From 5e77058add5f51504b4bfab4afe18debf8d8a9df Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 23:15:30 +0100
Subject: [PATCH 01/53] added getter function for pending command

---
 devicehandlers/DeviceHandlerBase.cpp |  2 ++
 devicehandlers/DeviceHandlerBase.h   | 13 +++++++++++--
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index ccd5bebb3..1b8c5f3d4 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1432,3 +1432,5 @@ dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
     return pstIntervalMs;
 }
 
+DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
+}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 627a64238..bd53e6331 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -737,10 +737,19 @@ protected:
 	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
 
 	static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
+
+	/**
+	 * Helper function to get pending command. This is useful for devices
+	 * like SPI sensors to identify the last sent command.
+	 * @return
+	 */
+	DeviceCommandId_t getPendingCommand() const;
+
 	/**
 	 * Helper function to report a missed reply
 	 *
-	 * Can be overwritten by children to act on missed replies or to fake reporting Id.
+	 * Can be overwritten by children to act on missed replies or to fake
+	 * reporting Id.
 	 *
 	 * @param id of the missed reply
 	 */
@@ -1184,7 +1193,7 @@ private:
 	 * @param[out] len
 	 * @return
 	 *   - @c RETURN_OK @c data is valid
-	 *   - @c RETURN_FAILED IPCStore is NULL
+	 *   - @c RETURN_FAILED IPCStore is nullptr
 	 *   - the return value from the IPCStore if it was not @c RETURN_OK
 	 */
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,

From f4ed0ce502b696cc6acf9eac3d20f0d9db6975d3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 23:18:48 +0100
Subject: [PATCH 02/53] doc format improvements

---
 devicehandlers/DeviceHandlerBase.h | 58 ++++++++++++++++++------------
 1 file changed, 35 insertions(+), 23 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index bd53e6331..b282ad4b9 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -893,7 +893,8 @@ protected:
 	 * @param data data to send
 	 * @param len length of @c data
 	 * @param sendTo the messageQueueId of the one to send to
-	 * @param isCommand marks the raw data as a command, the message then will be of type raw_command
+	 * @param isCommand marks the raw data as a command, the message then
+	 * will be of type raw_command
 	 */
 	virtual void replyRawData(const uint8_t *data, size_t len,
 			MessageQueueId_t sendTo, bool isCommand = false);
@@ -945,10 +946,11 @@ protected:
 	ReturnValue_t getStateOfSwitches(void);
 
 	/**
-	 * set all datapool variables that are update periodically in normal mode invalid
-	 *
-	 * Child classes should provide an implementation which sets all those variables invalid
-	 * which are set periodically during any normal mode.
+	 * @brief   Set all datapool variables that are update periodically in
+	 *          normal mode invalid
+	 * @details TODO: Use local pools
+	 * Child classes should provide an implementation which sets all those
+	 * variables invalid which are set periodically during any normal mode.
 	 */
 	virtual void setNormalDatapoolEntriesInvalid() = 0;
 
@@ -958,11 +960,12 @@ protected:
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 
 	/**
-	 * Children can overwrite this function to suppress checking of the command Queue
+	 * Children can overwrite this function to suppress checking of the
+	 * command Queue
 	 *
-	 * This can be used when the child does not want to receive a command in a certain
-	 * situation. Care must be taken that checking is not permanentely disabled as this
-	 * would render the handler unusable.
+	 * This can be used when the child does not want to receive a command in
+	 * a certain situation. Care must be taken that checking is not
+	 * permanentely disabled as this would render the handler unusable.
 	 *
 	 * @return whether checking the queue should NOT be done
 	 */
@@ -1001,17 +1004,20 @@ protected:
 	virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0) const;
 	/**
-	 * Checks state of switches in conjunction with mode and triggers an event if they don't fit.
+	 * Checks state of switches in conjunction with mode and triggers an event
+	 * if they don't fit.
 	 */
 	virtual void checkSwitchState();
 
 	/**
-	 * Reserved for the rare case where a device needs to perform additional operation cyclically in OFF mode.
+	 * Reserved for the rare case where a device needs to perform additional
+	 * operation cyclically in OFF mode.
 	 */
 	virtual void doOffActivity();
 
 	/**
-	 * Reserved for the rare case where a device needs to perform additional operation cyclically in ON mode.
+	 * Reserved for the rare case where a device needs to perform additional
+	 * operation cyclically in ON mode.
 	 */
 	virtual void doOnActivity();
 
@@ -1052,9 +1058,10 @@ private:
 	/**
 	 * Information about a cookie.
 	 *
-	 * This is stored in a map for each cookie, to not only track the state, but also information
-	 * about  the sent command. Tracking this information is needed as
-	 * the state of a commandId (waiting for reply) is done when a RMAP write reply is received.
+	 * This is stored in a map for each cookie, to not only track the state,
+	 * but also information about the sent command. Tracking this information
+	 * is needed as the state of a commandId (waiting for reply) is done when a
+	 * write reply is received.
 	 */
 	struct CookieInfo {
 		CookieState_t state;
@@ -1111,10 +1118,14 @@ private:
 	/**
 	 * Handle the device handler mode.
 	 *
-	 * - checks whether commands are valid for the current mode, rejects them accordingly
-	 * - checks whether commanded mode transitions are required and calls handleCommandedModeTransition()
-	 * - does the necessary action for the current mode or calls doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
-	 * - actions that happen in transitions (eg setting a timeout) are handled in setMode()
+	 * - checks whether commands are valid for the current mode, rejects
+	 *   them accordingly
+	 * - checks whether commanded mode transitions are required and calls
+	 *   handleCommandedModeTransition()
+	 * - does the necessary action for the current mode or calls
+	 *   doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
+	 * - actions that happen in transitions (e.g. setting a timeout) are
+	 *   handled in setMode()
 	 */
 	void doStateMachine(void);
 
@@ -1124,16 +1135,17 @@ private:
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
-	 * This is called at the beginning of each cycle. It checks whether a reply has timed out (that means a reply was expected
-	 * but not received).
+	 * This is called at the beginning of each cycle. It checks whether a
+	 * reply has timed out (that means a reply was expected but not received).
 	 */
 	void decrementDeviceReplyMap(void);
 
 	/**
 	 * Convenience function to handle a reply.
 	 *
-	 * Called after scanForReply() has found a packet. Checks if the found id is in the #deviceCommandMap, if so,
-	 * calls interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) for further action.
+	 * Called after scanForReply() has found a packet. Checks if the found ID
+	 * is in the #deviceCommandMap, if so,  calls
+	 * #interpretDeviceReply for further action.
 	 *
 	 * It also resets the timeout counter for the command id.
 	 *

From 586e8b034780fcd107cdd8ae06cd0fbffe5947b3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 23:22:28 +0100
Subject: [PATCH 03/53] function more robust now

---
 devicehandlers/DeviceHandlerBase.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 1b8c5f3d4..2a4d1338d 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1433,4 +1433,8 @@ dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
 }
 
 DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
+    if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
+        return cookieInfo.pendingCommand->first;
+    }
+    return DeviceHandlerIF::NO_COMMAND;
 }

From 6d915b7dcf76c76672b07483936b9c9fcbbbb047 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 23:26:40 +0100
Subject: [PATCH 04/53] doc formatting

---
 devicehandlers/DeviceHandlerBase.h | 63 ++++++++++++++++++------------
 1 file changed, 38 insertions(+), 25 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 6d9b0be6b..49617cd5a 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -734,11 +734,14 @@ protected:
 	//! before setTaskIF was called.
 	PeriodicTaskIF* executingTask = nullptr;
 
-	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
+	//!< Object which switches power on and off.
+	static object_id_t powerSwitcherId;
 
-	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
+	//!< Object which receives RAW data by default.
+	static object_id_t rawDataReceiverId;
 
-	static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
+	//!< Object which may be the root cause of an identified fault.
+	static object_id_t defaultFdirParentId;
 
 	/**
 	 * Helper function to get pending command. This is useful for devices
@@ -858,15 +861,18 @@ protected:
 	/**
 	 * Build the device command to send for raw mode.
 	 *
-	 * This is only called in @c MODE_RAW. It is for the rare case that in raw mode packets
-	 * are to be sent by the handler itself. It is NOT needed for the raw commanding service.
-	 * Its only current use is in the STR handler which gets its raw packets from a different
-	 * source.
-	 * Also it can be used for transitional commands, to get the device ready for @c MODE_RAW
+	 * This is only called in @c MODE_RAW. It is for the rare case that in
+	 * raw mode packets are to be sent by the handler itself. It is NOT needed
+	 * for the raw commanding service. Its only current use is in the STR
+	 * handler which gets its raw packets from a different source.
+	 * Also it can be used for transitional commands, to get the device ready
+	 * for @c MODE_RAW
 	 *
-	 * As it is almost never used, there is a default implementation returning @c NOTHING_TO_SEND.
+	 * As it is almost never used, there is a default implementation
+	 * returning @c NOTHING_TO_SEND.
 	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet
+	 * to be sent.
 	 *
 	 * @param[out] id the device command id built
 	 * @return
@@ -879,7 +885,9 @@ protected:
 	 * Returns the delay cycle count of a reply.
 	 * A count != 0 indicates that the command is already executed.
 	 * @param deviceCommand	The command to look for
-	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
+	 * @return
+	 * The current delay count. If the command does not exist  (should never
+	 * happen) it returns 0.
 	 */
 	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
 
@@ -889,8 +897,8 @@ protected:
 	 * It gets space in the #IPCStore, copies data there, then sends a raw reply
 	 * containing the store address.
 	 *
-	 * This method is virtual, as the STR has a different channel to send raw replies
-	 * and overwrites it accordingly.
+	 * This method is virtual, as the STR has a different channel to send
+	 * raw replies and overwrites it accordingly.
 	 *
 	 * @param data data to send
 	 * @param len length of @c data
@@ -902,8 +910,9 @@ protected:
 			MessageQueueId_t sendTo, bool isCommand = false);
 
 	/**
-	 * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping is active and if so,
-	 * does not send the Data as the wiretapping will have sent it already
+	 * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping
+	 * is active and if so, does not send the data as the wiretapping will have
+	 * sent it already
 	 */
 	void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
 
@@ -915,17 +924,19 @@ protected:
 	/**
 	 * Enable the reply checking for a command
 	 *
-	 * Is only called, if the command was sent (ie the getWriteReply was successful).
-	 * Must ensure that all replies are activated and correctly linked to the command that initiated it.
-	 * The default implementation looks for a reply with the same id as the command id in the replyMap or
-	 * uses the alternativeReplyId if flagged so.
-	 * When found, copies maxDelayCycles to delayCycles in the reply information and sets the command to
-	 * expect one reply.
+	 * Is only called, if the command was sent (i.e. the getWriteReply was
+	 * successful). Must ensure that all replies are activated and correctly
+	 * linked to the command that initiated it.
+	 * The default implementation looks for a reply with the same id as the
+	 * command id in the replyMap or uses the alternativeReplyId if flagged so.
+	 * When found, copies maxDelayCycles to delayCycles in the reply information
+	 * and sets the command to expect one reply.
 	 *
 	 * Can be overwritten by the child, if a command activates multiple replies
 	 * or replyId differs from commandId.
 	 * Notes for child implementations:
-	 * 	- If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
+	 * 	- If the command was not found in the reply map,
+	 * 	  NO_REPLY_EXPECTED MUST be returned.
 	 * 	- A failure code may be returned if something went fundamentally wrong.
 	 *
 	 * @param deviceCommand
@@ -941,9 +952,11 @@ protected:
 	 * get the state of the PCDU switches in the datapool
 	 *
 	 * @return
-	 *     - @c PowerSwitchIF::SWITCH_ON if all switches specified by #switches are on
-	 *     - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by #switches are off
-	 *     - @c PowerSwitchIF::RETURN_FAILED if an error occured
+	 *  - @c PowerSwitchIF::SWITCH_ON if all switches specified
+	 *       by #switches are on
+	 *  - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by
+	 *       #switches are off
+	 *  - @c PowerSwitchIF::RETURN_FAILED if an error occured
 	 */
 	ReturnValue_t getStateOfSwitches(void);
 

From b7a29235f876fa60d783654ebfb449799451948d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:28:56 +0100
Subject: [PATCH 05/53] deleted memory proxy file

---
 memory/MemoryProxyIF.h | 22 ----------------------
 1 file changed, 22 deletions(-)
 delete mode 100644 memory/MemoryProxyIF.h

diff --git a/memory/MemoryProxyIF.h b/memory/MemoryProxyIF.h
deleted file mode 100644
index 31045d3f9..000000000
--- a/memory/MemoryProxyIF.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
-#define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
-
-#include "../memory/AcceptsMemoryMessagesIF.h"
-
-/**
- * This was a nice idea to transparently forward incoming messages to another object.
- * But it doesn't work like that.
- */
-class MemoryProxyIF : public AcceptsMemoryMessagesIF {
-public:
-	virtual MessageQueueId_t getProxyQueue() const = 0;
-	MessageQueueId_t getCommandQueue() const {
-		return getProxyQueue();
-	}
-	virtual ~MemoryProxyIF() {}
-
-};
-
-
-
-#endif /* FRAMEWORK_MEMORY_MEMORYPROXYIF_H_ */

From c5c776e676a6b7c39e9bc8d4535ab9cba836d977 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 18:57:50 +0100
Subject: [PATCH 06/53] rtems changes taken over from upstream

---
 osal/rtems/MultiObjectTask.cpp |  5 +++--
 osal/rtems/MultiObjectTask.h   | 20 +++++++-------------
 osal/rtems/Mutex.cpp           | 19 ++++++++++++++++---
 osal/rtems/Mutex.h             |  6 +++---
 osal/rtems/PollingTask.cpp     | 10 +++++-----
 osal/rtems/PollingTask.h       |  4 ++--
 6 files changed, 36 insertions(+), 28 deletions(-)

diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index 8f969a1d1..2342c24c2 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -78,8 +78,9 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
-	ReturnValue_t result = newObject->initializeAfterTaskCreation();
-	return result;
+	newObject->setTaskIF(this);
+
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t MultiObjectTask::getPeriodMs() const {
diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 28d05fb1a..736e79dd1 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -1,11 +1,5 @@
-/**
- * @file	MultiObjectTask.h
- * @brief	This file defines the MultiObjectTask class.
- * @date	30.01.2014
- * @author	baetz
- */
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -21,7 +15,7 @@ class ExecutableObjectIF;
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
  * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
  * 			added prior to starting the task.
- *
+ * @author  baetz
  * @ingroup task_handling
  */
 class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
@@ -63,11 +57,11 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
 	/**
@@ -110,4 +104,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index d8babcde7..9553ac79c 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,7 +1,6 @@
 #include "Mutex.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
 uint8_t Mutex::count = 0;
 
 Mutex::Mutex() :
@@ -24,8 +23,22 @@ Mutex::~Mutex() {
 	}
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
+        TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
+	}
+	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
+		timeoutMs = RTEMS_NO_TIMEOUT;
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_NO_WAIT, 0);
+	}
+	else {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, timeoutMs);
+	}
+
 	switch(status){
 	case RTEMS_SUCCESSFUL:
 		//semaphore obtained successfully
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 340bb16b7..723682104 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
@@ -8,7 +8,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
+	ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
 	ReturnValue_t unlockMutex();
 private:
 	rtems_id mutexId;
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index efb425d97..04191515b 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -1,7 +1,7 @@
-#include "../../tasks/FixedSequenceSlot.h"
+#include "../../devicehandlers/FixedSequenceSlot.h"
 #include "../../objectmanager/SystemObjectIF.h"
-#include "../../osal/rtems/PollingTask.h"
-#include "../../osal/rtems/RtemsBasic.h"
+#include "PollingTask.h"
+#include "RtemsBasic.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <rtems/bspIo.h>
@@ -73,7 +73,7 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	sif::error << "Component " << std::hex << componentId <<
+	error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
@@ -82,7 +82,7 @@ uint32_t PollingTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }
 
-ReturnValue_t PollingTask::checkAndInitializeSequence() const {
+ReturnValue_t PollingTask::checkSequence() const {
 	return pst.checkSequence();
 }
 
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 1502f0c60..199c34e71 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,7 +1,7 @@
 #ifndef POLLINGTASK_H_
 #define POLLINGTASK_H_
 
-#include "../../tasks/FixedSlotSequence.h"
+#include "../../devicehandlers/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"
 
@@ -42,7 +42,7 @@ class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
 
 	uint32_t getPeriodMs() const;
 
-	ReturnValue_t checkAndInitializeSequence() const;
+	ReturnValue_t checkSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
 protected:

From 248ceebf81e824f337edbb15fa774fb3596289b5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 5 Dec 2020 17:09:49 +0100
Subject: [PATCH 07/53] taken over host osal from upstream branch

---
 osal/host/Clock.cpp             |  5 -----
 osal/host/FixedTimeslotTask.cpp | 24 +++++++++++++-----------
 osal/host/FixedTimeslotTask.h   |  2 +-
 osal/host/MessageQueue.cpp      |  5 ++---
 osal/host/Mutex.cpp             | 11 ++---------
 osal/host/Mutex.h               |  8 ++++----
 osal/host/PeriodicTask.cpp      | 15 +++++----------
 osal/host/PeriodicTask.h        |  2 +-
 osal/host/QueueFactory.cpp      |  6 +++++-
 osal/host/QueueMapManager.cpp   | 14 +++-----------
 10 files changed, 36 insertions(+), 56 deletions(-)

diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp
index 17d98ba88..41321eeb5 100644
--- a/osal/host/Clock.cpp
+++ b/osal/host/Clock.cpp
@@ -106,11 +106,6 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t Clock::getUptimeSeconds() {
-	timeval uptime = getUptime();
-	return uptime.tv_sec;
-}
-
 
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 	// do some magic with chrono (C++20!)
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 3c31eb760..9e892bb58 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -1,7 +1,9 @@
-#include "FixedTimeslotTask.h"
-#include "Mutex.h"
+#include "../../osal/host/FixedTimeslotTask.h"
 
 #include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+#include "../../osal/host/FixedTimeslotTask.h"
+
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
@@ -33,18 +35,18 @@ FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
             reinterpret_cast<HANDLE>(mainThread.native_handle()),
             ABOVE_NORMAL_PRIORITY_CLASS);
     if(result != 0) {
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with "
-                << "code " << GetLastError() << std::endl;
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
     }
     result = SetThreadPriority(
             reinterpret_cast<HANDLE>(mainThread.native_handle()),
             THREAD_PRIORITY_NORMAL);
     if(result != 0) {
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with "
-                "code " << GetLastError() << std::endl;
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
     }
 #elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
+    // TODO: we can just copy and paste the code from the linux OSAL here.
 #endif
 }
 
@@ -58,8 +60,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
-    FixedTimeslotTask *originalTask(
-            reinterpret_cast<FixedTimeslotTask*>(argument));
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 
     if (not originalTask->started) {
         // we have to suspend/block here until the task is started.
@@ -114,8 +115,9 @@ void FixedTimeslotTask::taskFunctionality() {
         this->pollingSeqTable.executeAndAdvance();
         if (not pollingSeqTable.slotFollowsImmediately()) {
             // we need to wait before executing the current slot
-            //this gives us the time to wait:
-            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
+            // this gives us the time to wait:
+            interval = chron_ms(
+                    this->pollingSeqTable.getIntervalToPreviousSlotMs());
             delayForInterval(&currentStartTime, interval);
             //TODO deadline missed check
         }
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
index 9985e2ee6..f3fffd0f0 100644
--- a/osal/host/FixedTimeslotTask.h
+++ b/osal/host/FixedTimeslotTask.h
@@ -74,7 +74,7 @@ protected:
     //!< Typedef for the List of objects.
     typedef std::vector<ExecutableObjectIF*> ObjectList;
     std::thread mainThread;
-    std::atomic<bool> terminateThread = false;
+    std::atomic<bool> terminateThread { false };
 
     //! Polling sequence table which contains the object to execute
     //! and information like the timeslots and the passed execution step.
diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index bced37139..d662d782c 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -34,7 +34,7 @@ ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 }
 
 ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-	if (this->lastPartner != 0) {
+	if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
 		return MessageQueueIF::NO_REPLY_PARTNER;
@@ -106,6 +106,7 @@ bool MessageQueue::isDefaultDestinationSet() const {
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
+	message->setSender(sentFrom);
 	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
 		// in MessageQueueMessage.
@@ -126,7 +127,6 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		// TODO: Better returnvalue
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
 		MutexHelper mutexLock(targetQueue->queueLock,
 		        MutexIF::TimeoutType::WAITING, 20);
@@ -145,7 +145,6 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	else {
 		return MessageQueueIF::FULL;
 	}
-    message->setSender(sentFrom);
     return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
index 8471cab80..ad8873dfc 100644
--- a/osal/host/Mutex.cpp
+++ b/osal/host/Mutex.cpp
@@ -4,21 +4,18 @@
 Mutex::Mutex() {}
 
 ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
-	if(timeoutMs == MutexIF::BLOCKING) {
+	if(timeoutType == MutexIF::BLOCKING) {
 		mutex.lock();
-		locked = true;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	else if(timeoutMs == MutexIF::POLLING) {
+	else if(timeoutType == MutexIF::POLLING) {
 		if(mutex.try_lock()) {
-			locked = true;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
 	else if(timeoutMs > MutexIF::POLLING){
 		auto chronoMs = std::chrono::milliseconds(timeoutMs);
 		if(mutex.try_lock_for(chronoMs)) {
-			locked = true;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
@@ -26,11 +23,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 }
 
 ReturnValue_t Mutex::unlockMutex() {
-	if(not locked) {
-		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
-	}
 	mutex.unlock();
-	locked = false;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
index af56b8f79..c0fa19b78 100644
--- a/osal/host/Mutex.h
+++ b/osal/host/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef FSFW_OSAL_HOST_MUTEX_H_
-#define FSFW_OSAL_HOST_MUTEX_H_
+#ifndef FSFW_OSAL_HOSTED_MUTEX_H_
+#define FSFW_OSAL_HOSTED_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 
@@ -22,8 +22,8 @@ public:
 
 	std::timed_mutex* getMutexHandle();
 private:
-	bool locked = false;
+	//bool locked = false;
 	std::timed_mutex mutex;
 };
 
-#endif /* FSFW_OSAL_HOST_MUTEX_H_ */
+#endif /* FSFW_OSAL_HOSTED_MUTEX_H_ */
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index f7807a171..5662c7cca 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -89,16 +89,16 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 }
 
 void PeriodicTask::taskFunctionality() {
+    for (const auto& object: objectList) {
+        object->initializeAfterTaskCreation();
+    }
+
 	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
 	auto currentStartTime {
 	    std::chrono::duration_cast<std::chrono::milliseconds>(
 	    std::chrono::system_clock::now().time_since_epoch())
 	};
-	auto nextStartTime{ currentStartTime };
-
-	for (const auto& object: objectList) {
-	    object->initializeAfterTaskCreation();
-	}
+	auto nextStartTime { currentStartTime };
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -109,10 +109,6 @@ void PeriodicTask::taskFunctionality() {
 			object->performOperation();
 		}
 		if(not delayForInterval(&currentStartTime, periodChrono)) {
-#ifdef DEBUG
-			sif::warning << "PeriodicTask: " << taskName <<
-					" missed deadline!\n" << std::flush;
-#endif
 			if(deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
@@ -126,7 +122,6 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	newObject->setTaskIF(this);
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/host/PeriodicTask.h b/osal/host/PeriodicTask.h
index 7689788ac..00cb6a24e 100644
--- a/osal/host/PeriodicTask.h
+++ b/osal/host/PeriodicTask.h
@@ -69,7 +69,7 @@ protected:
 	//!< Typedef for the List of objects.
 	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	std::thread mainThread;
-	std::atomic<bool> terminateThread = false;
+	std::atomic<bool> terminateThread { false };
 
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
index 7feb1ad67..1a679c96c 100644
--- a/osal/host/QueueFactory.cpp
+++ b/osal/host/QueueFactory.cpp
@@ -1,7 +1,11 @@
+
 #include "MessageQueue.h"
-#include "../../ipc/QueueFactory.h"
+
 #include "../../ipc/MessageQueueSenderIF.h"
+#include "../../ipc/MessageQueueMessageIF.h"
+#include "../../ipc/QueueFactory.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <cstring>
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index c3d945848..621f46bce 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -44,17 +44,9 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
 		return queueIter->second;
 	}
 	else {
-	    if(messageQueueId == MessageQueueIF::NO_QUEUE) {
-	        sif::error << "QueueMapManager::getQueueHandle: Configuration"
-	                << " error, NO_QUEUE was passed to this function!"
-	                << std::endl;
-	    }
-	    else {
-	        sif::warning << "QueueMapManager::getQueueHandle: The ID "
-	                << messageQueueId << " does not exists in the map."
-	                << std::endl;
-	    }
-	    return nullptr;
+		sif::warning << "QueueMapManager::getQueueHandle: The ID " <<
+				messageQueueId << " does not exists in the map" << std::endl;
+		return nullptr;
 	}
 }
 

From 89e80beb62f8f52625a92b397cb2d4b16429c12b Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 5 Dec 2020 17:10:36 +0100
Subject: [PATCH 08/53] task if set now

---
 osal/host/PeriodicTask.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index 5662c7cca..bfa6c3fd6 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -122,6 +122,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	newObject->setTaskIF(this);
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }

From d9cccdedf30b8ad95b87799dba5b426b66494f56 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 14:34:56 +0100
Subject: [PATCH 09/53] event update

---
 datalinklayer/DataLinkLayer.h                 | 10 ++---
 datapool/HkSwitchHelper.h                     |  2 +-
 .../DeviceHandlerFailureIsolation.cpp         |  6 +--
 devicehandlers/DeviceHandlerIF.h              | 22 +++++-----
 events/Event.cpp                              | 16 -------
 events/Event.h                                | 43 ++++++++-----------
 events/EventMessage.cpp                       |  4 +-
 fdir/FailureIsolationBase.cpp                 |  4 +-
 fdir/FailureIsolationBase.h                   |  6 +--
 health/HasHealthIF.h                          | 14 +++---
 modes/HasModesIF.h                            | 16 +++----
 monitoring/MonitoringIF.h                     |  8 ++--
 power/Fuse.h                                  |  8 ++--
 power/PowerSwitchIF.h                         |  2 +-
 pus/Service17Test.h                           |  2 +-
 pus/Service9TimeManagement.h                  |  4 +-
 storagemanager/StorageManagerIF.h             |  4 +-
 thermal/AbstractTemperatureSensor.h           |  6 +--
 thermal/Heater.h                              | 10 ++---
 thermal/ThermalComponentIF.h                  | 10 ++---
 tmstorage/TmStoreBackendIF.h                  | 32 +++++++-------
 21 files changed, 104 insertions(+), 125 deletions(-)
 delete mode 100644 events/Event.cpp

diff --git a/datalinklayer/DataLinkLayer.h b/datalinklayer/DataLinkLayer.h
index 5a900099e..30e548e8c 100644
--- a/datalinklayer/DataLinkLayer.h
+++ b/datalinklayer/DataLinkLayer.h
@@ -19,12 +19,12 @@ class VirtualChannelReception;
 class DataLinkLayer : public CCSDSReturnValuesIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
-	static const Event RF_AVAILABLE = MAKE_EVENT(0, SEVERITY::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
-	static const Event RF_LOST = MAKE_EVENT(1, SEVERITY::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
-	static const Event BIT_LOCK = MAKE_EVENT(2, SEVERITY::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
-	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, SEVERITY::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
+	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
+	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
+	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
+	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
 //	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
-	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< The CCSDS Board could not interpret a TC
+	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); //!< The CCSDS Board could not interpret a TC
 	/**
 	 * The Constructor sets the passed parameters and nothing else.
 	 * @param set_frame_buffer The buffer in which incoming frame candidates are stored.
diff --git a/datapool/HkSwitchHelper.h b/datapool/HkSwitchHelper.h
index 385b2047f..bb9e7dc68 100644
--- a/datapool/HkSwitchHelper.h
+++ b/datapool/HkSwitchHelper.h
@@ -13,7 +13,7 @@ class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
-	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
+	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
 
 	HkSwitchHelper(EventReportingProxyIF *eventProxy);
 	virtual ~HkSwitchHelper();
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 24fe15a03..9d0535bf2 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -191,7 +191,7 @@ void DeviceHandlerFailureIsolation::triggerEvent(Event event, uint32_t parameter
 		uint32_t parameter2) {
 	//Do not throw error events if fdirState != none.
 	//This will still forward MODE and HEALTH INFO events in any case.
-	if (fdirState == NONE || EVENT::getSeverity(event) == SEVERITY::INFO) {
+	if (fdirState == NONE || event::getSeverity(event) == severity::INFO) {
 		FailureIsolationBase::triggerEvent(event, parameter1, parameter2);
 	}
 }
@@ -201,7 +201,7 @@ bool DeviceHandlerFailureIsolation::isFdirActionInProgress() {
 }
 
 void DeviceHandlerFailureIsolation::startRecovery(Event reason) {
-	throwFdirEvent(FDIR_STARTS_RECOVERY, EVENT::getEventId(reason));
+	throwFdirEvent(FDIR_STARTS_RECOVERY, event::getEventId(reason));
 	setOwnerHealth(HasHealthIF::NEEDS_RECOVERY);
 	setFdirState(RECOVERY_ONGOING);
 }
@@ -228,7 +228,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId,
 }
 
 void DeviceHandlerFailureIsolation::setFaulty(Event reason) {
-	throwFdirEvent(FDIR_TURNS_OFF_DEVICE, EVENT::getEventId(reason));
+	throwFdirEvent(FDIR_TURNS_OFF_DEVICE, event::getEventId(reason));
 	setOwnerHealth(HasHealthIF::FAULTY);
 	setFdirState(AWAIT_SHUTDOWN);
 }
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 4cda99d4e..12036bf11 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -95,17 +95,17 @@ public:
 	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
-	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
-	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
-	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
-	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
-	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_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
+	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, severity::LOW);
+	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, severity::LOW);
+	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
+	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
+	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, severity::LOW);
+	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, severity::LOW);
+	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, severity::LOW);
+	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); //!< Indicates a SW bug in child class.
+	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
+	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
diff --git a/events/Event.cpp b/events/Event.cpp
deleted file mode 100644
index 0f76b4386..000000000
--- a/events/Event.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include "Event.h"
-
-namespace EVENT {
-EventId_t getEventId(Event event) {
-	return (event & 0xFFFF);
-}
-
-EventSeverity_t getSeverity(Event event) {
-	return ((event >> 16) & 0xFF);
-}
-
-Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
-		EventSeverity_t eventSeverity) {
-	return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
-}
-}
diff --git a/events/Event.h b/events/Event.h
index 90ff1a901..aebc4bc54 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -3,7 +3,7 @@
 
 #include <stdint.h>
 #include "fwSubsystemIdRanges.h"
-//could be move to more suitable location
+// could be moved to more suitable location
 #include <events/subsystemIdRanges.h>
 
 typedef uint16_t EventId_t;
@@ -13,33 +13,28 @@ typedef uint8_t EventSeverity_t;
 
 typedef uint32_t Event;
 
-namespace EVENT {
-EventId_t getEventId(Event event);
+namespace event {
 
-EventSeverity_t getSeverity(Event event);
-
-Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
-		EventSeverity_t eventSeverity);
+constexpr EventId_t getEventId(Event event) {
+	return (event & 0xFFFF);
 }
 
-namespace SEVERITY {
-	static const EventSeverity_t INFO = 1;
-	static const EventSeverity_t LOW = 2;
-	static const EventSeverity_t MEDIUM = 3;
-	static const EventSeverity_t HIGH = 4;
+constexpr EventSeverity_t getSeverity(Event event) {
+	return ((event >> 16) & 0xFF);
 }
 
-//Unfortunately, this does not work nicely because of the inability to define static classes in headers.
-//struct Event {
-//	Event(uint8_t domain, uint8_t counter, EventSeverity_t severity) :
-//			id(domain*100+counter), severity(severity) {
-//	}
-//	EventId_t id;
-//	EventSeverity_t severity;
-//	static const EventSeverity_t INFO = 1;
-//	static const EventSeverity_t LOW = 2;
-//	static const EventSeverity_t MEDIUM = 3;
-//	static const EventSeverity_t HIGH = 4;
-//};
+constexpr Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
+		EventSeverity_t eventSeverity) {
+	return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
+}
+
+}
+
+namespace severity {
+	static constexpr EventSeverity_t INFO = 1;
+	static constexpr EventSeverity_t LOW = 2;
+	static constexpr EventSeverity_t MEDIUM = 3;
+	static constexpr EventSeverity_t HIGH = 4;
+}
 
 #endif /* EVENTOBJECT_EVENT_H_ */
diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp
index b911abab9..bbc41e100 100644
--- a/events/EventMessage.cpp
+++ b/events/EventMessage.cpp
@@ -48,7 +48,7 @@ void EventMessage::setMessageId(uint8_t id) {
 EventSeverity_t EventMessage::getSeverity() {
 	Event event;
 	memcpy(&event, getData(), sizeof(Event));
-	return EVENT::getSeverity(event);
+	return event::getSeverity(event);
 }
 
 void EventMessage::setSeverity(EventSeverity_t severity) {
@@ -61,7 +61,7 @@ void EventMessage::setSeverity(EventSeverity_t severity) {
 EventId_t EventMessage::getEventId() {
 	Event event;
 	memcpy(&event, getData(), sizeof(Event));
-	return EVENT::getEventId(event);
+	return event::getEventId(event);
 }
 
 void EventMessage::setEventId(EventId_t eventId) {
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index f3b34f0fb..a04a0313b 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -139,7 +139,7 @@ void FailureIsolationBase::triggerEvent(Event event, uint32_t parameter1,
 		uint32_t parameter2) {
 	//With this mechanism, all events are disabled for a certain device.
 	//That's not so good for visibility.
-	if (isFdirDisabledForSeverity(EVENT::getSeverity(event))) {
+	if (isFdirDisabledForSeverity(event::getSeverity(event))) {
 		return;
 	}
 	EventMessage message(event, ownerId, parameter1, parameter2);
@@ -148,7 +148,7 @@ void FailureIsolationBase::triggerEvent(Event event, uint32_t parameter1,
 }
 
 bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) {
-	if ((owner != NULL) && (severity != SEVERITY::INFO)) {
+	if ((owner != NULL) && (severity != severity::INFO)) {
 		if (owner->getHealth() == HasHealthIF::EXTERNAL_CONTROL) {
 			//External control disables handling of fault messages.
 			return true;
diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h
index 5b2c099ae..4a3f5adf8 100644
--- a/fdir/FailureIsolationBase.h
+++ b/fdir/FailureIsolationBase.h
@@ -14,9 +14,9 @@ class FailureIsolationBase: public HasReturnvaluesIF,
 		public HasParametersIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-	static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-	static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
-	static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
+	static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
+	static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
+	static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
 
 	FailureIsolationBase(object_id_t owner,
 			object_id_t parent = objects::NO_OBJECT,
diff --git a/health/HasHealthIF.h b/health/HasHealthIF.h
index 86863ea8b..a6254e395 100644
--- a/health/HasHealthIF.h
+++ b/health/HasHealthIF.h
@@ -21,13 +21,13 @@ public:
 	static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
-	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 = MAKE_EVENT(9, SEVERITY::LOW); //!< Assembly overwrites health information of children to keep satellite alive.
-	static const Event TRYING_RECOVERY = MAKE_EVENT(10, SEVERITY::MEDIUM); //!< Someone starts a recovery of a component (typically power-cycle). No parameters.
-	static const Event RECOVERY_STEP = MAKE_EVENT(11, SEVERITY::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: 0 for the first, 1 for the second event. P2: 0
-	static const Event RECOVERY_DONE = MAKE_EVENT(12, SEVERITY::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters.
+	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 = MAKE_EVENT(9, severity::LOW); //!< Assembly overwrites health information of children to keep satellite alive.
+	static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM); //!< Someone starts a recovery of a component (typically power-cycle). No parameters.
+	static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: 0 for the first, 1 for the second event. P2: 0
+	static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters.
 
 	virtual ~HasHealthIF() {
 	}
diff --git a/modes/HasModesIF.h b/modes/HasModesIF.h
index 34a159375..c29a0a96e 100644
--- a/modes/HasModesIF.h
+++ b/modes/HasModesIF.h
@@ -18,14 +18,14 @@ public:
 	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 = MAKE_EVENT(0, SEVERITY::INFO); //!< An object announces changing the mode. p1: target mode. p2: target submode
-	static const Event MODE_INFO = MAKE_EVENT(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 = MAKE_EVENT(5, SEVERITY::LOW); //!< Indicates a bug or configuration failure: Object is in a mode it should never be in.
-	static const Event FORCING_MODE = MAKE_EVENT(6, SEVERITY::MEDIUM); //!< The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
-	static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, SEVERITY::LOW); //!< A mode command was rejected by the called object. Par1: called object id, Par2: return code.
+	static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO); //!< An object announces changing the mode. p1: target mode. p2: target submode
+	static const Event MODE_INFO = MAKE_EVENT(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 = MAKE_EVENT(5, severity::LOW); //!< Indicates a bug or configuration failure: Object is in a mode it should never be in.
+	static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM); //!< The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+	static const Event MODE_CMD_REJECTED = 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 = 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 interpreted
 	static const Mode_t MODE_OFF = 0; //!< The device is powered off. The only command accepted in this mode is a mode change to on.
diff --git a/monitoring/MonitoringIF.h b/monitoring/MonitoringIF.h
index aa266f337..32c625307 100644
--- a/monitoring/MonitoringIF.h
+++ b/monitoring/MonitoringIF.h
@@ -15,10 +15,10 @@ public:
 	static const uint8_t LIMIT_TYPE_OBJECT = 128;
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_2;
-	static const Event MONITOR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event VALUE_BELOW_LOW_LIMIT = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event VALUE_ABOVE_HIGH_LIMIT = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event VALUE_OUT_OF_RANGE = MAKE_EVENT(4, SEVERITY::LOW);
+	static const Event MONITOR_CHANGED_STATE = MAKE_EVENT(1, severity::LOW);
+	static const Event VALUE_BELOW_LOW_LIMIT = MAKE_EVENT(2, severity::LOW);
+	static const Event VALUE_ABOVE_HIGH_LIMIT = MAKE_EVENT(3, severity::LOW);
+	static const Event VALUE_OUT_OF_RANGE = MAKE_EVENT(4, severity::LOW);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::LIMITS_IF;
 	static const ReturnValue_t UNCHECKED = MAKE_RETURN_CODE(1);
diff --git a/power/Fuse.h b/power/Fuse.h
index e9e9290b4..cc1d534f4 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -32,10 +32,10 @@ public:
 	};
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-	static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, SEVERITY::LOW); //!< PSS detected that current on a fuse is totally out of bounds.
-	static const Event FUSE_WENT_OFF = MAKE_EVENT(2, SEVERITY::LOW); //!< PSS detected a fuse that went off.
-	static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, SEVERITY::LOW); //!< PSS detected a fuse that violates its limits.
-	static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, SEVERITY::LOW); //!< PSS detected a fuse that violates its limits.
+	static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW); //!< PSS detected that current on a fuse is totally out of bounds.
+	static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW); //!< PSS detected a fuse that went off.
+	static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW); //!< PSS detected a fuse that violates its limits.
+	static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW); //!< PSS detected a fuse that violates its limits.
 
 	typedef std::list<PowerComponentIF*> DeviceList;
 	Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet,
diff --git a/power/PowerSwitchIF.h b/power/PowerSwitchIF.h
index 1422baebc..b1f53a35a 100644
--- a/power/PowerSwitchIF.h
+++ b/power/PowerSwitchIF.h
@@ -30,7 +30,7 @@ public:
 	static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
-	static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, SEVERITY::LOW); //!< Someone detected that a switch went off which shouldn't. Severity: Low, Parameter1: switchId1, Parameter2: switchId2
+	static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW); //!< Someone detected that a switch went off which shouldn't. Severity: Low, Parameter1: switchId1, Parameter2: switchId2
 	/**
 	 * send a direct command to the Power Unit to enable/disable the specified switch.
 	 *
diff --git a/pus/Service17Test.h b/pus/Service17Test.h
index e26818659..83d436ea3 100644
--- a/pus/Service17Test.h
+++ b/pus/Service17Test.h
@@ -21,7 +21,7 @@ class Service17Test: public PusServiceBase {
 public:
 	// Custom events which can be triggered
 	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17;
-	static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO);
+	static constexpr Event TEST = MAKE_EVENT(0, severity::INFO);
 
 	enum Subservice: uint8_t {
 		//! [EXPORT] : [COMMAND] Perform connection test
diff --git a/pus/Service9TimeManagement.h b/pus/Service9TimeManagement.h
index 4802cdecc..70b86966d 100644
--- a/pus/Service9TimeManagement.h
+++ b/pus/Service9TimeManagement.h
@@ -7,8 +7,8 @@ class Service9TimeManagement: public PusServiceBase {
 public:
 
 	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-	static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode.
+	static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode.
 
 	static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 769616d78..622519336 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -40,8 +40,8 @@ public:
 	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
-	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+	static const Event GET_DATA_FAILED = MAKE_EVENT(0, severity::LOW);
+	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, severity::LOW);
 
 	//!< Indicates an invalid (i.e unused) storage address.
 	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF;
diff --git a/thermal/AbstractTemperatureSensor.h b/thermal/AbstractTemperatureSensor.h
index cc064ce47..a1153314e 100644
--- a/thermal/AbstractTemperatureSensor.h
+++ b/thermal/AbstractTemperatureSensor.h
@@ -27,9 +27,9 @@ class AbstractTemperatureSensor: public HasHealthIF,
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::T_SENSORS;
-	static const Event TEMP_SENSOR_HIGH = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event TEMP_SENSOR_LOW = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event TEMP_SENSOR_GRADIENT = MAKE_EVENT(2, SEVERITY::LOW);
+	static const Event TEMP_SENSOR_HIGH = MAKE_EVENT(0, severity::LOW);
+	static const Event TEMP_SENSOR_LOW = MAKE_EVENT(1, severity::LOW);
+	static const Event TEMP_SENSOR_GRADIENT = MAKE_EVENT(2, severity::LOW);
 
 	static constexpr float ZERO_KELVIN_C = -273.15;
 	AbstractTemperatureSensor(object_id_t setObjectid,
diff --git a/thermal/Heater.h b/thermal/Heater.h
index 63fe20667..b034dfee5 100644
--- a/thermal/Heater.h
+++ b/thermal/Heater.h
@@ -14,11 +14,11 @@ class Heater: public HealthDevice, public ReceivesParameterMessagesIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER;
-	static const Event HEATER_ON = MAKE_EVENT(0, SEVERITY::INFO);
-	static const Event HEATER_OFF = MAKE_EVENT(1, SEVERITY::INFO);
-	static const Event HEATER_TIMEOUT = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event HEATER_STAYED_ON = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, SEVERITY::LOW);
+	static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO);
+	static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO);
+	static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW);
+	static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW);
+	static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW);
 
 	Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1);
 	virtual ~Heater();
diff --git a/thermal/ThermalComponentIF.h b/thermal/ThermalComponentIF.h
index 16739e362..89c2b2d0e 100644
--- a/thermal/ThermalComponentIF.h
+++ b/thermal/ThermalComponentIF.h
@@ -10,11 +10,11 @@ class ThermalComponentIF : public HasParametersIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_1;
-	static const Event COMPONENT_TEMP_LOW = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, SEVERITY::LOW);
-	static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, SEVERITY::LOW); //!< Is thrown when a device should start-up, but the temperature is out of OP range. P1: thermalState of the component, P2: 0
+	static const Event COMPONENT_TEMP_LOW = MAKE_EVENT(1, severity::LOW);
+	static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, severity::LOW);
+	static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, severity::LOW);
+	static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, severity::LOW);
+	static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, severity::LOW); //!< Is thrown when a device should start-up, but the temperature is out of OP range. P1: thermalState of the component, P2: 0
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_COMPONENT_IF;
 	static const ReturnValue_t INVALID_TARGET_STATE = MAKE_RETURN_CODE(1);
diff --git a/tmstorage/TmStoreBackendIF.h b/tmstorage/TmStoreBackendIF.h
index bfabdd31d..2ebe85e4c 100644
--- a/tmstorage/TmStoreBackendIF.h
+++ b/tmstorage/TmStoreBackendIF.h
@@ -31,22 +31,22 @@ public:
 	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 = MAKE_EVENT(0, SEVERITY::LOW); //!< Initiating sending data to store failed. Low, par1: returnCode, par2: integer (debug info)
-	static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-	static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, SEVERITY::LOW); //!< Initiating reading data from store failed. Low, par1: returnCode, par2: 0
-	static const Event STORE_READ_FAILED = MAKE_EVENT(3, SEVERITY::LOW); //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
-	static const Event UNEXPECTED_MSG = MAKE_EVENT(4, SEVERITY::LOW); //!< An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
-	static const Event STORING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< Storing data failed. May simply be a full store. Low, par1: returnCode, par2: integer (sequence count of failed packet).
-	static const Event TM_DUMP_FAILED = MAKE_EVENT(6, SEVERITY::LOW); //!< Dumping retrieved data failed. Low, par1: returnCode, par2: integer (sequence count of failed packet).
-	static const Event STORE_INIT_FAILED = MAKE_EVENT(7, SEVERITY::LOW); //!< Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
-	static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, SEVERITY::INFO); //!< Store was not initialized. Starts empty. Info, parameters both zero.
-	static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, SEVERITY::LOW); //!< Data was read out, but it is inconsistent. Low par1: Memory address of corruption, par2: integer (debug info)
-	static const Event STORE_INITIALIZE = MAKE_EVENT(10, SEVERITY::INFO); //!< Info event indicating the store will be initialized, either at boot or after IOB switch. Info. pars: 0
-	static const Event INIT_DONE = MAKE_EVENT(11, SEVERITY::INFO); //!< Info event indicating the store was successfully initialized, either at boot or after IOB switch. Info. pars: 0
-	static const Event DUMP_FINISHED = MAKE_EVENT(12, SEVERITY::INFO); //!< Info event indicating that dumping finished successfully. par1: Number of dumped packets. par2: APID/SSC (16bits each)
-	static const Event DELETION_FINISHED = MAKE_EVENT(13, SEVERITY::INFO); //!< Info event indicating that deletion finished successfully. par1: Number of deleted packets. par2: APID/SSC (16bits each)
-	static const Event DELETION_FAILED = MAKE_EVENT(14, 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
+	static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW); //!< Initiating sending data to store failed. Low, par1: returnCode, par2: integer (debug info)
+	static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW); //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+	static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW); //!< Initiating reading data from store failed. Low, par1: returnCode, par2: 0
+	static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW); //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
+	static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW); //!< An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
+	static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW); //!< Storing data failed. May simply be a full store. Low, par1: returnCode, par2: integer (sequence count of failed packet).
+	static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW); //!< Dumping retrieved data failed. Low, par1: returnCode, par2: integer (sequence count of failed packet).
+	static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW); //!< Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
+	static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO); //!< Store was not initialized. Starts empty. Info, parameters both zero.
+	static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW); //!< Data was read out, but it is inconsistent. Low par1: Memory address of corruption, par2: integer (debug info)
+	static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO); //!< Info event indicating the store will be initialized, either at boot or after IOB switch. Info. pars: 0
+	static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO); //!< Info event indicating the store was successfully initialized, either at boot or after IOB switch. Info. pars: 0
+	static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO); //!< Info event indicating that dumping finished successfully. par1: Number of dumped packets. par2: APID/SSC (16bits each)
+	static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO); //!< Info event indicating that deletion finished successfully. par1: Number of deleted packets. par2: APID/SSC (16bits each)
+	static const Event DELETION_FAILED = MAKE_EVENT(14, 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() {}
 

From 322dd1253e222ecfc81f40c671864d75d2e0334a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:15:22 +0100
Subject: [PATCH 10/53] map packet extract update

---
 datalinklayer/MapPacketExtraction.cpp |  4 ++--
 datalinklayer/MapPacketExtraction.h   | 11 ++++++-----
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index 45f7d3f8b..845ed7c17 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -9,9 +9,9 @@
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0),
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
 		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
-		packetStore(NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
+		tcQueueId(MessageQueueIF::NO_QUEUE) {
 	std::memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
diff --git a/datalinklayer/MapPacketExtraction.h b/datalinklayer/MapPacketExtraction.h
index eff9b7c3c..ddb867fb2 100644
--- a/datalinklayer/MapPacketExtraction.h
+++ b/datalinklayer/MapPacketExtraction.h
@@ -1,5 +1,5 @@
-#ifndef MAPPACKETEXTRACTION_H_
-#define MAPPACKETEXTRACTION_H_
+#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
+#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
 
 #include "MapPacketExtractionIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -20,11 +20,12 @@ private:
 	static const uint32_t MAX_PACKET_SIZE = 4096;
 	uint8_t lastSegmentationFlag;	//!< The segmentation flag of the last received frame.
 	uint8_t mapId;	//!< MAP ID of this MAP Channel.
-	uint32_t packetLength;	//!< Complete length of the current Space Packet.
+	uint32_t packetLength = 0;	//!< Complete length of the current Space Packet.
 	uint8_t* bufferPosition;	//!< Position to write to in the internal Packet buffer.
 	uint8_t packetBuffer[MAX_PACKET_SIZE];	//!< The internal Space Packet Buffer.
 	object_id_t packetDestination;
-	StorageManagerIF* packetStore;	//!< Pointer to the store where full TC packets are stored.
+	//!< Pointer to the store where full TC packets are stored.
+	StorageManagerIF* packetStore = nullptr;
 	MessageQueueId_t tcQueueId;		//!< QueueId to send found packets to the distributor.
 	/**
 	 * Debug method to print the packet Buffer's content.
@@ -69,4 +70,4 @@ public:
 	uint8_t getMapId() const;
 };
 
-#endif /* MAPPACKETEXTRACTION_H_ */
+#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */

From beab942f07458c709cb39d8b4976fd1462438fd6 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:57:30 +0100
Subject: [PATCH 11/53] fixes taken over from master

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 4bda08500..733106e57 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -693,7 +693,7 @@ void DeviceHandlerBase::doGetRead() {
 void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		size_t receivedDataLen) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	DeviceCommandId_t foundId = 0xffffffff;
+	DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND;
 	size_t foundLen = 0;
 	// The loop may not execute more often than the number of received bytes
 	// (worst case). This approach avoids infinite loops due to buggy

