Merge branch 'development' into mueller/refactor-logging-with-fmt

Reviewed-on: fsfw/fsfw#653

.run/fsfw-tests_coverage.run.xml

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

.run/fsfw.run.xml

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

CHANGELOG.md

@@ -19,12 +19,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
   compiler supports it
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
-- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
-- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
@@ -46,6 +40,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
+  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
 
 ### Task Module Refactoring
 
@@ -120,6 +117,8 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
+- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
+  This is also the new default constructor for scalar value with 0 as an initial value
 - Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
   whether it is running in CI/CD
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623

CMakeLists.txt

@@ -67,13 +67,13 @@ endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LINK_TARGET etl::etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
     ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
     CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)
 
 set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
@@ -82,6 +82,15 @@ set(FSFW_CATCH2_LIB_VERSION
     v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
     CACHE STRING "Catch2 library exact version requirement")
 
+set(FSFW_FMT_LIB_NAME fmt)
+set(FSFW_FMT_LINK_TARGET fmt::fmt)
+set(FSFW_FMT_LIB_MAJOR_VERSION
+    8
+    CACHE STRING "{fmt} library major version requirement")
+set(FSFW_FMT_LIB_VERSION
+    ${FSFW_FMT_LIB_MAJOR_VERSION}.1.1
+    CACHE STRING "{fmt} library exact version requirement")
+
 # Keep this off by default for now. See PR:
 # https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
 # keeping this on by default is problematic
@@ -103,11 +112,11 @@ if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS
+option(FSFW_BUILD_TESTS
        "Build unittest binary in addition to static library" OFF)
 option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
@@ -139,7 +148,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                 TRUE)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   message(
     STATUS
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
@@ -162,18 +171,17 @@ if(FSFW_BUILD_UNITTESTS)
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
-  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
-                 tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH unittests/testcfg)
+  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
+
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
     set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                   TRUE)
   endif()
-
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
     message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
@@ -183,7 +191,7 @@ if(FSFW_BUILD_UNITTESTS)
   endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
+message(STATUS "${MSG_PREFIX} Finding and/or etl (Embedded Template Library)")
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -203,6 +211,26 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 
+message(STATUS "Finding and/or providing {fmt} formatting library")
+
+# Check whether the user has already installed ETL first
+find_package(fmt ${FSFW_FMT_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_FMT_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No {fmt} installation was found with find_package. Installing and providing "
+      "{fmt} with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_FMT_LIB_NAME}
+    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
+    GIT_TAG ${FSFW_FMT_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_FMT_LIB_NAME})
+endif()
+
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
@@ -212,7 +240,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
   endif()
   if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
+    # Fixes regression -preview4, to be confirmed in later releases. Related
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
@@ -281,16 +309,15 @@ message(
 )
 
 add_subdirectory(src)
-add_subdirectory(tests)
-if(FSFW_ADD_HAL)
-  add_subdirectory(hal)
-endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_TESTS)
+  add_subdirectory(unittests)
+endif()
 if(FSFW_BUILD_DOCS)
   add_subdirectory(docs)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   if(FSFW_TESTS_GEN_COV)
     if(CMAKE_COMPILER_IS_GNUCXX)
       include(CodeCoverage)
@@ -446,9 +473,8 @@ target_include_directories(
 
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                 ${COMPILER_FLAGS})
-
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-                                               ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET} ${FSFW_FMT_LINK_TARGET})
 
 string(
   CONCAT
@@ -458,6 +484,13 @@ string(
     "Target OSAL: ${FSFW_OS_NAME}\n"
     "######################################################################\n")
 
+# The additional / is important to remove the last character from the path. Note
+# that it does not matter if the OS uses / or \, because we are only saving the
+# path size.
+string(LENGTH "${CMAKE_SOURCE_DIR}/" FSFW_SOURCE_PATH_SIZE)
+target_compile_definitions(
+  ${LIB_FSFW_NAME} PRIVATE "-DFSFW_SOURCE_PATH_SIZE=${FSFW_SOURCE_PATH_SIZE}")
+
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD

README.md

@@ -139,7 +139,7 @@ You can also use `-DFSFW_OSAL=linux` on Linux systems.
 
