CHANGELOG.md

@@ -10,6 +10,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [v5.0.0]
 
+## Changes
+
+- GPIO HAL: Renamed entries of enumerations to avoid nameclashes with Windows defines.
+  `IN` and `OUT` in `Direction` changed to `DIR_IN` and `DIR_OUT`.
+  `CALLBACK` in `GpioTypes` changed to `TYPE_CALLBACK`
+
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local

hal/CMakeLists.txt

@@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
 # 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)

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

@@ -9,11 +9,11 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
 
-enum Direction : uint8_t { IN = 0, OUT = 1 };
+enum class Direction : int { IN = 0, OUT = 1 };
 
-enum GpioOperation { READ, WRITE };
+enum class GpioOperation { READ, WRITE };
 
 enum class GpioTypes {
   NONE,
@@ -80,7 +80,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
  public:
   GpiodRegularByChip()
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
-                         gpio::LOW, 0) {}
+                         gpio::Levels::LOW, 0) {}
 
   GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
                      gpio::Direction direction_, gpio::Levels initValue_)
@@ -90,7 +90,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
 
   GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
-                         gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
         chipname(chipname_) {}
 
   std::string chipname;
@@ -106,7 +106,7 @@ class GpiodRegularByLabel : public GpiodRegularBase {
 
   GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
-                         gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
         label(label_) {}
 
   std::string label;
@@ -127,7 +127,7 @@ class GpiodRegularByLineName : public GpiodRegularBase {
 
   GpiodRegularByLineName(std::string lineName_, std::string consumer_)
       : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
-                         gpio::LOW),
+                         gpio::Levels::LOW),
         lineName(lineName_) {}
 
   std::string lineName;

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -8,11 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
                                        CookieIF *comCookie, uint32_t transitionDelayMs)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       transitionDelayMs(transitionDelayMs),
-      dataset(this) {
+      dataset(this) {}
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(3);
-#endif
-}
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
@@ -193,22 +189,22 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
       int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
       float temperature = 25.0 + temperaturOffset;
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+      if (periodicPrintout) {
-      if (debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
-        /* Set terminal to utf-8 if there is an issue with micro printout. */
+          /* 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 << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-        sif::info << "X: " << angVelocX << std::endl;
+          sif::info << "X: " << angVelocX << std::endl;
-        sif::info << "Y: " << angVelocY << std::endl;
+          sif::info << "Y: " << angVelocY << std::endl;
-        sif::info << "Z: " << angVelocZ << std::endl;
+          sif::info << "Z: " << angVelocZ << std::endl;
 #else
-        sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-        sif::printInfo("X: %f\n", angVelocX);
+          sif::printInfo("X: %f\n", angVelocX);
-        sif::printInfo("Y: %f\n", angVelocY);
+          sif::printInfo("Y: %f\n", angVelocY);
-        sif::printInfo("Z: %f\n", angVelocZ);
+          sif::printInfo("Z: %f\n", angVelocZ);
 #endif
+        }
       }
-#endif
 
       PoolReadGuard readSet(&dataset);
       if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@@ -272,3 +268,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
   this->absLimitY = limitY;
   this->absLimitZ = limitZ;
 }
+
+void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

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

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       dataset(this),
       transitionDelay(transitionDelay) {
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(3);
-#endif
   // Set to default values right away
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@@ -264,7 +261,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       int16_t mgmMeasurementRawZ =
           packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
 
-      /* Target value in microtesla */
+      // Target value in microtesla
       float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
                    MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
       float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
@@ -272,23 +269,24 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
                    MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (periodicPrintout) {
-      if (debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                     " microtesla:"
+                       " microtesla:"
-                  << std::endl;
+                    << std::endl;
-        sif::info << "X: " << mgmX << " uT" << std::endl;
+          sif::info << "X: " << mgmX << " uT" << std::endl;
-        sif::info << "Y: " << mgmY << " uT" << std::endl;
+          sif::info << "Y: " << mgmY << " uT" << std::endl;
-        sif::info << "Z: " << mgmZ << " uT" << std::endl;
+          sif::info << "Z: " << mgmZ << " uT" << std::endl;
 #else
-        sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", mgmX);
+          sif::printInfo("X: %f uT\n", mgmX);
-        sif::printInfo("Y: %f uT\n", mgmY);
+          sif::printInfo("Y: %f uT\n", mgmY);
-        sif::printInfo("Z: %f uT\n", mgmZ);
+          sif::printInfo("Z: %f uT\n", mgmZ);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+        }
       }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
+
       PoolReadGuard readHelper(&dataset);
       if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(mgmX) < absLimitX) {
@@ -318,15 +316,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case MGMLIS3MDL::READ_TEMPERATURE: {
       int16_t tempValueRaw = packet[2] << 8 | packet[1];
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (periodicPrintout) {
-      if (debugDivider->check()) {
+        if (debugDivider.check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
 #else
-        sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
+        }
       }
-#endif
+
       ReturnValue_t result = dataset.read();
       if (result == HasReturnvaluesIF::RETURN_OK) {
         dataset.temperature = tempValue;
@@ -462,7 +461,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
   return RETURN_OK;
 }
 