From e9a740f110c61cff3c836afecfdb1f635ba533f5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 16:00:02 +0100
Subject: [PATCH 12/53] small tweak

---
 devicehandlers/DeviceHandlerBase.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 49617cd5a..2bfa62a66 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -234,7 +234,7 @@ protected:
 	 *  - If the device does not change the mode, the mode will be changed to
 	 *    _MODE_POWER_DOWN, when the timeout (from getTransitionDelay())
 	 *    has passed.
-	 * 0xffffffff
+	 *
 	 * #transitionFailure can be set to a failure code indicating the reason
 	 * for a failed transition
 	 */

From df333e0cc828afaacc7b591527ea724b342025b5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 16:01:23 +0100
Subject: [PATCH 13/53] tab replacement

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 733106e57..f095834e2 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -113,7 +113,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		doGetRead();
 		// This will be performed after datasets have been updated by the
 		// custom device implementation.
-        hkManager.performHkOperation();
+		hkManager.performHkOperation();
 		break;
 	default:
 		break;

From 9a540e97c557e58a8b7b933c6f41fde21e8fa315 Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:36:44 +0100
Subject: [PATCH 14/53] taken over thermal module from thermal-update

---
 thermal/ThermalModule.h | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/thermal/ThermalModule.h b/thermal/ThermalModule.h
index d1e4fccbf..0abe51c7e 100644
--- a/thermal/ThermalModule.h
+++ b/thermal/ThermalModule.h
@@ -5,8 +5,6 @@
 #include "tcsDefinitions.h"
 #include "RedundantHeater.h"
 
-//#include "../datapoolglob/GlobalDataSet.h"
-//#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../datapoollocal/LocalPoolDataSetBase.h"
 #include "../datapoollocal/LocalPoolVariable.h"
 #include "../devicehandlers/HealthDevice.h"
@@ -78,7 +76,6 @@ protected:
 	Parameters parameters;
 
 	lp_var_t<float> moduleTemperature;
-	//gp_float_t moduleTemperature;
 
 	RedundantHeater *heater = nullptr;
 

From 5bad1142059af8a946fe57c0cad31284fd8496ea Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:39:31 +0100
Subject: [PATCH 15/53] thermal module set heating repaired

---
 thermal/ThermalModule.cpp | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index 2bc1741f6..457a6743d 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -256,15 +256,16 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }
 
 void ThermalModule::setHeating(bool on) {
-//	GlobDataSet mySet;
-//	gp_int8_t writableTargetState(targetState.getDataPoolId(),
-//			&mySet, PoolVariableIF::VAR_WRITE);
-//	if (on) {
-//		writableTargetState = STATE_REQUEST_HEATING;
-//	} else {
-//		writableTargetState = STATE_REQUEST_PASSIVE;
-//	}
-//	mySet.commit(PoolVariableIF::VALID);
+	ReturnValue_t result = targetState.read();
+	if(result == HasReturnvaluesIF::RETURN_OK) {
+		if(on) {
+			targetState.value = STATE_REQUEST_HEATING;
+		}
+		else {
+			targetState.value = STATE_REQUEST_PASSIVE;
+		}
+	}
+	targetState.setValid(true);
 }
 
 void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,

From b2d01a31c224cf609ed2cc83e5e482604881a64d Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:58:18 +0100
Subject: [PATCH 16/53] removed some commented stuff

---
 power/Fuse.h | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/power/Fuse.h b/power/Fuse.h
index cc1d534f4..b892611bc 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -85,10 +85,7 @@ private:
 	};
 	PowerMonitor powerMonitor;
 	StaticLocalDataSet<3> set;
-	//LocalPoolDataSetBase* set = nullptr;
-	//PIDReader<float> voltage;
-	//PIDReader<float> current;
-	//PIDReader<uint8_t> state;
+
 	lp_var_t<float> voltage;
 	lp_var_t<float> current;
 	lp_var_t<uint8_t> state;

From b7dbdb072d46d72e8b8730c9edad97c710f4d3ad Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 21:50:33 +0100
Subject: [PATCH 17/53] taken over upstream changes

---
 CHANGELOG                             | 49 +++++++++++++++
 CMakeLists.txt                        | 85 +++++++++++++++++++++++++++
 FSFWVersion.h                         |  3 +-
 controller/CMakeLists.txt             |  4 ++
 controller/ControllerBase.cpp         |  7 +--
 controller/ControllerBase.h           |  3 -
 controller/ExtendedControllerBase.cpp |  1 -
 7 files changed, 141 insertions(+), 11 deletions(-)
 create mode 100644 CMakeLists.txt
 create mode 100644 controller/CMakeLists.txt

diff --git a/CHANGELOG b/CHANGELOG
index a6686478c..7b07db082 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,5 +1,8 @@
 ## Changes from ASTP 0.0.1 to 1.0.0
 
+### Host OSAL
+
+- Bugfix in MessageQueue, which caused the sender not to be set properly
 
 ### FreeRTOS OSAL
 
@@ -11,3 +14,49 @@ a C file without issues
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+
+### EnhancedControllerBase
+
+- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
+
+### Local Pool
+
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
+
+### Parameter Service
+
+- The API of the parameter service has been changed to prevent inconsistencies
+between documentation and actual code and to clarify usage.
+- The parameter ID now consists of:
+	1. Domain ID (1 byte)
+	2. Unique Identifier (1 byte)
+	3. Linear Index (2 bytes)
+The linear index can be used for arrays as well as matrices.
+The parameter load command now explicitely expects the ECSS PTC and PFC
+information as well as  the rows and column number. Rows and column will
+default to one, which is equivalent to one scalar parameter (the most
+important use-case)
+   
+### File System Interface
+
+- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
+
+### Internal Error Reporter
+
+- The new internal error reporter uses the local data pools. The pool IDs for
+the exisiting three error values and the new error set will be hardcoded for
+now, the the constructor for the internal error reporter just takes an object
+ID for now.
+
+### Device Handler Base
+
+- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
+
+### Events
+
+- makeEvent function: Now takes three input parameters instead of two and
+allows setting a unique ID. Event.cpp source file removed, functions now
+defined in header directly. Namespaces renamed. Functions declared `constexpr`
+now
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 000000000..669283c74
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.13)
+
+set(LIB_FSFW_NAME fsfw)
+add_library(${LIB_FSFW_NAME})
+
+# Set options for FSFW OSAL selection.
+if(UNIX)
+set(OS_FSFW  "linux" CACHE STRING "OS abstraction layer used in the FSFW")
+elseif(WIN32)
+set(OS_FSFW  "host" CACHE STRING "OS abstraction layer used in the FSFW")
+endif()
+
+set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
+
+if(${OS_FSFW} STREQUAL host)
+set(OS_FSFW_NAME "Host")
+elseif(${OS_FSFW} STREQUAL linux)
+set(OS_FSFW_NAME "Linux")
+elseif(${OS_FSFW} STREQUAL  freertos)
+set(OS_FSFW_NAME "FreeRTOS")
+elseif(${OS_FSFW} STREQUAL rtems)
+set(OS_FSFW_NAME "RTEMS")
+else()
+message(WARNING "Invalid operating system for FSFW specified! Setting to host..")
+set(OS_FSFW_NAME "Host")
+set(OS_FSFW "host")
+endif()
+
+message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system")
+
+# Options to exclude parts of the FSFW from compilation.
+option(FSFW_USE_RMAP "Compile with RMAP" ON)
+option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
+
+add_subdirectory(action)
+add_subdirectory(container)
+add_subdirectory(controller)
+add_subdirectory(coordinates)
+add_subdirectory(datalinklayer)
+add_subdirectory(datapool)
+add_subdirectory(devicehandlers)
+add_subdirectory(events)
+add_subdirectory(fdir)
+add_subdirectory(globalfunctions)
+add_subdirectory(health)
+add_subdirectory(internalError)
+add_subdirectory(ipc)
+add_subdirectory(memory)
+add_subdirectory(modes)
+add_subdirectory(monitoring)
+add_subdirectory(objectmanager)
+add_subdirectory(osal)
+add_subdirectory(parameters)
+add_subdirectory(power)
+add_subdirectory(pus)
+
+if(FSFW_USE_RMAP)
+add_subdirectory(rmap)
+endif()
+
+add_subdirectory(serialize)
+add_subdirectory(serviceinterface)
+add_subdirectory(storagemanager)
+add_subdirectory(subsystem)
+add_subdirectory(tasks)
+add_subdirectory(tcdistribution)
+add_subdirectory(thermal)
+add_subdirectory(timemanager)
+add_subdirectory(tmstorage)
+add_subdirectory(tmtcpacket)
+add_subdirectory(tmtcservices)
+
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# If this is not given, we include the default configuration and emit a warning.
+if(NOT FSFW_CONFIG_PATH)
+message(WARNING "Flight Software Framework configuration path not set!")
+message(WARNING "Setting default configuration!")
+add_subdirectory(defaultcfg/fsfwconfig)
+endif()
+
+# Required include paths to compile the FSFW
+target_include_directories(${LIB_FSFW_NAME} 
+	INTERFACE 
+		${FSFW_CONFIG_PATH}
+)
diff --git a/FSFWVersion.h b/FSFWVersion.h
index dcb592dc9..11a608919 100644
--- a/FSFWVersion.h
+++ b/FSFWVersion.h
@@ -1,10 +1,11 @@
 #ifndef FSFW_DEFAULTCFG_VERSION_H_
 #define FSFW_DEFAULTCFG_VERSION_H_
 
-const char* const FSFW_VERSION_NAME = "fsfw";
+const char* const FSFW_VERSION_NAME = "ASTP";
 
 #define FSFW_VERSION 		0
 #define	FSFW_SUBVERSION 	0
+#define	FSFW_REVISION 	1
 
 
 
diff --git a/controller/CMakeLists.txt b/controller/CMakeLists.txt
new file mode 100644
index 000000000..6f6607388
--- /dev/null
+++ b/controller/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ControllerBase.cpp
+)
\ No newline at end of file
diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp
index 45e678eb4..2a4024680 100644
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@@ -8,7 +8,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		size_t commandQueueDepth) :
 		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
 		submode(SUBMODE_NONE), modeHelper(this),
-		healthHelper(this, setObjectId), hkSwitcher(this) {
+		healthHelper(this, setObjectId) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(
 	        commandQueueDepth);
 }
@@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
 		return result;
 	}
 
-	result = hkSwitcher.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
 	return RETURN_OK;
 }
 
@@ -107,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {
 
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 	handleQueue();
-	hkSwitcher.performOperation();
 	performControlOperation();
 	return RETURN_OK;
 }
diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h
index 25d3ab1f3..6e83fe80b 100644
--- a/controller/ControllerBase.h
+++ b/controller/ControllerBase.h
@@ -72,9 +72,6 @@ protected:
 
 	HealthHelper healthHelper;
 
-	// Is this still needed?
-	HkSwitchHelper hkSwitcher;
-
 	/**
 	 * Pointer to the task which executes this component,
 	 * is invalid before setTaskIF was called.
diff --git a/controller/ExtendedControllerBase.cpp b/controller/ExtendedControllerBase.cpp
index f69d2ea1a..fa4f67867 100644
--- a/controller/ExtendedControllerBase.cpp
+++ b/controller/ExtendedControllerBase.cpp
@@ -97,7 +97,6 @@ ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
 
 ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
     handleQueue();
-    hkSwitcher.performOperation();
     localPoolManager.performHkOperation();
     performControlOperation();
     return RETURN_OK;

From 0e42ba062dd9b217e1f89eb62f30295d4e31beb4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 21:51:46 +0100
Subject: [PATCH 18/53] notice taken over

---
 NOTICE | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/NOTICE b/NOTICE
index e16632827..be1a37c47 100644
--- a/NOTICE
+++ b/NOTICE
@@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
 the Flying Laptop Project by the Universität Stuttgart in coorporation
 with Airbus Defence and Space GmbH.
 
+The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
+
 Copyrights in the Flight Software Framework are retained by their contributors.
 No copyright assignment is required to contribute to the Flight Software Framework.
 

From f69113b4d516b12a2a9fc7624f17ab311e6f91fb Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 21:53:37 +0100
Subject: [PATCH 19/53] taken over upstream change in ipc

---
 ipc/MutexFactory.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ipc/MutexFactory.h b/ipc/MutexFactory.h
index f34d3b04c..f8133d814 100644
--- a/ipc/MutexFactory.h
+++ b/ipc/MutexFactory.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_
 #define FRAMEWORK_IPC_MUTEXFACTORY_H_
 
-#include "../ipc/MutexIF.h"
+#include "MutexIF.h"
 /**
  * Creates Mutex.
  * This class is a "singleton" interface, i.e. it provides an

From d944e25d4a3b037f82981fad278de5fb9e367086 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 21:54:46 +0100
Subject: [PATCH 20/53] taken over upstream changes

---
 ipc/MessageQueueSenderIF.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 42d4078fe..683c29085 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -1,8 +1,8 @@
 #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../ipc/MessageQueueMessageIF.h"
+#include "MessageQueueIF.h"
+#include "MessageQueueMessageIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
 class MessageQueueSenderIF {

From 0b056720bae878adf65bcb1fa6cf01f98ccdd6a4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 21:57:06 +0100
Subject: [PATCH 21/53] taken over master

---
 ipc/CommandMessage.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 8f5daa044..28822dd00 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -2,6 +2,7 @@
 #define FSFW_IPC_COMMANDMESSAGE_H_
 
 #include "CommandMessageIF.h"
+
 #include "MessageQueueMessage.h"
 #include "FwMessageTypes.h"
 

From 7c390c07eed79ee02fa23266ece8d0218672923e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 21:58:54 +0100
Subject: [PATCH 22/53] taken over unnittest folder from upstream

---
 unittest/core/CatchSetup.cpp                  |  11 +-
 unittest/internal/InternalUnitTester.h        |   2 +-
 unittest/internal/UnittDefinitions.cpp        |   2 +-
 unittest/internal/osal/IntTestMq.cpp          |   9 +-
 unittest/internal/osal/IntTestMutex.cpp       |   8 +-
 unittest/internal/osal/IntTestSemaphore.cpp   |   9 +-
 .../serialize/IntTestSerialization.cpp        |   9 +-
 .../internal/serialize/IntTestSerialization.h |   9 +-
 unittest/testcfg/CatchFactory.cpp             |  60 ++++
 unittest/testcfg/CatchFactory.h               |  16 ++
 unittest/testcfg/FSFWConfig.h                 |   2 +-
 unittest/testcfg/cdatapool/dataPoolInit.h     |   2 +-
 unittest/testcfg/testcfg.mk                   |   1 +
 unittest/tests/action/TestActionHelper.cpp    | 213 +++++++-------
 unittest/tests/action/TestActionHelper.h      | 263 +++++++++---------
 unittest/tests/container/RingBufferTest.cpp   |   4 +-
 unittest/tests/container/TestArrayList.cpp    |   5 +-
 unittest/tests/container/TestDynamicFifo.cpp  |   6 +-
 unittest/tests/container/TestFifo.cpp         |   6 +-
 .../tests/container/TestFixedArrayList.cpp    |   4 +-
 unittest/tests/container/TestFixedMap.cpp     |   4 +-
 .../container/TestFixedOrderedMultimap.cpp    |   4 +-
 unittest/tests/osal/TestMessageQueue.cpp      |   8 +-
 .../serialize/TestSerialBufferAdapter.cpp     |   2 +-
 .../serialize/TestSerialLinkedPacket.cpp      |   7 +-
 .../tests/serialize/TestSerialization.cpp     |   2 +-
 26 files changed, 376 insertions(+), 292 deletions(-)
 create mode 100644 unittest/testcfg/CatchFactory.cpp
 create mode 100644 unittest/testcfg/CatchFactory.h

diff --git a/unittest/core/CatchSetup.cpp b/unittest/core/CatchSetup.cpp
index 5749ecd11..cb5bd33ed 100644
--- a/unittest/core/CatchSetup.cpp
+++ b/unittest/core/CatchSetup.cpp
@@ -1,8 +1,7 @@
 #include "CatchDefinitions.h"
+#include "CatchFactory.h"
 
 #include <testcfg/cdatapool/dataPoolInit.h>
-#include <testcfg/objects/Factory.h>
-
 
 #ifdef GCOV
 #include <gcov.h>
@@ -11,15 +10,15 @@
 #include "../../objectmanager/ObjectManager.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "../../datapoolglob/GlobalDataPool.h"
+#include "../../datapool/DataPool.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 
 /* Global instantiations normally done in main.cpp */
 /* Initialize Data Pool */
-namespace glob {
-GlobalDataPool dataPool(datapool::dataPoolInit);
-}
+//namespace glob {
+DataPool dataPool(datapool::dataPoolInit);
+//}
 
 
 namespace sif {
diff --git a/unittest/internal/InternalUnitTester.h b/unittest/internal/InternalUnitTester.h
index b301b9232..d0b1c106d 100644
--- a/unittest/internal/InternalUnitTester.h
+++ b/unittest/internal/InternalUnitTester.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_TEST_UNITTESTCLASS_H_
 
 #include "UnittDefinitions.h"
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief	Can be used for internal testing, for example for hardware specific
diff --git a/unittest/internal/UnittDefinitions.cpp b/unittest/internal/UnittDefinitions.cpp
index 0bdbfcc72..6265e9fdb 100644
--- a/unittest/internal/UnittDefinitions.cpp
+++ b/unittest/internal/UnittDefinitions.cpp
@@ -1,4 +1,4 @@
-#include <fsfw/unittest/internal/UnittDefinitions.h>
+#include "UnittDefinitions.h"
 
  ReturnValue_t unitt::put_error(std::string errorId) {
 	sif::error << "Unit Tester error: Failed at test ID "
diff --git a/unittest/internal/osal/IntTestMq.cpp b/unittest/internal/osal/IntTestMq.cpp
index 630163743..8d95f51ed 100644
--- a/unittest/internal/osal/IntTestMq.cpp
+++ b/unittest/internal/osal/IntTestMq.cpp
@@ -1,7 +1,8 @@
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/unittest/internal/osal/IntTestMq.h>
-#include <fsfw/unittest/internal/UnittDefinitions.h>
+#include "IntTestMq.h"
+#include "../UnittDefinitions.h"
+
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/QueueFactory.h"
 
 #include <array>
 
diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
index 3fd668dfd..015813470 100644
--- a/unittest/internal/osal/IntTestMutex.cpp
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -1,10 +1,10 @@
 #include "IntTestMutex.h"
 
-#include <fsfw/ipc/MutexFactory.h>
-#include <unittest/internal/UnittDefinitions.h>
+#include "../../ipc/MutexFactory.h"
+#include "../UnittDefinitions.h"
 
 #if defined(hosted)
-#include <fsfw/osal/hosted/Mutex.h>
+#include "../../osal/hosted/Mutex.h"
 #include <thread>
 #include <future>
 #endif
@@ -20,7 +20,7 @@ void testmutex::testMutex() {
 	// timed_mutex from the C++ library specifies undefined behaviour if
 	// the timed mutex is locked twice from the same thread.
 #if defined(hosted)
-	// hold on, this actually worked ? :-D This calls the function from
+	// This calls the function from
 	// another thread and stores the returnvalue in a future.
 	auto future = std::async(&MutexIF::lockMutex, mutex, 1);
 	result = future.get();
diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp
index 534a6a6d5..f260b6a51 100644
--- a/unittest/internal/osal/IntTestSemaphore.cpp
+++ b/unittest/internal/osal/IntTestSemaphore.cpp
@@ -1,8 +1,9 @@
 #include "IntTestSemaphore.h"
-#include <fsfw/tasks/SemaphoreFactory.h>
-#include <unittest/internal/UnittDefinitions.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/timemanager/Stopwatch.h>
+#include "../UnittDefinitions.h"
+
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Stopwatch.h"
 
 
 void testsemaph::testBinSemaph() {
diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp
index 3f231a417..1e33ff335 100644
--- a/unittest/internal/serialize/IntTestSerialization.cpp
+++ b/unittest/internal/serialize/IntTestSerialization.cpp
@@ -1,8 +1,9 @@
 #include "IntTestSerialization.h"
-#include <fsfw/serialize/SerializeElement.h>
-#include <fsfw/serialize/SerialBufferAdapter.h>
-#include <unittest/internal/UnittDefinitions.h>
-#include <fsfw/serialize/SerializeIF.h>
+#include "../UnittDefinitions.h"
+#include "../../serialize/SerializeElement.h"
+#include "../../serialize/SerialBufferAdapter.h"
+#include "../../serialize/SerializeIF.h"
+
 #include <array>
 
 using retval = HasReturnvaluesIF;
diff --git a/unittest/internal/serialize/IntTestSerialization.h b/unittest/internal/serialize/IntTestSerialization.h
index f8841b820..e8dbd35a0 100644
--- a/unittest/internal/serialize/IntTestSerialization.h
+++ b/unittest/internal/serialize/IntTestSerialization.h
@@ -1,6 +1,7 @@
-#ifndef UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
-#define UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#ifndef FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
+#define FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <array>
 
 namespace testserialize {
@@ -12,4 +13,4 @@ ReturnValue_t test_serial_buffer_adapter();
 extern std::array<uint8_t, 512> test_array;
 }
 
-#endif /* UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_ */
+#endif /* FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_ */
diff --git a/unittest/testcfg/CatchFactory.cpp b/unittest/testcfg/CatchFactory.cpp
new file mode 100644
index 000000000..c74a8126d
--- /dev/null
+++ b/unittest/testcfg/CatchFactory.cpp
@@ -0,0 +1,60 @@
+#include "CatchFactory.h"
+
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
+
+#include <fsfw/internalError/InternalErrorReporter.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+#include <fsfw/storagemanager/PoolManager.h>
+
+/**
+ * @brief Produces system objects.
+ * @details
+ * Build tasks by using SystemObject Interface (Interface).
+ * Header files of all tasks must be included
+ * Please note that an object has to implement the system object interface
+ * if the interface validity is checked or retrieved later by using the
+ * get<TargetInterface>(object_id) function from the ObjectManagerIF.
+ *
+ * Framework objects are created first.
+ *
+ * @ingroup init
+ */
+void Factory::produce(void) {
+	setStaticFrameworkObjectIds();
+	new EventManager(objects::EVENT_MANAGER);
+	new HealthTable(objects::HEALTH_TABLE);
+	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+
+	{
+		static constexpr uint8_t NUMBER_OF_POOLS = 5;
+		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
+		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
+		new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
+				n_elements);
+	}
+
+	{
+		static constexpr uint8_t NUMBER_OF_POOLS = 5;
+		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
+		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
+		new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
+				n_elements);
+	}
+
+	{
+		static constexpr uint8_t NUMBER_OF_POOLS = 6;
+		const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
+				1024, 2048, 4096};
+		const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
+		new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
+				n_elements);
+	}
+
+}
+
+void Factory::setStaticFrameworkObjectIds() {
+
+}
+
+
diff --git a/unittest/testcfg/CatchFactory.h b/unittest/testcfg/CatchFactory.h
new file mode 100644
index 000000000..84f9207e2
--- /dev/null
+++ b/unittest/testcfg/CatchFactory.h
@@ -0,0 +1,16 @@
+#ifndef FACTORY_H_
+#define FACTORY_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
+namespace Factory {
+	/**
+	 * @brief 	Creates all SystemObject elements which are persistent
+	 * 			during execution.
+	 */
+	void produce();
+	void setStaticFrameworkObjectIds();
+
+}
+
+#endif /* FACTORY_H_ */
diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index d3451985e..4fb224c15 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -12,7 +12,7 @@
 #define FSFW_REDUCED_PRINTOUT		0
 
 //! Can be used to enable debugging printouts for developing the FSFW
-#define FSFW_VERBOSE_PRINTOUT       0
+#define FSFW_DEBUGGING              0
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
diff --git a/unittest/testcfg/cdatapool/dataPoolInit.h b/unittest/testcfg/cdatapool/dataPoolInit.h
index 23a3d01f0..9425d7678 100644
--- a/unittest/testcfg/cdatapool/dataPoolInit.h
+++ b/unittest/testcfg/cdatapool/dataPoolInit.h
@@ -1,7 +1,7 @@
 #ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
 #define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
 
-#include <fsfw/datapoolglob/GlobalDataPool.h>
+#include <fsfw/datapool/DataPool.h>
 #include <fsfw/datapool/PoolEntryIF.h>
 #include <map>
 #include <cstdint>
diff --git a/unittest/testcfg/testcfg.mk b/unittest/testcfg/testcfg.mk
index 64fa87f65..31d3b60a5 100644
--- a/unittest/testcfg/testcfg.mk
+++ b/unittest/testcfg/testcfg.mk
@@ -3,6 +3,7 @@ CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
 