 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generare the coverage data in this format,
+To build the unittests, run them and then generate the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 
 ```sh
@@ -188,7 +188,10 @@ and open the documentation conveniently. Try `helper.py -h for more information.
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `apply-clang-format.sh` helper script to format all source files consistently.
+can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
+````sh
+sudo pip install cmakelang
+````
 
 ## Index
 

automation/Dockerfile

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

automation/Jenkinsfile

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

hal/CMakeLists.txt

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

hal/src/CMakeLists.txt

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

hal/src/fsfw_hal/linux/utility.cpp

@@ -1,23 +0,0 @@
-#include "fsfw_hal/linux/utility.h"
-
-#include <cerrno>
-#include <cstring>
-
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-void utility::handleIoctlError(const char* const customPrintout) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (customPrintout != nullptr) {
-    sif::warning << customPrintout << std::endl;
-  }
-  sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
-#else
-  if (customPrintout != nullptr) {
-    sif::printWarning("%s\n", customPrintout);
-  }
-  sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-}

misc/archive/ServiceInterfaceStream.h

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

scripts/helper.py

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

src/CMakeLists.txt

@@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
                            INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_subdirectory(fsfw)
+if(FSFW_ADD_HAL)
+  add_subdirectory(fsfw_hal)
+endif()
+
+add_subdirectory(fsfw_tests)

src/fsfw/action/ActionHelper.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/action.h"
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
@@ -28,13 +28,7 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
   }
 
   if (queueToUse == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
-#else
-    sif::printWarning("ActionHelper::initialize: No queue set\n");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGW("{}", "initialize: No queue set\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -96,14 +90,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   size_t size = 0;
   ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "ActionHelper::reportData: Getting free element from IPC "
-        "store failed!\n");
-#endif
+    FSFW_LOGWT("{}", "reportData: Getting free element from IPC store failed\n");
     return result;
   }
   result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
@@ -138,11 +125,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   store_address_t storeAddress;
   ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
-#else
-    sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
-#endif
+    FSFW_LOGWT("{}", "reportData: Adding data to IPC store failed\n");
     return result;
   }
 

src/fsfw/cfdp/CFDPHandler.cpp

@@ -4,6 +4,7 @@
 #include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/storagemanager/storeAddress.h"
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 
@@ -28,13 +29,7 @@ ReturnValue_t CFDPHandler::initialize() {
 }
 
 ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "CFDPHandler::handleRequest" << std::endl;
-#else
-  sif::printDebug("CFDPHandler::handleRequest\n");
-#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif
+  FSFW_LOGDT("{}", "CFDPHandler::handleRequest\n");
 
   // TODO read out packet from store using storeId
 

src/fsfw/cfdp/pdu/AckInfo.cpp

@@ -13,12 +13,10 @@ AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedC
   }
 }
 
-AckInfo::AckInfo() = default;
-
 cfdp::ConditionCode AckInfo::getAckedConditionCode() const { return ackedConditionCode; }
 
-void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode_) {
-  ackedConditionCode = ackedConditionCode_;
+void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
+  this->ackedConditionCode = ackedConditionCode;
   if (ackedDirective == cfdp::FileDirectives::FINISH) {
     this->directiveSubtypeCode = 0b0001;
   } else {
@@ -28,18 +26,20 @@ void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode_) {
 
 cfdp::FileDirectives AckInfo::getAckedDirective() const { return ackedDirective; }
 
-void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective_) {
-  ackedDirective = ackedDirective_;
+void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective) {
+  this->ackedDirective = ackedDirective;
 }
 
 uint8_t AckInfo::getDirectiveSubtypeCode() const { return directiveSubtypeCode; }
 
-void AckInfo::setDirectiveSubtypeCode(uint8_t directiveSubtypeCode_) {
-  directiveSubtypeCode = directiveSubtypeCode_;
+void AckInfo::setDirectiveSubtypeCode(uint8_t directiveSubtypeCode) {
+  this->directiveSubtypeCode = directiveSubtypeCode;
 }
 
 cfdp::AckTransactionStatus AckInfo::getTransactionStatus() const { return transactionStatus; }
 
-void AckInfo::setTransactionStatus(cfdp::AckTransactionStatus transactionStatus_) {
-  transactionStatus = transactionStatus_;
+AckInfo::AckInfo() {}
+
+void AckInfo::setTransactionStatus(cfdp::AckTransactionStatus transactionStatus) {
+  this->transactionStatus = transactionStatus;
 }

src/fsfw/cfdp/pdu/AckInfo.h

@@ -9,16 +9,16 @@ class AckInfo {
   AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
           cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode = 0);
 
-  [[nodiscard]] cfdp::ConditionCode getAckedConditionCode() const;
-  void setAckedConditionCode(cfdp::ConditionCode ackedConditionCode_);
+  cfdp::ConditionCode getAckedConditionCode() const;
+  void setAckedConditionCode(cfdp::ConditionCode ackedConditionCode);
 
-  [[nodiscard]] cfdp::FileDirectives getAckedDirective() const;
+  cfdp::FileDirectives getAckedDirective() const;
   void setAckedDirective(cfdp::FileDirectives ackedDirective);
 
-  [[nodiscard]] uint8_t getDirectiveSubtypeCode() const;
+  uint8_t getDirectiveSubtypeCode() const;
   void setDirectiveSubtypeCode(uint8_t directiveSubtypeCode);
 
-  [[nodiscard]] cfdp::AckTransactionStatus getTransactionStatus() const;
+  cfdp::AckTransactionStatus getTransactionStatus() const;
   void setTransactionStatus(cfdp::AckTransactionStatus transactionStatus);
 
  private:

src/fsfw/cfdp/pdu/AckPduDeserializer.h

@@ -13,7 +13,7 @@ class AckPduDeserializer : public FileDirectiveDeserializer {
    * @return
    *  - cfdp::INVALID_DIRECTIVE_FIELDS: Invalid fields
    */
-  ReturnValue_t parseData() override;
+  ReturnValue_t parseData();
 
  private:
   bool checkAndSetCodes(uint8_t rawAckedByte, uint8_t rawAckedConditionCode);

src/fsfw/cfdp/pdu/AckPduSerializer.h

@@ -18,7 +18,7 @@ class AckPduSerializer : public FileDirectiveSerializer {
    */
   AckPduSerializer(AckInfo& ackInfo, PduConfig& pduConf);
 
-  [[nodiscard]] size_t getSerializedSize() const override;
+  size_t getSerializedSize() const override;
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;

src/fsfw/cfdp/pdu/EofPduDeserializer.cpp

@@ -50,17 +50,9 @@ ReturnValue_t EofPduDeserializer::parseData() {
   if (info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
     EntityIdTlv* tlvPtr = info.getFaultLoc();
     if (tlvPtr == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "EofPduDeserializer::parseData: Ca not deserialize fault location,"
-                      " given TLV pointer invalid"
-                   << std::endl;
-#else
-      sif::printWarning(
-          "EofPduDeserializer::parseData: Ca not deserialize fault location,"
-          " given TLV pointer invalid");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+      FSFW_LOGW("{}",
+                "parseData: Ca not deserialize fault location,"
+                " given TLV pointer invalid\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     result = tlvPtr->deSerialize(&bufPtr, &deserLen, endianness);

src/fsfw/cfdp/pdu/VarLenField.cpp

@@ -7,13 +7,7 @@
 cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
   ReturnValue_t result = this->setValue(width, value);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_DISABLE_PRINTOUT == 0
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::VarLenField: Setting value failed" << std::endl;
-#else
-    sif::printWarning("cfdp::VarLenField: Setting value failed\n");
-#endif
-#endif
+    FSFW_LOGW("{}", "cfdp::VarLenField: Setting value failed\n");
   }
 }
 

src/fsfw/cfdp/tlv/FilestoreTlvBase.h

@@ -6,7 +6,7 @@
 #include <fsfw/cfdp/tlv/Tlv.h>
 #include <fsfw/cfdp/tlv/TlvIF.h>
 #include <fsfw/serialize/SerializeIF.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 #include <cstddef>
 #include <cstdint>
@@ -128,17 +128,7 @@ class FilestoreTlvBase : public TlvIF {
   }
 
   void secondFileNameMissing() const {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "FilestoreRequestTlv::deSerialize: Second file name required"
-                    " but TLV pointer not set"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "FilestoreRequestTlv::deSerialize: Second file name required"
-        " but TLV pointer not set\n");
-#endif
-#endif
+    FSFW_LOGWT("{}", "secondFileNameMissing: Second file name required but TLV pointer not set\n");
   }
 
   FilestoreActionCode getActionCode() const { return actionCode; }

src/fsfw/datalinklayer/Clcw.cpp

@@ -1,6 +1,6 @@
 #include "fsfw/datalinklayer/Clcw.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 Clcw::Clcw() {
   content.raw = 0;

src/fsfw/datalinklayer/DataLinkLayer.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/datalinklayer/DataLinkLayer.h"
 
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
                              uint8_t set_start_sequence_length, uint16_t set_scid)

src/fsfw/datalinklayer/MapPacketExtraction.cpp

@@ -4,7 +4,7 @@
 
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/tmtcpacket/SpacePacketBase.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"

src/fsfw/datalinklayer/TcTransferFrame.cpp

@@ -1,6 +1,6 @@
 #include "fsfw/datalinklayer/TcTransferFrame.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 TcTransferFrame::TcTransferFrame() { frame = nullptr; }
 

src/fsfw/datalinklayer/TcTransferFrameLocal.cpp

@@ -3,7 +3,7 @@
 #include <cstring>
 
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uint16_t scid,
                                            uint8_t vcId, uint8_t sequenceNumber,

src/fsfw/datalinklayer/VirtualChannelReception.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/datalinklayer/VirtualChannelReception.h"
 
 #include "fsfw/datalinklayer/BCFrame.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 VirtualChannelReception::VirtualChannelReception(uint8_t setChannelId,
                                                  uint8_t setSlidingWindowWidth)

src/fsfw/datapool/DataSetIF.h

@@ -30,7 +30,7 @@ class DataSetIF {
    * @brief	This is an empty virtual destructor,
    * 			as it is proposed for C++ interfaces.
    */
-  virtual ~DataSetIF() = default;
+  virtual ~DataSetIF() {}
 
   /**
    * @brief	This operation provides a method to register local data pool
@@ -39,7 +39,7 @@ class DataSetIF {
    */
   virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
 
-  [[nodiscard]] virtual uint16_t getFillCount() const = 0;
+  virtual uint16_t getFillCount() const = 0;
 };
 
 #endif /* FSFW_DATAPOOL_DATASETIF_H_ */

src/fsfw/datapool/PoolDataSetBase.cpp

@@ -3,13 +3,13 @@
 #include <cstring>
 
 #include "fsfw/datapool/ReadCommitIFAttorney.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
                                  const size_t maxFillCount)
     : registeredVariables(registeredVariablesArray), maxFillCount(maxFillCount) {}
 
-PoolDataSetBase::~PoolDataSetBase() = default;
+PoolDataSetBase::~PoolDataSetBase() {}
 
 ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF* variable) {
   if (registeredVariables == nullptr) {
@@ -17,27 +17,15 @@ ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF* variable) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   if (state != States::STATE_SET_UNINITIALISED) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DataSet::registerVariable: Call made in wrong position." << std::endl;
-#else
-    sif::printError("DataSet::registerVariable: Call made in wrong position.");
-#endif
+    FSFW_LOGW("{}", "registerVariable: Call made in wrong position\n");
     return DataSetIF::DATA_SET_UNINITIALISED;
   }
   if (variable == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DataSet::registerVariable: Pool variable is nullptr." << std::endl;
-#else
-    sif::printError("DataSet::registerVariable: Pool variable is nullptr.\n");
-#endif
+    FSFW_LOGW("{}", "registerVariable: Pool variable is nullptr\n");
     return DataSetIF::POOL_VAR_NULL;
   }
   if (fillCount >= maxFillCount) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DataSet::registerVariable: DataSet is full." << std::endl;
-#else
-    sif::printError("DataSet::registerVariable: DataSet is full.\n");
-#endif
+    FSFW_LOGW("{}", "registerVariable: DataSet is full\n");
     return DataSetIF::DATA_SET_FULL;
   }
   registeredVariables[fillCount] = variable;
@@ -59,15 +47,7 @@ ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType, uint32_t l
     state = States::STATE_SET_WAS_READ;
     unlockDataPool();
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PoolDataSetBase::read: Call made in wrong position. Don't forget to "
-                    "commit member datasets!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "PoolDataSetBase::read: Call made in wrong position. Don't forget to "
-        "commit member datasets!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+    FSFW_LOGWT("{}", "read: Call made in wrong position. commit call might be missing\n");
     result = SET_WAS_ALREADY_READ;
   }
 

src/fsfw/datapool/PoolDataSetBase.h

@@ -64,8 +64,8 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
    * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
    *      commit() in between
    */
-  ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                     uint32_t lockTimeout = 20) override;
+  virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+                             uint32_t lockTimeout = 20) override;
   /**
    * @brief	The commit call initializes writing back the registered variables.
    * @details
@@ -84,38 +84,39 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
    * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
    * 			  contains non write-only variables
    */
-  ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                       uint32_t lockTimeout = 20) override;
+  virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+                               uint32_t lockTimeout = 20) override;
 
   /**
    * Register the passed pool variable instance into the data set.
    * @param variable
    * @return
    */
-  ReturnValue_t registerVariable(PoolVariableIF* variable) override;
+  virtual ReturnValue_t registerVariable(PoolVariableIF* variable) override;
 
   /**
    * Provides the means to lock the underlying data structure to ensure
    * thread-safety. Default implementation is empty
    * @return Always returns -@c RETURN_OK
    */
-  ReturnValue_t lockDataPool(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                             uint32_t timeoutMs = 20) override;
+  virtual ReturnValue_t lockDataPool(
+      MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+      uint32_t timeoutMs = 20) override;
   /**
    * Provides the means to unlock the underlying data structure to ensure
    * thread-safety. Default implementation is empty
    * @return Always returns -@c RETURN_OK
    */
-  ReturnValue_t unlockDataPool() override;
+  virtual ReturnValue_t unlockDataPool() override;
 
-  [[nodiscard]] uint16_t getFillCount() const override;
+  virtual uint16_t getFillCount() const override;
 
   /* SerializeIF implementations */
-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          SerializeIF::Endianness streamEndianness) const override;
-  [[nodiscard]] size_t getSerializedSize() const override;
-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            SerializeIF::Endianness streamEndianness) override;
+  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
+                                  SerializeIF::Endianness streamEndianness) const override;
+  virtual size_t getSerializedSize() const override;
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    SerializeIF::Endianness streamEndianness) override;
 
   /**
    * Can be used to individually protect every read and commit call.
@@ -155,7 +156,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
   const size_t maxFillCount = 0;
 
   void setContainer(PoolVariableIF** variablesContainer);
-  [[nodiscard]] PoolVariableIF** getContainer() const;
+  PoolVariableIF** getContainer() const;
 
  private:
   bool protectEveryReadCommitCall = false;

src/fsfw/datapool/PoolEntry.cpp

@@ -4,27 +4,29 @@
 #include <cstring>
 
 #include "fsfw/globalfunctions/arrayprinter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
-    : length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
-  this->address = new T[this->length];
-  if (initValue.size() == 0) {
-    std::memset(this->address, 0, PoolEntry<T>::getByteSize());
-  } else {
-    std::copy(initValue.begin(), initValue.end(), this->address);
+PoolEntry<T>::PoolEntry(uint8_t len, bool setValid) : length(len), valid(setValid) {
+  this->address = new T[this->length]();
+  std::memset(this->address, 0, this->getByteSize());
+}
+
+template <typename T>
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValues, bool setValid)
+    : length(static_cast<uint8_t>(initValues.size())), valid(setValid) {
+  this->address = new T[this->length]();
+  if (initValues.size() > 0) {
+    std::copy(initValues.begin(), initValues.end(), this->address);
   }
 }
 
 template <typename T>
-PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
+PoolEntry<T>::PoolEntry(const T* initValue, uint8_t setLength, bool setValid)
     : length(setLength), valid(setValid) {
-  this->address = new T[this->length];
+  this->address = new T[this->length]();
   if (initValue != nullptr) {
-    std::memcpy(this->address, initValue, PoolEntry<T>::getByteSize());
-  } else {
-    std::memset(this->address, 0, PoolEntry<T>::getByteSize());
+    std::memcpy(this->address, initValue, this->getByteSize());
   }
 }
 
@@ -62,19 +64,13 @@ bool PoolEntry<T>::getValid() {
 
 template <typename T>
 void PoolEntry<T>::print() {
-  const char* validString;
+  const char* validString = nullptr;
   if (valid) {
     validString = "Valid";
   } else {
     validString = "Invalid";
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "PoolEntry information." << std::endl;
-  sif::info << "PoolEntry validity: " << validString << std::endl;
-#else
-  sif::printInfo("PoolEntry information.\n");
-  sif::printInfo("PoolEntry validity: %s\n", validString);
-#endif
+  FSFW_LOGI("PoolEntry Info. Validity {}\n", validString);
   arrayprinter::print(reinterpret_cast<uint8_t*>(address), getByteSize());
 }
 

src/fsfw/datapool/PoolEntry.h

@@ -33,6 +33,9 @@ class PoolEntry : public PoolEntryIF {
                 "instead! The ECSS standard defines a boolean as a one bit "
                 "field. Therefore it is preferred to store a boolean as an "
                 "uint8_t");
+
+  PoolEntry(uint8_t len = 1, bool setValid = false);
+
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