-void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
+void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+}
 
 uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
 
@@ -482,3 +483,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
   this->absLimitY = yLimit;
   this->absLimitZ = zLimit;
 }
+
+void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -3,8 +3,8 @@
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
 #include "events/subsystemIdRanges.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 
 class PeriodicOperationDivider;
 
@@ -30,6 +30,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
                     uint32_t transitionDelay);
   virtual ~MgmLIS3MDLHandler();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Set the absolute limit for the values on the axis in microtesla. The dataset values will
    * be marked as invalid if that limit is exceeded
@@ -167,9 +168,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   ReturnValue_t prepareCtrlRegisterWrite();
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+  bool periodicPrintout = false;
-  PeriodicOperationDivider *debugDivider;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-#endif
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -10,11 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
                                    CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       primaryDataset(this),
-      transitionDelay(transitionDelay) {
+      transitionDelay(transitionDelay) {}
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(3);
-#endif
-}
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
@@ -337,23 +333,23 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
   float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+  if (periodicPrintout) {
-  if (debugDivider->checkAndIncrement()) {
+    if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "MgmRM3100Handler: Magnetic field strength in"
+      sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                 " microtesla:"
+                   " microtesla:"
-              << std::endl;
+                << std::endl;
-    sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-    sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
-    sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
 #else
-    sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+      sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-    sif::printInfo("X: %f uT\n", fieldStrengthX);
+      sif::printInfo("X: %f uT\n", fieldStrengthX);
-    sif::printInfo("Y: %f uT\n", fieldStrengthY);
+      sif::printInfo("Y: %f uT\n", fieldStrengthY);
-    sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
+    }
   }
-#endif
 
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
@@ -365,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   }
   return RETURN_OK;
 }
+
+void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -2,12 +2,8 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
 
 /**
  * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
@@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                    uint32_t transitionDelay);
   virtual ~MgmRM3100Handler();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Configure device handler to go to normal mode after startup immediately
    * @param enable
@@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                                         size_t commandDataLen);
 
   ReturnValue_t handleDataReadout(const uint8_t *packet);
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+
-  PeriodicOperationDivider *debugDivider;
+  bool periodicPrintout = false;
-#endif
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
 )
 
 if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
+endif()
 	add_subdirectory(spi)
 	add_subdirectory(i2c)
 	add_subdirectory(uart)

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

@@ -161,11 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   consumer = regularGpio.consumer;
   /* Configure direction and add a description to the GPIO */
   switch (direction) {
-    case (gpio::OUT): {
+    case (gpio::Direction::OUT): {
-      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                                         static_cast<int>(regularGpio.initValue));
       break;
     }
-    case (gpio::IN): {
+    case (gpio::Direction::IN): {
       result = gpiod_line_request_input(lineHandle, consumer.c_str());
       break;
     }
@@ -211,7 +212,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::HIGH);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -243,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::LOW);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -258,11 +259,11 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
                                         gpio::Levels logicLevel) {
-  int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+  int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
   if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
-                 << " to logic level " << logicLevel << std::endl;
+                 << " to logic level " << static_cast<int>(logicLevel) << std::endl;
 #else
     sif::printWarning(
         "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "

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

@@ -7,7 +7,7 @@
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
                                         std::string consumer, gpio::Direction direction,
-                                        int initValue) {
+                                        gpio::Levels initValue) {
   if (cookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }

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

@@ -21,7 +21,8 @@ namespace gpio {
  * @return
  */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-                                  std::string consumer, gpio::Direction direction, int initValue);
+                                  std::string consumer, gpio::Direction direction,
+                                  gpio::Levels initValue);
 }  // namespace gpio
 
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

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

@@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
 }

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

@@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
   using SpiDeviceMapIter = SpiDeviceMap::iterator;