 INCLUDES += $(CURRENTPATH)
 INCLUDES += $(CURRENTPATH)/objects
diff --git a/unittest/tests/action/TestActionHelper.cpp b/unittest/tests/action/TestActionHelper.cpp
index d5b2e467b..944ad7059 100644
--- a/unittest/tests/action/TestActionHelper.cpp
+++ b/unittest/tests/action/TestActionHelper.cpp
@@ -1,106 +1,107 @@
-//#include "TestActionHelper.h"
-//#include <fsfw/action/ActionHelper.h>
-//#include <fsfw/ipc/CommandMessage.h>
-//#include <catch2/catch.hpp>
-//#include "../../core/CatchDefinitions.h"
-//
-//
-//TEST_CASE( "Action Helper" , "[ActionHelper]") {
-//	ActionHelperOwnerMockBase testDhMock;
-//	MessageQueueMockBase testMqMock;
-//	ActionHelper actionHelper = ActionHelper(
-//			&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
-//	CommandMessage actionMessage;
-//	ActionId_t testActionId = 777;
-//	std::array <uint8_t, 3> testParams {1, 2, 3};
-//	store_address_t paramAddress;
-//	StorageManagerIF *ipcStore = tglob::getIpcStoreHandle();
-//	ipcStore->addData(&paramAddress, testParams.data(), 3);
-//	REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
-//
-//	SECTION ("Simple tests") {
-//		 ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
-//		 CHECK(not testDhMock.executeActionCalled);
-//		 REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-//		 CHECK(testDhMock.executeActionCalled);
-//		 // No message is sent if everything is alright.
-//		 CHECK(not testMqMock.wasMessageSent());
-//		 store_address_t invalidAddress;
-//		 ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
-//		 actionHelper.handleActionMessage(&actionMessage);
-//		 CHECK(testMqMock.wasMessageSent());
-//		 const uint8_t* ptr = nullptr;
-//		 size_t size = 0;
-//		 REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
-//		 REQUIRE(ptr == nullptr);
-//		 REQUIRE(size == 0);
-//		 testDhMock.getBuffer(&ptr, &size);
-//		 REQUIRE(size == 3);
-//		 for(uint8_t i = 0; i<3;i++){
-//			 REQUIRE(ptr[i] == (i+1));
-//		 }
-//		 testDhMock.clearBuffer();
-//	}
-//
-//	SECTION("Handle failures"){
-//		actionMessage.setCommand(1234);
-//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
-//		CHECK(not testMqMock.wasMessageSent());
-//		uint16_t step = 5;
-//		ReturnValue_t status = 0x1234;
-//		actionHelper.step(step, testMqMock.getId(), testActionId, status);
-//		step += 1;
-//		CHECK(testMqMock.wasMessageSent());
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-//		REQUIRE(testMessage.getParameter() == static_cast<uint32_t>(testActionId));
-//		uint32_t parameter2 = ((uint32_t)step << 16) | (uint32_t)status;
-//		REQUIRE(testMessage.getParameter2() == parameter2);
-//		REQUIRE(ActionMessage::getStep(&testMessage) == step);
-//	}
-//
-//	SECTION("Handle finish"){
-//		CHECK(not testMqMock.wasMessageSent());
-//		ReturnValue_t status = 0x9876;
-//		actionHelper.finish(testMqMock.getId(), testActionId, status);
-//		CHECK(testMqMock.wasMessageSent());
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::COMPLETION_FAILED));
-//		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
-//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(status));
-//	}
-//
-//	SECTION("Handle failed"){
-//		store_address_t toLongParamAddress = StorageManagerIF::INVALID_ADDRESS;
-//		std::array<uint8_t, 5> toLongData = {5, 4, 3, 2, 1};
-//		REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
-//		ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
-//		CHECK(not testDhMock.executeActionCalled);
-//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-//		REQUIRE(ipcStore->getData(toLongParamAddress).first == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
-//		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
-//		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
-//	}
-//
-//	SECTION("Missing IPC Data"){
-//		ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
-//		CHECK(not testDhMock.executeActionCalled);
-//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
-//		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
-//	}
-//
-//
-//	SECTION("Data Reply"){
-//
-//	}
-//}
+#include "TestActionHelper.h"
+#include <fsfw/action/ActionHelper.h>
+#include <fsfw/ipc/CommandMessage.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
+
+
+TEST_CASE( "Action Helper" , "[ActionHelper]") {
+	ActionHelperOwnerMockBase testDhMock;
+	MessageQueueMockBase testMqMock;
+	ActionHelper actionHelper = ActionHelper(
+			&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
+	CommandMessage actionMessage;
+	ActionId_t testActionId = 777;
+	std::array <uint8_t, 3> testParams {1, 2, 3};
+	store_address_t paramAddress;
+	StorageManagerIF *ipcStore = tglob::getIpcStoreHandle();
+	REQUIRE(ipcStore != nullptr);
+	ipcStore->addData(&paramAddress, testParams.data(), 3);
+	REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
+
+	SECTION ("Simple tests") {
+		 ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
+		 CHECK(not testDhMock.executeActionCalled);
+		 REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		 CHECK(testDhMock.executeActionCalled);
+		 // No message is sent if everything is alright.
+		 CHECK(not testMqMock.wasMessageSent());
+		 store_address_t invalidAddress;
+		 ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
+		 actionHelper.handleActionMessage(&actionMessage);
+		 CHECK(testMqMock.wasMessageSent());
+		 const uint8_t* ptr = nullptr;
+		 size_t size = 0;
+		 REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+		 REQUIRE(ptr == nullptr);
+		 REQUIRE(size == 0);
+		 testDhMock.getBuffer(&ptr, &size);
+		 REQUIRE(size == 3);
+		 for(uint8_t i = 0; i<3;i++){
+			 REQUIRE(ptr[i] == (i+1));
+		 }
+		 testDhMock.clearBuffer();
+	}
+
+	SECTION("Handle failures"){
+		actionMessage.setCommand(1234);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
+		CHECK(not testMqMock.wasMessageSent());
+		uint16_t step = 5;
+		ReturnValue_t status = 0x1234;
+		actionHelper.step(step, testMqMock.getId(), testActionId, status);
+		step += 1;
+		CHECK(testMqMock.wasMessageSent());
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(testMessage.getParameter() == static_cast<uint32_t>(testActionId));
+		uint32_t parameter2 = ((uint32_t)step << 16) | (uint32_t)status;
+		REQUIRE(testMessage.getParameter2() == parameter2);
+		REQUIRE(ActionMessage::getStep(&testMessage) == step);
+	}
+
+	SECTION("Handle finish"){
+		CHECK(not testMqMock.wasMessageSent());
+		ReturnValue_t status = 0x9876;
+		actionHelper.finish(testMqMock.getId(), testActionId, status);
+		CHECK(testMqMock.wasMessageSent());
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::COMPLETION_FAILED));
+		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(status));
+	}
+
+	SECTION("Handle failed"){
+		store_address_t toLongParamAddress = StorageManagerIF::INVALID_ADDRESS;
+		std::array<uint8_t, 5> toLongData = {5, 4, 3, 2, 1};
+		REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
+		ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
+		CHECK(not testDhMock.executeActionCalled);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		REQUIRE(ipcStore->getData(toLongParamAddress).first == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
+		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+	}
+
+	SECTION("Missing IPC Data"){
+		ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
+		CHECK(not testDhMock.executeActionCalled);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
+		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+	}
+
+
+	SECTION("Data Reply"){
+
+	}
+}
diff --git a/unittest/tests/action/TestActionHelper.h b/unittest/tests/action/TestActionHelper.h
index 9bc93d3e1..4ba417eb1 100644
--- a/unittest/tests/action/TestActionHelper.h
+++ b/unittest/tests/action/TestActionHelper.h
@@ -1,131 +1,132 @@
-//#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
-//#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
-//
-//#include <fsfw/action/HasActionsIF.h>
-//#include <fsfw/ipc/MessageQueueIF.h>
-//#include <fsfw/unittest/core/CatchDefinitions.h>
-//#include <cstring>
-//
-//
-//class ActionHelperOwnerMockBase: public HasActionsIF {
-//public:
-//	bool getCommandQueueCalled = false;
-//	bool executeActionCalled = false;
-//	static const size_t MAX_SIZE = 3;
-//	uint8_t buffer[MAX_SIZE] = {0, 0, 0};
-//	size_t size = 0;
-//
-//	MessageQueueId_t getCommandQueue() const override {
-//		return tconst::testQueueId;
-//	}
-//
-//	ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-//			const uint8_t* data, size_t size) override {
-//		executeActionCalled = true;
-//		if(size > MAX_SIZE){
-//			return 0xAFFE;
-//		}
-//		this->size = size;
-//		memcpy(buffer, data, size);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//
-//	void clearBuffer(){
-//		this->size = 0;
-//		for(size_t i = 0; i<MAX_SIZE; i++){
-//			buffer[i] = 0;
-//		}
-//	}
-//
-//	void getBuffer(const uint8_t** ptr, size_t* size){
-//		if(size != nullptr){
-//			*size = this->size;
-//		}
-//		if(ptr != nullptr){
-//			*ptr = buffer;
-//		}
-//	}
-//};
-//
-//
-//class MessageQueueMockBase: public MessageQueueIF {
-//public:
-//	MessageQueueId_t myQueueId = 0;
-//	bool defaultDestSet = false;
-//	bool messageSent = false;
-//
-//
-//
-//	bool wasMessageSent() {
-//		bool tempMessageSent = messageSent;
-//		messageSent = false;
-//		return tempMessageSent;
-//	}
-//
-//	virtual ReturnValue_t reply( MessageQueueMessage* message ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	};
-//	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
-//			MessageQueueId_t *receivedFrom) {
-//		(*message) = lastMessage;
-//		lastMessage.clear();
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) {
-//		(*message) = lastMessage;
-//		lastMessage.clear();
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t flush(uint32_t* count) {
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual MessageQueueId_t getLastPartner() const {
-//		return tconst::testQueueId;
-//	}
-//	virtual MessageQueueId_t getId() const {
-//		return tconst::testQueueId;
-//	}
-//	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-//			MessageQueueMessage* message, MessageQueueId_t sentFrom,
-//			bool ignoreFault = false ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
-//			MessageQueueMessage* message, bool ignoreFault = false ) override {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
-//			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
-//		myQueueId = defaultDestination;
-//		defaultDestSet = true;
-//	}
-//
-//	virtual MessageQueueId_t getDefaultDestination() const {
-//		return myQueueId;
-//	}
-//	virtual bool isDefaultDestinationSet() const {
-//		return defaultDestSet;
-//	}
-//private:
-//	MessageQueueMessage lastMessage;
-//
-//};
-//
-//
-//#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */
+#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
+#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <cstring>
+
+
+class ActionHelperOwnerMockBase: public HasActionsIF {
+public:
+	bool getCommandQueueCalled = false;
+	bool executeActionCalled = false;
+	static const size_t MAX_SIZE = 3;
+	uint8_t buffer[MAX_SIZE] = {0, 0, 0};
+	size_t size = 0;
+
+	MessageQueueId_t getCommandQueue() const override {
+		return tconst::testQueueId;
+	}
+
+	ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+			const uint8_t* data, size_t size) override {
+		executeActionCalled = true;
+		if(size > MAX_SIZE){
+			return 0xAFFE;
+		}
+		this->size = size;
+		memcpy(buffer, data, size);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void clearBuffer(){
+		this->size = 0;
+		for(size_t i = 0; i<MAX_SIZE; i++){
+			buffer[i] = 0;
+		}
+	}
+
+	void getBuffer(const uint8_t** ptr, size_t* size){
+		if(size != nullptr){
+			*size = this->size;
+		}
+		if(ptr != nullptr){
+			*ptr = buffer;
+		}
+	}
+};
+
+
+class MessageQueueMockBase: public MessageQueueIF {
+public:
+	MessageQueueId_t myQueueId = 0;
+	bool defaultDestSet = false;
+	bool messageSent = false;
+
+
+
+	bool wasMessageSent() {
+		bool tempMessageSent = messageSent;
+		messageSent = false;
+		return tempMessageSent;
+	}
+
+	virtual ReturnValue_t reply( MessageQueueMessageIF* message ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	};
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) {
+		(*message) = lastMessage;
+		lastMessage.clear();
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
+		memcpy(message->getBuffer(), lastMessage.getBuffer(),
+				message->getMessageSize());
+		lastMessage.clear();
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t flush(uint32_t* count) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual MessageQueueId_t getLastPartner() const {
+		return tconst::testQueueId;
+	}
+	virtual MessageQueueId_t getId() const {
+		return tconst::testQueueId;
+	}
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false ) override {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
+		myQueueId = defaultDestination;
+		defaultDestSet = true;
+	}
+
+	virtual MessageQueueId_t getDefaultDestination() const {
+		return myQueueId;
+	}
+	virtual bool isDefaultDestinationSet() const {
+		return defaultDestSet;
+	}
+private:
+	MessageQueueMessage lastMessage;
+
+};
+
+
+#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */
diff --git a/unittest/tests/container/RingBufferTest.cpp b/unittest/tests/container/RingBufferTest.cpp
index 8b82d407f..9c1c8a23b 100644
--- a/unittest/tests/container/RingBufferTest.cpp
+++ b/unittest/tests/container/RingBufferTest.cpp
@@ -1,7 +1,7 @@
-#include <fsfw/container/SimpleRingBuffer.h>
-#include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
+#include "../../container/SimpleRingBuffer.h"
 
+#include <catch2/catch.hpp>
 #include <cstring>
 
 TEST_CASE("Ring Buffer Test" , "[RingBufferTest]") {
diff --git a/unittest/tests/container/TestArrayList.cpp b/unittest/tests/container/TestArrayList.cpp
index 914188cb7..2f8842764 100644
--- a/unittest/tests/container/TestArrayList.cpp
+++ b/unittest/tests/container/TestArrayList.cpp
@@ -1,5 +1,6 @@
-#include <fsfw/container/ArrayList.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/ArrayList.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
 
diff --git a/unittest/tests/container/TestDynamicFifo.cpp b/unittest/tests/container/TestDynamicFifo.cpp
index 6c9b7415d..bb19131eb 100644
--- a/unittest/tests/container/TestDynamicFifo.cpp
+++ b/unittest/tests/container/TestDynamicFifo.cpp
@@ -1,7 +1,7 @@
 
-#include <fsfw/container/DynamicFIFO.h>
-#include <fsfw/container/FIFO.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/DynamicFIFO.h"
+#include "../../container/FIFO.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch.hpp>
 #include <CatchDefinitions.h>
diff --git a/unittest/tests/container/TestFifo.cpp b/unittest/tests/container/TestFifo.cpp
index 3775f4242..bd727e00c 100644
--- a/unittest/tests/container/TestFifo.cpp
+++ b/unittest/tests/container/TestFifo.cpp
@@ -1,7 +1,7 @@
 
-#include <fsfw/container/DynamicFIFO.h>
-#include <fsfw/container/FIFO.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/DynamicFIFO.h"
+#include "../../container/FIFO.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
diff --git a/unittest/tests/container/TestFixedArrayList.cpp b/unittest/tests/container/TestFixedArrayList.cpp
index 737932e36..5a1bd280a 100644
--- a/unittest/tests/container/TestFixedArrayList.cpp
+++ b/unittest/tests/container/TestFixedArrayList.cpp
@@ -1,7 +1,7 @@
 #include "../../core/CatchDefinitions.h"
 
-#include <fsfw/container/FixedArrayList.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/FixedArrayList.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 
diff --git a/unittest/tests/container/TestFixedMap.cpp b/unittest/tests/container/TestFixedMap.cpp
index 079062f00..da0c84e3e 100644
--- a/unittest/tests/container/TestFixedMap.cpp
+++ b/unittest/tests/container/TestFixedMap.cpp
@@ -1,5 +1,5 @@
-#include <fsfw/container/FixedMap.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/FixedMap.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
diff --git a/unittest/tests/container/TestFixedOrderedMultimap.cpp b/unittest/tests/container/TestFixedOrderedMultimap.cpp
index 95194cb5a..e625b5599 100644
--- a/unittest/tests/container/TestFixedOrderedMultimap.cpp
+++ b/unittest/tests/container/TestFixedOrderedMultimap.cpp
@@ -1,5 +1,5 @@
-#include <fsfw/container/FixedOrderedMultimap.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/FixedOrderedMultimap.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
diff --git a/unittest/tests/osal/TestMessageQueue.cpp b/unittest/tests/osal/TestMessageQueue.cpp
index 8e59fa084..441d32e7d 100644
--- a/unittest/tests/osal/TestMessageQueue.cpp
+++ b/unittest/tests/osal/TestMessageQueue.cpp
@@ -1,8 +1,8 @@
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include "catch.hpp"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/QueueFactory.h"
+#include <catch.hpp>
 #include <array>
-#include "core/CatchDefinitions.h"
+#include "../../core/CatchDefinitions.h"
 
 TEST_CASE("MessageQueue Basic Test","[TestMq]") {
 	MessageQueueIF* testSenderMq =
diff --git a/unittest/tests/serialize/TestSerialBufferAdapter.cpp b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
index 9919ed844..07cd3f9c5 100644
--- a/unittest/tests/serialize/TestSerialBufferAdapter.cpp
+++ b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
@@ -1,4 +1,4 @@
-#include <fsfw/serialize/SerialBufferAdapter.h>
+#include "../../serialize/SerialBufferAdapter.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
diff --git a/unittest/tests/serialize/TestSerialLinkedPacket.cpp b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
index 0a09e430c..fbe488946 100644
--- a/unittest/tests/serialize/TestSerialLinkedPacket.cpp
+++ b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
@@ -1,8 +1,9 @@
-#include <fsfw/globalfunctions/arrayprinter.h>
+#include "TestSerialLinkedPacket.h"
+#include "../../core/CatchDefinitions.h"
+
+#include "../../globalfunctions/arrayprinter.h"
 
 #include <catch2/catch.hpp>
-#include "../../core/CatchDefinitions.h"
-#include "TestSerialLinkedPacket.h"
 
 
 TEST_CASE("Serial Linked Packet" , "[SerLinkPacket]") {
diff --git a/unittest/tests/serialize/TestSerialization.cpp b/unittest/tests/serialize/TestSerialization.cpp
index 4c9ba1818..6e31170a1 100644
--- a/unittest/tests/serialize/TestSerialization.cpp
+++ b/unittest/tests/serialize/TestSerialization.cpp
@@ -1,4 +1,4 @@
-#include <fsfw/serialize/SerializeAdapter.h>
+#include "../../serialize/SerializeAdapter.h"
 
 #include "catch.hpp"
 #include <array>

From 3f77fab2d9ada5b029cf823674adaa5e5ea7d403 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 22:01:38 +0100
Subject: [PATCH 23/53] taken over cmake lists

---
 rmap/CMakeLists.txt | 7 +++++++
 1 file changed, 7 insertions(+)
 create mode 100644 rmap/CMakeLists.txt

diff --git a/rmap/CMakeLists.txt b/rmap/CMakeLists.txt
new file mode 100644
index 000000000..78c99e420
--- /dev/null
+++ b/rmap/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		RMAP.cpp
+		RMAPCookie.cpp
+		RmapDeviceCommunicationIF.cpp
+)
+

From 692aa087d8d4dfb3c02cb7bf61b93ea47e1ba8df Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 22:13:22 +0100
Subject: [PATCH 24/53] taken over cleaned up branch

---
 rmap/RMAP.cpp                      | 10 ++++++----
 rmap/RMAP.h                        |  4 ++--
 rmap/RMAPChannelIF.h               |  8 ++++----
 rmap/RMAPCookie.cpp                |  9 +++++----
 rmap/RMAPCookie.h                  | 11 ++++++-----
 rmap/RmapDeviceCommunicationIF.cpp |  4 ++--
 rmap/RmapDeviceCommunicationIF.h   |  6 +++---
 rmap/rmapStructs.h                 |  8 ++++----
 8 files changed, 32 insertions(+), 28 deletions(-)

diff --git a/rmap/RMAP.cpp b/rmap/RMAP.cpp
index d0872c8e6..7ea6e5329 100644
--- a/rmap/RMAP.cpp
+++ b/rmap/RMAP.cpp
@@ -1,8 +1,10 @@
+#include "RMAP.h"
+#include "rmapStructs.h"
+#include "RMAPChannelIF.h"
+
 #include "../devicehandlers/DeviceCommunicationIF.h"
-#include "../rmap/rmapStructs.h"
-#include "../rmap/RMAP.h"
-#include "../rmap/RMAPChannelIF.h"
-#include <stddef.h>
+
+#include <cstddef>
 
 ReturnValue_t RMAP::reset(RMAPCookie* cookie) {
 	return cookie->getChannel()->reset();
diff --git a/rmap/RMAP.h b/rmap/RMAP.h
index e083d407f..83e29fede 100644
--- a/rmap/RMAP.h
+++ b/rmap/RMAP.h
@@ -1,5 +1,5 @@
-#ifndef RMAPpp_H_
-#define RMAPpp_H_
+#ifndef FSFW_RMAP_RMAP_H_
+#define FSFW_RMAP_RMAP_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../rmap/RMAPCookie.h"
diff --git a/rmap/RMAPChannelIF.h b/rmap/RMAPChannelIF.h
index d851885b1..0aa809c53 100644
--- a/rmap/RMAPChannelIF.h
+++ b/rmap/RMAPChannelIF.h
@@ -1,7 +1,7 @@
-#ifndef RMAPCHANNELIF_H_
-#define RMAPCHANNELIF_H_
+#ifndef FSFW_RMAP_RMAPCHANNELIF_H_
+#define FSFW_RMAP_RMAPCHANNELIF_H_
 
-#include "../rmap/RMAPCookie.h"
+#include "RMAPCookie.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
 
@@ -113,4 +113,4 @@ public:
 
 };
 
-#endif /* RMAPCHANNELIF_H_ */
+#endif /* FSFW_RMAP_RMAPCHANNELIF_H_ */
diff --git a/rmap/RMAPCookie.cpp b/rmap/RMAPCookie.cpp
index c92ee4337..f8fe2d3eb 100644
--- a/rmap/RMAPCookie.cpp
+++ b/rmap/RMAPCookie.cpp
@@ -1,6 +1,6 @@
-#include "../rmap/RMAPChannelIF.h"
-#include "../rmap/RMAPCookie.h"
-#include <stddef.h>
+#include "RMAPChannelIF.h"
+#include "RMAPCookie.h"
+#include <cstddef>
 
 
 RMAPCookie::RMAPCookie() {
@@ -31,7 +31,8 @@ RMAPCookie::RMAPCookie() {
 
 
 RMAPCookie::RMAPCookie(uint32_t set_address, uint8_t set_extended_address,
-		RMAPChannelIF *set_channel, uint8_t set_command_mask, uint32_t maxReplyLen) {
+		RMAPChannelIF *set_channel, uint8_t set_command_mask,
+		size_t maxReplyLen) {
 	this->header.dest_address = 0;
 	this->header.protocol = 0x01;
 	this->header.instruction = 0;
diff --git a/rmap/RMAPCookie.h b/rmap/RMAPCookie.h
index 8832f857b..385426468 100644
--- a/rmap/RMAPCookie.h
+++ b/rmap/RMAPCookie.h
@@ -1,8 +1,8 @@
-#ifndef RMAPCOOKIE_H_
-#define RMAPCOOKIE_H_
+#ifndef FSFW_RMAP_RMAPCOOKIE_H_
+#define FSFW_RMAP_RMAPCOOKIE_H_
 
+#include "rmapStructs.h"
 #include "../devicehandlers/CookieIF.h"
-#include "../rmap/rmapStructs.h"
 #include <cstddef>
 
 class RMAPChannelIF;
@@ -13,7 +13,8 @@ public:
 	RMAPCookie();
 
 	RMAPCookie(uint32_t set_address, uint8_t set_extended_address,
-			RMAPChannelIF *set_channel, uint8_t set_command_mask, uint32_t maxReplyLen = 0);
+			RMAPChannelIF *set_channel, uint8_t set_command_mask,
+			size_t maxReplyLen = 0);
 	virtual ~RMAPCookie();
 
 
@@ -56,4 +57,4 @@ protected:
 	uint8_t dataCRC;
 };
 
-#endif /* RMAPCOOKIE_H_ */
+#endif /* FSFW_RMAP_RMAPCOOKIE_H_ */
diff --git a/rmap/RmapDeviceCommunicationIF.cpp b/rmap/RmapDeviceCommunicationIF.cpp
index 62a3f3ef3..d81baabd5 100644
--- a/rmap/RmapDeviceCommunicationIF.cpp
+++ b/rmap/RmapDeviceCommunicationIF.cpp
@@ -1,5 +1,5 @@
-#include "../rmap/RmapDeviceCommunicationIF.h"
-#include "../rmap/RMAP.h"
+#include "RmapDeviceCommunicationIF.h"
+#include "RMAP.h"
 
 //TODO Cast here are all potential bugs
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
diff --git a/rmap/RmapDeviceCommunicationIF.h b/rmap/RmapDeviceCommunicationIF.h
index 52efa3de9..1333966a7 100644
--- a/rmap/RmapDeviceCommunicationIF.h
+++ b/rmap/RmapDeviceCommunicationIF.h
@@ -1,5 +1,5 @@
-#ifndef MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
-#define MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
+#ifndef FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
+#define FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
 
 #include "../devicehandlers/DeviceCommunicationIF.h"
 
@@ -86,4 +86,4 @@ public:
 	uint32_t getParameter(CookieIF* cookie);
 };
 
-#endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */
+#endif /* FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */
diff --git a/rmap/rmapStructs.h b/rmap/rmapStructs.h
index bf0fb2606..11d8bb85b 100644
--- a/rmap/rmapStructs.h
+++ b/rmap/rmapStructs.h
@@ -1,7 +1,7 @@
-#ifndef RMAPSTRUCTS_H_
-#define RMAPSTRUCTS_H_
+#ifndef FSFW_RMAP_RMAPSTRUCTS_H_
+#define FSFW_RMAP_RMAPSTRUCTS_H_
 