    * 			potential initialization values are copied to that space.
@@ -49,7 +52,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
+  PoolEntry(std::initializer_list<T> initValue, bool setValid = false);
 
   /**
    * @brief	In the classe's constructor, space is allocated on the heap and
@@ -62,7 +65,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  explicit PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
+  PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
 
   //! Explicitely deleted copy ctor, copying is not allowed.
   PoolEntry(const PoolEntry&) = delete;
@@ -77,7 +80,7 @@ class PoolEntry : public PoolEntryIF {
    * PoolEntries shall never be copied, as a copy might delete the variable
    * on the heap.
    */
-  ~PoolEntry() override;
+  ~PoolEntry();
 
   /**
    * Return typed pointer to start of data.
@@ -91,32 +94,32 @@ class PoolEntry : public PoolEntryIF {
    * For non-array pool entries return type size, for vector entries
    * return type size times the number of entries.
    */
-  uint8_t getSize() override;
+  uint8_t getSize();
   /**
    * @brief	This operation returns the size in bytes.
    * @details	The size is calculated by sizeof(type) * array_size.
    */
-  uint16_t getByteSize() override;
+  uint16_t getByteSize();
   /**
    * @brief	This operation returns a the address pointer casted to void*.
    */
-  void* getRawData() override;
+  void* getRawData();
   /**
    * @brief	This method allows to set the valid information
    * 			of the pool entry.
    */
-  void setValid(bool isValid) override;
+  void setValid(bool isValid);
   /**
    * @brief	This method allows to get the valid information
    * 			of the pool entry.
    */
-  bool getValid() override;
+  bool getValid();
   /**
    * @brief	This is a debug method that prints all values and the valid
    * 			information to the screen. It prints all array entries in a row.
    */
-  void print() override;
-  Type getType() override;
+  void print();
+  Type getType();
 
  private:
   /**

src/fsfw/datapool/PoolEntryIF.h

@@ -24,7 +24,7 @@ class PoolEntryIF {
    * @brief	This is an empty virtual destructor,
    * 			as it is required for C++ interfaces.
    */
-  virtual ~PoolEntryIF() = default;
+  virtual ~PoolEntryIF() {}
   /**
    * @brief	getSize returns the array size of the entry.
    * 			A single variable parameter has size 1.

src/fsfw/datapool/PoolReadGuard.h

@@ -1,35 +1,28 @@
 #ifndef FSFW_DATAPOOL_POOLREADHELPER_H_
 #define FSFW_DATAPOOL_POOLREADHELPER_H_
 
-#include <FSFWConfig.h>
-
-#include "../serviceinterface/ServiceInterface.h"
 #include "ReadCommitIF.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
 
 /**
  * @brief 	Helper class to read data sets or pool variables
  */
 class PoolReadGuard {
  public:
-  explicit PoolReadGuard(ReadCommitIF* readObject,
-                         MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-                         uint32_t mutexTimeout = 20)
+  PoolReadGuard(ReadCommitIF* readObject,
+                MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+                uint32_t mutexTimeout = 20)
       : readObject(readObject), mutexTimeout(mutexTimeout) {
     if (readObject != nullptr) {
       readResult = readObject->read(timeoutType, mutexTimeout);
       if (readResult != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL == 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "PoolReadHelper: Read failed!" << std::endl;
-#else
-        sif::printError("PoolReadHelper: Read failed!\n");
-#endif /* FSFW_PRINT_VERBOSITY_LEVEL == 1 */
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        FSFW_LOGW("{}", "ctor: Read failed\n");
       }
     }
   }
 
-  [[nodiscard]] ReturnValue_t getReadResult() const { return readResult; }
+  ReturnValue_t getReadResult() const { return readResult; }
 
   /**
    * @brief   Can be used to suppress commit on destruction.

src/fsfw/datapool/PoolVarList.h

@@ -0,0 +1,28 @@
+#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
+#define FSFW_DATAPOOL_POOLVARLIST_H_
+
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
+template <class T, uint8_t n_var>
+class PoolVarList {
+ private:
+  GlobPoolVar<T> variables[n_var];
+
+ public:
+  PoolVarList(const uint32_t set_id[n_var], DataSetIF* dataSet,
+              PoolVariableIF::ReadWriteMode_t setReadWriteMode) {
+    // I really should have a look at the new init list c++ syntax.
+    if (dataSet == NULL) {
+      return;
+    }
+    for (uint8_t count = 0; count < n_var; count++) {
+      variables[count].dataPoolId = set_id[count];
+      variables[count].readWriteMode = setReadWriteMode;
+      dataSet->registerVariable(&variables[count]);
+    }
+  }
+
+  GlobPoolVar<T>& operator[](int i) { return variables[i]; }
+};
+
+#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */

src/fsfw/datapool/PoolVariableIF.h

@@ -24,8 +24,8 @@ class PoolVariableIF : public SerializeIF, public ReadCommitIF {
   static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
   static constexpr ReturnValue_t INVALID_POOL_ENTRY = MAKE_RETURN_CODE(0xA1);
 
-  static constexpr bool VALID = true;
-  static constexpr bool INVALID = false;
+  static constexpr bool VALID = 1;
+  static constexpr bool INVALID = 0;
   static constexpr uint32_t NO_PARAMETER = 0xffffffff;
 
   enum ReadWriteMode_t { VAR_READ, VAR_WRITE, VAR_READ_WRITE };
@@ -34,23 +34,23 @@ class PoolVariableIF : public SerializeIF, public ReadCommitIF {
    * @brief	This is an empty virtual destructor,
    * 			as it is proposed for C++ interfaces.
    */
-  ~PoolVariableIF() override = default;
+  virtual ~PoolVariableIF() {}
   /**
    * @brief	This method returns if the variable is write-only,
    * 			read-write or read-only.
    */
-  [[nodiscard]] virtual ReadWriteMode_t getReadWriteMode() const = 0;
+  virtual ReadWriteMode_t getReadWriteMode() const = 0;
   virtual void setReadWriteMode(ReadWriteMode_t newMode) = 0;
 
   /**
    * @brief	This operation shall return the data pool id of the variable.
    */
-  [[nodiscard]] virtual uint32_t getDataPoolId() const = 0;
+  virtual uint32_t getDataPoolId() const = 0;
   /**
    * @brief	With this call, the valid information of the
    * 			variable is returned.
    */
-  [[nodiscard]] virtual bool isValid() const = 0;
+  virtual bool isValid() const = 0;
   /**
    * @brief	With this call, the valid information of the variable is set.
    */

src/fsfw/datapool/ReadCommitIF.h

@@ -12,7 +12,7 @@ class ReadCommitIF {
   friend class ReadCommitIFAttorney;
 
  public:
-  virtual ~ReadCommitIF() = default;
+  virtual ~ReadCommitIF() {}
   virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) = 0;
   virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) = 0;
 

src/fsfw/datapool/SharedDataSetIF.h

@@ -5,7 +5,7 @@
 
 class SharedDataSetIF {
  public:
-  virtual ~SharedDataSetIF() = default;
+  virtual ~SharedDataSetIF(){};
 
  private:
   virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType,

src/fsfw/datapoollocal/AccessLocalPoolF.h

@@ -9,8 +9,7 @@ class MutexIF;
  */
 class AccessPoolManagerIF {
  public:
-  virtual ~AccessPoolManagerIF() = default;
-  ;
+  virtual ~AccessPoolManagerIF(){};
 
   virtual MutexIF* getLocalPoolMutex() = 0;
 

src/fsfw/datapoollocal/HasLocalDataPoolIF.h

@@ -6,8 +6,8 @@
 #include "../datapool/PoolEntryIF.h"
 #include "../housekeeping/HousekeepingMessage.h"
 #include "../ipc/MessageQueueSenderIF.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "LocalDataPoolManager.h"
+#include "fsfw/serviceinterface.h"
 #include "localPoolDefinitions.h"
 
 class AccessPoolManagerIF;
@@ -44,15 +44,14 @@ class HasLocalDataPoolIF {
   friend class HasLocalDpIFUserAttorney;
 
  public:
-  virtual ~HasLocalDataPoolIF() = default;
-  ;
+  virtual ~HasLocalDataPoolIF(){};
 
   static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
 
-  [[nodiscard]] virtual object_id_t getObjectId() const = 0;
+  virtual object_id_t getObjectId() const = 0;
 
   /** Command queue for housekeeping messages. */
-  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
+  virtual MessageQueueId_t getCommandQueue() const = 0;
 
   /**
    * Is used by pool owner to initialize the pool map once
@@ -67,7 +66,7 @@ class HasLocalDataPoolIF {
    * usually be the period the pool owner performs its periodic operation.
    * @return
    */
-  [[nodiscard]] virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
+  virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
 
   /**
    * @brief   This function will be called by the manager if an update
@@ -167,15 +166,7 @@ class HasLocalDataPoolIF {
    * @return
    */
   virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. "
-                    "Returning nullptr!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "HasLocalDataPoolIF::getPoolObjectHandle: "
-        "Not overriden. Returning nullptr!\n");
-#endif
+    FSFW_LOGW("{}", "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. Returning nullptr\n");
     return nullptr;
   }
 };

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -1,7 +1,9 @@
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 
+#include <array>
 #include <cmath>
 
+#include "fsfw/FSFW.h"
 #include "fsfw/datapoollocal.h"
 #include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
 #include "fsfw/housekeeping/HousekeepingSetPacket.h"
@@ -20,15 +22,15 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQue
                                            bool appendValidityBuffer)
     : appendValidityBuffer(appendValidityBuffer) {
   if (owner == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "LocalDataPoolManager",
-                        HasReturnvaluesIF::RETURN_FAILED, "Invalid supplied owner");
+    printWarningOrError(sif::LogLevel::WARNING, "ctor", HasReturnvaluesIF::RETURN_FAILED,
+                        "Invalid supplied owner");
     return;
   }
   this->owner = owner;
   mutex = MutexFactory::instance()->createMutex();
   if (mutex == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "LocalDataPoolManager",
-                        HasReturnvaluesIF::RETURN_FAILED, "Could not create mutex");
+    printWarningOrError(sif::LogLevel::ERROR, "ctor", HasReturnvaluesIF::RETURN_FAILED,
+                        "Could not create mutex");
   }
 
   hkQueue = queueToUse;
@@ -43,14 +45,14 @@ LocalDataPoolManager::~LocalDataPoolManager() {
 ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   if (queueToUse == nullptr) {
     /* Error, all destinations invalid */
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
   }
   hkQueue = queueToUse;
 
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (ipcStore == nullptr) {
     /* Error, all destinations invalid */
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", HasReturnvaluesIF::RETURN_FAILED,
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", HasReturnvaluesIF::RETURN_FAILED,
                         "Could not set IPC store.");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -61,7 +63,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
     if (hkPacketReceiver != nullptr) {
       hkDestinationId = hkPacketReceiver->getHkQueue();
     } else {
-      printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
+      printWarningOrError(sif::LogLevel::ERROR, "initialize", QUEUE_OR_DESTINATION_INVALID);
       return QUEUE_OR_DESTINATION_INVALID;
     }
   }
@@ -83,7 +85,7 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
     return result;
   }
 
-  printWarningOrError(sif::OutputTypes::OUT_WARNING, "initializeHousekeepingPoolEntriesOnce",
+  printWarningOrError(sif::LogLevel::WARNING, "initializeHousekeepingPoolEntriesOnce",
                       HasReturnvaluesIF::RETURN_FAILED, "The map should only be initialized once");
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -149,8 +151,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
     LocalPoolObjectBase* poolObj =
         HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner, receiver.dataId.localPoolId);
     if (poolObj == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationUpdate",
-                          POOLOBJECT_NOT_FOUND);
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationUpdate", POOLOBJECT_NOT_FOUND);
       return POOLOBJECT_NOT_FOUND;
     }
     if (poolObj->hasChanged()) {
@@ -169,8 +170,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
     LocalPoolDataSetBase* dataSet =
         HasLocalDpIFManagerAttorney::getDataSetHandle(owner, receiver.dataId.sid);
     if (dataSet == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationUpdate",
-                          DATASET_NOT_FOUND);
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationUpdate", DATASET_NOT_FOUND);
       return DATASET_NOT_FOUND;
     }
     if (dataSet->hasChanged()) {
@@ -198,7 +198,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     LocalPoolObjectBase* poolObj =
         HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner, receiver.dataId.localPoolId);
     if (poolObj == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationSnapshot",
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationSnapshot",
                           POOLOBJECT_NOT_FOUND);
       return POOLOBJECT_NOT_FOUND;
     }
@@ -208,9 +208,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     }
 
     /* Prepare and send update snapshot */
-    timeval now{};
+    timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::CDS_short cds{};
+    CCSDSTime::CDS_short cds;
     CCSDSTime::convertToCcsds(&cds, &now);
     HousekeepingSnapshot updatePacket(
         reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@@ -234,8 +234,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     LocalPoolDataSetBase* dataSet =
         HasLocalDpIFManagerAttorney::getDataSetHandle(owner, receiver.dataId.sid);
     if (dataSet == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleNotificationSnapshot",
-                          DATASET_NOT_FOUND);
+      printWarningOrError(sif::LogLevel::WARNING, "handleNotificationSnapshot", DATASET_NOT_FOUND);
       return DATASET_NOT_FOUND;
     }
 
@@ -338,9 +337,10 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool e
                                                                float collectionInterval,
                                                                bool isDiagnostics,
                                                                object_id_t packetDestination) {
-  auto* hkReceiverObject = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
+  AcceptsHkPacketsIF* hkReceiverObject =
+      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
   if (hkReceiverObject == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
+    printWarningOrError(sif::LogLevel::WARNING, "subscribeForPeriodicPacket",
                         QUEUE_OR_DESTINATION_INVALID);
     return QUEUE_OR_DESTINATION_INVALID;
   }
@@ -368,7 +368,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool isD
                                                              object_id_t packetDestination) {
   auto* hkReceiverObject = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
   if (hkReceiverObject == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
+    printWarningOrError(sif::LogLevel::WARNING, "subscribeForPeriodicPacket",
                         QUEUE_OR_DESTINATION_INVALID);
     return QUEUE_OR_DESTINATION_INVALID;
   }
@@ -521,8 +521,7 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
     case (HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
       LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
       if (dataSet == nullptr) {
-        printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
-                            DATASET_NOT_FOUND);
+        printWarningOrError(sif::LogLevel::WARNING, "handleHousekeepingMessage", DATASET_NOT_FOUND);
         return DATASET_NOT_FOUND;
       }
       if (command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT and
@@ -585,8 +584,7 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 ReturnValue_t LocalDataPoolManager::printPoolEntry(lp_id_t localPoolId) {
   auto poolIter = localPoolMap.find(localPoolId);
   if (poolIter == localPoolMap.end()) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "printPoolEntry",
-                        localpool::POOL_ENTRY_NOT_FOUND);
+    printWarningOrError(sif::LogLevel::WARNING, "printPoolEntry", localpool::POOL_ENTRY_NOT_FOUND);
     return localpool::POOL_ENTRY_NOT_FOUND;
   }
   poolIter->second->print();
@@ -603,8 +601,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
                                                                MessageQueueId_t destination) {
   if (dataSet == nullptr) {
     /* Configuration error. */
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
-                        DATASET_NOT_FOUND);
+    printWarningOrError(sif::LogLevel::WARNING, "generateHousekeepingPacket", DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -627,14 +624,14 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 
   if (hkQueue == nullptr) {
     /* Error, no queue available to send packet with. */
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
+    printWarningOrError(sif::LogLevel::WARNING, "generateHousekeepingPacket",
                         QUEUE_OR_DESTINATION_INVALID);
     return QUEUE_OR_DESTINATION_INVALID;
   }
   if (destination == MessageQueueIF::NO_QUEUE) {
     if (hkDestinationId == MessageQueueIF::NO_QUEUE) {
       /* Error, all destinations invalid */
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
+      printWarningOrError(sif::LogLevel::WARNING, "generateHousekeepingPacket",
                           QUEUE_OR_DESTINATION_INVALID);
     }
     destination = hkDestinationId;
@@ -668,8 +665,7 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   sid_t sid = receiver.dataId.sid;
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "performPeriodicHkGeneration",
-                        DATASET_NOT_FOUND);
+    printWarningOrError(sif::LogLevel::WARNING, "performPeriodicHkGeneration", DATASET_NOT_FOUND);
     return;
   }
 
@@ -692,12 +688,7 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   ReturnValue_t result = generateHousekeepingPacket(sid, dataSet, true);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed."
-                 << std::endl;
-#else
-    sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
-#endif
+    FSFW_LOGWT("performPeriodicHkOperation: HK generation failed\n");
   }
 }
 
@@ -705,8 +696,7 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
                                                              bool isDiagnostics) {
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "togglePeriodicGeneration",
-                        DATASET_NOT_FOUND);
+    printWarningOrError(sif::LogLevel::WARNING, "togglePeriodicGeneration", DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -728,8 +718,7 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float ne
                                                              bool isDiagnostics) {
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",
-                        DATASET_NOT_FOUND);
+    printWarningOrError(sif::LogLevel::WARNING, "changeCollectionInterval", DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -754,8 +743,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   /* Get and check dataset first. */
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "performPeriodicHkGeneration",
-                        DATASET_NOT_FOUND);
+    printWarningOrError(sif::LogLevel::WARNING, "performPeriodicHkGeneration", DATASET_NOT_FOUND);