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

@@ -269,6 +269,50 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
       break;
+    case 500000:
+      cfsetispeed(options, B500000);
+      cfsetospeed(options, B500000);
+      break;
+    case 576000:
+      cfsetispeed(options, B576000);
+      cfsetospeed(options, B576000);
+      break;
+    case 921600:
+      cfsetispeed(options, B921600);
+      cfsetospeed(options, B921600);
+      break;
+    case 1000000:
+      cfsetispeed(options, B1000000);
+      cfsetospeed(options, B1000000);
+      break;
+    case 1152000:
+      cfsetispeed(options, B1152000);
+      cfsetospeed(options, B1152000);
+      break;
+    case 1500000:
+      cfsetispeed(options, B1500000);
+      cfsetospeed(options, B1500000);
+      break;
+    case 2000000:
+      cfsetispeed(options, B2000000);
+      cfsetospeed(options, B2000000);
+      break;
+    case 2500000:
+      cfsetispeed(options, B2500000);
+      cfsetospeed(options, B2500000);
+      break;
+    case 3000000:
+      cfsetispeed(options, B3000000);
+      cfsetospeed(options, B3000000);
+      break;
+    case 3500000:
+      cfsetispeed(options, B3500000);
+      cfsetospeed(options, B3500000);
+      break;
+    case 4000000:
+      cfsetispeed(options, B4000000);
+      cfsetospeed(options, B4000000);
+      break;
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

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

@@ -1,4 +1,4 @@
-#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "UartCookie.h"
 
 #include <fsfw/serviceinterface.h>
 

src/fsfw/FSFW.h.in

@@ -57,17 +57,10 @@
 #define FSFW_HAL_SPI_WIRETAPPING            0
 #endif
 
-#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
+// Can be used for low-level debugging of the I2C bus
-#define FSFW_HAL_L3GD20_GYRO_DEBUG          0
+#ifndef FSFW_HAL_I2C_WIRETAPPING
-#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
+#define FSFW_HAL_I2C_WIRETAPPING            0
-
+#endif
-#ifndef FSFW_HAL_RM3100_MGM_DEBUG
-#define FSFW_HAL_RM3100_MGM_DEBUG           0
-#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
-
-#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
-#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
 
 // Can be used for low-level debugging of the I2C bus
 #ifndef FSFW_HAL_I2C_WIRETAPPING

src/fsfw/cfdp/CFDPHandler.cpp

@@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0;
 
 CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  requestQueue = QueueFactory::instance()->createMessageQueue(
+      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   distributor = dist;
 }
 

src/fsfw/controller/ControllerBase.cpp

@@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/datapool/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE 
-	PoolDataSetBase.cpp
+    PoolDataSetBase.cpp
-	PoolEntry.cpp
+    PoolEntry.cpp
 )

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -47,13 +47,14 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
   HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
   if (hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
+    sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
-                  "interface HasLocalDataPoolIF!"
+               << std::dec << " did not implement the correct interface "
-               << std::endl;
+               << "HasLocalDataPoolIF" << std::endl;
 #else
     sif::printError(
-        "LocalPoolVariable: The supplied pool owner did not implement the correct "
+        "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
-        "interface HasLocalDataPoolIF!\n");
+        "interface HasLocalDataPoolIF\n",
+        poolOwner);
 #endif
     return;
   }

src/fsfw/datapoollocal/StaticLocalDataSet.h

@@ -46,7 +46,7 @@ class StaticLocalDataSet : public LocalPoolDataSetBase {
   }
 
  private:
-  std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
+  std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList = {};
 };
 
 #endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       childTransitionDelay(5000),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -1385,6 +1386,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
+Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
+
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -1407,7 +1410,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   this->poolManager.initializeAfterTaskCreation();
 
   if (setStartupImmediately) {
-    startTransition(MODE_ON, SUBMODE_NONE);
+    startTransition(MODE_ON, getInitialSubmode());
   }
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -647,6 +647,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
+  /**
+   * @brief Can be overwritten by a child to specify the initial submode when device has been set
+   *        to startup immediately.
+   */
+  virtual Submode_t getInitialSubmode();
+
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -29,6 +29,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
     case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       handleRecovery(event->getEvent());

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -109,6 +109,7 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
+  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 

src/fsfw/devicehandlers/HealthDevice.cpp

@@ -8,7 +8,9 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(3);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/events/EventManager.cpp

@@ -18,8 +18,9 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-                                                                  EventMessage::EVENT_MESSAGE_SIZE);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(
+      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 EventManager::~EventManager() {
@@ -46,9 +47,20 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+  for (auto& listener : listenerList) {
-    if (iter->second.match(message)) {
+    if (listener.second.match(message)) {
-      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
+      ReturnValue_t result =
+          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
+                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
+                   << result << std::setfill(' ') << std::endl;
+#else
+        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
+                        listener.first, result);
+#endif
+      }
     }
   }
   unlockMutex();
@@ -189,4 +201,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
+void EventManager::printListeners() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
+  for (auto& listener : listenerList) {
+    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
+  }
+  sif::info << std::dec << std::setfill(' ');
+#else
+  sif::printInfo("Event manager listener MQ IDs:\n");
+  for (auto& listener : listenerList) {
+    sif::printInfo("0x%08x\n", listener.first);
+  }
+#endif
+}
+
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -42,6 +42,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
+  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -9,8 +9,9 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  eventQueue =
+  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {

src/fsfw/fdir/FailureIsolationBase.h

@@ -14,13 +14,12 @@ class FailureIsolationBase : public HasReturnvaluesIF,
                              public HasParametersIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  static const Event FDIR_CHANGED_STATE =
+  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
+  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
-                                      //!< (oldState) to par1 (newState).
+  //! FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
-      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
+  //! FDIR turns off device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
-      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.
 
   FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                        uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);

src/fsfw/health/HasHealthIF.h

@@ -23,19 +23,15 @@ class HasHealthIF {
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  static const Event OVERWRITING_HEALTH =
+  //! Assembly overwrites health information of children to keep satellite alive.
-      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
+  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
-                                     //!< satellite alive.
+  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
-  static const Event TRYING_RECOVERY =
+  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
-      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
+  //! Recovery is ongoing. Comes twice during recovery.
-                                         //!< power-cycle). No parameters.
+  //! P1: 0 for the first, 1 for the second event. P2: 0
-  static const Event RECOVERY_STEP =
+  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
-      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
+  //! Recovery was completed. Not necessarily successful. No parameters.
-                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
-  static const Event RECOVERY_DONE = MAKE_EVENT(
-      12,
-      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
-
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,11 +7,13 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
-      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   mutex = MutexFactory::instance()->createMutex();
+  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@@ -36,15 +38,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured!" << std::endl;
+                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+                 << newStoreHits << std::endl;
-      sif::debug << "TM errors: " << newTmHits << std::endl;
-      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug(
-      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+          "| %lu\n",
-      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
+          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
+          static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }

src/fsfw/ipc/QueueFactory.h

@@ -5,6 +5,7 @@
 
 #include "MessageQueueIF.h"
 #include "MessageQueueMessage.h"
+#include "definitions.h"
 
 /**
  * Creates message queues.
@@ -22,7 +23,8 @@ class QueueFactory {
   static QueueFactory* instance();
 
   MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
-                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+                                     size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+                                     MqArgs* args = nullptr);
 
   void deleteMessageQueue(MessageQueueIF* queue);
 

src/fsfw/ipc/definitions.h

@@ -0,0 +1,12 @@
+#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
+struct MqArgs {
+  MqArgs(){};
+  MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
+  object_id_t objectId = 0;
+  void* args = nullptr;
+};
+
+#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */

src/fsfw/modes/HasModesIF.h

@@ -19,32 +19,29 @@ class HasModesIF {
   static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  static const Event CHANGING_MODE =
+  //! An object announces changing the mode. p1: target mode. p2: target submode
-      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
+  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
-                                      //!< p2: target submode
+  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
-  static const Event MODE_INFO = MAKE_EVENT(
+  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
-      1,
-      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
   static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
   static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
   static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  static const Event OBJECT_IN_INVALID_MODE =
+  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
-      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
+  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
-                                     //!< mode it should never be in.
+  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
-  static const Event FORCING_MODE = MAKE_EVENT(
+  //! p1: target mode. p2: target submode
-      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
+  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
-                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
-  static const Event MODE_CMD_REJECTED =
+  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
-      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
-                                     //!< called object id, Par2: return code.
 
-  static const Mode_t MODE_ON =
+  //! The device is powered and ready to perform operations. In this mode, no commands are
-      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
+  //! sent by the device handler itself, but direct commands van be commanded and will be
-          //!< sent by the device handler itself, but direct commands van be commanded and will be
+  //! interpreted
-          //!< interpreted
+  static const Mode_t MODE_ON = 1;
-  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
+  //! The device is powered off. The only command accepted in this mode is a mode change to on.
-                                     //!< this mode is a mode change to on.
+  static const Mode_t MODE_OFF = 0;
-  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".
+  //! To avoid checks against magic number "0".
+  static const Submode_t SUBMODE_NONE = 0;
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/objectmanager/ObjectManager.cpp

@@ -95,13 +95,16 @@ void ObjectManager::initialize() {
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      object_id_t var = it.first;
       sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << var
+                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << " failed to "
+                 << std::dec << std::setfill(' ') << std::endl;
-                    "initialize with code 0x"
+#else
-                 << result << std::dec << std::setfill(' ') << std::endl;
+      sif::printError(
+          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
+          it.first);
+#endif
 #endif
       errorCount++;
     }

src/fsfw/osal/freertos/MessageQueue.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/osal/freertos/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : maxMessageSize(maxMessageSize) {
   handle = xQueueCreate(messageDepth, maxMessageSize);
   if (handle == nullptr) {

src/fsfw/osal/freertos/MessageQueue.h

@@ -7,6 +7,7 @@
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MessageQueueMessageIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "queue.h"
 