-#include <stdint.h>
+#include <cstdint>
 
 //SHOULDDO: having the defines within a namespace would be nice. Problem are the defines referencing the previous define, eg RMAP_COMMAND_WRITE
 
@@ -95,4 +95,4 @@ struct rmap_write_reply_header {
 
 }
 
-#endif /* RMAPSTRUCTS_H_ */
+#endif /* FSFW_RMAP_RMAPSTRUCTS_H_ */

From f161a94113c6c95ce7014a2cf9597817d8f4c0b1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 10:44:48 +0100
Subject: [PATCH 25/53] taken over upstream fixes

---
 thermal/ThermalComponentCore.cpp | 13 +++++++------
 thermal/ThermalModule.cpp        |  6 +++---
 thermal/ThermalModuleIF.h        |  3 +--
 thermal/tcsDefinitions.h         |  6 +++---
 4 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/thermal/ThermalComponentCore.cpp b/thermal/ThermalComponentCore.cpp
index 7b594d0c9..ba8750532 100644
--- a/thermal/ThermalComponentCore.cpp
+++ b/thermal/ThermalComponentCore.cpp
@@ -1,4 +1,5 @@
 #include "ThermalComponentCore.h"
+#include "tcsDefinitions.h"
 
 ThermalComponentCore::ThermalComponentCore(object_id_t reportingObjectId,
         uint8_t domainId, gp_id_t temperaturePoolId,
@@ -60,7 +61,7 @@ ThermalComponentIF::HeaterRequest ThermalComponentCore::performOperation(
 	//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
 	temperature = getTemperature();
 	updateMinMaxTemp();
-	if (temperature != INVALID_TEMPERATURE) {
+	if (temperature != thermal::INVALID_TEMPERATURE) {
 		temperature.setValid(PoolVariableIF::VALID);
 		State state = getState(temperature.value, getParameters(),
 				targetState.value);
@@ -119,7 +120,7 @@ ReturnValue_t ThermalComponentCore::setTargetState(int8_t newState) {
 }
 
 void ThermalComponentCore::setOutputInvalid() {
-	temperature = INVALID_TEMPERATURE;
+	temperature = thermal::INVALID_TEMPERATURE;
 	temperature.setValid(PoolVariableIF::INVALID);
 	currentState.setValid(PoolVariableIF::INVALID);
 	heaterRequest = HEATER_DONT_CARE;
@@ -144,13 +145,13 @@ float ThermalComponentCore::getTemperature() {
 
 	if (thermalModule != nullptr) {
 		float temperature = thermalModule->getTemperature();
-		if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
+		if (temperature != thermal::INVALID_TEMPERATURE) {
 			return temperature;
 		} else {
-			return INVALID_TEMPERATURE;
+			return thermal::INVALID_TEMPERATURE;
 		}
 	} else {
-		return INVALID_TEMPERATURE;
+		return thermal::INVALID_TEMPERATURE;
 	}
 }
 
@@ -226,7 +227,7 @@ ThermalComponentIF::State ThermalComponentCore::getIgnoredState(int8_t state) {
 }
 
 void ThermalComponentCore::updateMinMaxTemp() {
-	if (temperature == INVALID_TEMPERATURE) {
+	if (temperature == thermal::INVALID_TEMPERATURE) {
 		return;
 	}
 	if (temperature < minTemp) {
diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index 457a6743d..de3475429 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -107,7 +107,7 @@ void ThermalModule::calculateTemperature() {
 		moduleTemperature = moduleTemperature.value / numberOfValidSensors;
 		moduleTemperature.setValid(PoolVariableIF::VALID);
 	} else {
-		moduleTemperature = INVALID_TEMPERATURE;
+		moduleTemperature.value = thermal::INVALID_TEMPERATURE;
 		moduleTemperature.setValid(PoolVariableIF::INVALID);
 	}
 }
@@ -219,7 +219,7 @@ void ThermalModule::initialize(PowerSwitchIF* powerSwitch) {
 bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 		Strategy strategy) {
 	currentState.setValid(PoolVariableIF::VALID);
-	if (moduleTemperature == INVALID_TEMPERATURE) {
+	if (moduleTemperature == thermal::INVALID_TEMPERATURE) {
 		currentState = UNKNOWN;
 		return false;
 	}
@@ -282,7 +282,7 @@ void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,
 }
 
 void ThermalModule::setOutputInvalid() {
-	moduleTemperature = INVALID_TEMPERATURE;
+	moduleTemperature = thermal::INVALID_TEMPERATURE;
 	moduleTemperature.setValid(PoolVariableIF::INVALID);
 	currentState.setValid(PoolVariableIF::INVALID);
 	std::list<ComponentData>::iterator iter = components.begin();
diff --git a/thermal/ThermalModuleIF.h b/thermal/ThermalModuleIF.h
index 2d11a6f25..89cf93d69 100644
--- a/thermal/ThermalModuleIF.h
+++ b/thermal/ThermalModuleIF.h
@@ -2,6 +2,7 @@
 #define THERMALMODULEIF_H_
 
 #include "ThermalComponentIF.h"
+
 class AbstractTemperatureSensor;
 
 class ThermalModuleIF{
@@ -18,8 +19,6 @@ public:
 		NON_OPERATIONAL = 0, OPERATIONAL = 1, UNKNOWN = 2
 	};
 
-	static constexpr float INVALID_TEMPERATURE = 999;
-
 	virtual ~ThermalModuleIF() {
 
 	}
diff --git a/thermal/tcsDefinitions.h b/thermal/tcsDefinitions.h
index 37e5b849d..3225be5c3 100644
--- a/thermal/tcsDefinitions.h
+++ b/thermal/tcsDefinitions.h
@@ -1,8 +1,8 @@
 #ifndef TCSDEFINITIONS_H_
 #define TCSDEFINITIONS_H_
 
-
-static const float INVALID_TEMPERATURE = 999;
-
+namespace thermal {
+static constexpr float INVALID_TEMPERATURE = 999;
+}
 
 #endif /* TCSDEFINITIONS_H_ */

From 0ccd266f51f8238f3489b192ec36496c90fc24fe Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 10:49:00 +0100
Subject: [PATCH 26/53] internal unittests fixed

---
 unittest/internal/osal/IntTestMq.cpp                 | 4 ++--
 unittest/internal/osal/IntTestMutex.cpp              | 2 +-
 unittest/internal/osal/IntTestSemaphore.cpp          | 6 +++---
 unittest/internal/serialize/IntTestSerialization.cpp | 7 ++++---
 unittest/internal/serialize/IntTestSerialization.h   | 2 +-
 5 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/unittest/internal/osal/IntTestMq.cpp b/unittest/internal/osal/IntTestMq.cpp
index 8d95f51ed..9917285f5 100644
--- a/unittest/internal/osal/IntTestMq.cpp
+++ b/unittest/internal/osal/IntTestMq.cpp
@@ -1,8 +1,8 @@
 #include "IntTestMq.h"
 #include "../UnittDefinitions.h"
 
-#include "../../ipc/MessageQueueIF.h"
-#include "../../ipc/QueueFactory.h"
+#include "../../../ipc/MessageQueueIF.h"
+#include "../../../ipc/QueueFactory.h"
 
 #include <array>
 
diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
index 015813470..d2f8b9628 100644
--- a/unittest/internal/osal/IntTestMutex.cpp
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -1,6 +1,6 @@
 #include "IntTestMutex.h"
 
-#include "../../ipc/MutexFactory.h"
+#include "../../../ipc/MutexFactory.h"
 #include "../UnittDefinitions.h"
 
 #if defined(hosted)
diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp
index f260b6a51..6d2719d57 100644
--- a/unittest/internal/osal/IntTestSemaphore.cpp
+++ b/unittest/internal/osal/IntTestSemaphore.cpp
@@ -1,9 +1,9 @@
 #include "IntTestSemaphore.h"
 #include "../UnittDefinitions.h"
 
-#include "../../tasks/SemaphoreFactory.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../timemanager/Stopwatch.h"
+#include "../../../tasks/SemaphoreFactory.h"
+#include "../../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../../timemanager/Stopwatch.h"
 
 
 void testsemaph::testBinSemaph() {
diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp
index 1e33ff335..793661c5b 100644
--- a/unittest/internal/serialize/IntTestSerialization.cpp
+++ b/unittest/internal/serialize/IntTestSerialization.cpp
@@ -1,8 +1,9 @@
 #include "IntTestSerialization.h"
 #include "../UnittDefinitions.h"
-#include "../../serialize/SerializeElement.h"
-#include "../../serialize/SerialBufferAdapter.h"
-#include "../../serialize/SerializeIF.h"
+
+#include "../../../serialize/SerializeElement.h"
+#include "../../../serialize/SerialBufferAdapter.h"
+#include "../../../serialize/SerializeIF.h"
 
 #include <array>
 
diff --git a/unittest/internal/serialize/IntTestSerialization.h b/unittest/internal/serialize/IntTestSerialization.h
index e8dbd35a0..8706e0572 100644
--- a/unittest/internal/serialize/IntTestSerialization.h
+++ b/unittest/internal/serialize/IntTestSerialization.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
 #define FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
 
-#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../../returnvalues/HasReturnvaluesIF.h"
 #include <array>
 
 namespace testserialize {

From 7ace117c42832ad65d657b2d203f5371fb3ad2a7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:06:09 +0100
Subject: [PATCH 27/53] added cmakelistst

---
 globalfunctions/CMakeLists.txt      | 12 ++++++++++++
 globalfunctions/math/CMakeLists.txt |  4 ++++
 2 files changed, 16 insertions(+)
 create mode 100644 globalfunctions/CMakeLists.txt
 create mode 100644 globalfunctions/math/CMakeLists.txt

diff --git a/globalfunctions/CMakeLists.txt b/globalfunctions/CMakeLists.txt
new file mode 100644
index 000000000..2b3dcf8ed
--- /dev/null
+++ b/globalfunctions/CMakeLists.txt
@@ -0,0 +1,12 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		arrayprinter.cpp
+		AsciiConverter.cpp
+		CRC.cpp
+		DleEncoder.cpp
+		PeriodicOperationDivider.cpp
+		timevalOperations.cpp
+		Type.cpp
+)
+
+add_subdirectory(math)
\ No newline at end of file
diff --git a/globalfunctions/math/CMakeLists.txt b/globalfunctions/math/CMakeLists.txt
new file mode 100644
index 000000000..a9c4ded78
--- /dev/null
+++ b/globalfunctions/math/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		QuaternionOperations.cpp
+)

From 073cd4f5e1ebbf1bcc09a3c71ae8da16b6e4ddad Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:09:53 +0100
Subject: [PATCH 28/53] small tweaks

---
 globalfunctions/Type.cpp | 2 +-
 globalfunctions/Type.h   | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index 97f38473e..fa6d2f281 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -1,4 +1,4 @@
-#include "../globalfunctions/Type.h"
+#include "Type.h"
 #include "../serialize/SerializeAdapter.h"
 
 Type::Type() :
diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index 8d03c4677..d28f56ac8 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -1,5 +1,5 @@
-#ifndef TYPE_H_
-#define TYPE_H_
+#ifndef FSFW_GLOBALFUNCTIONS_TYPE_H_
+#define FSFW_GLOBALFUNCTIONS_TYPE_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
@@ -95,4 +95,4 @@ struct PodTypeConversion<double> {
 	static const Type::ActualType_t type = Type::DOUBLE;
 };
 
-#endif /* TYPE_H_ */
+#endif /* FSFW_GLOBALFUNCTIONS_TYPE_H_ */

From 620c9c6ae15008631d506aa57181a11ff5130e52 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:19:05 +0100
Subject: [PATCH 29/53] taken over freeRTOS changes

---
 osal/FreeRTOS/BinarySemaphore.cpp         |  4 ++--
 osal/FreeRTOS/BinarySemaphore.h           |  6 +++---
 osal/FreeRTOS/Clock.cpp                   |  3 ++-
 osal/FreeRTOS/CountingSemaphUsingTask.cpp |  5 +++--
 osal/FreeRTOS/CountingSemaphUsingTask.h   | 10 ++++------
 osal/FreeRTOS/CountingSemaphore.cpp       |  5 +++--
 osal/FreeRTOS/CountingSemaphore.h         |  3 ++-
 osal/FreeRTOS/MessageQueue.h              |  3 ++-
 osal/FreeRTOS/Mutex.cpp                   |  2 +-
 osal/FreeRTOS/MutexFactory.cpp            |  4 +++-
 osal/FreeRTOS/TaskManagement.cpp          |  2 +-
 osal/FreeRTOS/TaskManagement.h            |  5 ++---
 osal/FreeRTOS/Timekeeper.cpp              |  4 ++--
 13 files changed, 30 insertions(+), 26 deletions(-)

diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index 8cc3c4957..6fee5c353 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -1,5 +1,5 @@
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "BinarySemaphore.h"
+#include "TaskManagement.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 BinarySemaphore::BinarySemaphore() {
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index c6cedc539..8969d5038 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../tasks/SemaphoreIF.h"
@@ -104,4 +104,4 @@ protected:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
+#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index f3d8516a3..d3f4e68e1 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -1,6 +1,7 @@
+#include "Timekeeper.h"
+
 #include "../../timemanager/Clock.h"
 #include "../../globalfunctions/timevalOperations.h"
-#include "../../osal/FreeRTOS/Timekeeper.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index a47341bcb..17cdf7ce3 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -1,5 +1,6 @@
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "CountingSemaphUsingTask.h"
+#include "TaskManagement.h"
+
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index 49ff3ee54..f258197ba 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -1,13 +1,11 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
 
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "CountingSemaphUsingTask.h"
 #include "../../tasks/SemaphoreIF.h"
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
 
 /**
  * @brief 	Couting Semaphore implementation which uses the notification value
@@ -102,4 +100,4 @@ private:
 	const uint8_t maxCount;
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp
index d1310a6ab..a202e4806 100644
--- a/osal/FreeRTOS/CountingSemaphore.cpp
+++ b/osal/FreeRTOS/CountingSemaphore.cpp
@@ -1,6 +1,7 @@
-#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "CountingSemaphore.h"
+#include "TaskManagement.h"
+
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
 
 #include <freertos/semphr.h>
 
diff --git a/osal/FreeRTOS/CountingSemaphore.h b/osal/FreeRTOS/CountingSemaphore.h
index ae2f62aee..6af1d6d26 100644
--- a/osal/FreeRTOS/CountingSemaphore.h
+++ b/osal/FreeRTOS/CountingSemaphore.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
 #define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
+
+#include "BinarySemaphore.h"
 
 /**
  * @brief 	Counting semaphores, which can be acquire more than once.
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index b99bf7c8d..8fa862831 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -1,10 +1,11 @@
 #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
+#include "TaskManagement.h"
+
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
 #include "../../ipc/MessageQueueMessageIF.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/queue.h>
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 82f23ff98..9d9638b5f 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -1,4 +1,4 @@
-#include "../../osal/FreeRTOS/Mutex.h"
+#include "Mutex.h"
 
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
diff --git a/osal/FreeRTOS/MutexFactory.cpp b/osal/FreeRTOS/MutexFactory.cpp
index 1f34cc18f..d9569e35d 100644
--- a/osal/FreeRTOS/MutexFactory.cpp
+++ b/osal/FreeRTOS/MutexFactory.cpp
@@ -1,5 +1,7 @@
+#include "Mutex.h"
+
 #include "../../ipc/MutexFactory.h"
-#include "../../osal/FreeRTOS/Mutex.h"
+
 
 //TODO: Different variant than the lazy loading in QueueFactory.
 //What's better and why? -> one is on heap the other on bss/data
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index b77f12a9e..18572045e 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,4 +1,4 @@
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "TaskManagement.h"
 
 void TaskManagement::vRequestContextSwitchFromTask() {
 	vTaskDelay(0);
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 4b7fe3eb3..c6c46f21c 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -3,17 +3,16 @@
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
+
 #include <cstdint>
 
 /**
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern void vRequestContextSwitchFromISR();
+extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp
index 836f0b21d..d986d832e 100644
--- a/osal/FreeRTOS/Timekeeper.cpp
+++ b/osal/FreeRTOS/Timekeeper.cpp
@@ -1,6 +1,6 @@
-#include "../../osal/FreeRTOS/Timekeeper.h"
+#include "Timekeeper.h"
 
-#include "FreeRTOSConfig.h"
+#include <FreeRTOSConfig.h>
 
 Timekeeper * Timekeeper::myinstance = nullptr;
 

From 5c6916a07848a8aed3c7ec2fbc8fded1f37f2a08 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:23:23 +0100
Subject: [PATCH 30/53] small tweaks

---
 ipc/QueueFactory.h             | 1 +
 osal/FreeRTOS/QueueFactory.cpp | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 9853d2562..6fc0643e8 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -3,6 +3,7 @@
 
 #include "MessageQueueIF.h"
 #include "MessageQueueMessage.h"
+
 #include <cstdint>
 
 /**
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index 5b3c73dca..ed29e10cf 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,8 +1,8 @@
+#include "MessageQueue.h"
+
 #include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
-#include "../../osal/FreeRTOS/MessageQueue.h"
-
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
 

From 89de4cc321e32ce94d458d72d76c14999cfd6437 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:40:26 +0100
Subject: [PATCH 31/53] changes and tweaks taken over

---
 subsystem/CMakeLists.txt              |  7 +++++++
 subsystem/Subsystem.cpp               | 12 ++++++------
 subsystem/Subsystem.h                 |  4 +++-
 subsystem/modes/CMakeLists.txt        |  5 +++++
 subsystem/modes/ModeSequenceMessage.h |  1 +
 subsystem/modes/ModeStore.cpp         |  4 ++--
 subsystem/modes/ModeStore.h           |  4 +++-
 subsystem/modes/ModeStoreIF.h         |  4 +++-
 8 files changed, 30 insertions(+), 11 deletions(-)
 create mode 100644 subsystem/CMakeLists.txt
 create mode 100644 subsystem/modes/CMakeLists.txt

diff --git a/subsystem/CMakeLists.txt b/subsystem/CMakeLists.txt
new file mode 100644
index 000000000..5c98ee707
--- /dev/null
+++ b/subsystem/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Subsystem.cpp
+		SubsystemBase.cpp
+)
+
+add_subdirectory(modes)
\ No newline at end of file
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index 9712d7d42..4de6906c1 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -367,7 +367,7 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 	}
 
 	if (inStore) {
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 		result = modeStore->storeArray(sequence,
 				&(modeSequences.find(id)->entries.firstLinkedElement));
 		if (result != RETURN_OK) {
@@ -410,7 +410,7 @@ ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
 	}
 
 	if (inStore) {
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 		result = modeStore->storeArray(table,
 				&(modeTables.find(id)->firstLinkedElement));
 		if (result != RETURN_OK) {
@@ -440,7 +440,7 @@ ReturnValue_t Subsystem::deleteSequence(Mode_t id) {
 		return ACCESS_DENIED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore->deleteList(sequenceInfo->entries.firstLinkedElement);
 #endif
 	modeSequences.erase(id);
@@ -463,7 +463,7 @@ ReturnValue_t Subsystem::deleteTable(Mode_t id) {
 		return ACCESS_DENIED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore->deleteList(pointer->firstLinkedElement);
 #endif
 	modeSequences.erase(id);
@@ -482,10 +482,10 @@ ReturnValue_t Subsystem::initialize() {
 		return RETURN_FAILED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);
 
-	if (modeStore == NULL) {
+	if (modeStore == nullptr) {
 		return RETURN_FAILED;
 	}
 #endif
diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index 09d7850ab..c3a72d542 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -10,6 +10,8 @@
 #include "../container/SinglyLinkedList.h"
 #include "../serialize/SerialArrayListAdapter.h"
 
+#include <FSFWConfig.h>
+
 /**
  * @brief   TODO: documentation missing
  * @details
@@ -116,7 +118,7 @@ protected:
 
 	StorageManagerIF *IPCStore = nullptr;
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	ModeStoreIF *modeStore = nullptr;
 #endif
 
diff --git a/subsystem/modes/CMakeLists.txt b/subsystem/modes/CMakeLists.txt
new file mode 100644
index 000000000..6ac6a293a
--- /dev/null
+++ b/subsystem/modes/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ModeSequenceMessage.cpp
+		ModeStore.cpp
+)
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index 9be4586e2..7852c9848 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -2,6 +2,7 @@
 #define FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_
 
 #include "ModeDefinitions.h"
+
 #include "../../ipc/CommandMessage.h"
 #include "../../storagemanager/StorageManagerIF.h"
 
diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp
index 260e5ab21..e216a167a 100644
--- a/subsystem/modes/ModeStore.cpp
+++ b/subsystem/modes/ModeStore.cpp
@@ -1,8 +1,8 @@
-#include "../../subsystem/modes/ModeStore.h"
+#include "ModeStore.h"
 
 // todo: I think some parts are deprecated. If this is used,  the define
 // USE_MODESTORE could be part of the new FSFWConfig.h file.
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 
 ModeStore::ModeStore(object_id_t objectId, uint32_t slots) :
 		SystemObject(objectId), store(slots), emptySlot(store.front()) {
diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h
index 3d031cc80..c05086c7d 100644
--- a/subsystem/modes/ModeStore.h
+++ b/subsystem/modes/ModeStore.h
@@ -1,7 +1,9 @@
 #ifndef MODESTORE_H_
 #define MODESTORE_H_
 
-#ifdef USE_MODESTORE
+#include <FSFWConfig.h>
+
+#if FSFW_USE_MODESTORE == 1
 
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h
index 30cca1f7b..9e76deefc 100644
--- a/subsystem/modes/ModeStoreIF.h
+++ b/subsystem/modes/ModeStoreIF.h
@@ -1,7 +1,9 @@
 #ifndef MODESTOREIF_H_
 #define MODESTOREIF_H_
 
-#ifdef USE_MODESTORE
+#include <FSFWConfig.h>
+
+#if FSFW_USE_MODESTORE == 1
 
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"

From d3239b90644126af99b12dd029d2c19690d2e775 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:41:40 +0100
Subject: [PATCH 32/53] tiny format stuff

---
 subsystem/modes/ModeStoreIF.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h
index 9e76deefc..9682501d6 100644
--- a/subsystem/modes/ModeStoreIF.h
+++ b/subsystem/modes/ModeStoreIF.h
@@ -5,10 +5,11 @@
 
 #if FSFW_USE_MODESTORE == 1
 
+#include "ModeDefinitions.h"
+
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../subsystem/modes/ModeDefinitions.h"
 
 class ModeStoreIF {
 public:

From 3dd86039bb01448c57425f1b9d6f9c4135de3622 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:43:32 +0100
Subject: [PATCH 33/53] changes taken over

---
 subsystem/modes/ModeStore.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h
index c05086c7d..a5cb4059c 100644
--- a/subsystem/modes/ModeStore.h
+++ b/subsystem/modes/ModeStore.h
@@ -1,14 +1,15 @@
-#ifndef MODESTORE_H_
-#define MODESTORE_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODESTORE_H_
+#define FSFW_SUBSYSTEM_MODES_MODESTORE_H_
 
 #include <FSFWConfig.h>
 
 #if FSFW_USE_MODESTORE == 1
 
+#include "ModeStoreIF.h"
+
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../objectmanager/SystemObject.h"
-#include "../../subsystem/modes/ModeStoreIF.h"
 
 class ModeStore: public ModeStoreIF, public SystemObject {
 public:
@@ -43,5 +44,5 @@ private:
 
 #endif
 
-#endif /* MODESTORE_H_ */
+#endif /* FSFW_SUBSYSTEM_MODES_MODESTORE_H_ */
 

From a547fafa33576ce33423536f28d1fa1333a6423a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:49:01 +0100
Subject: [PATCH 34/53] minor tweaks

---
 tasks/CMakeLists.txt        |  5 +++++
 tasks/FixedSlotSequence.h   |  9 +++++++++
 tasks/FixedTimeslotTaskIF.h | 11 ++++++-----
 tasks/TaskFactory.h         | 39 +++++++++++++++++++------------------
 4 files changed, 40 insertions(+), 24 deletions(-)
 create mode 100644 tasks/CMakeLists.txt

diff --git a/tasks/CMakeLists.txt b/tasks/CMakeLists.txt
new file mode 100644
index 000000000..1964bb4e6
--- /dev/null
+++ b/tasks/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		FixedSequenceSlot.cpp
+		FixedSlotSequence.cpp
+)
\ No newline at end of file
diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 19a05f210..077dd10ba 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -139,6 +139,15 @@ public:
 	 */
 	ReturnValue_t checkSequence() const;
 
+	/**
+	 * @brief   A custom check can be injected for the respective slot list.
+	 * @details
+	 * This can be used by the developer to check the validity of a certain
+	 * sequence. The function will be run in the #checkSequence function.
+	 * The general check will be continued for now if the custom check function
+	 * fails but a diagnostic debug output will be given.
+	 * @param customCheckFunction
+	 */
 	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
 
 	/**
diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index 6344efa52..a138db4e2 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -1,12 +1,12 @@
 #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
+#include "PeriodicTaskIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../tasks/PeriodicTaskIF.h"
 