     return DATASET_NOT_FOUND;
   }
 
@@ -776,7 +764,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   store_address_t storeId;
   ReturnValue_t result = ipcStore->getFreeElement(&storeId, expectedSize, &storePtr);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "generateSetStructurePacket",
+    printWarningOrError(sif::LogLevel::ERROR, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
                         "Could not get free element from IPC store.");
     return result;
@@ -790,7 +778,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
     return result;
   }
   if (expectedSize != size) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
+    printWarningOrError(sif::LogLevel::WARNING, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
                         "Expected size is not equal to serialized size");
   }
@@ -823,9 +811,8 @@ MutexIF* LocalDataPoolManager::getLocalPoolMutex() { return this->mutex; }
 
 object_id_t LocalDataPoolManager::getCreatorObjectId() const { return owner->getObjectId(); }
 
-void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
-                                               const char* functionName, ReturnValue_t error,
-                                               const char* errorPrint) {
+void LocalDataPoolManager::printWarningOrError(sif::LogLevel outputType, const char* functionName,
+                                               ReturnValue_t error, const char* errorPrint) {
 #if FSFW_VERBOSE_LEVEL >= 1
   if (errorPrint == nullptr) {
     if (error == DATASET_NOT_FOUND) {
@@ -833,7 +820,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
     } else if (error == HasReturnvaluesIF::RETURN_FAILED) {
-      if (outputType == sif::OutputTypes::OUT_WARNING) {
+      if (outputType == sif::LogLevel::WARNING) {
         errorPrint = "Generic Warning";
       } else {
         errorPrint = "Generic error";
@@ -853,24 +840,10 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
     objectId = owner->getObjectId();
   }
 
-  if (outputType == sif::OutputTypes::OUT_WARNING) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << std::setw(8)
-                 << std::setfill('0') << std::hex << objectId << " | " << errorPrint << std::dec
-                 << std::setfill(' ') << std::endl;
-#else
-    sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", functionName, objectId,
-                      errorPrint);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-  } else if (outputType == sif::OutputTypes::OUT_ERROR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << std::setw(8)
-               << std::setfill('0') << std::hex << objectId << " | " << errorPrint << std::dec
-               << std::setfill(' ') << std::endl;
-#else
-    sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", functionName, objectId,
-                    errorPrint);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+  if (outputType == sif::LogLevel::WARNING) {
+    FSFW_LOGWT("{} | Object ID {} | {}\n", functionName, objectId, errorPrint);
+  } else if (outputType == sif::LogLevel::ERROR) {
+    FSFW_LOGET("{} | Object ID {} | {}\n", functionName, objectId, errorPrint);
   }
 #endif /* #if FSFW_VERBOSE_LEVEL >= 1 */
 }

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -16,7 +16,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/ipc/MutexIF.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 namespace Factory {
 void setStaticFrameworkObjectIds();
@@ -80,7 +80,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
                        bool appendValidityBuffer = true);
-  ~LocalDataPoolManager() override;
+  virtual ~LocalDataPoolManager();
 
   /**
    * Assigns the queue to use. Make sure to call this in the #initialize
@@ -151,7 +151,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * Otherwise, only an notification message is sent.
    * @return
    */
-  ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
+  ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId, object_id_t destinationObject,
                                              MessageQueueId_t targetQueueId,
                                              bool generateSnapshot) override;
 
@@ -169,7 +169,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * Otherwise, only an notification message is sent.
    * @return
    */
-  ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
+  ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
                                                   object_id_t destinationObject,
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
@@ -252,7 +252,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   void clearReceiversList();
 
-  [[nodiscard]] object_id_t getCreatorObjectId() const;
+  object_id_t getCreatorObjectId() const;
 
   /**
    * Get the pointer to the mutex. Can be used to lock the data pool
@@ -262,7 +262,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   MutexIF* getMutexHandle();
 
-  LocalDataPoolManager* getPoolManagerHandle() override;
+  virtual LocalDataPoolManager* getPoolManagerHandle() override;
 
  protected:
   /** Core data structure for the actual pool data */
@@ -306,8 +306,8 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   struct HkUpdateResetHelper {
     DataType dataType = DataType::DATA_SET;
     DataId dataId;
-    uint8_t updateCounter{};
-    uint8_t currentUpdateCounter{};
+    uint8_t updateCounter;
+    uint8_t currentUpdateCounter;
   };
 
   using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
@@ -375,7 +375,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver, ReturnValue_t& status);
   ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket, store_address_t& storeId);
 
-  void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
+  void printWarningOrError(sif::LogLevel outputType, const char* functionName,
                            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
                            const char* errorPrint = nullptr);
 };
@@ -389,14 +389,13 @@ inline ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 
   auto poolIter = localPoolMap.find(localPoolId);
   if (poolIter == localPoolMap.end()) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
-                        localpool::POOL_ENTRY_NOT_FOUND);
+    printWarningOrError(sif::LogLevel::WARNING, "fetchPoolEntry", localpool::POOL_ENTRY_NOT_FOUND);
     return localpool::POOL_ENTRY_NOT_FOUND;
   }
 
   *poolEntry = dynamic_cast<PoolEntry<T>*>(poolIter->second);
   if (*poolEntry == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
+    printWarningOrError(sif::LogLevel::WARNING, "fetchPoolEntry",
                         localpool::POOL_ENTRY_TYPE_CONFLICT);
     return localpool::POOL_ENTRY_TYPE_CONFLICT;
   }

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -7,7 +7,7 @@
 #include "fsfw/housekeeping/PeriodicHousekeepingHelper.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/HasLocalDpIFUserAttorney.h"
 
 LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, uint32_t setId,
@@ -16,14 +16,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, uint32_t
     : PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
   if (hkOwner == nullptr) {
     // Configuration error.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
-               << "invalid!" << std::endl;
-#else
-    sif::printError(
-        "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
-        "invalid!\n\r");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+    FSFW_LOGW("{}", "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner invalid\n");
     return;
   }
   AccessPoolManagerIF *accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
@@ -186,14 +179,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t **buffer, size
     auto result =
         SerializeAdapter::serialize(&currentPoolId, buffer, size, maxSize, streamEndianness);
     if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "LocalPoolDataSetBase::serializeLocalPoolIds: "
-                   << "Serialization error!" << std::endl;
-#else
-      sif::printWarning(
-          "LocalPoolDataSetBase::serializeLocalPoolIds: "
-          "Serialization error!\n\r");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+      FSFW_LOGW("{}", "serializeLocalPoolIds: Serialization error\n");
       return result;
     }
   }

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -4,22 +4,17 @@
 #include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/HasLocalDpIFUserAttorney.h"
 
 LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
                                          DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
     : localPoolId(poolId), readWriteMode(setReadWriteMode) {
   if (poolId == PoolVariableIF::NO_PARAMETER) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-                 << "which is the NO_PARAMETER value!" << std::endl;
-#endif
+    FSFW_LOGWT("{}", "ctor: Invalid pool ID, has NO_PARAMETER value\n");
   }
   if (hkOwner == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
-               << "owner is a invalid!" << std::endl;
-#endif
+    FSFW_LOGET("{}", "ctor: Supplied pool owner is a invalid\n");
     return;
   }
   AccessPoolManagerIF* poolManAccessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
@@ -34,28 +29,14 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
                                          pool_rwm_t setReadWriteMode)
     : localPoolId(poolId), readWriteMode(setReadWriteMode) {
   if (poolId == PoolVariableIF::NO_PARAMETER) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-                    "which is the NO_PARAMETER value!"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-        "which is the NO_PARAMETER value!\n");
-#endif
+    FSFW_LOGWT("{}", "ctor: Invalid pool ID, has NO_PARAMETER value\n");
   }
-  HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
+  auto* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
   if (hkOwner == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
-               << std::dec << " did not implement the correct interface "
-               << "HasLocalDataPoolIF" << std::endl;
-#else
-    sif::printError(
-        "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
-        "interface HasLocalDataPoolIF\n",
+    FSFW_LOGWT(
+        "ctor: The supplied pool owner {:#010x} did not implement the correct interface "
+        "HasLocalDataPoolIF\n",
         poolOwner);
-#endif
     return;
   }
 
@@ -89,7 +70,6 @@ void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
 
 void LocalPoolObjectBase::reportReadCommitError(const char* variableType, ReturnValue_t error,
                                                 bool read, object_id_t objectId, lp_id_t lpId) {
-#if FSFW_DISABLE_PRINTOUT == 0
   const char* variablePrintout = variableType;
   if (variablePrintout == nullptr) {
     variablePrintout = "Unknown Type";
@@ -114,13 +94,6 @@ void LocalPoolObjectBase::reportReadCommitError(const char* variableType, Return
     errMsg = "Unknown error code";
   }
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << variablePrintout << ": " << type << " call | " << errMsg << " | Owner: 0x"
-               << std::hex << std::setw(8) << std::setfill('0') << objectId << std::dec
-               << " LPID: " << lpId << std::endl;
-#else
-  sif::printWarning("%s: %s call | %s | Owner: 0x%08x LPID: %lu\n", variablePrintout, type, errMsg,
-                    objectId, lpId);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
+  FSFW_LOGW("{}: {} call | {} | Owner: {:#010x} | LPID: \n", variablePrintout, type, errMsg,
+            objectId, lpId);
 }

src/fsfw/datapoollocal/LocalPoolVariable.h

@@ -5,11 +5,11 @@
 #include "../datapool/PoolVariableIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "AccessLocalPoolF.h"
 #include "HasLocalDataPoolIF.h"
 #include "LocalDataPoolManager.h"
 #include "LocalPoolObjectBase.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/LocalDpManagerAttorney.h"
 
 /**

src/fsfw/datapoollocal/LocalPoolVector.h

@@ -6,8 +6,8 @@
 #include "../datapool/PoolVariableIF.h"
 #include "../datapoollocal/LocalDataPoolManager.h"
 #include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "LocalPoolObjectBase.h"
+#include "fsfw/serviceinterface.h"
 #include "internal/LocalDpManagerAttorney.h"
 
 /**

src/fsfw/datapoollocal/LocalPoolVector.tpp

@@ -5,172 +5,162 @@
 #error Include LocalPoolVector.h before LocalPoolVector.tpp!
 #endif
 
-template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
-                                                       DataSetIF* dataSet,
-                                                       pool_rwm_t setReadWriteMode)
-    : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
+        HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
+        pool_rwm_t setReadWriteMode):
+        LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
-template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
-                                                       DataSetIF* dataSet,
-                                                       pool_rwm_t setReadWriteMode)
-    : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
+        lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
-template <typename T, uint16_t vectorSize>
-inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
-                                                       pool_rwm_t setReadWriteMode)
-    : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
-                          setReadWriteMode) {}
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
+        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+        LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+                dataSet, setReadWriteMode) {}
 
-template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
-                                                          uint32_t timeoutMs) {
-  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-  return readWithoutLock();
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
+        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    return readWithoutLock();
 }
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
-  if (readWriteMode == pool_rwm_t::VAR_WRITE) {
-    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
-                          targetObjectId, localPoolId);
-    return PoolVariableIF::INVALID_READ_WRITE_MODE;
-  }
+    if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
+        reportReadCommitError("LocalPoolVector",
+                PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
+                localPoolId);
+        return PoolVariableIF::INVALID_READ_WRITE_MODE;
+    }
 
-  PoolEntry<T>* poolEntry = nullptr;
-  ReturnValue_t result =
-      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
-  memset(this->value, 0, vectorSize * sizeof(T));
+    PoolEntry<T>* poolEntry = nullptr;
+    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+            &poolEntry);
+    memset(this->value, 0, vectorSize * sizeof(T));
 
-  if (result != RETURN_OK) {
-    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-    reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
-    return result;
-  }
-  std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
-  this->valid = poolEntry->getValid();
-  return RETURN_OK;
+    if(result != RETURN_OK) {
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
+        reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
+                localPoolId);
+        return result;
+    }
+    std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
+    this->valid = poolEntry->getValid();
+    return RETURN_OK;
 }
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
-                                                            MutexIF::TimeoutType timeoutType,
-                                                            uint32_t timeoutMs) {
-  this->setValid(valid);
-  return commit(timeoutType, timeoutMs);
+        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+    this->setValid(valid);
+    return commit(timeoutType, timeoutMs);
 }
 
-template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
-                                                            uint32_t timeoutMs) {
-  MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-  return commitWithoutLock();
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
+        MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    return commitWithoutLock();
 }
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
-  if (readWriteMode == pool_rwm_t::VAR_READ) {
-    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-    reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
-                          targetObjectId, localPoolId);
-    return PoolVariableIF::INVALID_READ_WRITE_MODE;
-  }
-  PoolEntry<T>* poolEntry = nullptr;
-  ReturnValue_t result =
-      LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
-  if (result != RETURN_OK) {
-    object_id_t targetObjectId = hkManager->getCreatorObjectId();
-    reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
+    if(readWriteMode == pool_rwm_t::VAR_READ) {
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
+        reportReadCommitError("LocalPoolVector",
+                PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
+                localPoolId);
+        return PoolVariableIF::INVALID_READ_WRITE_MODE;
+    }
+    PoolEntry<T>* poolEntry = nullptr;
+    ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
+            &poolEntry);
+    if(result != RETURN_OK) {
+        object_id_t targetObjectId = hkManager->getCreatorObjectId();
+        reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
+                localPoolId);
+        return result;
+    }
+    std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
+    poolEntry->setValid(this->valid);
+    return RETURN_OK;
+}
+
+template<typename T, uint16_t vectorSize>
+inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
+    if(i < vectorSize) {
+        return value[i];
+    }
+    // If this happens, I have to set some value. I consider this
+    // a configuration error, but I wont exit here.
+    FSFW_LOGW("LocalPoolVector: Invalid index. Setting or returning last value\n");
+    return value[vectorSize - 1];
+}
+
+template<typename T, uint16_t vectorSize>
+inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
+    if(i < vectorSize) {
+        return value[i];
+    }
+    // If this happens, I have to set some value. I consider this
+    // a configuration error, but I wont exit here.
+    FSFW_LOGW("LocalPoolVector: Invalid index. Setting or returning last value\n");
+    return value[vectorSize - 1];
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+        size_t* size, size_t maxSize,
+        SerializeIF::Endianness streamEndianness) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t i = 0; i < vectorSize; i++) {
+        result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+                maxSize, streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            break;
+        }
+    }
     return result;
-  }
-  std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
-  poolEntry->setValid(this->valid);
-  return RETURN_OK;
 }
 
-template <typename T, uint16_t vectorSize>
-inline T& LocalPoolVector<T, vectorSize>::operator[](size_t i) {
-  if (i < vectorSize) {
-    return value[i];
-  }
-  // If this happens, I have to set some value. I consider this
-  // a configuration error, but I wont exit here.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-                  " last value!"