 /**
@@ -53,7 +54,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;

src/fsfw/osal/freertos/QueueFactory.cpp

@@ -22,8 +22,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
-  return new MessageQueue(messageDepth, maxMessageSize);
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/host/MessageQueue.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/osal/host/QueueMapManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : messageSize(maxMessageSize), messageDepth(messageDepth) {
   queueLock = MutexFactory::instance()->createMutex();
   auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);

src/fsfw/osal/host/MessageQueue.h

@@ -8,6 +8,7 @@
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/MutexIF.h"
+#include "fsfw/ipc/definitions.h"
 #include "fsfw/timemanager/Clock.h"
 
 /**
@@ -54,7 +55,8 @@ class MessageQueue : public MessageQueueIF {
    * This should be left default.
    */
   MessageQueue(size_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
 
   /** Copying message queues forbidden */
   MessageQueue(const MessageQueue&) = delete;

src/fsfw/osal/host/QueueFactory.cpp

@@ -27,12 +27,13 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
+                                                 MqArgs* args) {
   // A thread-safe queue can be implemented  by using a combination
   // of std::queue and std::mutex. This uses dynamic memory allocation
   // which could be alleviated by using a custom allocator, external library
   // (etl::queue) or simply using std::queue, we're on a host machine anyway.
-  return new MessageQueue(messageDepth, maxMessageSize);
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,29 +1,29 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
     Clock.cpp
-	BinarySemaphore.cpp
+    BinarySemaphore.cpp
-	CountingSemaphore.cpp
+    CountingSemaphore.cpp
-	FixedTimeslotTask.cpp
+    FixedTimeslotTask.cpp
-	InternalErrorCodes.cpp
+    InternalErrorCodes.cpp
-	MessageQueue.cpp
+    MessageQueue.cpp
-	Mutex.cpp
+    Mutex.cpp
-	MutexFactory.cpp
+    MutexFactory.cpp
-	PeriodicPosixTask.cpp
+    PeriodicPosixTask.cpp
-	PosixThread.cpp
+    PosixThread.cpp
-	QueueFactory.cpp
+    QueueFactory.cpp
-	SemaphoreFactory.cpp
+    SemaphoreFactory.cpp
-	TaskFactory.cpp
+    TaskFactory.cpp
-	tcpipHelpers.cpp
+    tcpipHelpers.cpp
-	unixUtility.cpp
+    unixUtility.cpp
 )
 
 find_package(Threads REQUIRED)
 
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-	${CMAKE_THREAD_LIBS_INIT}
+    ${CMAKE_THREAD_LIBS_INIT}
-	rt
+    rt
 )
 
 target_link_libraries(${LIB_FSFW_NAME} INTERFACE
-	${CMAKE_THREAD_LIBS_INIT}
+    ${CMAKE_THREAD_LIBS_INIT}
 )
 

src/fsfw/osal/linux/MessageQueue.cpp

@@ -11,7 +11,7 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : id(MessageQueueIF::NO_QUEUE),
       lastPartner(MessageQueueIF::NO_QUEUE),
       defaultDestination(MessageQueueIF::NO_QUEUE),
@@ -37,6 +37,9 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
     // Successful mq_open call
     this->id = tempId;
   }
+  if (args != nullptr) {
+    this->mqArgs = *args;
+  }
 }
 
 MessageQueue::~MessageQueue() {
@@ -240,9 +243,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
                                                         bool ignoreFault) {
   if (message == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
+    sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl;
 #else
-    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
+    sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -256,7 +259,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     if (!ignoreFault) {
       InternalErrorReporterIF* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-      if (internalErrorReporter != NULL) {
+      if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();
       }
     }

src/fsfw/osal/linux/MessageQueue.h

@@ -6,6 +6,7 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 /**
  * @brief		This class manages sending and receiving of message queue messages.
  *
@@ -42,7 +43,8 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(uint32_t messageDepth = 3,
-               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.
@@ -184,6 +186,8 @@ class MessageQueue : public MessageQueueIF {
    */
   char name[16];
 
+  MqArgs mqArgs = {};
+
   static uint16_t queueCounter;
   const size_t maxMessageSize;
 

src/fsfw/osal/linux/QueueFactory.cpp

@@ -28,8 +28,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
-  return new MessageQueue(messageDepth, maxMessageSize);
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/osal/rtems/MessageQueue.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/osal/rtems/RtemsBasic.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
+MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
     : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
   rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
   rtems_status_code status =

src/fsfw/osal/rtems/MessageQueue.h

@@ -5,6 +5,7 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
+#include "fsfw/ipc/definitions.h"
 
 /**
  *	@brief		This class manages sending and receiving of message queue messages.
@@ -34,7 +35,8 @@ class MessageQueue : public MessageQueueIF {
    * 							This should be left default.
    */
   MessageQueue(size_t message_depth = 3,
-               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+               size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
+               MqArgs* args = nullptr);
   /**
    * @brief	The destructor deletes the formerly created message queue.
    * @details	This is accomplished by using the delete call provided by the operating system.

