isReplySizeFixed()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
-                   << requestLen << " bytes" << std::endl;
-#endif
+      FSFW_LOGWT("UartComIF::requestReceiveMessage: Only read {} of {} bytes\n", bytesRead,
+                 requestLen);
       return RETURN_FAILED;
     }
   }
@@ -505,21 +444,16 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "readReceivedMessage: Invalid uart cookie");
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
-               << std::endl;
-#endif
+    FSFW_LOGW("UartComIF::readReceivedMessage: Device file {} not in UART map\n", deviceFile);
     return RETURN_FAILED;
   }
 
@@ -535,11 +469,9 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
 ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "flushUartRxBuffer: Invalid UART cookie\n");
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
@@ -555,11 +487,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
 ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "flushUartTxBuffer: Invalid uart cookie\n");
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
@@ -575,11 +505,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
 ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
-  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "flushUartTxAndRxBuf: Invalid UART cookie\n");
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();

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

@@ -90,7 +90,7 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
    *                      parity settings.
    *
    */
-  void setParityOptions(struct termios* options, UartCookie* uartCookie);
+  static void setParityOptions(struct termios* options, UartCookie* uartCookie);
 
   void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
 

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

@@ -12,7 +12,7 @@ enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
 
 enum class UartModes { CANONICAL, NON_CANONICAL };
 
-enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
+enum class BitsPerWord : unsigned int { BITS_5 = 5, BITS_6 = 6, BITS_7 = 7, BITS_8 = 8 };
 
 enum class UartBaudRate {
   RATE_50,

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

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

hal/src/fsfw_hal/linux/utility.cpp

@@ -0,0 +1,13 @@
+#include "fsfw_hal/linux/utility.h"
+
+#include <cerrno>
+#include <cstring>
+
+#include "fsfw/serviceinterface.h"
+
+void utility::handleIoctlError(const char* const customPrintout) {
+  if (customPrintout != nullptr) {
+    FSFW_LOGW(customPrintout);
+  }
+  FSFW_LOGW("Error code {} | {}\n", errno, strerror(errno));
+}

hal/src/fsfw_hal/stm32h7/CMakeLists.txt

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

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

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

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

@@ -10,10 +10,6 @@
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
 
-#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
-#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
-#endif
-
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
 
 class GyroL3GD20H {

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

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

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

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

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

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

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

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

misc/archive/ServiceInterfaceStream.h

@@ -57,10 +57,10 @@ class ServiceInterfaceStream : public std::ostream {
 // Forward declaration of interface streams. These should be instantiated in
 // main. They can then be used like std::cout or std::cerr.
 namespace sif {
-extern ServiceInterfaceStream debug;
-extern ServiceInterfaceStream info;
-extern ServiceInterfaceStream warning;
-extern ServiceInterfaceStream error;
+// extern ServiceInterfaceStream debug;
+// extern ServiceInterfaceStream info;
+// extern ServiceInterfaceStream warning;
+// extern ServiceInterfaceStream error;
 }  // namespace sif
 
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */

scripts/auto-formatter.sh

@@ -4,10 +4,9 @@ if [[ ! -f README.md ]]; then
 fi
 
 cmake_fmt="cmake-format"
-file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
-  ${cmake_fmt} -i CMakeLists.txt
-  find ./src ${file_selectors} | xargs ${cmake_fmt}  -i
+  cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt"
+  eval ${cmake_fmt_cmd}
 else
   echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi
@@ -15,8 +14,9 @@ fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
-  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
-  find ./unittests ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./src ${file_selectors} | xargs clang-format --style=file -i
+  find ./hal ${file_selectors} | xargs clang-format --style=file -i
+  find ./tests ${file_selectors} | xargs clang-format --style=file -i
 else
   echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi

scripts/helper.py

@@ -48,20 +48,6 @@ def main():
         action="store_true",
         help="Run valgrind on generated test binary",
     )
-    parser.add_argument(
-        "-g",
-        "--generators",
-        default = "Ninja",
-        action="store",
-        help="CMake generators",
-    )
-    parser.add_argument(
-        "-w",
-        "--windows",
-        default=False,
-        action="store_true",
-        help="Run on windows",
-    )
 
     args = parser.parse_args()
     if args.all:
@@ -129,14 +115,14 @@ def handle_tests_type(args, build_dir_list: list):
     if args.create:
         if os.path.exists(UNITTEST_FOLDER_NAME):
             shutil.rmtree(UNITTEST_FOLDER_NAME)
-        create_tests_build_cfg(args)
+        create_tests_build_cfg()
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:
         print(
             "No valid CMake tests build directory found. "
             "Trying to set up test build system"
         )
-        create_tests_build_cfg(args)
+        create_tests_build_cfg()
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 1:
         build_directory = build_dir_list[0]
@@ -161,15 +147,10 @@ def handle_tests_type(args, build_dir_list: list):
         os.chdir("..")
 
 
-def create_tests_build_cfg(args):
+def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    if args.windows:
-        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
-        -DGCOVR_PATH="py -m gcovr" ..'
-    else:
-        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
-    cmd_runner(cmake_cmd)
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
     os.chdir("..")
 
 

src/CMakeLists.txt

@@ -1,11 +1,9 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
 
-target_include_directories(${LIB_FSFW_NAME}
-                           INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
 
 add_subdirectory(fsfw)
-if(FSFW_ADD_HAL)
-  add_subdirectory(fsfw_hal)
-endif()
-
-add_subdirectory(fsfw_tests)

src/fsfw/CMakeLists.txt

@@ -1,4 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE version.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    version.cpp
+)
 
 # Core
 
@@ -35,22 +37,22 @@ add_subdirectory(tmtcservices)
 # Optional
 
 if(FSFW_ADD_MONITORING)
-  add_subdirectory(monitoring)
+add_subdirectory(monitoring)
 endif()
 if(FSFW_ADD_PUS)
-  add_subdirectory(pus)
+    add_subdirectory(pus)
 endif()
 if(FSFW_ADD_TMSTORAGE)
-  add_subdirectory(tmstorage)
+    add_subdirectory(tmstorage)
 endif()
 if(FSFW_ADD_COORDINATES)
-  add_subdirectory(coordinates)
+    add_subdirectory(coordinates)
 endif()
 if(FSFW_ADD_RMAP)
-  add_subdirectory(rmap)
+    add_subdirectory(rmap)
 endif()
 if(FSFW_ADD_DATALINKLAYER)
-  add_subdirectory(datalinklayer)
+    add_subdirectory(datalinklayer)
 endif()
 
 # OSAL