-               << std::endl;
-#else
-  sif::printWarning(
-      "LocalPoolVector: Invalid index. Setting or returning"
-      " last value!\n");
-#endif
-  return value[vectorSize - 1];
-}
-
-template <typename T, uint16_t vectorSize>
-inline const T& LocalPoolVector<T, vectorSize>::operator[](size_t i) const {
-  if (i < vectorSize) {
-    return value[i];
-  }
-  // If this happens, I have to set some value. I consider this
-  // a configuration error, but I wont exit here.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
-                  " last value!"
-               << std::endl;
-#else
-  sif::printWarning(
-      "LocalPoolVector: Invalid index. Setting or returning"
-      " last value!\n");
-#endif
-  return value[vectorSize - 1];
-}
-
-template <typename T, uint16_t vectorSize>
-inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
-    uint8_t** buffer, size_t* size, size_t maxSize,
-    SerializeIF::Endianness streamEndianness) const {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-  for (uint16_t i = 0; i < vectorSize; i++) {
-    result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      break;
-    }
-  }
-  return result;
-}
-
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
 inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
-  return vectorSize * SerializeAdapter::getSerializedSize(value);
+    return vectorSize * SerializeAdapter::getSerializedSize(value);
 }
 
-template <typename T, uint16_t vectorSize>
+template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
-    const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-  for (uint16_t i = 0; i < vectorSize; i++) {
-    result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      break;
+        const uint8_t** buffer, size_t* size,
+        SerializeIF::Endianness streamEndianness) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t i = 0; i < vectorSize; i++) {
+        result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+                streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            break;
+        }
     }
-  }
-  return result;
+    return result;
 }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-template <typename T, uint16_t vectorSize>
-inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
-  out << "Vector: [";
-  for (int i = 0; i < vectorSize; i++) {
-    out << var.value[i];
-    if (i < vectorSize - 1) {
-      out << ", ";
+template<typename T, uint16_t vectorSize>
+inline std::ostream& operator<< (std::ostream &out,
+        const LocalPoolVector<T, vectorSize> &var) {
+    out << "Vector: [";
+    for(int i = 0;i < vectorSize; i++) {
+        out << var.value[i];
+        if(i < vectorSize - 1) {
+            out << ", ";
+        }
     }
-  }
-  out << "]";
-  return out;
+    out << "]";
+    return out;
 }
 #endif
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
@@ -45,16 +45,16 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
   if (comCookie == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
-                        HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
+    printWarningOrError(sif::LogLevel::ERROR, "DeviceHandlerBase", HasReturnvaluesIF::RETURN_FAILED,
+                        "Invalid cookie");
   }
   if (this->fdirInstance == nullptr) {
     this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
   }
 }
 
-void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
-  this->hkDestination = hkDestination;
+void DeviceHandlerBase::setHkDestination(object_id_t hkDestination_) {
+  this->hkDestination = hkDestination_;
 }
 
 void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId,
@@ -65,7 +65,9 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-  delete comCookie;
+  if (comCookie != nullptr) {
+    delete comCookie;
+  }
   if (defaultFDIRUsed) {
     delete fdirInstance;
   }
@@ -130,42 +132,34 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
   if (communicationInterface == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
-                        ObjectManagerIF::CHILD_INIT_FAILED, "Passed communication IF invalid");
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
+                        "Passed communication IF invalid");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   result = communicationInterface->initializeInterface(comCookie);
   if (result != RETURN_OK) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
-                        ObjectManagerIF::CHILD_INIT_FAILED, "ComIF initialization failed");
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
+                        "ComIF initialization failed");
     return result;
   }
 
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (IPCStore == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
-                        ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up");
+    printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
+                        "IPC Store not set up");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   if (rawDataReceiverId != objects::NO_OBJECT) {
-    AcceptsDeviceResponsesIF* rawReceiver =
-        ObjectManager::instance()->get<AcceptsDeviceResponsesIF>(rawDataReceiverId);
+    auto* rawReceiver = ObjectManager::instance()->get<AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
     if (rawReceiver == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
-                          ObjectManagerIF::CHILD_INIT_FAILED,
+      printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
                           "Raw receiver object ID set but no valid object found.");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Make sure the raw receiver object is set up properly"
-                    " and implements AcceptsDeviceResponsesIF"
-                 << std::endl;
-#else
-      sif::printError(
-          "Make sure the raw receiver object is set up "
-          "properly and implements AcceptsDeviceResponsesIF\n");
-#endif
+      FSFW_LOGE("{}",
+                "Make sure the raw receiver object is set up properly "
+                "and implements AcceptsDeviceResponsesIF");
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
     defaultRawReceiver = rawReceiver->getDeviceQueue();
@@ -174,17 +168,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (powerSwitcherId != objects::NO_OBJECT) {
     powerSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitcherId);
     if (powerSwitcher == nullptr) {
-      printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
-                          ObjectManagerIF::CHILD_INIT_FAILED,
+      printWarningOrError(sif::LogLevel::ERROR, "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
                           "Power switcher set but no valid object found.");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Make sure the power switcher object is set up "
-                 << "properly and implements PowerSwitchIF" << std::endl;
-#else
-      sif::printError(
-          "Make sure the power switcher object is set up "
-          "properly and implements PowerSwitchIF\n");
-#endif
+      FSFW_LOGE("{}",
+                "Make sure the power switcher object is set up "
+                "properly and implements PowerSwitchIF\n");
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
   }
@@ -233,17 +221,26 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
+  bool timedOut = false;
   for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
-    if (replyPair.second.delayCycles != 0) {
+    if (replyPair.second.countdown != nullptr && replyPair.second.active) {
+      if (replyPair.second.countdown->hasTimedOut()) {
+        resetTimeoutControlledReply(&replyPair.second);
+        timedOut = true;
+      }
+    }
+    if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
       replyPair.second.delayCycles--;
       if (replyPair.second.delayCycles == 0) {
-        if (replyPair.second.periodic) {
-          replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
-        }
-        replyToReply(replyPair.first, replyPair.second, TIMEOUT);
-        missedReply(replyPair.first);
+        resetDelayCyclesControlledReply(&replyPair.second);
+        timedOut = true;
       }
     }
+    if (timedOut) {
+      replyToReply(replyPair.first, replyPair.second, TIMEOUT);
+      missedReply(replyPair.first);
+      timedOut = false;
+    }
   }
 }
 
@@ -317,8 +314,7 @@ void DeviceHandlerBase::doStateMachine() {
         sprintf(printout, "Transition timeout (%lu) occured !",
                 static_cast<unsigned long>(childTransitionDelay));
         /* Common configuration error for development, so print it */
-        printWarningOrError(sif::OutputTypes::OUT_WARNING, "doStateMachine", RETURN_FAILED,
-                            printout);
+        printWarningOrError(sif::LogLevel::WARNING, "doStateMachine", RETURN_FAILED, printout);
 #endif
         triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0);
         setMode(transitionSourceMode, transitionSourceSubMode);
@@ -359,7 +355,6 @@ void DeviceHandlerBase::doStateMachine() {
         setMode(MODE_OFF);
         break;
       }
-
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -408,20 +403,22 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
     DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
-    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+    size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
+    Countdown* countdown) {
   // No need to check, as we may try to insert multiple times.
   insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
   if (hasDifferentReplyId) {
-    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
+    return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
   } else {
-    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
+    return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
+                            countdown);
   }
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
                                                   uint16_t maxDelayCycles,
                                                   LocalPoolDataSetBase* dataSet, size_t replyLen,
-                                                  bool periodic) {
+                                                  bool periodic, Countdown* countdown) {
   DeviceReplyInfo info;
   info.maxDelayCycles = maxDelayCycles;
   info.periodic = periodic;
@@ -429,6 +426,7 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   info.replyLen = replyLen;
   info.dataSet = dataSet;
   info.command = deviceCommandMap.end();
+  info.countdown = countdown;
   auto resultPair = deviceReplyMap.emplace(replyId, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -464,7 +462,8 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
   }
   DeviceReplyIter iter = deviceReplyMap.find(replyId);
   if (iter != deviceReplyMap.end()) {
-    if (iter->second.delayCycles != 0) {
+    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
+        (iter->second.active && iter->second.countdown != nullptr)) {
       return iter->second.replyLen;
     }
   }
@@ -500,9 +499,19 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
       return COMMAND_NOT_SUPPORTED;
     }
     if (enable) {
-      info->delayCycles = info->maxDelayCycles;
+      info->active = true;
+      if (info->countdown != nullptr) {
+        info->delayCycles = info->maxDelayCycles;
+      } else {
+        info->countdown->resetTimer();
+      }
     } else {
-      info->delayCycles = 0;
+      info->active = false;
+      if (info->countdown != nullptr) {
+        info->delayCycles = 0;
+      } else {
+        info->countdown->timeOut();
+      }
     }
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -610,8 +619,8 @@ void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceRepl
   }
   DeviceCommandInfo* info = &replyInfo.command->second;
   if (info == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_ERROR, "replyToReply",
-                        HasReturnvaluesIF::RETURN_FAILED, "Command pointer not found");
+    printWarningOrError(sif::LogLevel::ERROR, "replyToReply", HasReturnvaluesIF::RETURN_FAILED,
+                        "Command pointer not found");
     return;
   }
 
@@ -752,7 +761,7 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData, size_t receivedD
       case RETURN_OK:
         handleReply(receivedData, foundId, foundLen);
         if (foundLen == 0) {
-          printWarningOrError(sif::OutputTypes::OUT_WARNING, "parseReply",
+          printWarningOrError(sif::LogLevel::WARNING, "parseReply",
                               ObjectManagerIF::CHILD_INIT_FAILED,
                               "Found length is one, parsing might be stuck");
         }
@@ -764,14 +773,12 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData, size_t receivedD
           triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
         }
         if (foundLen == 0) {
-          printWarningOrError(sif::OutputTypes::OUT_ERROR, "parseReply",
+          printWarningOrError(sif::LogLevel::ERROR, "parseReply",
                               ObjectManagerIF::CHILD_INIT_FAILED,
                               "Power switcher set but no valid object found.");
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
-                          " Packet parsing will be stuck."
-                       << std::endl;
-#endif
+          FSFW_LOGW("{}",
+                    "DeviceHandlerBase::parseReply: foundLen is 0! "
+                    "Packet parsing will be stuck\n");
         }
         break;
       }
@@ -808,17 +815,18 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
 
   DeviceReplyInfo* info = &(iter->second);
 
-  if (info->delayCycles != 0) {
+  if ((info->delayCycles != 0 && info->countdown == nullptr) ||
+      (info->active && info->countdown != nullptr)) {
     result = interpretDeviceReply(foundId, receivedData);
 
     if (result == IGNORE_REPLY_DATA) {
       return;
     }
 
-    if (info->periodic) {
-      info->delayCycles = info->maxDelayCycles;
-    } else {
-      info->delayCycles = 0;
+    if (info->active && info->countdown != nullptr) {
+      resetTimeoutControlledReply(info);
+    } else if (info->delayCycles != 0) {
+      resetDelayCyclesControlledReply(info);
     }
 
     if (result != RETURN_OK) {
@@ -837,6 +845,24 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
   }
 }
 
+void DeviceHandlerBase::resetTimeoutControlledReply(DeviceReplyInfo* info) {
+  if (info->periodic) {
+    info->countdown->resetTimer();
+  } else {
+    info->active = false;
+    info->countdown->timeOut();
+  }
+}
+
+void DeviceHandlerBase::resetDelayCyclesControlledReply(DeviceReplyInfo* info) {
+  if (info->periodic) {
+    info->delayCycles = info->maxDelayCycles;
+  } else {
+    info->delayCycles = 0;
+    info->active = false;
+  }
+}
+
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
                                                 size_t* len) {
   size_t lenTmp;
@@ -959,9 +985,15 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
   }
   if (iter != deviceReplyMap.end()) {
     DeviceReplyInfo* info = &(iter->second);
+    // If a countdown has been set, the delay cycles will be ignored and the reply times out
+    // as soon as the countdown has expired
     info->delayCycles = info->maxDelayCycles;
     info->command = command;
     command->second.expectedReplies = expectedReplies;
+    if (info->countdown != nullptr) {
+      info->countdown->resetTimer();
+    }
+    info->active = true;
     return RETURN_OK;
   } else {
     return NO_REPLY_EXPECTED;
@@ -1196,7 +1228,8 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 bool DeviceHandlerBase::isAwaitingReply() {
   std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
   for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
-    if (iter->second.delayCycles != 0) {
+    if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
+        (iter->second.active && iter->second.countdown != nullptr)) {
       return true;
     }
   }
@@ -1286,7 +1319,7 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
   return result;
 }
 
-void DeviceHandlerBase::buildInternalCommand(void) {
+void DeviceHandlerBase::buildInternalCommand() {
   /* Neither raw nor direct could build a command */
   ReturnValue_t result = NOTHING_TO_SEND;
   DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
@@ -1294,7 +1327,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
     result = buildNormalDeviceCommand(&deviceCommandId);
     if (result == BUSY) {
       /* So we can track misconfigurations */
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
+      printWarningOrError(sif::LogLevel::WARNING, "buildInternalCommand",
                           HasReturnvaluesIF::RETURN_FAILED, "Busy.");
       /* No need to report this */
       result = NOTHING_TO_SEND;
@@ -1312,14 +1345,14 @@ void DeviceHandlerBase::buildInternalCommand(void) {
     return;
   }
   if (result == RETURN_OK) {
-    DeviceCommandMap::iterator iter = deviceCommandMap.find(deviceCommandId);
+    auto iter = deviceCommandMap.find(deviceCommandId);
     if (iter == deviceCommandMap.end()) {
 #if FSFW_VERBOSE_LEVEL >= 1
       char output[36];
       sprintf(output, "Command 0x%08x unknown", static_cast<unsigned int>(deviceCommandId));
       // so we can track misconfigurations
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
-                          COMMAND_NOT_SUPPORTED, output);
+      printWarningOrError(sif::LogLevel::WARNING, "buildInternalCommand", COMMAND_NOT_SUPPORTED,
+                          output);
 #endif
       result = COMMAND_NOT_SUPPORTED;
     } else if (iter->second.isExecuting) {
@@ -1327,7 +1360,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
       char output[36];
       sprintf(output, "Command 0x%08x is executing", static_cast<unsigned int>(deviceCommandId));
       // so we can track misconfigurations
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
+      printWarningOrError(sif::LogLevel::WARNING, "buildInternalCommand",
                           HasReturnvaluesIF::RETURN_FAILED, output);
 #endif
       // this is an internal command, no need to report a failure here,
@@ -1348,9 +1381,16 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 ReturnValue_t DeviceHandlerBase::buildChildRawCommand() { return NOTHING_TO_SEND; }
 
 uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand) {
-  DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
+  auto iter = deviceReplyMap.find(deviceCommand);
   if (iter == deviceReplyMap.end()) {
     return 0;
+  } else if (iter->second.countdown != nullptr) {
+    // fake a useful return value for legacy code
+    if (iter->second.active) {
+      return 1;
+    } else {
+      return 0;
+    }
   }
   return iter->second.delayCycles;
 }
@@ -1456,13 +1496,13 @@ void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   }
 }
 
-void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const char* functionName,
+void DeviceHandlerBase::printWarningOrError(sif::LogLevel errorType, const char* functionName,
                                             ReturnValue_t errorCode, const char* errorPrint) {
   if (errorPrint == nullptr) {
     if (errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
       errorPrint = "Initialization error";
     } else if (errorCode == HasReturnvaluesIF::RETURN_FAILED) {
-      if (errorType == sif::OutputTypes::OUT_WARNING) {
+      if (errorType == sif::LogLevel::WARNING) {
         errorPrint = "Generic Warning";
       } else {
         errorPrint = "Generic Error";