 /**
  * @brief Following the same principle as the base class IF.
- *        This is the interface for a Fixed timeslot task
+ * This is the interface for a Fixed timeslot task
  */
 class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
@@ -20,9 +20,8 @@ public:
 	 * @param executionStep
 	 * @return
 	 */
-	virtual ReturnValue_t addSlot(object_id_t componentId,
-			uint32_t slotTimeMs, int8_t executionStep) = 0;
-
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+	        int8_t executionStep) = 0;
 	/**
 	 * Check whether the sequence is valid and perform all other required
 	 * initialization steps which are needed after task creation
@@ -30,4 +29,6 @@ public:
 	virtual ReturnValue_t checkSequence() const = 0;
 };
 
+
+
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */
diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index fd2f4460d..85cdda900 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -1,9 +1,10 @@
-#ifndef FRAMEWORK_TASKS_TASKFACTORY_H_
-#define FRAMEWORK_TASKS_TASKFACTORY_H_
+#ifndef FSFW_TASKS_TASKFACTORY_H_
+#define FSFW_TASKS_TASKFACTORY_H_
+
+#include "FixedTimeslotTaskIF.h"
+#include "Typedef.h"
 
 #include <cstdlib>
-#include "../tasks/FixedTimeslotTaskIF.h"
-#include "../tasks/Typedef.h"
 
 /**
  * Singleton Class that produces Tasks.
@@ -19,14 +20,13 @@ public:
 	static TaskFactory* instance();
 
 	/**
-	 * Generic interface to create a periodic task
+	 * Creates a new periodic task and returns the interface pointer.
 	 * @param name_ Name of the task
 	 * @param taskPriority_ Priority of the task
-	 * @param stackSize_ Stack size if the task
-	 * @param periodInSeconds_ Period in seconds
-	 * @param deadLineMissedFunction_ This function is called if a deadline was
-	 * missed
-	 * @return Pointer to the created periodic task class
+	 * @param stackSize_ Stack Size of the task
+	 * @param period_ Period of the task
+	 * @param deadLineMissedFunction_ Function to be called if a deadline was missed
+	 * @return PeriodicTaskIF* Pointer to the newly created Task
 	 */
 	PeriodicTaskIF* createPeriodicTask(TaskName name_,
 			TaskPriority taskPriority_, TaskStackSize stackSize_,
@@ -34,14 +34,13 @@ public:
 			TaskDeadlineMissedFunction deadLineMissedFunction_);
 
 	/**
-	 * Generic interface to create a fixed timeslot task
+	 *
 	 * @param name_ Name of the task
 	 * @param taskPriority_ Priority of the task
-	 * @param stackSize_ Stack size if the task
-	 * @param periodInSeconds_ Period in seconds
-	 * @param deadLineMissedFunction_ This function is called if a deadline was
-	 * missed
-	 * @return Pointer to the created periodic task class
+	 * @param stackSize_ Stack Size of the task
+	 * @param period_ Period of the task
+	 * @param deadLineMissedFunction_ Function to be called if a deadline was missed
+	 * @return FixedTimeslotTaskIF* Pointer to the newly created Task
 	 */
 	FixedTimeslotTaskIF* createFixedTimeslotTask(TaskName name_,
 			TaskPriority taskPriority_, TaskStackSize stackSize_,
@@ -51,10 +50,10 @@ public:
 	/**
 	 * Function to be called to delete a task
 	 * @param task The pointer to the task that shall be deleted,
-	 * 				NULL specifies current Task
+	 * nullptr specifies current Task
 	 * @return Success of deletion
 	 */
-	static ReturnValue_t deleteTask(PeriodicTaskIF* task = NULL);
+	static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr);
 
 	/**
 	 * Function to be called to delay current task
@@ -62,12 +61,14 @@ public:
 	 * @return Success of deletion
 	 */
 	static ReturnValue_t delayTask(uint32_t delayMs);
+
 private:
 	/**
 	 * External instantiation is not allowed.
 	 */
 	TaskFactory();
 	static TaskFactory* factoryInstance;
+
 };
 
-#endif /* FRAMEWORK_TASKS_TASKFACTORY_H_ */
+#endif /* FSFW_TASKS_TASKFACTORY_H_ */

From a0e7584e841f3d9a2469ef091fae79fc55560c7c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 20:19:23 +0100
Subject: [PATCH 35/53] tiny tweak

---
 datalinklayer/DataLinkLayer.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/datalinklayer/DataLinkLayer.h b/datalinklayer/DataLinkLayer.h
index 30e548e8c..17a57d61d 100644
--- a/datalinklayer/DataLinkLayer.h
+++ b/datalinklayer/DataLinkLayer.h
@@ -23,7 +23,7 @@ public:
 	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
 	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
 	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
-//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
+//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
 	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); //!< The CCSDS Board could not interpret a TC
 	/**
 	 * The Constructor sets the passed parameters and nothing else.

From 2100ae34f2c69d9a982e1d52d2f8068558daff9b Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 20:49:17 +0100
Subject: [PATCH 36/53] event folder taken over

---
 events/CMakeLists.txt               |  8 ++++++++
 events/EventManager.cpp             |  3 ++-
 events/EventManager.h               | 12 +++++++-----
 events/eventmatching/CMakeLists.txt |  7 +++++++
 events/fwSubsystemIdRanges.h        |  6 +++---
 5 files changed, 27 insertions(+), 9 deletions(-)
 create mode 100644 events/CMakeLists.txt
 create mode 100644 events/eventmatching/CMakeLists.txt

diff --git a/events/CMakeLists.txt b/events/CMakeLists.txt
new file mode 100644
index 000000000..9e63deb89
--- /dev/null
+++ b/events/CMakeLists.txt
@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Event.cpp
+		EventManager.cpp
+		EventMessage.cpp
+)
+
+add_subdirectory(eventmatching)
\ No newline at end of file
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 182fb72be..332761419 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,4 +1,6 @@
 #include "EventManager.h"
+#include "EventMessage.h"
+
 #include <FSFWConfig.h>
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
@@ -9,7 +11,6 @@
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-// This should be configurable..
 const LocalPool::LocalPoolConfig EventManager::poolConfig = {
         {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES,
         		sizeof(EventMatchTree::Node)},
diff --git a/events/EventManager.h b/events/EventManager.h
index fe35d9d3e..6678fc071 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -1,14 +1,16 @@
-#ifndef EVENTMANAGER_H_
-#define EVENTMANAGER_H_
+#ifndef FSFW_EVENT_EVENTMANAGER_H_
+#define FSFW_EVENT_EVENTMANAGER_H_
 
-#include "eventmatching/EventMatchTree.h"
 #include "EventManagerIF.h"
+#include "eventmatching/EventMatchTree.h"
+
+#include <FSFWConfig.h>
+
 #include "../objectmanager/SystemObject.h"
 #include "../storagemanager/LocalPool.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexIF.h"
-#include <FSFWConfig.h>
 
 #include <map>
 
@@ -68,4 +70,4 @@ protected:
 	void unlockMutex();
 };
 
-#endif /* EVENTMANAGER_H_ */
+#endif /* FSFW_EVENT_EVENTMANAGER_H_ */
diff --git a/events/eventmatching/CMakeLists.txt b/events/eventmatching/CMakeLists.txt
new file mode 100644
index 000000000..81ff9ed84
--- /dev/null
+++ b/events/eventmatching/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		EventIdRangeMatcher.cpp
+		EventMatchTree.cpp
+		ReporterRangeMatcher.cpp
+		SeverityRangeMatcher.cpp
+)
\ No newline at end of file
diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h
index 8dc4def76..1b0b238e2 100644
--- a/events/fwSubsystemIdRanges.h
+++ b/events/fwSubsystemIdRanges.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
-#define FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 
 namespace SUBSYSTEM_ID {
 enum {
@@ -27,4 +27,4 @@ enum {
 
 
 
-#endif /* FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ */
+#endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */

From b14c1c43ccbd97fe774a2a2b9f812487b14afcd3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 20:50:56 +0100
Subject: [PATCH 37/53] small fix

---
 events/EventManager.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 332761419..40c821399 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -119,7 +119,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
-	case SEVERITY::INFO:
+	case severity::INFO:
 #if DEBUG_INFO_EVENT == 1
 		string = translateObject(message->getReporter());
 		sif::info << "EVENT: ";

From 14a0573f3d99025347a40bea9df2633b188d80ea Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 20:58:20 +0100
Subject: [PATCH 38/53] one define now

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 2 --
 events/EventManager.cpp            | 2 +-
 events/EventManager.h              | 4 ++--
 unittest/testcfg/FSFWConfig.h      | 4 +---
 4 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index 1386bf66f..7e19235cd 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -27,13 +27,11 @@
 #define FSFW_OBJ_EVENT_TRANSLATION	0
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
 #define FSFW_DEBUG_INFO				1
 #include <translateObjects.h>
 #include <translateEvents.h>
 #else
-#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 40c821399..6cc97eb6c 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -114,7 +114,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
diff --git a/events/EventManager.h b/events/EventManager.h
index 6678fc071..c6bd07be8 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -14,7 +14,7 @@
 
 #include <map>
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 // forward declaration, should be implemented by mission
 extern const char* translateObject(object_id_t object);
 extern const char* translateEvents(Event event);
@@ -61,7 +61,7 @@ protected:
 
 	void notifyListeners(EventMessage *message);
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 	void printEvent(EventMessage *message);
 #endif
 
diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index 4fb224c15..599345602 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -29,13 +29,11 @@
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiles source files)
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
+#define FSFW_DEBUG_INFO             1
 #include <translateObjects.h>
 #include <translateEvents.h>
 #else
-#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities

From 050770c184a8a965a856df53aea37ad75f0962ff Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:07:58 +0100
Subject: [PATCH 39/53] catch factory fixes

---
 unittest/testcfg/CatchFactory.cpp | 30 +++++++++++++-----------------
 1 file changed, 13 insertions(+), 17 deletions(-)

diff --git a/unittest/testcfg/CatchFactory.cpp b/unittest/testcfg/CatchFactory.cpp
index c74a8126d..3177212f4 100644
--- a/unittest/testcfg/CatchFactory.cpp
+++ b/unittest/testcfg/CatchFactory.cpp
@@ -24,31 +24,27 @@ void Factory::produce(void) {
 	setStaticFrameworkObjectIds();
 	new EventManager(objects::EVENT_MANAGER);
 	new HealthTable(objects::HEALTH_TABLE);
-	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
 
 	{
-		static constexpr uint8_t NUMBER_OF_POOLS = 5;
-		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
-		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
-		new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
-				n_elements);
+		PoolManager::LocalPoolConfig poolCfg = {
+		        {100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
+		};
+		new PoolManager(objects::TC_STORE, poolCfg);
 	}
 
 	{
-		static constexpr uint8_t NUMBER_OF_POOLS = 5;
-		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
-		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
-		new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
-				n_elements);
+        PoolManager::LocalPoolConfig poolCfg = {
+                {100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
+        };
+		new PoolManager(objects::TM_STORE, poolCfg);
 	}
 
 	{
-		static constexpr uint8_t NUMBER_OF_POOLS = 6;
-		const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
-				1024, 2048, 4096};
-		const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
-		new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
-				n_elements);
+        PoolManager::LocalPoolConfig poolCfg = {
+                {100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
+        };
+		new PoolManager(objects::IPC_STORE, poolCfg);
 	}
 
 }

From c1a156dde3956be55c96469c98e204d27bb3a0c9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:08:35 +0100
Subject: [PATCH 40/53] catch factory in objects folder again

---
 .../testcfg/{ => objects}/CatchFactory.cpp    |  0
 unittest/testcfg/{ => objects}/CatchFactory.h |  0
 unittest/testcfg/objects/Factory.cpp          | 34 -------------------
 unittest/testcfg/objects/Factory.h            | 16 ---------
 4 files changed, 50 deletions(-)
 rename unittest/testcfg/{ => objects}/CatchFactory.cpp (100%)
 rename unittest/testcfg/{ => objects}/CatchFactory.h (100%)
 delete mode 100644 unittest/testcfg/objects/Factory.cpp
 delete mode 100644 unittest/testcfg/objects/Factory.h

diff --git a/unittest/testcfg/CatchFactory.cpp b/unittest/testcfg/objects/CatchFactory.cpp
similarity index 100%
rename from unittest/testcfg/CatchFactory.cpp
rename to unittest/testcfg/objects/CatchFactory.cpp
diff --git a/unittest/testcfg/CatchFactory.h b/unittest/testcfg/objects/CatchFactory.h
similarity index 100%
rename from unittest/testcfg/CatchFactory.h
rename to unittest/testcfg/objects/CatchFactory.h
diff --git a/unittest/testcfg/objects/Factory.cpp b/unittest/testcfg/objects/Factory.cpp
deleted file mode 100644
index e05b7942e..000000000
--- a/unittest/testcfg/objects/Factory.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#include "Factory.h"
-
-#include <fsfw/events/EventManager.h>
-#include <fsfw/health/HealthTable.h>
-
-#include <fsfw/internalError/InternalErrorReporter.h>
-#include <fsfw/objectmanager/frameworkObjects.h>
-
-/**
- * @brief Produces system objects.
- * @details
- * Build tasks by using SystemObject Interface (Interface).
- * Header files of all tasks must be included
- * Please note that an object has to implement the system object interface
- * if the interface validity is checked or retrieved later by using the
- * get<TargetInterface>(object_id) function from the ObjectManagerIF.
- *
- * Framework objects are created first.
- *
- * @ingroup init
- */
-void Factory::produce(void) {
-	setStaticFrameworkObjectIds();
-	new EventManager(objects::EVENT_MANAGER);
-	new HealthTable(objects::HEALTH_TABLE);
-	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
-
-}
-
-void Factory::setStaticFrameworkObjectIds() {
-
-}
-
-
diff --git a/unittest/testcfg/objects/Factory.h b/unittest/testcfg/objects/Factory.h
deleted file mode 100644
index 84f9207e2..000000000
--- a/unittest/testcfg/objects/Factory.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef FACTORY_H_
-#define FACTORY_H_
-
-#include <fsfw/objectmanager/SystemObjectIF.h>
-
-namespace Factory {
-	/**
-	 * @brief 	Creates all SystemObject elements which are persistent
-	 * 			during execution.
-	 */
-	void produce();
-	void setStaticFrameworkObjectIds();
-
-}
-
-#endif /* FACTORY_H_ */

From 6911f91744ff1b1022adca763bf8b42c208cff97 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:15:41 +0100
Subject: [PATCH 41/53] rtems fixes taken over

---
 osal/rtems/Clock.cpp              | 32 ++++++++++++------------------
 osal/rtems/CpuUsage.cpp           |  2 +-
 osal/rtems/InternalErrorCodes.cpp |  4 ++--
 osal/rtems/MessageQueue.cpp       | 33 +++++++++++++++++--------------
 osal/rtems/MessageQueue.h         | 29 ++++++++++-----------------
 osal/rtems/MultiObjectTask.cpp    |  8 ++++----
 osal/rtems/MultiObjectTask.h      |  2 +-
 osal/rtems/Mutex.cpp              | 11 ++++++-----
 osal/rtems/Mutex.h                |  6 +++---
 osal/rtems/MutexFactory.cpp       |  1 -
 osal/rtems/PollingTask.cpp        | 23 ++++++++++-----------
 osal/rtems/PollingTask.h          |  8 ++++----
 osal/rtems/QueueFactory.cpp       |  9 +++++----
 osal/rtems/RtemsBasic.h           |  6 +++---
 osal/rtems/TaskBase.cpp           |  2 +-
 osal/rtems/TaskBase.h             |  6 +++---
 16 files changed, 86 insertions(+), 96 deletions(-)

diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp
index eeffd7f33..e5f37ec6a 100644
--- a/osal/rtems/Clock.cpp
+++ b/osal/rtems/Clock.cpp
@@ -3,7 +3,7 @@
 #include <rtems/score/todimpl.h>
 
 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;
 
 uint32_t Clock::getTicksPerSecond(void){
 	rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
@@ -40,7 +40,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 	//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
 	//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
 	//TODO Second parameter is ISR_lock_Context
-	_TOD_Set(&newTime,NULL);
+	_TOD_Set(&newTime,nullptr);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -131,7 +131,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 
 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
@@ -157,40 +157,34 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);
+
 
 	leapSeconds = leapSeconds_;
 
-	result = timeMutex->unlockMutex();
-	return result;
+
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);
 
 	*leapSeconds_ = leapSeconds;
 
-	result = timeMutex->unlockMutex();
-	return result;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == NULL) {
+		if (mutexFactory == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == NULL) {
+		if (timeMutex == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index d49de4ad6..6655c69b6 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -158,7 +158,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 }
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
-		int32_t* size, Endianness streamEndianness) {
+		size_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/osal/rtems/InternalErrorCodes.cpp b/osal/rtems/InternalErrorCodes.cpp
index 9346cf15d..ddf365d5f 100644
--- a/osal/rtems/InternalErrorCodes.cpp
+++ b/osal/rtems/InternalErrorCodes.cpp
@@ -12,8 +12,8 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 //		return INVALID_WORKSPACE_ADDRESS;
 	case INTERNAL_ERROR_TOO_LITTLE_WORKSPACE:
 		return TOO_LITTLE_WORKSPACE;
-	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
-		return WORKSPACE_ALLOCATION;
+//	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
+//		return WORKSPACE_ALLOCATION;
 //	case INTERNAL_ERROR_INTERRUPT_STACK_TOO_SMALL:
 //		return INTERRUPT_STACK_TOO_SMALL;
 	case INTERNAL_ERROR_THREAD_EXITTED:
diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp
index 700db444e..839182a67 100644
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@@ -1,14 +1,15 @@
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 #include <cstring>
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
-		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(NULL) {
+		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
 	rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
 	rtems_status_code status = rtems_message_queue_create(name, message_depth,
 			max_message_size, 0, &(this->id));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 				<< name << std::dec << " failed with status:"
 				<< (uint32_t) status << std::endl;
 		this->id = 0;
@@ -20,15 +21,15 @@ MessageQueue::~MessageQueue() {
 }
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessage(this->lastPartner, message, this->getId());
 	} else {
@@ -36,27 +37,29 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 	}
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	*receivedFrom = this->lastPartner;
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	size_t size = 0;
 	rtems_status_code status = rtems_message_queue_receive(id,
-			message->getBuffer(), &(message->messageSize),
+			message->getBuffer(),&size,
 			RTEMS_NO_WAIT, 1);
 	if (status == RTEMS_SUCCESSFUL) {
+		message->setMessageSize(size);
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
-		if (message->messageSize < message->getMinimumMessageSize()) {
+		if (message->getMessageSize() < message->getMinimumMessageSize()) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send something later.
 		//But still, delete packet content.
-		memset(message->getData(), 0, message->MAX_DATA_SIZE);
+		memset(message->getData(), 0, message->getMaximumMessageSize());
 	}
 	return convertReturnCode(status);
 }
@@ -79,20 +82,20 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 }
 
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo,
-			message->getBuffer(), message->messageSize);
+			message->getBuffer(), message->getMessageSize());
 
 	//TODO: Check if we're in ISR.
 	if (result != RTEMS_SUCCESSFUL && !ignoreFault) {
-		if (internalErrorReporter == NULL) {
+		if (internalErrorReporter == nullptr) {
 			internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 		}
-		if (internalErrorReporter != NULL) {
+		if (internalErrorReporter != nullptr) {
 			internalErrorReporter->queueMessageNotSent();
 		}
 	}
@@ -105,7 +108,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 	return returnCode;
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h
index c6fc62d52..342f1e30f 100644
--- a/osal/rtems/MessageQueue.h
+++ b/osal/rtems/MessageQueue.h
@@ -1,14 +1,5 @@
-/**
- *	@file	MessageQueue.h
- *
- *  @date	10/02/2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the MessageQueue class.
- */
-
-#ifndef MESSAGEQUEUE_H_
-#define MESSAGEQUEUE_H_
+#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
+#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
@@ -60,14 +51,14 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
+			MessageQueueMessageIF* message, bool ignoreFault = false );
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
 	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using the stored
@@ -75,7 +66,7 @@ public:
 	 * 			(i.e. lastPartner is zero), an error code is returned.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+	ReturnValue_t reply( MessageQueueMessageIF* message );
 
 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@@ -84,7 +75,7 @@ public:
 	 * @param message	A pointer to a message in which the received data is stored.
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom);
 
 	/**
@@ -95,7 +86,7 @@ public:
 	 * 			message's content is cleared and the function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -121,7 +112,7 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@@ -129,7 +120,7 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
@@ -178,4 +169,4 @@ private:
 	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
 };
 
-#endif /* MESSAGEQUEUE_H_ */
+#endif /* FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ */
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index 2342c24c2..970d01e1d 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -30,7 +30,7 @@ ReturnValue_t MultiObjectTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "ObjectTask::startTask for " << std::hex << this->getId()
+		sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@@ -63,8 +63,8 @@ void MultiObjectTask::taskFunctionality() {
 			char nameSpace[8] = { 0 };
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
 					nameSpace);
-			error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
-			if (this->deadlineMissedFunc != NULL) {
+			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
@@ -74,7 +74,7 @@ void MultiObjectTask::taskFunctionality() {
 ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 736e79dd1..04d122a3d 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -80,7 +80,7 @@ protected:
 	/**
 	 * @brief	The pointer to the deadline-missed function.
 	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
+	 * 			So, each may react individually on a timing failure. The pointer may be nullptr,
 	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
 	 * 			of the periodic task.
 	 */
diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 9553ac79c..a5ec96358 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -10,7 +10,7 @@ Mutex::Mutex() :
 	RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
 			&mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
+		sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }
@@ -18,24 +18,25 @@ Mutex::Mutex() :
 Mutex::~Mutex() {
 	rtems_status_code status = rtems_semaphore_delete(mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: deletion for id " << mutexId
+		sif::error << "Mutex: deletion for id " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }
 
 ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
         TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	rtems_status_code status = RTEMS_INVALID_ID;
 	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
 	}
 	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_NO_WAIT, 0);
 	}
 	else {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, timeoutMs);
 	}
 
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 723682104..4c8613183 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
-#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#ifndef FSFW_OSAL_RTEMS_MUTEX_H_
+#define FSFW_OSAL_RTEMS_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
@@ -15,4 +15,4 @@ private:
 	static uint8_t count;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FSFW_OSAL_RTEMS_MUTEX_H_ */
diff --git a/osal/rtems/MutexFactory.cpp b/osal/rtems/MutexFactory.cpp
index ea5947895..24af5fa95 100644
--- a/osal/rtems/MutexFactory.cpp
+++ b/osal/rtems/MutexFactory.cpp
@@ -2,7 +2,6 @@
 #include "Mutex.h"
 #include "RtemsBasic.h"
 
-//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
 
 MutexFactory::MutexFactory() {
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index 04191515b..db7864fea 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -1,5 +1,6 @@
-#include "../../devicehandlers/FixedSequenceSlot.h"
+#include "../../tasks/FixedSequenceSlot.h"
 #include "../../objectmanager/SystemObjectIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "PollingTask.h"
 #include "RtemsBasic.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
@@ -34,14 +35,14 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
 	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
-	debug << "Polling task " << originalTask->getId()
+	sif::debug << "Polling task " << originalTask->getId()
 			<< " returned from taskFunctionality." << std::endl;
 }
 
 void PollingTask::missedDeadlineCounter() {
 	PollingTask::deadlineMissedCount++;
 	if (PollingTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << PollingTask::deadlineMissedCount
+		sif::error << "PST missed " << PollingTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
 	}
 }
@@ -50,7 +51,7 @@ ReturnValue_t PollingTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "PollingTask::startTask for " << std::hex << this->getId()
+		sif::error << "PollingTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@@ -68,12 +69,13 @@ ReturnValue_t PollingTask::startTask() {
 
 ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
+	if (object != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	error << "Component " << std::hex << componentId <<
+	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
@@ -90,11 +92,10 @@ ReturnValue_t PollingTask::checkSequence() const {
 
 void PollingTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	FixedSlotSequence::SlotListIter it = pst.current;
 
 	//The start time for the first entry is read.
-	rtems_interval interval = RtemsBasic::convertMsToTicks(
-			(*it)->pollingTimeMs);
+	rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
 	TaskBase::setAndStartPeriod(interval,&periodId);
 	//The task's "infinite" inner loop is entered.
 	while (1) {
@@ -107,7 +108,7 @@ void PollingTask::taskFunctionality() {
 			//If the deadline was missed, the deadlineMissedFunc is called.
 			rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
 			if (status == RTEMS_TIMEOUT) {
-				if (this->deadlineMissedFunc != NULL) {
+				if (this->deadlineMissedFunc != nullptr) {
 					this->deadlineMissedFunc();
 				}
 			}
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 199c34e71..42deaf09d 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,7 +1,7 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
+#define FSFW_OSAL_RTEMS_POLLINGTASK_H_
 
-#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"
 
@@ -82,4 +82,4 @@ protected:
 	void taskFunctionality( void );
 };
 
-#endif /* POLLINGTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */
diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp
index fce55a0e4..ff5613041 100644
--- a/osal/rtems/QueueFactory.cpp
+++ b/osal/rtems/QueueFactory.cpp
@@ -1,16 +1,17 @@
 #include "../../ipc/QueueFactory.h"
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,bool ignoreFault) {
 	//TODO add ignoreFault functionality
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo, message->getBuffer(),
-			message->messageSize);
+			message->getMessageSize());
 	switch(result){
 	case RTEMS_SUCCESSFUL:
 			//message sent successfully
@@ -37,7 +38,7 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
diff --git a/osal/rtems/RtemsBasic.h b/osal/rtems/RtemsBasic.h
index 78e0d46e7..d0ca5abab 100644
--- a/osal/rtems/RtemsBasic.h
+++ b/osal/rtems/RtemsBasic.h
@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_RTEMSBASIC_H_
-#define OS_RTEMS_RTEMSBASIC_H_
+#ifndef FSFW_OSAL_RTEMS_RTEMSBASIC_H_
+#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include <rtems.h>
@@ -22,4 +22,4 @@ public:
 	}
 };
 