src/fsfw/osal/rtems/QueueFactory.cpp

@@ -49,8 +49,9 @@ QueueFactory::QueueFactory() {}
 
 QueueFactory::~QueueFactory() {}
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
-  return new MessageQueue(messageDepth, maxMessageSize);
+                                                 MqArgs* args) {
+  return new MessageQueue(messageDepth, maxMessageSize, args);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

src/fsfw/power/Fuse.h

@@ -34,14 +34,14 @@ class Fuse : public SystemObject,
   };
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(
+  //! PSS detected that current on a fuse is totally out of bounds.
-      1, severity::LOW);  //!< PSS detected that current on a fuse is totally out of bounds.
+  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
-  static const Event FUSE_WENT_OFF =
+  //! PSS detected a fuse that went off.
-      MAKE_EVENT(2, severity::LOW);  //!< PSS detected a fuse that went off.
+  static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
-  static const Event POWER_ABOVE_HIGH_LIMIT =
+  //! PSS detected a fuse that violates its limits.
-      MAKE_EVENT(4, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
-  static const Event POWER_BELOW_LOW_LIMIT =
+  //! PSS detected a fuse that violates its limits.
-      MAKE_EVENT(5, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
 
   typedef std::list<PowerComponentIF *> DeviceList;
   Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,

src/fsfw/power/PowerSensor.cpp

@@ -15,7 +15,9 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -16,7 +16,9 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
       apid(apid),
       serviceId(serviceId),
       targetDestination(targetDestination) {
-  tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {

src/fsfw/pus/Service5EventReporting.cpp

@@ -12,7 +12,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
                                                uint32_t messageQueueDepth)
     : PusServiceBase(objectId, apid, serviceId),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -36,9 +38,6 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -87,7 +86,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == NULL) {
+  if (manager == nullptr) {
     return RETURN_FAILED;
   }
   // register Service 5 as listener for events

src/fsfw/pus/Service5EventReporting.h

@@ -41,7 +41,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
+                         size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
   virtual ~Service5EventReporting();
 
   /***

src/fsfw/pus/Service9TimeManagement.h

@@ -6,10 +6,10 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  static constexpr Event CLOCK_SET =
+  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-  static constexpr Event CLOCK_SET_FAILURE =
+  //!< Clock could not be set. P1: Returncode.
-      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
+  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 

src/fsfw/rmap/RMAP.h

@@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param buffer the data to write
    * @param length length of data
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
-   * in write command
+   * NULL in write command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param cookie to cookie to read from
    * @param expLength the expected maximum length of the reply
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was ==
-   * in write command, or nullpointer in read command
+   * NULL in write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);

src/fsfw/rmap/RMAPChannelIF.h

@@ -75,11 +75,11 @@ class RMAPChannelIF {
    *      - @c RETURN_OK
    *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
    * command; command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for
-   * len; command was not sent
+   * expected len; command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too
-   * hw to handle (write command) or the expected len was bigger than maximal expected len (read
+   * long for the hw to handle (write command) or the expected len was bigger than maximal expected
-   * command) command was not sent
+   * len (read command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
    *      - @c NOT_SUPPORTED						if you dont feel like
    * implementing something...
@@ -97,8 +97,8 @@ class RMAPChannelIF {
    *      - @c REPLY_NO_REPLY				no reply was received
    *      - @c REPLY_NOT_SENT				command was not sent, implies no reply
    *      - @c REPLY_NOT_YET_SENT			command is still waiting to be sent
-   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission
-   * still being processed)
+   * buffer still being processed)
    *      - @c WRITE_REPLY_TRANSMISSION_ERROR		Interface encountered errors during last
    * operation, data could not be processed. (transmission error)
    *      - @c WRITE_REPLY_INVALID_DATA			Invalid data (amount / value)

src/fsfw/subsystem/SubsystemBase.cpp

@@ -8,11 +8,13 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
-      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-                                                                CommandMessage::MAX_MESSAGE_SIZE)),
       healthHelper(this, setObjectId),
       modeHelper(this),
-      parentId(parent) {}
+      parentId(parent) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 

src/fsfw/tcdistribution/TcDistributor.cpp

@@ -5,7 +5,9 @@
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
-  tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
+  auto mqArgs = MqArgs(objectId);
+  tcQueue = QueueFactory::instance()->createMessageQueue(
+      DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }

src/fsfw/thermal/AbstractTemperatureSensor.cpp

@@ -4,14 +4,13 @@
 
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                      ThermalModuleIF *thermalModule)
-    : SystemObject(setObjectid),
+    : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
-      commandQueue(NULL),
+  if (thermalModule != nullptr) {
-      healthHelper(this, setObjectid),
-      parameterHelper(this) {
-  if (thermalModule != NULL) {
     thermalModule->registerSensor(this);
   }
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 AbstractTemperatureSensor::~AbstractTemperatureSensor() {

src/fsfw/thermal/AbstractTemperatureSensor.h

@@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
   HasHealthIF::HealthState getHealth();
 
  protected:
-  MessageQueueIF* commandQueue;
+  MessageQueueIF* commandQueue = nullptr;
   HealthHelper healthHelper;
   ParameterHelper parameterHelper;
 

src/fsfw/thermal/Heater.cpp

@@ -12,7 +12,9 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
       switch1(switch1),
       heaterOnCountdown(10800000) /*about two orbits*/,
       parameterHelper(this) {
-  eventQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }

src/fsfw/timemanager/Clock.h

@@ -99,6 +99,13 @@ class Clock {
    */
   static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
 