@@ -1475,24 +1515,12 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const ch
     functionName = "unknown function";
   }
 
-  if (errorType == sif::OutputTypes::OUT_WARNING) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID 0x" << std::hex
-                 << std::setw(8) << std::setfill('0') << this->getObjectId() << " | " << errorPrint
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-    sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", functionName,
-                      this->getObjectId(), errorPrint);
-#endif
-  } else if (errorType == sif::OutputTypes::OUT_ERROR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DeviceHandlerBase::" << functionName << ": Object ID 0x" << std::hex
-               << std::setw(8) << std::setfill('0') << this->getObjectId() << " | " << errorPrint
-               << std::dec << std::setfill(' ') << std::endl;
-#else
-    sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", functionName,
-                    this->getObjectId(), errorPrint);
-#endif
+  if (errorType == sif::LogLevel::WARNING) {
+    FSFW_LOGWT("{} | Object ID {:#010x} | {}", functionName, SystemObject::getObjectId(),
+               errorPrint);
+  } else if (errorType == sif::LogLevel::ERROR) {
+    FSFW_LOGET("{} | Object ID {:#010x} | {}", functionName, SystemObject::getObjectId(),
+               errorPrint);
   }
 }
 

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -19,8 +19,7 @@
 #include "fsfw/parameters/ParameterHelper.h"
 #include "fsfw/power/PowerSwitchIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -207,11 +206,13 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
-  void getMode(Mode_t *mode, Submode_t *submode) override;
-  HealthState getHealth() override;
-  ReturnValue_t setHealth(HealthState health) override;
-  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper *parameterWrapper,
-                             const ParameterWrapper *newValues, uint16_t startAtIndex) override;
+  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  HealthState getHealth();
+  ReturnValue_t setHealth(HealthState health);
+  virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
+                                     ParameterWrapper *parameterWrapper,
+                                     const ParameterWrapper *newValues,
+                                     uint16_t startAtIndex) override;
 
  protected:
   /**
@@ -446,6 +447,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
+   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
@@ -453,7 +457,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                                            LocalPoolDataSetBase *replyDataSet = nullptr,
                                            size_t replyLen = 0, bool periodic = false,
                                            bool hasDifferentReplyId = false,
-                                           DeviceCommandId_t replyId = 0);
+                                           DeviceCommandId_t replyId = 0,
+                                           Countdown *countdown = nullptr);
   /**
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
@@ -463,12 +468,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * by the device repeatedly without request) or not. Default is aperiodic (0).
    * Please note that periodic replies are disabled by default. You can enable them with
    * #updatePeriodicReply
+   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
   ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
                                  LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
-                                 bool periodic = false);
+                                 bool periodic = false, Countdown *countdown = nullptr);
 
   /**
    * @brief   A simple command to add a command to the commandList.
@@ -781,6 +789,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
     LocalPoolDataSetBase *dataSet = nullptr;
     //! The command that expects this reply.
     DeviceCommandMap::iterator command;
+    //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
+    //! is also possible specify a countdown
+    Countdown *countdown = nullptr;
+    //! will be set to true when reply is enabled
+    bool active = false;
   };
 
   using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@@ -1040,9 +1053,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   bool isAwaitingReply();
 
   void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId, bool forceDirectTm = false);
+  //	void handleDeviceTM(uint8_t* data, size_t dataSize, DeviceCommandId_t replyId,
+  //	        bool forceDirectTm);
 
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t *msToReachTheMode) override;
+  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                         uint32_t *msToReachTheMode);
 
   virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 
@@ -1058,7 +1073,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /**
    * Same as triggerEvent, but for forwarding if object is used as proxy.
    */
-  void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override;
+  virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+                            uint32_t parameter2 = 0) const override;
 
   /**
    * Checks if current mode is transitional mode.
@@ -1239,6 +1255,17 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   void doGetRead(void);
 
+  /**
+   * @brief Resets replies which use a timeout to detect missed replies.
+   */
+  void resetTimeoutControlledReply(DeviceReplyInfo *info);
+
+  /**
+   * @brief Resets replies which use a number of maximum delay cycles to detect
+   *        missed replies.
+   */
+  void resetDelayCyclesControlledReply(DeviceReplyInfo *info);
+
   /**
    * Retrive data from the #IPCStore.
    *
@@ -1277,7 +1304,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param errorCode
    * @param errorPrint
    */
-  void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
+  void printWarningOrError(sif::LogLevel errorType, const char *functionName,
                            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
                            const char *errorPrint = nullptr);
 };

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -5,7 +5,7 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/power/Fuse.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
@@ -163,15 +163,10 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
 ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
   ReturnValue_t result = FailureIsolationBase::initialize();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
-                  " initialize FailureIsolationBase."
-               << std::endl;
-#endif
+    FSFW_LOGE("{}", "initialize: Could not initialize FailureIsolationBase\n");
     return result;
   }
-  ConfirmsFailuresIF* power =
-      ObjectManager::instance()->get<ConfirmsFailuresIF>(powerConfirmationId);
+  auto* power = ObjectManager::instance()->get<ConfirmsFailuresIF>(powerConfirmationId);
   if (power != nullptr) {
     powerConfirmation = power->getEventReceptionQueue();
   }
@@ -244,10 +239,7 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(EventMessage* ev
 
   if (owner == nullptr) {
     // Configuration error.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DeviceHandlerFailureIsolation::"
-               << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
-#endif
+    FSFW_LOGE("isFdirInActionOrAreWeFaulty: Owner not set\n");
     return false;
   }
 

src/fsfw/events/EventManager.cpp

@@ -88,6 +88,11 @@ ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener, Eve
   return result;
 }
 
+ReturnValue_t EventManager::unsubscribeFromAllEvents(MessageQueueId_t listener,
+                                                     object_id_t object) {
+  return unsubscribeFromEventRange(listener, 0, 0, true, object);
+}
+
 ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom,
                                                       EventId_t idTo, bool idInverted,
                                                       object_id_t reporterFrom,
@@ -119,17 +124,17 @@ void EventManager::printEvent(EventMessage* message) {
   switch (message->getSeverity()) {
     case severity::INFO: {
 #if FSFW_DEBUG_INFO == 1
-      printUtility(sif::OutputTypes::OUT_INFO, message);
+      printUtility(sif::LogLevel::INFO, message);
 #endif /* DEBUG_INFO_EVENT == 1 */
       break;
     }
     default:
-      printUtility(sif::OutputTypes::OUT_DEBUG, message);
+      printUtility(sif::LogLevel::DEBUG, message);
       break;
   }
 }
 
-void EventManager::printUtility(sif::OutputTypes printType, EventMessage* message) {
+void EventManager::printUtility(sif::LogLevel printType, EventMessage* message) {
   const char* string = 0;
   if (printType == sif::OutputTypes::OUT_INFO) {
     string = translateObject(message->getReporter());

src/fsfw/events/EventManager.h

@@ -6,12 +6,12 @@
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexIF.h"
 #include "../objectmanager/SystemObject.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "../storagemanager/LocalPool.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "EventManagerIF.h"
 #include "FSFWConfig.h"
 #include "eventmatching/EventMatchTree.h"
+#include "fsfw/serviceinterface.h"
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 // forward declaration, should be implemented by mission
@@ -37,6 +37,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                       EventId_t idTo = 0, bool idInverted = false,
                                       object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                       bool reporterInverted = false);
+  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                           EventId_t idTo = 0, bool idInverted = false,
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
@@ -63,7 +64,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
   void printEvent(EventMessage* message);
-  void printUtility(sif::OutputTypes printType, EventMessage* message);
+  void printUtility(sif::LogLevel printType, EventMessage* message);
 #endif
 
   void lockMutex();

src/fsfw/events/EventManagerIF.h

@@ -4,9 +4,9 @@
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManager.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "EventMessage.h"
 #include "eventmatching/eventmatching.h"
+#include "fsfw/serviceinterface.h"
 
 class EventManagerIF {
  public:
@@ -20,6 +20,7 @@ class EventManagerIF {
                                          bool forwardAllButSelected = false) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
+  virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                               EventId_t idTo = 0, bool idInverted = false,
                                               object_id_t reporterFrom = 0,
@@ -39,19 +40,9 @@ class EventManagerIF {
 
   static void triggerEvent(EventMessage* message, MessageQueueId_t sentFrom = 0) {
     if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
-      EventManagerIF* eventmanager =
-          ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+      auto* eventmanager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
       if (eventmanager == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "EventManagerIF::triggerEvent: EventManager invalid or not found!"
-                     << std::endl;
-#else
-        sif::printWarning(
-            "EventManagerIF::triggerEvent: "
-            "EventManager invalid or not found!");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        FSFW_LOGW("{}", "EventManagerIF::triggerEvent: EventManager invalid or not found\n");
         return;
       }
       eventmanagerQueue = eventmanager->getEventReportQueue();

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -14,17 +14,23 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "FailureIsolationBase::~FailureIsolationBase: Event Manager has not"
+                  " been initialized!"
+               << std::endl;
+#endif
+    return;
+  }
+  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 
 ReturnValue_t FailureIsolationBase::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "FailureIsolationBase::initialize: Event Manager has not"
-                  " been initialized!"
-               << std::endl;
-#endif
+    FSFW_LOGE("{}", "initialize: Event Manager has not been initialized\n");
     return RETURN_FAILED;
   }
   ReturnValue_t result = manager->registerListener(eventQueue->getId());
@@ -38,27 +44,20 @@ ReturnValue_t FailureIsolationBase::initialize() {
     }
     owner = ObjectManager::instance()->get<HasHealthIF>(ownerId);
     if (owner == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Owner object "
-                    "invalid. Make sure it implements HasHealthIF"
-                 << std::endl;
-#endif
+      FSFW_LOGE(
+          "FailureIsolationBase::intialize: Owner object {:#010x} invalid. "
+          "Does it implement HasHealthIF?\n",
+          ownerId);
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
   }
   if (faultTreeParent != objects::NO_OBJECT) {
-    ConfirmsFailuresIF* parentIF =
-        ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
+    auto* parentIF = ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object"
-                 << "invalid." << std::endl;
-#endif
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
-#endif
+      FSFW_LOGW(
+          "intialize: Parent object {:#010x} invalid. Does it implement ConfirmsFailuresIF?\n",
+          faultTreeParent);
       return ObjectManagerIF::CHILD_INIT_FAILED;
-      return RETURN_FAILED;
     }
     eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue());
   }

src/fsfw/fdir/FaultCounter.cpp

@@ -60,14 +60,14 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
     return INVALID_DOMAIN_ID;
   }
 
-  switch (uniqueId) {
-    case 0:
+  switch (static_cast<ParameterIds>(uniqueId)) {
+    case ParameterIds::FAILURE_THRESHOLD:
       parameterWrapper->set(failureThreshold);
       break;
-    case 1:
+    case ParameterIds::FAULT_COUNT:
       parameterWrapper->set(faultCount);
       break;
-    case 2:
+    case ParameterIds::TIMEOUT:
       parameterWrapper->set(timer.timeout);
       break;
     default:

src/fsfw/fdir/FaultCounter.h

@@ -6,6 +6,8 @@
 
 class FaultCounter : public HasParametersIF {
  public:
+  enum class ParameterIds { FAILURE_THRESHOLD, FAULT_COUNT, TIMEOUT };
+
   FaultCounter();
   FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
                uint8_t setParameterDomain = 0);
@@ -25,7 +27,8 @@ class FaultCounter : public HasParametersIF {
 
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
-                                     const ParameterWrapper *newValues, uint16_t startAtIndex);
+                                     const ParameterWrapper *newValues = nullptr,
+                                     uint16_t startAtIndex = 0);
 
   void setParameterDomain(uint8_t domain);
 

src/fsfw/globalfunctions/arrayprinter.cpp

@@ -3,31 +3,16 @@
 #include <bitset>
 #include <cmath>
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool printInfo,
                          size_t maxCharPerLine) {
   if (size == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "Size is zero, nothing to print" << std::endl;
-#else
-    sif::printInfo("Size is zero, nothing to print\n");
-#endif
+    FSFW_LOGI("{}", "Size is zero, nothing to print\n");
     return;
   }
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (printInfo) {
-    sif::info << "Printing data with size " << size << ": " << std::endl;
-  }
-#else
-#if FSFW_NO_C99_IO == 1
-  sif::printInfo("Printing data with size %lu: \n", static_cast<unsigned long>(size));
-#else
-  sif::printInfo("Printing data with size %zu: \n", size);
-#endif /* FSFW_NO_C99_IO == 1 */
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-
+  FSFW_LOGI("Printing data with size {}:\n", size);
   if (type == OutputType::HEX) {
     arrayprinter::printHex(data, size, maxCharPerLine);
   } else if (type == OutputType::DEC) {
@@ -38,99 +23,99 @@ void arrayprinter::print(const uint8_t *data, size_t size, OutputType type, bool
 }
 
 void arrayprinter::printHex(const uint8_t *data, size_t size, size_t maxCharPerLine) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (sif::info.crAdditionEnabled()) {
-    std::cout << "\r" << std::endl;
-  }
-
-  std::cout << "hex [" << std::setfill('0') << std::hex;
-  for (size_t i = 0; i < size; i++) {
-    std::cout << std::setw(2) << static_cast<int>(data[i]);
-    if (i < size - 1) {
-      std::cout << ",";
-      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
-        std::cout << std::endl;
-      }
-    }
-  }
-  std::cout << std::dec << std::setfill(' ');
-  std::cout << "]" << std::endl;
-#else
-  // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
-  // plus line break plus small safety margin.
-  char printBuffer[(size + 1) * 7 + 1] = {};
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 7) {
-      break;
-    }
-
-    currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
-    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
-    }
-  }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("hex [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
-#endif
+  //#if FSFW_CPP_OSTREAM_ENABLED == 1
+  //  if (sif::info.crAdditionEnabled()) {
+  //    std::cout << "\r" << std::endl;
+  //  }
+  //
+  //  std::cout << "hex [" << std::setfill('0') << std::hex;
+  //  for (size_t i = 0; i < size; i++) {
+  //    std::cout << std::setw(2) << static_cast<int>(data[i]);
+  //    if (i < size - 1) {
+  //      std::cout << ",";
+  //      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
+  //        std::cout << std::endl;
+  //      }
+  //    }
+  //  }
+  //  std::cout << std::dec << std::setfill(' ');
+  //  std::cout << "]" << std::endl;
+  //#else
+  //  // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
+  //  // plus line break plus small safety margin.
+  //  char printBuffer[(size + 1) * 7 + 1] = {};
+  //  size_t currentPos = 0;
+  //  for (size_t i = 0; i < size; i++) {
+  //    // To avoid buffer overflows.
+  //    if (sizeof(printBuffer) - currentPos <= 7) {
+  //      break;
+  //    }
+  //
+  //    currentPos += snprintf(printBuffer + currentPos, 6, "%02x", data[i]);
+  //    if (i < size - 1) {
+  //      currentPos += sprintf(printBuffer + currentPos, ",");
+  //      if ((i + 1) % maxCharPerLine == 0) {
+  //        currentPos += sprintf(printBuffer + currentPos, "\n");
+  //      }
+  //    }
+  //  }
+  //#if FSFW_DISABLE_PRINTOUT == 0
+  //  printf("hex [%s]\n", printBuffer);
+  //#endif /* FSFW_DISABLE_PRINTOUT == 0 */
+  //#endif
 }
 
 void arrayprinter::printDec(const uint8_t *data, size_t size, size_t maxCharPerLine) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (sif::info.crAdditionEnabled()) {
-    std::cout << "\r" << std::endl;
-  }
-
-  std::cout << "dec [" << std::dec;
-  for (size_t i = 0; i < size; i++) {
-    std::cout << static_cast<int>(data[i]);
-    if (i < size - 1) {
-      std::cout << ",";
-      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
-        std::cout << std::endl;
-      }
-    }
-  }
-  std::cout << "]" << std::endl;
-#else
-  // General format: 32,243,-12 so it is number of chars times 4
-  // plus line break plus small safety margin.
-  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
-  char printBuffer[size * 4 + 1 + expectedLines] = {};
-  size_t currentPos = 0;
-  for (size_t i = 0; i < size; i++) {
-    // To avoid buffer overflows.
-    if (sizeof(printBuffer) - currentPos <= 4) {