-#endif /* OS_RTEMS_RTEMSBASIC_H_ */
+#endif /* FSFW_OSAL_RTEMS_RTEMSBASIC_H_ */
diff --git a/osal/rtems/TaskBase.cpp b/osal/rtems/TaskBase.cpp
index adf6ee707..4e0c8f008 100644
--- a/osal/rtems/TaskBase.cpp
+++ b/osal/rtems/TaskBase.cpp
@@ -22,7 +22,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 	}
 	ReturnValue_t result = convertReturnCode(status);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		error << "TaskBase::TaskBase: createTask with name " << std::hex
+		sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
 				<< osalName << std::dec << " failed with return code "
 				<< (uint32_t) status << std::endl;
 		this->id = 0;
diff --git a/osal/rtems/TaskBase.h b/osal/rtems/TaskBase.h
index 410d9110e..0e186e671 100644
--- a/osal/rtems/TaskBase.h
+++ b/osal/rtems/TaskBase.h
@@ -1,5 +1,5 @@
-#ifndef TASKBASE_H_
-#define TASKBASE_H_
+#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
+#define FSFW_OSAL_RTEMS_TASKBASE_H_
 
 #include "RtemsBasic.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -44,4 +44,4 @@ private:
 };
 
 
-#endif /* TASKBASE_H_ */
+#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */

From f604d621e8958ebe906f0cc0bf3c77fad775cd41 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:19:12 +0100
Subject: [PATCH 42/53] removed interrupt class

---
 osal/rtems/Interrupt.cpp | 86 ----------------------------------------
 osal/rtems/Interrupt.h   | 50 -----------------------
 2 files changed, 136 deletions(-)
 delete mode 100644 osal/rtems/Interrupt.cpp
 delete mode 100644 osal/rtems/Interrupt.h

diff --git a/osal/rtems/Interrupt.cpp b/osal/rtems/Interrupt.cpp
deleted file mode 100644
index b740f1ca7..000000000
--- a/osal/rtems/Interrupt.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "Interrupt.h"
-extern "C" {
-#include <bsp_flp/hw_timer/hw_timer.h>
-#include <bsp_flp/hw_uart/hw_uart.h>
-}
-#include "RtemsBasic.h"
-
-
-ReturnValue_t Interrupt::enableInterrupt(InterruptNumber_t interruptNumber) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interruptNumber);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::setInterruptServiceRoutine(IsrHandler_t handler,
-		InterruptNumber_t interrupt, IsrHandler_t* oldHandler) {
-	IsrHandler_t oldHandler_local;
-	if (oldHandler == NULL) {
-		oldHandler = &oldHandler_local;
-	}
-	//+ 0x10 comes because of trap type assignment to IRQs in UT699 processor
-	rtems_status_code status = rtems_interrupt_catch(handler, interrupt + 0x10,
-			oldHandler);
-	switch(status){
-	case RTEMS_SUCCESSFUL:
-		//ISR established successfully
-		return HasReturnvaluesIF::RETURN_OK;
-	case RTEMS_INVALID_NUMBER:
-		//illegal vector number
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_INVALID_ADDRESS:
-		//illegal ISR entry point or invalid old_isr_handler
-		return HasReturnvaluesIF::RETURN_FAILED;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-}
-
-ReturnValue_t Interrupt::disableInterrupt(InterruptNumber_t interruptNumber) {
-	//TODO Not implemented
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-//SHOULDDO: Make default values (edge, polarity) settable?
-ReturnValue_t Interrupt::enableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->direction &= ~(1 << interrupt); //Direction In
-		ioPorts->interrupt_edge |= 1 << interrupt; //Edge triggered
-		ioPorts->interrupt_polarity |= 1 << interrupt; //Trigger on rising edge
-		ioPorts->interrupt_mask |= 1 << interrupt; //Enable
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::disableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask & ~(1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		//Disable gpio IRQ
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->interrupt_mask &= ~(1 << interrupt);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-bool Interrupt::isInterruptInProgress() {
-	return rtems_interrupt_is_in_progress();
-}
diff --git a/osal/rtems/Interrupt.h b/osal/rtems/Interrupt.h
deleted file mode 100644
index 2152e2f03..000000000
--- a/osal/rtems/Interrupt.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef OS_RTEMS_INTERRUPT_H_
-#define OS_RTEMS_INTERRUPT_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include <cstring>
-#include <rtems.h>
-
-typedef rtems_isr_entry IsrHandler_t;
-typedef rtems_isr IsrReturn_t;
-typedef rtems_vector_number InterruptNumber_t;
-
-class Interrupt {
-public:
-	virtual ~Interrupt(){};
-
-	/**
-	 * Establishes a new interrupt service routine.
-	 * @param handler	The service routine to establish
-	 * @param interrupt	The interrupt (NOT trap type) the routine shall react to.
-	 * @return	RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t setInterruptServiceRoutine(IsrHandler_t handler,
-			InterruptNumber_t interrupt, IsrHandler_t *oldHandler = NULL);
-	static ReturnValue_t enableInterrupt(InterruptNumber_t interruptNumber);
-	static ReturnValue_t disableInterrupt(InterruptNumber_t interruptNumber);
-	/**
-	 * Enables the interrupt given.
-	 * The function tests, if the InterruptMask register was written successfully.
-	 * @param interrupt The interrupt to enable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t enableGpioInterrupt(InterruptNumber_t interrupt);
-	/**
-	 * Disables the interrupt given.
-	 * @param interrupt The interrupt to disable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t disableGpioInterrupt(InterruptNumber_t interrupt);
-
-
-	/**
-	 * Checks if the current executing context is an ISR.
-	 * @return true if handling an interrupt, false else.
-	 */
-	static bool isInterruptInProgress();
-
-};
-
-
-#endif /* OS_RTEMS_INTERRUPT_H_ */

From d2f631a955bfd439ac04fcf3d75327e5171a3ca0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:20:21 +0100
Subject: [PATCH 43/53] cast added

---
 returnvalues/HasReturnvaluesIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index a39ac7423..4a3835b63 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -24,7 +24,7 @@ public:
 	 */
 	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
 			uint8_t number) {
-	    return (interfaceId << 8) + number;
+	    return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
 	}
 };
 

From 8c88255873283ea51cbe02f6bf9c3c36900e567c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:31:50 +0100
Subject: [PATCH 44/53] taken over some tweaks

---
 tmtcservices/AcceptsTelemetryIF.h      |  9 +++---
 tmtcservices/AcceptsVerifyMessageIF.h  |  6 ++--
 tmtcservices/CMakeLists.txt            |  9 ++++++
 tmtcservices/CommandingServiceBase.cpp | 40 +++++++++++++-------------
 tmtcservices/PusServiceBase.cpp        | 13 +++++----
 tmtcservices/PusServiceBase.h          | 13 +++++----
 tmtcservices/PusVerificationReport.cpp | 25 ----------------
 tmtcservices/ServiceTypes.h            |  8 +-----
 tmtcservices/SourceSequenceCounter.h   | 12 ++------
 tmtcservices/TmTcBridge.cpp            |  3 +-
 tmtcservices/TmTcBridge.h              | 10 +++----
 tmtcservices/TmTcMessage.cpp           |  5 ++--
 tmtcservices/VerificationCodes.h       |  2 +-
 13 files changed, 65 insertions(+), 90 deletions(-)
 create mode 100644 tmtcservices/CMakeLists.txt

diff --git a/tmtcservices/AcceptsTelemetryIF.h b/tmtcservices/AcceptsTelemetryIF.h
index 2325dbe08..43173d89b 100644
--- a/tmtcservices/AcceptsTelemetryIF.h
+++ b/tmtcservices/AcceptsTelemetryIF.h
@@ -1,5 +1,5 @@
-#ifndef ACCEPTSTELEMETRYIF_H_
-#define ACCEPTSTELEMETRYIF_H_
+#ifndef FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_
+#define FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 /**
@@ -20,7 +20,8 @@ public:
 	 * 			receiving message queue.
 	 * @return	The telemetry reception message queue id.
 	 */
-	virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) = 0;
+	virtual MessageQueueId_t getReportReceptionQueue(
+	        uint8_t virtualChannel = 0) = 0;
 };
 
-#endif /* ACCEPTSTELEMETRYIF_H_ */
+#endif /* FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_ */
diff --git a/tmtcservices/AcceptsVerifyMessageIF.h b/tmtcservices/AcceptsVerifyMessageIF.h
index c9318ab01..d16def4db 100644
--- a/tmtcservices/AcceptsVerifyMessageIF.h
+++ b/tmtcservices/AcceptsVerifyMessageIF.h
@@ -1,5 +1,5 @@
-#ifndef ACCEPTSVERIFICATIONMESSAGEIF_H_
-#define ACCEPTSVERIFICATIONMESSAGEIF_H_
+#ifndef FSFW_TMTCSERVICES_ACCEPTSVERIFICATIONMESSAGEIF_H_
+#define FSFW_TMTCSERVICES_ACCEPTSVERIFICATIONMESSAGEIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 
@@ -12,4 +12,4 @@ public:
 };
 
 
-#endif /* ACCEPTSVERIFICATIONMESSAGEIF_H_ */
+#endif /* FSFW_TMTCSERVICES_ACCEPTSVERIFICATIONMESSAGEIF_H_ */
diff --git a/tmtcservices/CMakeLists.txt b/tmtcservices/CMakeLists.txt
new file mode 100644
index 000000000..c30af214f
--- /dev/null
+++ b/tmtcservices/CMakeLists.txt
@@ -0,0 +1,9 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CommandingServiceBase.cpp
+		PusServiceBase.cpp
+		PusVerificationReport.cpp
+		TmTcBridge.cpp
+		TmTcMessage.cpp
+		VerificationReporter.cpp
+)
\ No newline at end of file
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 0ebc3944f..ed765ecc8 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,9 +1,9 @@
-#include "../tcdistribution/PUSDistributorIF.h"
 #include "AcceptsTelemetryIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
-
 #include "CommandingServiceBase.h"
 #include "TmTcMessage.h"
+
+#include "../tcdistribution/PUSDistributorIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 #include "../ipc/QueueFactory.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcpacket/pus/TmPacketStored.h"
@@ -149,13 +149,13 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	default:
 		if (isStep) {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					result, ++iter->second.step, failureParameter1,
 					failureParameter2);
 		} else {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					result, 0, failureParameter1, failureParameter2);
 		}
@@ -184,13 +184,13 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	if (sendResult == RETURN_OK) {
 		if (isStep and result != NO_STEP_MESSAGE) {
 			verificationReporter.sendSuccessReport(
-					TC_VERIFY::PROGRESS_SUCCESS,
+					tc_verification::PROGRESS_SUCCESS,
 					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
 		}
 		else {
 			verificationReporter.sendSuccessReport(
-					TC_VERIFY::COMPLETION_SUCCESS,
+					tc_verification::COMPLETION_SUCCESS,
 					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, 0);
 			checkAndExecuteFifo(iter);
@@ -200,14 +200,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 		if (isStep) {
 			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, sendResult,
 					++iter->second.step, failureParameter1, failureParameter2);
 		} else {
 			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE,
+					tc_verification::COMPLETION_FAILURE,
 					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, sendResult, 0,
 					failureParameter1, failureParameter2);
@@ -232,14 +232,14 @@ void CommandingServiceBase::handleRequestQueue() {
 
 		if ((packet.getSubService() == 0)
 				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
-			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
+			rejectPacket(tc_verification::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
 		result = getMessageQueueAndObject(packet.getSubService(),
 				packet.getApplicationData(), packet.getApplicationDataSize(),
 				&queue, &objectId);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
-			rejectPacket(TC_VERIFY::START_FAILURE, &packet, result);
+			rejectPacket(tc_verification::START_FAILURE, &packet, result);
 			continue;
 		}
 
@@ -250,14 +250,14 @@ void CommandingServiceBase::handleRequestQueue() {
 		if (iter != commandMap.end()) {
 			result = iter->second.fifo.insert(address);
 			if (result != RETURN_OK) {
-				rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
+				rejectPacket(tc_verification::START_FAILURE, &packet, OBJECT_BUSY);
 			}
 		} else {
 			CommandInfo newInfo; //Info will be set by startExecution if neccessary
 			newInfo.objectId = objectId;
 			result = commandMap.insert(queue, newInfo, &iter);
 			if (result != RETURN_OK) {
-				rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
+				rejectPacket(tc_verification::START_FAILURE, &packet, BUSY);
 			} else {
 				startExecution(&packet, iter);
 			}
@@ -338,10 +338,10 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 			iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
 			iter->second.tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
-			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
+			acceptPacket(tc_verification::START_SUCCESS, storedPacket);
 		} else {
 			command.clearCommandMessage();
-			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
+			rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
@@ -352,18 +352,18 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
+			verificationReporter.sendSuccessReport(tc_verification::START_SUCCESS,
 					storedPacket);
-			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
+			acceptPacket(tc_verification::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
 			command.clearCommandMessage();
-			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
+			rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	default:
-		rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, result);
+		rejectPacket(tc_verification::START_FAILURE, storedPacket, result);
 		checkAndExecuteFifo(iter);
 		break;
 	}
@@ -414,7 +414,7 @@ void CommandingServiceBase::checkTimeout() {
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
 		if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					TIMEOUT);
 			checkAndExecuteFifo(iter);
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index 9d4aabd96..cb5a1247c 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -1,9 +1,10 @@
+#include "PusServiceBase.h"
+#include "AcceptsTelemetryIF.h"
+#include "PusVerificationReport.h"
+#include "TmTcMessage.h"
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tcdistribution/PUSDistributorIF.h"
-#include "../tmtcservices/AcceptsTelemetryIF.h"
-#include "../tmtcservices/PusServiceBase.h"
-#include "../tmtcservices/PusVerificationReport.h"
-#include "../tmtcservices/TmTcMessage.h"
 #include "../ipc/QueueFactory.h"
 
 object_id_t PusServiceBase::packetSource = 0;
@@ -60,11 +61,11 @@ void PusServiceBase::handleRequestQueue() {
 			//    ": handleRequest returned: " << (int)return_code << std::endl;
 			if (result == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
-						TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
+						tc_verification::COMPLETION_SUCCESS, &this->currentPacket);
 			}
 			else {
 				this->verifyReporter.sendFailureReport(
-						TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
+						tc_verification::COMPLETION_FAILURE, &this->currentPacket,
 						result, 0, errorParameter1, errorParameter2);
 			}
 			this->currentPacket.deletePacket();
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 7c8f504c1..4d3d99bc4 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -1,14 +1,15 @@
-#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
-#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
+#ifndef FSFW_TMTCSERVICES_PUSSERVICEBASE_H_
+#define FSFW_TMTCSERVICES_PUSSERVICEBASE_H_
+
+#include "AcceptsTelecommandsIF.h"
+#include "VerificationCodes.h"
+#include "VerificationReporter.h"
 
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
-#include "../tmtcservices/AcceptsTelecommandsIF.h"
-#include "../tmtcservices/VerificationCodes.h"
-#include "../tmtcservices/VerificationReporter.h"
 #include "../ipc/MessageQueueIF.h"
 
 namespace Factory{
@@ -156,4 +157,4 @@ private:
 	void handleRequestQueue();
 };
 
-#endif /* PUSSERVICEBASE_H_ */
+#endif /* FSFW_TMTCSERVICES_PUSSERVICEBASE_H_ */
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index 369519d8a..c64e5feb3 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -4,31 +4,6 @@
 PusVerificationMessage::PusVerificationMessage() {
 }
 
-//PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
-//		TcPacketBase* current_packet, ReturnValue_t set_error_code,
-//		uint8_t set_step, uint32_t parameter1, uint32_t parameter2) {
-//	uint8_t ackFlags = current_packet->getAcknowledgeFlags();
-//	uint16_t tcPacketId = current_packet->getPacketId();
-//	uint16_t tcSequenceControl = current_packet->getPacketSequenceControl();
-//	uint8_t* data = this->getBuffer();
-//	data[messageSize] = set_report_id;
-//	messageSize += sizeof(set_report_id);
-//	data[messageSize] = ackFlags;
-//	messageSize += sizeof(ackFlags);
-//	memcpy(&data[messageSize], &tcPacketId, sizeof(tcPacketId));
-//	messageSize += sizeof(tcPacketId);
-//	memcpy(&data[messageSize], &tcSequenceControl, sizeof(tcSequenceControl));
-//	messageSize += sizeof(tcSequenceControl);
-//	data[messageSize] = set_step;
-//	messageSize += sizeof(set_step);
-//	memcpy(&data[messageSize], &set_error_code, sizeof(set_error_code));
-//	messageSize += sizeof(set_error_code);
-//	memcpy(&data[messageSize], &parameter1, sizeof(parameter1));
-//	messageSize += sizeof(parameter1);
-//	memcpy(&data[messageSize], &parameter2, sizeof(parameter2));
-//	messageSize += sizeof(parameter2);
-//}
-
 PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t set_error_code, uint8_t set_step, uint32_t parameter1,
diff --git a/tmtcservices/ServiceTypes.h b/tmtcservices/ServiceTypes.h
index 1f5bff42f..552601f97 100644
--- a/tmtcservices/ServiceTypes.h
+++ b/tmtcservices/ServiceTypes.h
@@ -1,13 +1,7 @@
-/**
- * @file	ServiceTypes.h
- * @brief	This file defines the ServiceTypes class.
- * @date	11.04.2013
- * @author	baetz
- */
-
 #ifndef SERVICETYPES_H_
 #define SERVICETYPES_H_
 
+// SHOULDDO: This is a duplication of existing configuration structures. Delete it?
 namespace SERVICE {
 enum ServiceTypes {
 	TELECOMMAND_VERIFICATION = 1,
diff --git a/tmtcservices/SourceSequenceCounter.h b/tmtcservices/SourceSequenceCounter.h
index 1cc587587..2b30a53f2 100644
--- a/tmtcservices/SourceSequenceCounter.h
+++ b/tmtcservices/SourceSequenceCounter.h
@@ -1,12 +1,6 @@
-/**
- * @file	SourceSequenceCounter.h
- * @brief	This file defines the SourceSequenceCounter class.
- * @date	04.02.2013
- * @author	baetz
- */
+#ifndef FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
+#define FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
 
-#ifndef SOURCESEQUENCECOUNTER_H_
-#define SOURCESEQUENCECOUNTER_H_
 #include "../tmtcpacket/SpacePacketBase.h"
 
 class SourceSequenceCounter {
@@ -27,4 +21,4 @@ public:
 };
 
 
-#endif /* SOURCESEQUENCECOUNTER_H_ */
+#endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 8abe37a2a..b4e9967bf 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,7 +1,6 @@
-#include "../tmtcservices/TmTcBridge.h"
+#include "TmTcBridge.h"
 
 #include "../ipc/QueueFactory.h"
-#include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../globalfunctions/arrayprinter.h"
 
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 62cfdaac6..0177648c0 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,13 +1,13 @@
-#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
-#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+#ifndef FSFW_TMTCSERVICES_TMTCBRIDGE_H_
+#define FSFW_TMTCSERVICES_TMTCBRIDGE_H_
 
+#include "AcceptsTelemetryIF.h"
+#include "AcceptsTelecommandsIF.h"
 
 #include "../objectmanager/SystemObject.h"
-#include "../tmtcservices/AcceptsTelemetryIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-#include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../container/DynamicFIFO.h"
 #include "../tmtcservices/TmTcMessage.h"
 
@@ -159,4 +159,4 @@ protected:
 };
 
 
-#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
+#endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */
diff --git a/tmtcservices/TmTcMessage.cpp b/tmtcservices/TmTcMessage.cpp
index f81eba62e..ae0283158 100644
--- a/tmtcservices/TmTcMessage.cpp
+++ b/tmtcservices/TmTcMessage.cpp
@@ -1,5 +1,6 @@
-#include "../tmtcservices/TmTcMessage.h"
-#include <string.h>
+#include "TmTcMessage.h"
+
+#include <cstring>
 
 
 TmTcMessage::TmTcMessage() {
diff --git a/tmtcservices/VerificationCodes.h b/tmtcservices/VerificationCodes.h
index e3e89b5a0..35ad6819e 100644
--- a/tmtcservices/VerificationCodes.h
+++ b/tmtcservices/VerificationCodes.h
@@ -1,7 +1,7 @@
 #ifndef VERIFICATIONCODES_H_
 #define VERIFICATIONCODES_H_
 
-namespace TC_VERIFY {
+namespace tc_verification {
 
 enum verification_flags {
 	NONE = 0b0000,

From 796f0e2e17152a40d6f58c9c592b9c74fc573148 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:33:19 +0100
Subject: [PATCH 45/53] important changes adapted

---
 pus/servicepackets/Service1Packets.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
index ecb62693c..2249b4b0f 100644
--- a/pus/servicepackets/Service1Packets.h
+++ b/pus/servicepackets/Service1Packets.h
@@ -49,7 +49,7 @@ public:
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		if (failureSubtype == TC_VERIFY::PROGRESS_FAILURE) {
+		if (failureSubtype == tc_verification::PROGRESS_FAILURE) {
 			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
 			        maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -77,7 +77,7 @@ public:
 		size_t size = 0;
 		size += SerializeAdapter::getSerializedSize(&packetId);
 		size += sizeof(packetSequenceControl);
-		if(failureSubtype==TC_VERIFY::PROGRESS_FAILURE){
+		if(failureSubtype==tc_verification::PROGRESS_FAILURE){
 			size += SerializeAdapter::getSerializedSize(&stepNumber);
 		}
 		size += SerializeAdapter::getSerializedSize(&errorCode);
@@ -131,7 +131,7 @@ public:
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		if (subtype == TC_VERIFY::PROGRESS_SUCCESS) {
+		if (subtype == tc_verification::PROGRESS_SUCCESS) {
 			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
 					maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -145,7 +145,7 @@ public:
 		size_t size = 0;
 		size += SerializeAdapter::getSerializedSize(&packetId);
 		size += sizeof(packetSequenceControl);
-		if(subtype == TC_VERIFY::PROGRESS_SUCCESS){
+		if(subtype == tc_verification::PROGRESS_SUCCESS){
 			size += SerializeAdapter::getSerializedSize(&stepNumber);
 		}
 		return size;

From 1c79da0e75309662bdfe5b94c4a71c93c1825492 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:34:29 +0100
Subject: [PATCH 46/53] tc distrib changed  taken over

---
 tcdistribution/PUSDistributor.cpp | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index 63d1dcde5..8e5b94cc1 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -77,14 +77,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
 		tcStatus = queueStatus;
 	}
 	if (tcStatus != RETURN_OK) {
-		this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
+		this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE,
 				currentPacket, tcStatus);
 		// A failed packet is deleted immediately after reporting,
 		// otherwise it will block memory.
 		currentPacket->deletePacket();
 		return RETURN_FAILED;
 	} else {
-		this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
+		this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS,
 				currentPacket);
 		return RETURN_OK;
 	}
@@ -95,16 +95,19 @@ uint16_t PUSDistributor::getIdentifier() {
 }
 
 ReturnValue_t PUSDistributor::initialize() {
+    currentPacket = new TcPacketStored();
+    if(currentPacket == nullptr) {
+        // Should not happen, memory allocation failed!
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+
 	CCSDSDistributorIF* ccsdsDistributor =
 			objectManager->get<CCSDSDistributorIF>(packetSource);
-	currentPacket = new TcPacketStored();
 	if (ccsdsDistributor == nullptr) {
 		sif::error << "PUSDistributor::initialize: Packet source invalid."
 		        << " Make sure it exists and implements CCSDSDistributorIF!"
 		        << std::endl;
 	    return RETURN_FAILED;
 	}
-	else {
-		return ccsdsDistributor->registerApplication(this);
-	}
+	return ccsdsDistributor->registerApplication(this);
 }

From db42e79fd4eb299c960a3da50ef629098f9bb409 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:38:45 +0100
Subject: [PATCH 47/53] taken over cmakelists file

---
 osal/linux/CMakeLists.txt | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)
 create mode 100644 osal/linux/CMakeLists.txt

diff --git a/osal/linux/CMakeLists.txt b/osal/linux/CMakeLists.txt
new file mode 100644
index 000000000..c0096e428
--- /dev/null
+++ b/osal/linux/CMakeLists.txt
@@ -0,0 +1,25 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		BinarySemaphore.cpp
+		CountingSemaphore.cpp
+		FixedTimeslotTask.cpp
+		InternalErrorCodes.cpp
+		MessageQueue.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PeriodicPosixTask.cpp
+		PosixThread.cpp
+		QueueFactory.cpp
+		SemaphoreFactory.cpp
+		TaskFactory.cpp
+		TcUnixUdpPollingTask.cpp
+		TmTcUnixUdpBridge.cpp
+		Timer.cpp
+)
+
+target_link_libraries(${LIB_FSFW_NAME} 
+	PRIVATE
+		rt
+		pthread
+)