+  /**
+   * Convert to time of day struct given the POSIX timeval struct
+   * @param from
+   * @param to
+   * @return
+   */
+  static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
   /**
    * Converts a time of day struct to POSIX seconds.
    * @param time The time of day as input

src/fsfw/timemanager/ClockCommon.cpp

@@ -1,7 +1,9 @@
+#include <ctime>
+
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/timemanager/Clock.h"
 
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) {
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
   uint16_t leapSeconds;
   ReturnValue_t result = getLeapSeconds(&leapSeconds);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -31,7 +33,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
   if (timeMutex == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -42,9 +44,22 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
+  struct tm* timeInfo;
+  timeInfo = gmtime(&from->tv_sec);
+  to->year = timeInfo->tm_year + 1900;
+  to->month = timeInfo->tm_mon + 1;
+  to->day = timeInfo->tm_mday;
+  to->hour = timeInfo->tm_hour;
+  to->minute = timeInfo->tm_min;
+  to->second = timeInfo->tm_sec;
+  to->usecond = from->tv_usec;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t Clock::checkOrCreateClockMutex() {
   if (timeMutex == nullptr) {
-    MutexFactory *mutexFactory = MutexFactory::instance();
+    MutexFactory* mutexFactory = MutexFactory::instance();
     if (mutexFactory == nullptr) {
       return HasReturnvaluesIF::RETURN_FAILED;
     }

src/fsfw/tmstorage/TmStoreBackendIF.h

@@ -33,50 +33,47 @@ class TmStoreBackendIF : public HasParametersIF {
   static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
-  static const Event STORE_SEND_WRITE_FAILED =
+  //! Initiating sending data to store failed. Low, par1:
-      MAKE_EVENT(0, severity::LOW);  //!< Initiating sending data to store failed. Low, par1:
+  //! returnCode, par2: integer (debug info)
-                                     //!< returnCode, par2: integer (debug info)
+  static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
-  static const Event STORE_WRITE_FAILED = MAKE_EVENT(
+  //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-      1, severity::LOW);  //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW);
-  static const Event STORE_SEND_READ_FAILED =
+  //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0
-      MAKE_EVENT(2, severity::LOW);  //!< Initiating reading data from store failed. Low, par1:
+  static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW);
-                                     //!< returnCode, par2: 0
+  //! Data was requested, but access failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_READ_FAILED = MAKE_EVENT(
+  static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW);
-      3, severity::LOW);  //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
+  //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
-  static const Event UNEXPECTED_MSG =
+  static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW);
-      MAKE_EVENT(4, severity::LOW);  //!< An unexpected TM packet or data message occurred. Low,
+  //! Storing data failed. May simply be a full store. Low, par1: returnCode,
-                                     //!< par1: 0, par2: integer (debug info)
+  //! par2: integer (sequence count of failed packet).
-  static const Event STORING_FAILED = MAKE_EVENT(
+  static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW);
-      5, severity::LOW);  //!< Storing data failed. May simply be a full store. Low, par1:
+  //! Dumping retrieved data failed. Low, par1: returnCode,
-                          //!< returnCode, par2: integer (sequence count of failed packet).
+  //! par2: integer (sequence count of failed packet).
-  static const Event TM_DUMP_FAILED =
+  static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW);
-      MAKE_EVENT(6, severity::LOW);  //!< Dumping retrieved data failed. Low, par1: returnCode,
+  //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
-                                     //!< par2: integer (sequence count of failed packet).
+  //! Store was not initialized. Starts empty. Info, parameters both zero.
-  static const Event STORE_INIT_FAILED =
+  static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW);
-      MAKE_EVENT(7, severity::LOW);  //!< Corrupted init data or read error. Low, par1: returnCode,
+  //! Data was read out, but it is inconsistent. Low par1:
-                                     //!< par2: integer (debug info)
+  //! Memory address of corruption, par2: integer (debug info)
-  static const Event STORE_INIT_EMPTY = MAKE_EVENT(
+  static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO);
-      8, severity::INFO);  //!< Store was not initialized. Starts empty. Info, parameters both zero.
+
-  static const Event STORE_CONTENT_CORRUPTED =
+  static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW);
-      MAKE_EVENT(9, severity::LOW);  //!< Data was read out, but it is inconsistent. Low par1:
+  //! Info event indicating the store will be initialized, either at boot or after IOB switch.
-                                     //!< Memory address of corruption, par2: integer (debug info)
+  //! Info. pars: 0
-  static const Event STORE_INITIALIZE =
+  static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO);
-      MAKE_EVENT(10, severity::INFO);  //!< Info event indicating the store will be initialized,
+  //! Info event indicating the store was successfully initialized, either at boot or after
-                                       //!< either at boot or after IOB switch. Info. pars: 0
+  //! IOB switch. Info. pars: 0
-  static const Event INIT_DONE = MAKE_EVENT(
+  static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO);
-      11, severity::INFO);  //!< Info event indicating the store was successfully initialized,
+  //! Info event indicating that dumping finished successfully.
-                            //!< either at boot or after IOB switch. Info. pars: 0
+  //! par1: Number of dumped packets. par2: APID/SSC (16bits each)
-  static const Event DUMP_FINISHED = MAKE_EVENT(
+  static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO);
-      12, severity::INFO);  //!< Info event indicating that dumping finished successfully. par1:
+  //! Info event indicating that deletion finished successfully.
-                            //!< Number of dumped packets. par2: APID/SSC (16bits each)
+  //! par1:Number of deleted packets. par2: APID/SSC (16bits each)
-  static const Event DELETION_FINISHED = MAKE_EVENT(
+  static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO);
-      13, severity::INFO);  //!< Info event indicating that deletion finished successfully. par1:
+  //! Info event indicating that something went wrong during deletion. pars: 0
-                            //!< Number of deleted packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW);
-  static const Event DELETION_FAILED = MAKE_EVENT(
+  //! Info that the a auto catalog report failed
-      14,
+  static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);
-      severity::LOW);  //!< Info event indicating that something went wrong during deletion. pars: 0
-  static const Event AUTO_CATALOGS_SENDING_FAILED =
-      MAKE_EVENT(15, severity::INFO);  //!< Info that the a auto catalog report failed
 
   virtual ~TmStoreBackendIF() {}
 

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -20,8 +20,10 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
       service(service),
       timeoutSeconds(commandTimeoutSeconds),
       commandMap(numberOfParallelCommands) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
+  size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
+  commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
+  requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
 }
 
 void CommandingServiceBase::setPacketSource(object_id_t packetSource) {

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -13,7 +13,9 @@ object_id_t PusServiceBase::packetDestination = 0;
 
 PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
     : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  requestQueue = QueueFactory::instance()->createMessageQueue(
+      PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -15,7 +15,9 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
       tcDestination(tcDestination)
 
 {
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
+      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@@ -172,15 +174,18 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
   }
 
   if (tmFifo->full()) {
+    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+      sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-                    "of stored packet IDs reached!"
+                      "of stored packet IDs reached!"
-                 << std::endl;
+                   << std::endl;
 #else
-    sif::printWarning(
+      sif::printWarning(
-        "TmTcBridge::storeDownlinkData: TM downlink max. number "
+          "TmTcBridge::storeDownlinkData: TM downlink max. number "
-        "of stored packet IDs reached!\n");
+          "of stored packet IDs reached!\n");
 #endif
+      warningSwitch = true;
+    }
     if (overwriteOld) {
       tmFifo->retrieve(&storeId);
       tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -72,6 +72,8 @@ class TmTcBridge : public AcceptsTelemetryIF,
   virtual uint16_t getIdentifier() override;
   virtual MessageQueueId_t getRequestQueue() override;
 
+  bool warningSwitch = true;
+
  protected:
   //! Cached for initialize function.
   object_id_t tmStoreId = objects::NO_OBJECT;

tests/src/fsfw_tests/integration/task/TestTask.cpp

@@ -3,7 +3,6 @@
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
-bool TestTask::oneShotAction = true;
 MutexIF* TestTask::testLock = nullptr;
 
 TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(testModes::A) {

tests/src/fsfw_tests/integration/task/TestTask.h

@@ -29,7 +29,7 @@ class TestTask : public SystemObject, public ExecutableObjectIF, public HasRetur
   bool testFlag = false;
 
  private:
-  static bool oneShotAction;
+  bool oneShotAction = true;
   static MutexIF* testLock;
   StorageManagerIF* IPCStore;
 };

tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp

@@ -73,7 +73,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
     REQUIRE(result != CommandExecutor::COMMAND_ERROR);
     // This ensures that the tests do not block indefinitely
     usleep(500);
-    REQUIRE(limitIdx < 500);
+    REQUIRE(limitIdx < 50000);
   }
   limitIdx = 0;
   CHECK(bytesHaveBeenRead == true);