-      break;
-    }
-
-    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
-    if (i < size - 1) {
-      currentPos += sprintf(printBuffer + currentPos, ",");
-      if ((i + 1) % maxCharPerLine == 0) {
-        currentPos += sprintf(printBuffer + currentPos, "\n");
-      }
-    }
-  }
-#if FSFW_DISABLE_PRINTOUT == 0
-  printf("dec [%s]\n", printBuffer);
-#endif /* FSFW_DISABLE_PRINTOUT == 0 */
-#endif
+  //#if FSFW_CPP_OSTREAM_ENABLED == 1
+  //  if (sif::info.crAdditionEnabled()) {
+  //    std::cout << "\r" << std::endl;
+  //  }
+  //
+  //  std::cout << "dec [" << std::dec;
+  //  for (size_t i = 0; i < size; i++) {
+  //    std::cout << static_cast<int>(data[i]);
+  //    if (i < size - 1) {
+  //      std::cout << ",";
+  //      if (i > 0 and (i + 1) % maxCharPerLine == 0) {
+  //        std::cout << std::endl;
+  //      }
+  //    }
+  //  }
+  //  std::cout << "]" << std::endl;
+  //#else
+  //  // General format: 32,243,-12 so it is number of chars times 4
+  //  // plus line break plus small safety margin.
+  //  uint16_t expectedLines = ceil((double)size / maxCharPerLine);
+  //  char printBuffer[size * 4 + 1 + expectedLines] = {};
+  //  size_t currentPos = 0;
+  //  for (size_t i = 0; i < size; i++) {
+  //    // To avoid buffer overflows.
+  //    if (sizeof(printBuffer) - currentPos <= 4) {
+  //      break;
+  //    }
+  //
+  //    currentPos += snprintf(printBuffer + currentPos, 4, "%d", data[i]);
+  //    if (i < size - 1) {
+  //      currentPos += sprintf(printBuffer + currentPos, ",");
+  //      if ((i + 1) % maxCharPerLine == 0) {
+  //        currentPos += sprintf(printBuffer + currentPos, "\n");
+  //      }
+  //    }
+  //  }
+  //#if FSFW_DISABLE_PRINTOUT == 0
+  //  printf("dec [%s]\n", printBuffer);
+  //#endif /* FSFW_DISABLE_PRINTOUT == 0 */
+  //#endif
 }
 
 void arrayprinter::printBin(const uint8_t *data, size_t size) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  for (size_t i = 0; i < size; i++) {
-    sif::info << "Byte " << i + 1 << ": 0b" << std::bitset<8>(data[i]) << std::endl;
-  }
-#else
-  for (size_t i = 0; i < size; i++) {
-    sif::printInfo("Byte %d: 0b" BYTE_TO_BINARY_PATTERN "\n", i + 1, BYTE_TO_BINARY(data[i]));
-  }
-#endif
+  //#if FSFW_CPP_OSTREAM_ENABLED == 1
+  //  for (size_t i = 0; i < size; i++) {
+  //    sif::info << "Byte " << i + 1 << ": 0b" << std::bitset<8>(data[i]) << std::endl;
+  //  }
+  //#else
+  //  for (size_t i = 0; i < size; i++) {
+  //    sif::printInfo("Byte %d: 0b" BYTE_TO_BINARY_PATTERN "\n", i + 1, BYTE_TO_BINARY(data[i]));
+  //  }
+  //#endif
 }

src/fsfw/health/HasHealthIF.h

@@ -36,7 +36,7 @@ class HasHealthIF {
       12,
       severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
 
-  virtual ~HasHealthIF() = default;
+  virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;
 

src/fsfw/health/HealthHelper.cpp

@@ -1,11 +1,11 @@
 #include "fsfw/health/HealthHelper.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
     : objectId(objectId), owner(owner) {}
 
-HealthHelper::~HealthHelper() {}
+HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
 
 ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
   switch (message->getCommand()) {
@@ -35,20 +35,12 @@ ReturnValue_t HealthHelper::initialize() {
   eventSender = ObjectManager::instance()->get<EventReportingProxyIF>(objectId);
 
   if (healthTable == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "HealthHelper::initialize: Health table object needs"
-                  "to be created in factory."
-               << std::endl;
-#endif
+    FSFW_LOGE("{}", "initialize: Health table object needs to be created in factory\n");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   if (eventSender == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "HealthHelper::initialize: Owner has to implement "
-                  "ReportingProxyIF."
-               << std::endl;
-#endif
+    FSFW_LOGE("{}", "initialize: Owner has to implement ReportingProxyIF\n");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
@@ -77,9 +69,7 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
   HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO, health, oldHealth);
   if (MessageQueueSenderIF::sendMessage(parentQueue, &information, owner->getCommandQueue()) !=
       HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "HealthHelper::informParent: sending health reply failed." << std::endl;
-#endif
+    FSFW_LOGWT("informParent: Object ID {:#010x} | Sending health reply failed\n", objectId);
   }
 }
 
@@ -96,10 +86,7 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
   }
   if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply, owner->getCommandQueue()) !=
       HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "HealthHelper::handleHealthCommand: sending health "
-                  "reply failed."
-               << std::endl;
-#endif
+    FSFW_LOGWT("handleSetHealthCommand: Object ID {:#010x} | Sending health reply failed\n",
+               objectId);
   }
 }

src/fsfw/health/HealthTable.cpp

@@ -3,6 +3,7 @@
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serviceinterface.h"
 
 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
   mutex = MutexFactory::instance()->createMutex();
@@ -27,6 +28,15 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t HealthTable::removeObject(object_id_t object) {
+  mapIterator = healthMap.find(object);
+  if (mapIterator == healthMap.end()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  healthMap.erase(mapIterator);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) {
   MutexGuard(mutex, timeoutType, mutexTimeoutMs);
   HealthMap::iterator iter = healthMap.find(object);
@@ -68,13 +78,7 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
   ReturnValue_t result =
       SerializeAdapter::serialize(&count, &pointer, &size, maxSize, SerializeIF::Endianness::BIG);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl;
-#else
-    sif::printWarning("HealthTable::printAll: Serialization of health table failed\n");
-#endif
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGW("{}", "printAll: Serialization of health table failed\n");
     return;
   }
   for (const auto& health : healthMap) {

src/fsfw/health/HealthTable.h

@@ -17,6 +17,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
   /** HealthTableIF overrides */
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
+  ReturnValue_t removeObject(object_id_t object) override;
   virtual size_t getPrintSize() override;
   virtual void printAll(uint8_t* pointer, size_t maxSize) override;
 

src/fsfw/health/HealthTableIF.h

@@ -14,6 +14,8 @@ class HealthTableIF : public ManagesHealthIF {
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
+  virtual ReturnValue_t removeObject(object_id_t objectId) = 0;
+
   virtual size_t getPrintSize() = 0;
   virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 

src/fsfw/housekeeping/HousekeepingSnapshot.h

@@ -55,7 +55,7 @@ class HousekeepingSnapshot : public SerializeIF {
       : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr){};
 
   virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const override {
+                                  Endianness streamEndianness) const {
     if (timeStamp != nullptr) {
       /* Endianness will always be MACHINE, so we can simply use memcpy
       here. */
@@ -70,7 +70,7 @@ class HousekeepingSnapshot : public SerializeIF {
     return updateData->serialize(buffer, size, maxSize, streamEndianness);
   }
 
-  virtual size_t getSerializedSize() const override {
+  virtual size_t getSerializedSize() const {
     if (updateData == nullptr) {
       return 0;
     }

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
@@ -34,18 +34,8 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
 #if FSFW_VERBOSE_LEVEL >= 1
   if (diagnosticPrintout) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured!" << std::endl;
-      sif::debug << "Queue errors: " << newQueueHits << std::endl;
-      sif::debug << "TM errors: " << newTmHits << std::endl;
-      sif::debug << "Store errors: " << newStoreHits << std::endl;
-#else
-      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
-      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
-      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
-      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
-#endif
+      FSFW_LOGW("performOperation: Errors occured\nQueue {} | TM {} | Store {}\n", newQueueHits,
+                newTmHits, newStoreHits);
     }
   }
 #endif

src/fsfw/ipc/MessageQueueBase.h

@@ -10,25 +10,25 @@ class MessageQueueBase : public MessageQueueIF {
   virtual ~MessageQueueBase();
 
   // Default implementations for MessageQueueIF where possible
-  MessageQueueId_t getLastPartner() const override;
-  MessageQueueId_t getId() const override;
-  MqArgs& getMqArgs() override;
-  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-  MessageQueueId_t getDefaultDestination() const override;
-  bool isDefaultDestinationSet() const override;
-  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                            bool ignoreFault) override;
-  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-  ReturnValue_t reply(MessageQueueMessageIF* message) override;
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                               MessageQueueId_t* receivedFrom) override;
-  ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-                                  bool ignoreFault = false) override;
+  virtual MessageQueueId_t getLastPartner() const override;
+  virtual MessageQueueId_t getId() const override;
+  virtual MqArgs& getMqArgs() override;
+  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+  virtual MessageQueueId_t getDefaultDestination() const override;
+  virtual bool isDefaultDestinationSet() const override;
+  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                    bool ignoreFault) override;
+  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+                                       MessageQueueId_t* receivedFrom) override;
+  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+                                          bool ignoreFault = false) override;
 
   // OSAL specific, forward the abstract function
-  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override = 0;
-  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                MessageQueueId_t sentFrom, bool ignoreFault = false) override = 0;
+  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
+  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                        MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
 
  protected:
   MessageQueueId_t id = MessageQueueIF::NO_QUEUE;

src/fsfw/ipc/MessageQueueMessage.cpp

@@ -3,7 +3,7 @@
 #include <cstring>
 
 #include "fsfw/globalfunctions/arrayprinter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()) {
   memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
@@ -15,11 +15,7 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
     memcpy(this->getData(), data, size);
     this->messageSize = this->HEADER_SIZE + size;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "MessageQueueMessage: Passed size larger than maximum"
-                    "allowed size! Setting content to 0"
-                 << std::endl;
-#endif
+    FSFW_LOGW("{}", "ctor: Passed size larger than maximum allowed size! Setting content to 0\n");
     memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
     this->messageSize = this->HEADER_SIZE;
   }

src/fsfw/ipc/MutexGuard.h

@@ -1,8 +1,10 @@
 #ifndef FRAMEWORK_IPC_MUTEXGUARD_H_
 #define FRAMEWORK_IPC_MUTEXGUARD_H_
 
-#include "../serviceinterface/ServiceInterface.h"
-#include "MutexFactory.h"
+#include <fmt/core.h>
+
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/serviceinterface.h"
 
 class MutexGuard {
  public:
@@ -10,35 +12,17 @@ class MutexGuard {
              uint32_t timeoutMs = 0)
       : internalMutex(mutex) {
     if (mutex == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "MutexGuard: Passed mutex is invalid!" << std::endl;
-#else
-      sif::printError("MutexGuard: Passed mutex is invalid!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+      // It's tricky to use the error functions defined in the service interface
+      // because those functions require the mutex guard themselves
+      fmt::print("ERROR | Passed mutex is invalid\n");
       return;
     }
     result = mutex->lockMutex(timeoutType, timeoutMs);
-#if FSFW_VERBOSE_LEVEL >= 1
     if (result == MutexIF::MUTEX_TIMEOUT) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "MutexGuard: Lock of mutex failed with timeout of " << timeoutMs
-                 << " milliseconds!" << std::endl;
-#else
-      sif::printError("MutexGuard: Lock of mutex failed with timeout of %lu milliseconds\n",
-                      timeoutMs);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-
+      fmt::print("ERROR | Lock of mutex failed with timeout of {} milliseconds\n", timeoutMs);
     } else if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "MutexGuard: Lock of Mutex failed with code " << result << std::endl;
-#else
-      sif::printError("MutexGuard: Lock of Mutex failed with code %d\n", result);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+      fmt::print("ERROR | Lock of Mutex failed with code {}\n", result);
     }
-#else
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
   }
 
   ReturnValue_t getLockResult() const { return result; }

src/fsfw/memory/MemoryHelper.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/memory/MemoryMessage.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/EndianConverter.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue)
     : workOnThis(workOnThis),
@@ -17,9 +17,7 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
   lastSender = message->getSender();
   lastCommand = message->getCommand();
   if (busy) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "MemHelper: Busy!" << std::endl;
-#endif
+    FSFW_LOGW("{}", "MemoryHelper: Busy\n");
   }
   switch (lastCommand) {
     case MemoryMessage::CMD_MEMORY_DUMP:

src/fsfw/modes/ModeHelper.cpp

@@ -2,7 +2,7 @@
 
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/modes/HasModesIF.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 ModeHelper::ModeHelper(HasModesIF* owner)
     : commandedMode(HasModesIF::MODE_OFF),

src/fsfw/monitoring/AbsLimitMonitor.h

@@ -17,8 +17,8 @@ class AbsLimitMonitor : public MonitorBase<T> {
         limit(limit),
         violationEvent(violationEvent),
         aboveIsViolation(aboveIsViolation) {}
-  virtual ~AbsLimitMonitor() = default;
-  ReturnValue_t checkSample(T sample, T *crossedLimit) override {
+  virtual ~AbsLimitMonitor() {}
+  virtual ReturnValue_t checkSample(T sample, T *crossedLimit) {
     *crossedLimit = limit;
     if (aboveIsViolation) {
       if ((std::abs(sample) > limit)) {
@@ -32,9 +32,9 @@ class AbsLimitMonitor : public MonitorBase<T> {
     return HasReturnvaluesIF::RETURN_OK;  // We're not out of range.
   }
 
-  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
-                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
-                             uint16_t startAtIndex) override {
+  virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+                                     ParameterWrapper *parameterWrapper,
+                                     const ParameterWrapper *newValues, uint16_t startAtIndex) {
     ReturnValue_t result = this->MonitorBase<T>::getParameter(
         domainId, parameterId, parameterWrapper, newValues, startAtIndex);
     // We'll reuse the DOMAIN_ID of MonitorReporter,
@@ -61,7 +61,7 @@ class AbsLimitMonitor : public MonitorBase<T> {
   void setLimit(T value) { limit = value; }
 
  protected:
-  void sendTransitionEvent(T currentValue, ReturnValue_t state) override {
+  void sendTransitionEvent(T currentValue, ReturnValue_t state) {
     switch (state) {
       case MonitoringIF::OUT_OF_RANGE:
         EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->globalPoolId.objectId,

src/fsfw/monitoring/MonitorReporter.h

@@ -51,8 +51,9 @@ class MonitorReporter : public HasParametersIF {
     return state;
   }
 
-  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper *parameterWrapper,
-                             const ParameterWrapper *newValues, uint16_t startAtIndex) override {
+  virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
+                                     ParameterWrapper *parameterWrapper,
+                                     const ParameterWrapper *newValues, uint16_t startAtIndex) {
     if (domainId != monitorId) {
       return INVALID_DOMAIN_ID;
     }

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -7,10 +7,10 @@
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../serialize/SerializeElement.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "../timemanager/TimeStamperIF.h"
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
+#include "fsfw/serviceinterface.h"
 #include "monitoringConf.h"
 
 namespace Factory {
@@ -81,11 +81,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
     if (timeStamper == nullptr) {
       timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
       if (timeStamper == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "MonitoringReportContent::checkAndSetStamper: "
-                      "Stamper not found!"
-                   << std::endl;
-#endif
+        FSFW_LOGET("{}", "checkAndSetStamper: Stamper not found\n");
         return false;
       }
     }

src/fsfw/objectmanager/ObjectManager.cpp

@@ -1,6 +1,6 @@
-#include "fsfw/objectmanager/ObjectManager.h"
+#include "ObjectManager.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 #include <iomanip>
@@ -36,17 +36,10 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
     // sif::debug << "ObjectManager::insert: Object " << std::hex
     //            << (int)id << std::dec << " inserted." << std::endl;
 #endif
-    return this->RETURN_OK;
+    return ObjectManager::RETURN_OK;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "ObjectManager::insert: Object ID " << std::hex << static_cast<uint32_t>(id)
-               << std::dec << " is already in use!" << std::endl;
-    sif::error << "Terminating program" << std::endl;
-#else
-    sif::printError("ObjectManager::insert: Object ID 0x%08x is already in use!\n",
-                    static_cast<unsigned int>(id));
-    sif::printError("Terminating program");
-#endif
+    FSFW_LOGET("ObjectManager::insert: Object ID {:#010x} is already in use\nTerminating program\n",
+               static_cast<uint32_t>(id));
     // This is very severe and difficult to handle in other places.
     std::exit(INSERTION_FAILED);
   }
@@ -61,10 +54,7 @@ ReturnValue_t ObjectManager::remove(object_id_t id) {
 #endif
     return RETURN_OK;
   } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "ObjectManager::removeObject: Requested object " << std::hex << (int)id
-               << std::dec << " not found." << std::endl;
-#endif
+    FSFW_LOGW("removeObject: Requested object {:#010x} not found\n", id);
     return NOT_FOUND;
   }
 }
@@ -79,64 +69,44 @@ SystemObjectIF* ObjectManager::getSystemObject(object_id_t id) {
 }
 
 void ObjectManager::initialize() {
-  if (objectFactoryFunction == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "ObjectManager::initialize: Passed produceObjects "
-                  "functions is nullptr!"
-               << std::endl;
-#else
-    sif::printError("ObjectManager::initialize: Passed produceObjects functions is nullptr!\n");
-#endif
-    return;
+  if (objectFactoryFunction != nullptr) {
+    objectFactoryFunction(factoryArgs);
   }
-  objectFactoryFunction(factoryArgs);
   ReturnValue_t result = RETURN_FAILED;
   uint32_t errorCount = 0;
   for (auto const& it : objectList) {
     result = it.second->initialize();
     if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
       object_id_t var = it.first;
-      sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << var
-                 << " failed to "
-                    "initialize with code 0x"
-                 << result << std::dec << std::setfill(' ') << std::endl;
-#endif
+      FSFW_LOGWT("initialize: Object {:#010x} failed to initialize with code {:#06x}\n", var,
+                 result);
       errorCount++;
     }
   }
   if (errorCount > 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
-               << " failed initializations." << std::endl;
-#endif
+    FSFW_LOGWT("{}", "initialize: Counted failed initializations\n");
   }
   // Init was successful. Now check successful interconnections.
   errorCount = 0;
   for (auto const& it : objectList) {
     result = it.second->checkObjectConnections();
     if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex << (int)it.first
-                 << " connection check failed with code 0x" << result << std::dec << std::endl;
-#endif
+      FSFW_LOGE("initialize: Object {:#010x} connection check failed with code {:#06x}\n", it.first,
+                result);
       errorCount++;
     }
   }
   if (errorCount > 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
-               << " failed connection checks." << std::endl;
-#endif
+    FSFW_LOGE("{}", "ObjectManager::ObjectManager: Counted {} failed connection checks\n",
+              errorCount);
   }
 }
 
 void ObjectManager::printList() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "ObjectManager: Object List contains:" << std::endl;
+  sif::info("ObjectManager: Object List contains:\n");
   for (auto const& it : objectList) {
-    sif::debug << std::hex << it.first << " | " << it.second << std::endl;
+    sif::info("{:#010x} | {:#010x}\n", it.first, fmt::ptr(it.second));
   }
 #endif
 }

src/fsfw/objectmanager/ObjectManagerIF.h

@@ -2,9 +2,9 @@
 #define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../serviceinterface/ServiceInterface.h"
 #include "SystemObjectIF.h"
 #include "frameworkObjects.h"
+#include "fsfw/serviceinterface.h"
 
 /**
  * @brief	This class provides an interface to the global object manager.

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/common/TcpTmTcBridge.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 
@@ -21,17 +21,13 @@ TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, ob
     : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
   mutex = MutexFactory::instance()->createMutex();
   // Connection is always up, TM is requested by connecting to server and receiving packets
-  registerCommConnect();
+  TmTcBridge::registerCommConnect();
 }
 
 ReturnValue_t TcpTmTcBridge::initialize() {
   ReturnValue_t result = TmTcBridge::initialize();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TcpTmTcBridge::initialize: TmTcBridge initialization failed!" << std::endl;
-#else
-    sif::printError("TcpTmTcBridge::initialize: TmTcBridge initialization failed!\n");
-#endif
+    FSFW_LOGE("TcpTmTcBridge::initialize: TmTcBridge initialization failed\n");
     return result;
   }
 

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcservices/SpacePacketParser.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
@@ -56,11 +56,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
   }
   tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
   if (tcStore == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TcpTmTcServer::initialize: TC store uninitialized!" << std::endl;
-#else
-    sif::printError("TcpTmTcServer::initialize: TC store uninitialized!\n");
-#endif
+    FSFW_LOGE("TcpTmTcServer::initialize: TC store uninitialized\n");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
@@ -205,11 +201,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 
 ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t packetSize) {
   if (wiretappingEnabled) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "Received TC:" << std::endl;
-#else
-    sif::printInfo("Received TC:\n");
-#endif
+    FSFW_LOGI("Received TC:\n");
     arrayprinter::print(spacePacket, packetSize);
   }
 
@@ -219,17 +211,7 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
   store_address_t storeId;
   ReturnValue_t result = tcStore->addData(&storeId, spacePacket, packetSize);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TcpTmTcServer::handleServerOperation: Data storage with packet size"
-                 << packetSize << " failed" << std::endl;
-#else
-    sif::printWarning(
-        "TcpTmTcServer::handleServerOperation: Data storage with packet size %d "
-        "failed\n",
-        packetSize);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGWT("handleTcReception: Data storage with packet size {} failed\n", packetSize);
     return result;
   }
 
@@ -237,17 +219,7 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
 
   result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TcpTmTcServer::handleServerOperation: "
-                    " Sending message to queue failed"
-                 << std::endl;
-#else
-    sif::printWarning(
-        "TcpTmTcServer::handleServerOperation: "
-        " Sending message to queue failed\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGWT("handleTcReception: Sending message to queue failed\n");
     tcStore->deleteData(storeId);
   }
   return result;
@@ -277,11 +249,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
       return result;
     }
     if (wiretappingEnabled) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::info << "Sending TM:" << std::endl;
-#else
-      sif::printInfo("Sending TM:\n");
-#endif
+      FSFW_LOGI("Sending TM:");
       arrayprinter::print(storeAccessor.data(), storeAccessor.size());
     }
     ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
@@ -306,31 +274,14 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   size_t readAmount = availableReadData;
   lastRingBufferSize = availableReadData;
   if (readAmount >= ringBuffer.getMaxSize()) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     // Possible configuration error, too much data or/and data coming in too fast,
     // requiring larger buffers
-    sif::warning << "TcpTmTcServer::handleServerOperation: Ring buffer reached "
-                 << "fill count" << std::endl;
-#else
-    sif::printWarning(
-        "TcpTmTcServer::handleServerOperation: Ring buffer reached "
-        "fill count");
-#endif
-#endif
+    FSFW_LOGWT("handleTcRingBufferData: Ring buffer reached fill count\n");
   }
   if (readAmount >= receptionBuffer.size()) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
     // Possible configuration error, too much data or/and data coming in too fast,
     // requiring larger buffers
-    sif::warning << "TcpTmTcServer::handleServerOperation: "
-                    "Reception buffer too small "
-                 << std::endl;
-#else
-    sif::printWarning("TcpTmTcServer::handleServerOperation: Reception buffer too small\n");
-#endif
-#endif
+    FSFW_LOGWT("handleTcRingBufferData: Reception buffer too small\n");
     readAmount = receptionBuffer.size();
   }
   ringBuffer.readData(receptionBuffer.data(), readAmount, true);

src/fsfw/osal/common/UdpTcPollingTask.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/common/tcpipHelpers.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 #include <winsock2.h>
@@ -51,9 +51,7 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid
                  receptionFlags, &senderAddress, &senderAddressSize);
     if (bytesReceived == SOCKET_ERROR) {
       /* Handle error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "UdpTcPollingTask::performOperation: Reception error." << std::endl;
-#endif
+      FSFW_LOGW("performOperation: Reception error\n");
       tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
       continue;
     }
@@ -81,12 +79,7 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 
   ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UdpTcPollingTask::transferPusToSoftwareBus: Data storage failed." << std::endl;
-    sif::warning << "Packet size: " << bytesRead << std::endl;
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGWT("handleSuccessfullTcRead: Data storage failed. Packet size {}\n", bytesRead);
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -94,13 +87,7 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 
   result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: "
-                    " Sending message to queue failed"
-                 << std::endl;
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    FSFW_LOGWT("handleSuccessfullTcRead: Sending message to queue failed\n");
     tcStore->deleteData(storeId);
   }
   return result;
@@ -109,17 +96,13 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 ReturnValue_t UdpTcPollingTask::initialize() {
   tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
   if (tcStore == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UdpTcPollingTask::initialize: TC store uninitialized!" << std::endl;
-#endif
+    FSFW_LOGE("initialize: TC store uninitialized\n");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
   tmtcBridge = ObjectManager::instance()->get<UdpTmTcBridge>(tmtcBridgeId);
   if (tmtcBridge == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UdpTcPollingTask::initialize: Invalid TMTC bridge object!" << std::endl;
-#endif
+    FSFW_LOGE("initialize: Invalid TMTC bridge object\n");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
@@ -158,11 +141,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
   tval = timevalOperations::toTimeval(timeoutSeconds);
   int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
   if (result == -1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
-                  "receive timeout failed with "
-               << strerror(errno) << std::endl;
-#endif
+    FSFW_LOGW("setTimeout: Setting receive timeout failed with {} | {}", errno, strerror(errno));
   }
 #endif
 }

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/osal/common/tcpipHelpers.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
@@ -36,13 +36,11 @@ UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
 ReturnValue_t UdpTmTcBridge::initialize() {
   ReturnValue_t result = TmTcBridge::initialize();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UdpTmTcBridge::initialize: TmTcBridge initialization failed!" << std::endl;
-#endif
+    FSFW_LOGE("initialize: TmTcBridge initialization failed\n");
     return result;
   }
 
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
   /* Initiates Winsock DLL. */
   WSAData wsaData;
   WORD wVersionRequested = MAKEWORD(2, 2);
@@ -120,9 +118,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
   ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
                              &clientAddress, clientAddressLen);
   if (bytesSent == SOCKET_ERROR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;
-#endif
+    FSFW_LOGWT("sendTm: Send operation failed\n");
     tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
   }
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1

src/fsfw/osal/common/tcpipCommon.cpp

@@ -1,7 +1,9 @@
 #include "fsfw/osal/common/tcpipCommon.h"
 
+#include <cerrno>
+
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
@@ -48,28 +50,20 @@ void tcpip::printAddress(struct sockaddr *addr) {
   const char *stringPtr = NULL;
   switch (addr->sa_family) {
     case AF_INET: {
-      struct sockaddr_in *addrIn = reinterpret_cast<struct sockaddr_in *>(addr);
+      auto *addrIn = reinterpret_cast<struct sockaddr_in *>(addr);
       stringPtr = inet_ntop(AF_INET, &(addrIn->sin_addr), ipAddress, INET_ADDRSTRLEN);
       break;
     }
     case AF_INET6: {
-      struct sockaddr_in6 *addrIn = reinterpret_cast<struct sockaddr_in6 *>(addr);
+      auto *addrIn = reinterpret_cast<struct sockaddr_in6 *>(addr);
       stringPtr = inet_ntop(AF_INET6, &(addrIn->sin6_addr), ipAddress, INET6_ADDRSTRLEN);
       break;
     }
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (stringPtr == NULL) {
-    sif::debug << "Could not convert IP address to text representation, error code " << errno
-               << std::endl;
+  if (stringPtr == nullptr) {
+    FSFW_LOGDT("Could not convert IP address to text representation, error code {} | {}", errno,
+               strerror(errno));
   } else {
-    sif::debug << "IP Address Sender: " << ipAddress << std::endl;
+    FSFW_LOGDT("IP Address Sender {}\n", ipAddress);
   }
-#else
-  if (stringPtr == NULL) {
-    sif::printDebug("Could not convert IP address to text representation, error code %d\n", errno);
-  } else {
-    sif::printDebug("IP Address Sender: %s\n", ipAddress);
-  }
-#endif
 }

src/fsfw/osal/freertos/BinSemaphUsingTask.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/osal/freertos/BinSemaphUsingTask.h"
 
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8
 

src/fsfw/osal/freertos/BinarySemaphore.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/osal/freertos/BinarySemaphore.h"
 
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 BinarySemaphore::BinarySemaphore() {
   handle = xSemaphoreCreateBinary();

src/fsfw/osal/freertos/CountingSemaphUsingTask.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/osal/freertos/CountingSemaphUsingTask.h"
 
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8
 

src/fsfw/osal/freertos/CountingSemaphore.cpp

@@ -2,7 +2,7 @@
 
 #include "FreeRTOS.h"
 #include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "semphr.h"
 
 // Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -1,5 +1,4 @@
 #include "fsfw/osal/freertos/FixedTimeslotTask.h"
-
 #include "fsfw/serviceinterface.h"
 
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;

src/fsfw/osal/freertos/MessageQueue.cpp

@@ -2,7 +2,7 @@
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/freertos/QueueMapManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
@@ -14,9 +14,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
     sif::error << "Specified Message Depth: " << messageDepth << std::endl;
     sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
 #else
-    sif::printError("MessageQueue::MessageQueue: Creation failed\n");
-    sif::printError("Specified Message Depth: %d\n", messageDepth);
-    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
+    // TODO: FMTLOG
+//    sif::printError("MessageQueue::MessageQueue: Creation failed\n");
+//    sif::printError("Specified Message Depth: %d\n", messageDepth);
+//    sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
 #endif
   }
   QueueMapManager::instance()->addMessageQueue(handle, &id);

src/fsfw/osal/freertos/Mutex.cpp

@@ -1,6 +1,6 @@
 #include "fsfw/osal/freertos/Mutex.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 Mutex::Mutex() {
   handle = xSemaphoreCreateMutex();

src/fsfw/osal/freertos/PeriodicTask.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/osal/freertos/PeriodicTask.h"
 
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,

src/fsfw/osal/freertos/QueueMapManager.cpp

@@ -30,9 +30,10 @@ ReturnValue_t QueueMapManager::addMessageQueue(QueueHandle_t queue, MessageQueue
                   "inside the map!"
                << std::endl;
 #else
-    sif::printError(
-        "QueueMapManager::addMessageQueue This ID is already "
-        "inside the map!\n");
+    // TODO: FMTLOG
+//    sif::printError(
+//        "QueueMapManager::addMessageQueue This ID is already "
+//        "inside the map!\n");
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -51,8 +52,9 @@ QueueHandle_t QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId)
     sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId
                  << " does not exists in the map!" << std::endl;
 #else
-    sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
-                      messageQueueId);
+    // TODO: FMTLOG
+//    sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
+//                      messageQueueId);
 #endif
   }
   return nullptr;

src/fsfw/osal/freertos/SemaphoreFactory.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/osal/freertos/BinarySemaphore.h"
 #include "fsfw/osal/freertos/CountingSemaphUsingTask.h"
 #include "fsfw/osal/freertos/CountingSemaphore.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 

src/fsfw/osal/host/Clock.cpp

@@ -4,7 +4,7 @@
 
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #if defined(PLATFORM_WIN)
 #include <sysinfoapi.h>
@@ -14,36 +14,24 @@
 
 using SystemClock = std::chrono::system_clock;
 
-uint32_t Clock::getTicksPerSecond(void) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::getTicksPerSecond: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::getTicksPerSecond: Not implemented for host OSAL\n");
-#endif
+uint32_t Clock::getTicksPerSecond() {
+  FSFW_LOGW("getTicksPerSecond: Not implemented for host OSAL\n");
   /* To avoid division by zero */
   return 1;
 }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  /* I don't know why someone would need to set a clock which is probably perfectly fine on a
-  host system with internet access so this is not implemented for now. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
+  // I don't know why someone would need to set a clock which is probably perfectly fine on a
+  // host system with internet access so this is not implemented for now.
+  FSFW_LOGI("Clock::setClock: Not implemented for host OSAL\n");
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t Clock::setClock(const timeval* time) {
-  /* I don't know why someone would need to set a clock which is probably perfectly fine on a
-  host system with internet access so this is not implemented for now. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
-#else
-  sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
+  // I don't know why someone would need to set a clock which is probably perfectly fine on a
+  // host system with internet access so this is not implemented for now.
+  FSFW_LOGI("Clock::setClock: Not implemented for host OSAL\n");
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t Clock::getClock_timeval(timeval* time) {

src/fsfw/osal/host/FixedTimeslotTask.cpp

@@ -7,7 +7,7 @@
 #include "fsfw/osal/host/Mutex.h"
 #include "fsfw/osal/host/taskHelpers.h"
 #include "fsfw/platform.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 #if defined(PLATFORM_WIN)
@@ -52,11 +52,7 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
   }
 
   this->taskFunctionality();
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "FixedTimeslotTask::taskEntryPoint: "
-                "Returned from taskFunctionality."
-             << std::endl;
-#endif
+  FSFW_LOGET("taskEntryPoint: Returned from taskFunctionality\n");
 }
 
 ReturnValue_t FixedTimeslotTask::startTask() {

src/fsfw/osal/host/MessageQueue.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/osal/host/QueueMapManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
     : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
@@ -15,11 +15,7 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
   queueLock = MutexFactory::instance()->createMutex();
   auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
-#else
-    sif::printError("MessageQueue::MessageQueue: Could not be created\n");
-#endif
+    FSFW_LOGET("ctor: Could not be created\n");
   }
 }