From f2ba653833924f073a44974fd6e902ce6f5d1815 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:47:42 +0100
Subject: [PATCH 48/53] ipc changes taken over

---
 ipc/MutexFactory.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ipc/MutexFactory.h b/ipc/MutexFactory.h
index f8133d814..db505ff94 100644
--- a/ipc/MutexFactory.h
+++ b/ipc/MutexFactory.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_
-#define FRAMEWORK_IPC_MUTEXFACTORY_H_
+#ifndef FSFW_IPC_MUTEXFACTORY_H_
+#define FSFW_IPC_MUTEXFACTORY_H_
 
 #include "MutexIF.h"
 /**
@@ -31,4 +31,4 @@ private:
 
 
 
-#endif /* FRAMEWORK_IPC_MUTEXFACTORY_H_ */
+#endif /* FSFW_IPC_MUTEXFACTORY_H_ */

From 3ee25785a2cefa7eca6d33bba49e046df75a18e1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:54:03 +0100
Subject: [PATCH 49/53] linux changes adapted

---
 osal/linux/BinarySemaphore.cpp  |  2 +-
 osal/linux/Clock.cpp            | 20 ++++++++++----------
 osal/linux/Mutex.cpp            |  2 +-
 osal/linux/Mutex.h              |  8 ++------
 osal/linux/MutexFactory.cpp     |  3 ++-
 osal/linux/PosixThread.cpp      |  4 +++-
 osal/linux/SemaphoreFactory.cpp |  3 ++-
 osal/linux/TaskFactory.cpp      |  5 +++--
 osal/linux/Timer.cpp            |  3 ++-
 9 files changed, 26 insertions(+), 24 deletions(-)

diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp
index 8c0eeae71..b81fa1090 100644
--- a/osal/linux/BinarySemaphore.cpp
+++ b/osal/linux/BinarySemaphore.cpp
@@ -1,4 +1,4 @@
-#include "../../osal/linux/BinarySemaphore.h"
+#include "BinarySemaphore.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 extern "C" {
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index 468fcb80f..6cddda35b 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -1,4 +1,3 @@
-#include <fsfw/timemanager/Stopwatch.h>
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../timemanager/Clock.h"
 
@@ -86,15 +85,16 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t Clock::getUptimeSeconds() {
-	//TODO This is not posix compatible and delivers only seconds precision
-	struct sysinfo sysInfo;
-	int result = sysinfo(&sysInfo);
-	if(result != 0){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return sysInfo.uptime;
-}
+// Wait for new FSFW Clock function delivering seconds uptime.
+//uint32_t Clock::getUptimeSeconds() {
+//	//TODO This is not posix compatible and delivers only seconds precision
+//	struct sysinfo sysInfo;
+//	int result = sysinfo(&sysInfo);
+//	if(result != 0){
+//		return HasReturnvaluesIF::RETURN_FAILED;
+//	}
+//	return sysInfo.uptime;
+//}
 
 ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 	timeval uptime;
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 2ecae0cb8..b27ff8c0a 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -1,4 +1,4 @@
-#include "../../osal/linux/Mutex.h"
+#include "Mutex.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../timemanager/Clock.h"
 
diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h
index 3acb6d90c..cfce407f7 100644
--- a/osal/linux/Mutex.h
+++ b/osal/linux/Mutex.h
@@ -1,12 +1,8 @@
-#ifndef OS_LINUX_MUTEX_H_
-#define OS_LINUX_MUTEX_H_
+#ifndef FSFW_OSAL_LINUX_MUTEX_H_
+#define FSFW_OSAL_LINUX_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
-
-extern "C" {
 #include <pthread.h>
-}
-
 
 class Mutex : public MutexIF {
 public:
diff --git a/osal/linux/MutexFactory.cpp b/osal/linux/MutexFactory.cpp
index 73ab10a2f..80211f8bc 100644
--- a/osal/linux/MutexFactory.cpp
+++ b/osal/linux/MutexFactory.cpp
@@ -1,5 +1,6 @@
+#include "Mutex.h"
+
 #include "../../ipc/MutexFactory.h"
-#include "../../osal/linux/Mutex.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index f6ace3805..55d74de3e 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -1,5 +1,7 @@
+#include "PosixThread.h"
+
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/linux/PosixThread.h"
+
 #include <cstring>
 #include <errno.h>
 
diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
index e4710933e..cfb5f12dd 100644
--- a/osal/linux/SemaphoreFactory.cpp
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -1,6 +1,7 @@
-#include "../../tasks/SemaphoreFactory.h"
 #include "BinarySemaphore.h"
 #include "CountingSemaphore.h"
+
+#include "../../tasks/SemaphoreFactory.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp
index a25b817d7..d18a03161 100644
--- a/osal/linux/TaskFactory.cpp
+++ b/osal/linux/TaskFactory.cpp
@@ -1,5 +1,6 @@
-#include "../../osal/linux/FixedTimeslotTask.h"
-#include "../../osal/linux/PeriodicPosixTask.h"
+#include "FixedTimeslotTask.h"
+#include "PeriodicPosixTask.h"
+
 #include "../../tasks/TaskFactory.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 
diff --git a/osal/linux/Timer.cpp b/osal/linux/Timer.cpp
index b458fd905..bae631d72 100644
--- a/osal/linux/Timer.cpp
+++ b/osal/linux/Timer.cpp
@@ -1,6 +1,7 @@
+#include "Timer.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <errno.h>
-#include "../../osal/linux/Timer.h"
+
 
 Timer::Timer() {
 	sigevent sigEvent;

From 95b2191824f8ca051021801cf84aa9b440a45d37 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 22:55:12 +0100
Subject: [PATCH 50/53] long name

---
 datapoollocal/LocalDataPoolManager.h |  2 +-
 datapoollocal/LocalPoolVariable.h    | 50 ++++++++++++++--------------
 datapoollocal/LocalPoolVariable.tpp  | 46 ++++++++++++-------------
 monitoring/MonitorBase.h             |  2 +-
 4 files changed, 50 insertions(+), 50 deletions(-)

diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 95d483032..c4024cf9e 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -48,7 +48,7 @@ class HousekeepingPacketUpdate;
  * @author 		R. Mueller
  */
 class LocalDataPoolManager {
-	template<typename T> friend class LocalPoolVar;
+	template<typename T> friend class LocalPoolVariable;
 	template<typename T, uint16_t vecSize> friend class LocalPoolVector;
 	friend class LocalPoolDataSetBase;
 	friend void (Factory::setStaticFrameworkObjectIds)();
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index c18d54433..7b7e443e1 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -22,10 +22,10 @@
  * @ingroup data_pool
  */
 template<typename T>
-class LocalPoolVar: public LocalPoolObjectBase {
+class LocalPoolVariable: public LocalPoolObjectBase {
 public:
 	//! Default ctor is forbidden.
-	LocalPoolVar() = delete;
+	LocalPoolVariable() = delete;
 
 	/**
 	 * This constructor is used by the data creators to have pool variable
@@ -43,7 +43,7 @@ public:
 	 * If nullptr, the variable is not registered.
 	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
 	 */
-	LocalPoolVar(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+	LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
@@ -64,7 +64,7 @@ public:
 	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
 	 *
 	 */
-	LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
+	LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 	/**
@@ -73,10 +73,10 @@ public:
 	 * @param dataSet
 	 * @param setReadWriteMode
 	 */
-	LocalPoolVar(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
+	LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
-	virtual~ LocalPoolVar() {};
+	virtual~ LocalPoolVariable() {};
 
 	/**
 	 * @brief	This is the local copy of the data pool entry.
@@ -118,23 +118,23 @@ public:
 	ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
 
 
-	LocalPoolVar<T> &operator=(const T& newValue);
-	LocalPoolVar<T> &operator=(const LocalPoolVar<T>& newPoolVariable);
+	LocalPoolVariable<T> &operator=(const T& newValue);
+	LocalPoolVariable<T> &operator=(const LocalPoolVariable<T>& newPoolVariable);
 
 	//! Explicit type conversion operator. Allows casting the class to
 	//! its template type to perform operations on value.
 	explicit operator T() const;
 
-	bool operator==(const LocalPoolVar<T>& other) const;
+	bool operator==(const LocalPoolVariable<T>& other) const;
 	bool operator==(const T& other) const;
 
-	bool operator!=(const LocalPoolVar<T>& other) const;
+	bool operator!=(const LocalPoolVariable<T>& other) const;
 	bool operator!=(const T& other) const;
 
-	bool operator<(const LocalPoolVar<T>& other) const;
+	bool operator<(const LocalPoolVariable<T>& other) const;
 	bool operator<(const T& other) const;
 
-	bool operator>(const LocalPoolVar<T>& other) const;
+	bool operator>(const LocalPoolVariable<T>& other) const;
 	bool operator>(const T& other) const;
 
 protected:
@@ -160,7 +160,7 @@ protected:
 	// std::ostream is the type for object std::cout
 	template <typename U>
 	friend std::ostream& operator<< (std::ostream &out,
-			const LocalPoolVar<U> &var);
+			const LocalPoolVariable<U> &var);
 
 private:
 };
@@ -168,18 +168,18 @@ private:
 #include "LocalPoolVariable.tpp"
 
 template<class T>
-using lp_var_t = LocalPoolVar<T>;
+using lp_var_t = LocalPoolVariable<T>;
 
-using lp_bool_t = LocalPoolVar<uint8_t>;
-using lp_uint8_t = LocalPoolVar<uint8_t>;
-using lp_uint16_t = LocalPoolVar<uint16_t>;
-using lp_uint32_t = LocalPoolVar<uint32_t>;
-using lp_uint64_t = LocalPoolVar<uint64_t>;
-using lp_int8_t = LocalPoolVar<int8_t>;
-using lp_int16_t = LocalPoolVar<int16_t>;
-using lp_int32_t = LocalPoolVar<int32_t>;
-using lp_int64_t = LocalPoolVar<int64_t>;
-using lp_float_t = LocalPoolVar<float>;
-using lp_double_t = LocalPoolVar<double>;
+using lp_bool_t = LocalPoolVariable<uint8_t>;
+using lp_uint8_t = LocalPoolVariable<uint8_t>;
+using lp_uint16_t = LocalPoolVariable<uint16_t>;
+using lp_uint32_t = LocalPoolVariable<uint32_t>;
+using lp_uint64_t = LocalPoolVariable<uint64_t>;
+using lp_int8_t = LocalPoolVariable<int8_t>;
+using lp_int16_t = LocalPoolVariable<int16_t>;
+using lp_int32_t = LocalPoolVariable<int32_t>;
+using lp_int64_t = LocalPoolVariable<int64_t>;
+using lp_float_t = LocalPoolVariable<float>;
+using lp_double_t = LocalPoolVariable<double>;
 
 #endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index b9f7b906e..48649ad58 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -6,32 +6,32 @@
 #endif
 
 template<typename T>
-inline LocalPoolVar<T>::LocalPoolVar(HasLocalDataPoolIF* hkOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
 		lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
 		LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 template<typename T>
-inline LocalPoolVar<T>::LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
         DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
         LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
 
 template<typename T>
-inline LocalPoolVar<T>::LocalPoolVar(gp_id_t globalPoolId, DataSetIF *dataSet,
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF *dataSet,
 		pool_rwm_t setReadWriteMode):
 		LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
 				dataSet, setReadWriteMode){}
 
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
+inline ReturnValue_t LocalPoolVariable<T>::read(dur_millis_t lockTimeout) {
 	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
 			lockTimeout);
 	return readWithoutLock();
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
+inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
 		sif::debug << "LocalPoolVar: Invalid read write "
 				"mode for read() call." << std::endl;
@@ -53,14 +53,14 @@ inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
+inline ReturnValue_t LocalPoolVariable<T>::commit(dur_millis_t lockTimeout) {
 	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
 			lockTimeout);
 	return commitWithoutLock();
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
+inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_READ) {
 		sif::debug << "LocalPoolVar: Invalid read write "
 				 "mode for commit() call." << std::endl;
@@ -81,88 +81,88 @@ inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
+inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer, size_t* size,
 		const size_t max_size, SerializeIF::Endianness streamEndianness) const {
 	return SerializeAdapter::serialize(&value,
 			buffer, size ,max_size, streamEndianness);
 }
 
 template<typename T>
-inline size_t LocalPoolVar<T>::getSerializedSize() const {
+inline size_t LocalPoolVariable<T>::getSerializedSize() const {
 	return SerializeAdapter::getSerializedSize(&value);
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
 		size_t* size, SerializeIF::Endianness streamEndianness) {
 	return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }
 
 template<typename T>
 inline std::ostream& operator<< (std::ostream &out,
-		const LocalPoolVar<T> &var) {
+		const LocalPoolVariable<T> &var) {
     out << var.value;
     return out;
 }
 
 template<typename T>
-inline LocalPoolVar<T>::operator T() const {
+inline LocalPoolVariable<T>::operator T() const {
 	return value;
 }
 
 template<typename T>
-inline LocalPoolVar<T> & LocalPoolVar<T>::operator=(const T& newValue) {
+inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(const T& newValue) {
     value = newValue;
     return *this;
 }
 
 template<typename T>
-inline LocalPoolVar<T>& LocalPoolVar<T>::operator =(
-		const LocalPoolVar<T>& newPoolVariable) {
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
+		const LocalPoolVariable<T>& newPoolVariable) {
 	value = newPoolVariable.value;
 	return *this;
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator ==(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator ==(const LocalPoolVariable<T> &other) const {
 	return this->value == other.value;
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator ==(const T &other) const {
+inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
 	return this->value == other;
 }
 
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator !=(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator !=(const LocalPoolVariable<T> &other) const {
 	return not (*this == other);
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator !=(const T &other) const {
+inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
 	return not (*this == other);
 }
 
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator <(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator <(const LocalPoolVariable<T> &other) const {
 	return this->value < other.value;
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator <(const T &other) const {
+inline bool LocalPoolVariable<T>::operator <(const T &other) const {
 	return this->value < other;
 }
 
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator >(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator >(const LocalPoolVariable<T> &other) const {
 	return not (*this < other);
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator >(const T &other) const {
+inline bool LocalPoolVariable<T>::operator >(const T &other) const {
 	return not (*this < other);
 }
 
diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h
index 530a38409..967f0f62f 100644
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@@ -72,7 +72,7 @@ protected:
 	    return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	LocalPoolVar<T> poolVariable;
+	LocalPoolVariable<T> poolVariable;
 };
 
 #endif /* FSFW_MONITORING_MONITORBASE_H_ */

From 9170f466e8ccaf74da9bd97d260fd846fcb6551a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 23:21:07 +0100
Subject: [PATCH 51/53] freeRTOS version checks

---
 osal/FreeRTOS/BinSemaphUsingTask.h | 5 +++++
 osal/FreeRTOS/PeriodicTask.cpp     | 3 +++
 2 files changed, 8 insertions(+)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 65a091a3f..0061c252f 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -7,6 +7,9 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 // todo: does not work for older FreeRTOS version, so we should
 // actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
 
@@ -90,4 +93,6 @@ protected:
 	TaskHandle_t handle;
 };
 
+#endif
+
 #endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 5c0a840da..04c588d23 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -112,6 +112,8 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
+#if tskKERNEL_VERSION_MAJOR >= 10 && tskKERNEL_VERSION_MINOR > 4)
+#else
     // Time to wake has not overflown.
     if(timeToWake > xLastWakeTime) {
         /* If the current time has overflown exclusively or the current
@@ -126,6 +128,7 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
+#endif
 }
 
 TaskHandle_t PeriodicTask::getTaskHandle() {

From b8f4d8690bec206be73a4e819ae71685177ae3e9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 23:38:06 +0100
Subject: [PATCH 52/53] determination of freeRTOS features from version

---
 osal/FreeRTOS/BinSemaphUsingTask.h |  3 ---
 osal/FreeRTOS/PeriodicTask.cpp     | 18 +++++++++++-------
 osal/FreeRTOS/PeriodicTask.h       |  1 +
 3 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 0061c252f..8a413d5ad 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -10,9 +10,6 @@
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
     tskKERNEL_VERSION_MAJOR > 8
 
-// todo: does not work for older FreeRTOS version, so we should
-// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
-
 /**
  * @brief 	Binary Semaphore implementation using the task notification value.
  * 			The notification value should therefore not be used
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 04c588d23..963891877 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -80,10 +80,16 @@ void PeriodicTask::taskFunctionality() {
 			object->performOperation();
 		}
 
-		checkMissedDeadline(xLastWakeTime, xPeriod);
-
-		vTaskDelayUntil(&xLastWakeTime, xPeriod);
-
+#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
+    tskKERNEL_VERSION_MAJOR > 10
+		BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, xPeriod);
+		if(wasDelayed == pdFALSE) {
+		    handleMissedDeadline();
+		}
+#else
+        checkMissedDeadline(xLastWakeTime, xPeriod);
+        vTaskDelayUntil(&xLastWakeTime, xPeriod);
+#endif
 	}
 }
 
@@ -112,8 +118,6 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-#if tskKERNEL_VERSION_MAJOR >= 10 && tskKERNEL_VERSION_MINOR > 4)
-#else
     // Time to wake has not overflown.
     if(timeToWake > xLastWakeTime) {
         /* If the current time has overflown exclusively or the current
@@ -128,7 +132,7 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
-#endif
+
 }
 
 TaskHandle_t PeriodicTask::getTaskHandle() {
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 87b8b6d2f..80d00bf16 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -71,6 +71,7 @@ public:
 
 	TaskHandle_t getTaskHandle() override;
 protected:
+
 	bool started;
 	TaskHandle_t handle;
 

From 0c3e87f1deee38f1ee30acf8090c86377ebcb840 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 23:55:54 +0100
Subject: [PATCH 53/53] using new xTaskDelayUntil

---
 osal/FreeRTOS/BinSemaphUsingTask.cpp      |  6 +++
 osal/FreeRTOS/BinSemaphUsingTask.h        |  3 +-
 osal/FreeRTOS/CountingSemaphUsingTask.cpp |  5 ++
 osal/FreeRTOS/CountingSemaphUsingTask.h   |  6 +++
 osal/FreeRTOS/FixedTimeslotTask.cpp       | 42 ++++++-----------
 osal/FreeRTOS/FixedTimeslotTask.h         |  2 -
 osal/FreeRTOS/FreeRTOSTaskIF.h            | 38 +++++++++++++--
 osal/FreeRTOS/PeriodicTask.cpp            | 28 ++---------
 osal/FreeRTOS/PeriodicTask.h              |  2 -
 osal/FreeRTOS/TaskManagement.cpp          |  1 +
 osal/FreeRTOS/TaskManagement.h            | 57 +++++++++++------------
 11 files changed, 98 insertions(+), 92 deletions(-)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
index 9c29948e9..a420ec489 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -2,6 +2,9 @@
 #include "TaskManagement.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
 	handle = TaskManagement::getCurrentTaskHandle();
 	if(handle == nullptr) {
@@ -97,3 +100,6 @@ uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
 			higherPriorityTaskWoken);
 	return notificationValue;
 }
+
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 8a413d5ad..ec434853e 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -90,6 +90,7 @@ protected:
 	TaskHandle_t handle;
 };
 
-#endif
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
 
 #endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index 17cdf7ce3..9d309acc3 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -3,6 +3,9 @@
 
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
 		uint8_t initCount): maxCount(maxCount) {
 	if(initCount > maxCount) {
@@ -113,3 +116,5 @@ uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
 uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
 	return maxCount;
 }
+
+#endif
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index f258197ba..45915b6b5 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -7,6 +7,9 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 /**
  * @brief 	Couting Semaphore implementation which uses the notification value
  * 			of the task. The notification value should therefore not be used
@@ -100,4 +103,7 @@ private:
 	const uint8_t maxCount;
 };
 
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
+
 #endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 062686e2b..fc5b89fe0 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -114,38 +114,24 @@ void FixedTimeslotTask::taskFunctionality() {
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 
-	        checkMissedDeadline(xLastWakeTime, interval);
-
-	        // Wait for the interval. This exits immediately if a deadline was
-	        // missed while also updating the last wake time.
-	        vTaskDelayUntil(&xLastWakeTime, interval);
+#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
+    tskKERNEL_VERSION_MAJOR > 10
+	        BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, interval);
+	        if(wasDelayed == pdFALSE) {
+	            handleMissedDeadline();
+	        }
+#else
+            if(checkMissedDeadline(xLastWakeTime, interval)) {
+                handleMissedDeadline();
+            }
+            // Wait for the interval. This exits immediately if a deadline was
+            // missed while also updating the last wake time.
+            vTaskDelayUntil(&xLastWakeTime, interval);
+#endif
 	    }
 	}
 }
 
-void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
 void FixedTimeslotTask::handleMissedDeadline() {
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 7d2cdb703..f2245ba4a 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -93,8 +93,6 @@ protected:
 	 */
 	void taskFunctionality(void);
 
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
 	void handleMissedDeadline();
 };
 
diff --git a/osal/FreeRTOS/FreeRTOSTaskIF.h b/osal/FreeRTOS/FreeRTOSTaskIF.h
index 06fda2828..2a2d94947 100644
--- a/osal/FreeRTOS/FreeRTOSTaskIF.h
+++ b/osal/FreeRTOS/FreeRTOSTaskIF.h
@@ -1,13 +1,41 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
-#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
 class FreeRTOSTaskIF {
 public:
-	virtual~ FreeRTOSTaskIF() {}
-	virtual TaskHandle_t getTaskHandle() = 0;
+    virtual~ FreeRTOSTaskIF() {}
+    virtual TaskHandle_t getTaskHandle() = 0;
+
+protected:
+
+    bool checkMissedDeadline(const TickType_t xLastWakeTime,
+            const TickType_t interval) {
+        /* Check whether deadline was missed while also taking overflows
+         * into account. Drawing this on paper with a timeline helps to understand
+         * it. */
+        TickType_t currentTickCount = xTaskGetTickCount();
+        TickType_t timeToWake = xLastWakeTime + interval;
+        // Time to wake has not overflown.
+        if(timeToWake > xLastWakeTime) {
+            /* If the current time has overflown exclusively or the current
+             * tick count is simply larger than the time to wake, a deadline was
+             * missed */
+            if((currentTickCount < xLastWakeTime) or
+                    (currentTickCount > timeToWake)) {
+                return true;
+            }
+        }
+        /* Time to wake has overflown. A deadline was missed if the current time
+         * is larger than the time to wake */
+        else if((timeToWake < xLastWakeTime) and
+                (currentTickCount > timeToWake)) {
+            return true;
+        }
+        return false;
+    }
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
+#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 963891877..2ee7bec01 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -87,7 +87,9 @@ void PeriodicTask::taskFunctionality() {
 		    handleMissedDeadline();
 		}
 #else
-        checkMissedDeadline(xLastWakeTime, xPeriod);
+        if(checkMissedDeadline(xLastWakeTime, xPeriod)) {
+            handleMissedDeadline();
+        }
         vTaskDelayUntil(&xLastWakeTime, xPeriod);
 #endif
 	}
@@ -111,30 +113,6 @@ uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
 
-void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-
-}
-
 TaskHandle_t PeriodicTask::getTaskHandle() {
     return handle;
 }
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 80d00bf16..36ef568f6 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -119,8 +119,6 @@ protected:
 	 */
 	void taskFunctionality(void);
 
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
 	void handleMissedDeadline();
 };
 
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 18572045e..c0d0067e9 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -22,3 +22,4 @@ size_t TaskManagement::getTaskStackHighWatermark(
         TaskHandle_t task) {
 	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
 }
+
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index c6c46f21c..b9aece48b 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -26,38 +26,37 @@ enum class CallContext {
 };
 
 
-class TaskManagement {
-public:
-	/**
-	 * @brief	In this function, a function dependant on the portmacro.h header
-	 * 			function calls to request a context switch can be specified.
-	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
-	 */
-	static void requestContextSwitch(CallContext callContext);
+namespace TaskManagement {
+/**
+ * @brief	In this function, a function dependant on the portmacro.h header
+ * 			function calls to request a context switch can be specified.
+ * This can be used if sending to the queue from an ISR caused a task
+ * to unblock and a context switch is required.
+ */
+void requestContextSwitch(CallContext callContext);
 
-	/**
-	 * If task preemption in FreeRTOS is disabled, a context switch
-	 * can be requested manually by calling this function.
-	 */
-	static void vRequestContextSwitchFromTask(void);
+/**
+ * If task preemption in FreeRTOS is disabled, a context switch
+ * can be requested manually by calling this function.
+ */
+void vRequestContextSwitchFromTask(void);
 
-	/**
-	 * @return The current task handle
-	 */
-	static TaskHandle_t getCurrentTaskHandle();
+/**
+ * @return The current task handle
+ */
+TaskHandle_t getCurrentTaskHandle();
+
+/**
+ * Get returns the minimum amount of remaining stack space in words
+ * that was a available to the task since the task started executing.
+ * Please note that the actual value in bytes depends
+ * on the stack depth type.
+ * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+ * @return Smallest value of stack remaining since the task was started in
+ * 		   words.
+ */
+size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
-	/**
-	 * Get returns the minimum amount of remaining stack space in words
-	 * that was a available to the task since the task started executing.
-	 * Please note that the actual value in bytes depends
-	 * on the stack depth type.
-	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
-	 * @return Smallest value of stack remaining since the task was started in
-	 * 		   words.
-	 */
-	static size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */