more clang-tidy improvements

.run/fsfw-tests_coverage.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-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

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

CHANGELOG.md

@@ -19,6 +19,12 @@ 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
@@ -40,9 +46,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
-- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
-  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
 
 ### Task Module Refactoring
 
@@ -117,8 +120,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
-- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
-  This is also the new default constructor for scalar value with 0 as an initial value
 - Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
   whether it is running in CI/CD
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623

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
@@ -82,15 +82,6 @@ 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
@@ -112,11 +103,11 @@ if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_TESTS
+option(FSFW_BUILD_UNITTESTS
        "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_TESTS)
+if(FSFW_BUILD_UNITTESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
@@ -148,7 +139,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                 TRUE)
 endif()
 
-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
   message(
     STATUS
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
@@ -171,17 +162,18 @@ if(FSFW_BUILD_TESTS)
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
-  set(FSFW_CONFIG_PATH unittests/testcfg)
+  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
-
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
     set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                   TRUE)
   endif()
+
   if(FSFW_TESTS_GEN_COV)
     message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
     message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
@@ -191,7 +183,7 @@ if(FSFW_BUILD_TESTS)
   endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or etl (Embedded Template Library)")
+message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -211,26 +203,6 @@ 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 ${FSFW_FMT_LIB_NAME})
-endif()
-
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
@@ -240,7 +212,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${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()
@@ -309,15 +281,16 @@ message(
 )
 
 add_subdirectory(src)
-add_subdirectory(contrib)
+add_subdirectory(tests)
-if(FSFW_BUILD_TESTS)
+if(FSFW_ADD_HAL)
-  add_subdirectory(unittests)
+  add_subdirectory(hal)
 endif()
+add_subdirectory(contrib)
 if(FSFW_BUILD_DOCS)
   add_subdirectory(docs)
 endif()
 
-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
   if(FSFW_TESTS_GEN_COV)
     if(CMAKE_COMPILER_IS_GNUCXX)
       include(CodeCoverage)
@@ -473,8 +446,9 @@ target_include_directories(
 
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                 ${COMPILER_FLAGS})
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
+
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET} ${FSFW_FMT_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
 
 string(
   CONCAT
@@ -484,13 +458,6 @@ 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 generate the coverage data in this format,
+To build the unittests, run them and then generare the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 
 ```sh
@@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
+can run the `apply-clang-format.sh` helper script to format all source files consistently.
-````sh
-sudo pip install cmakelang
-````
 
 ## Index
 

automation/Dockerfile

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

automation/Jenkinsfile

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

hal/CMakeLists.txt

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

hal/src/CMakeLists.txt

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

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

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

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

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

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -17,8 +17,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
   registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
 }
 
-MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
-
 void MgmLIS3MDLHandler::doStartUp() {
   switch (internalState) {
     case (InternalState::STATE_NONE): {
@@ -76,11 +74,16 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
     }
     default: {
       /* might be a configuration error. */
-      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
+                   << std::endl;
+#else
+      sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
       return HasReturnvaluesIF::RETURN_OK;
     }
   }
-  return buildCommandFromCommand(*id, nullptr, 0);
+  return buildCommandFromCommand(*id, NULL, 0);
 }
 
 uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
@@ -181,7 +184,13 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
     // Check validity by checking config registers
     if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
         start[4] != registers[3] or start[5] != registers[4]) {
-      FSFW_LOGW("scanForReply: Invalid registers\n");
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
+#else
+      sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
+#endif
+#endif
       return DeviceHandlerIF::INVALID_DATA;
     }
     if (mode == _MODE_START_UP) {
@@ -199,9 +208,17 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
     *foundId = getPendingCommand();
     if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
       if (start[1] != MGMLIS3MDL::DEVICE_ID) {
-        FSFW_LOGW(
+#if FSFW_VERBOSE_LEVEL >= 1
-            "scanForReply: Device identification failed, found ID {} not equal to expected {}\n",
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-            start[1], MGMLIS3MDL::DEVICE_ID);
+        sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
+                        "Device identification failed!"
+                     << std::endl;
+#else
+        sif::printWarning(
+            "MGMHandlerLIS3MDL::scanForReply: "
+            "Device identification failed!\n");
+#endif
+#endif
         return DeviceHandlerIF::INVALID_DATA;
       }
 
@@ -249,10 +266,19 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 
       if (periodicPrintout) {
         if (debugDivider.checkAndIncrement()) {
-          FSFW_LOGI(
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-              "MGMHandlerLIS3: Magnetic field strength in"
+          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-              " microtesla (uT):\nX {} | Y {} | Z {}\n",
+                       " microtesla:"
-              mgmX, mgmY, mgmZ);
+                    << std::endl;
+          sif::info << "X: " << mgmX << " uT" << std::endl;
+          sif::info << "Y: " << mgmY << " uT" << std::endl;
+          sif::info << "Z: " << mgmZ << " uT" << std::endl;
+#else
+          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+          sif::printInfo("X: %f uT\n", mgmX);
+          sif::printInfo("Y: %f uT\n", mgmY);
+          sif::printInfo("Z: %f uT\n", mgmZ);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
         }
       }
 
@@ -283,11 +309,15 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     }
 
     case MGMLIS3MDL::READ_TEMPERATURE: {
-      auto tempValueRaw = static_cast<int16_t>((packet[2] << 8) | packet[1]);
+      int16_t tempValueRaw = packet[2] << 8 | packet[1];
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
       if (periodicPrintout) {
         if (debugDivider.check()) {
-          FSFW_LOGI("MGMHandlerLIS3: Temperature: {} C\n", tempValue);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+#else
+          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+#endif
         }
       }
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -28,7 +28,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
 
   MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     uint32_t transitionDelay);
-  virtual ~MgmLIS3MDLHandler();
+  ~MgmLIS3MDLHandler() override = default;
 
   void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
@@ -46,7 +46,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
   void doShutDown() override;
   void doStartUp() override;
   void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
   ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
                                         size_t commandDataLen) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
@@ -60,9 +60,9 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    * @param packet
    * @return
    */
-  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
   void fillCommandAndReplyMap() override;
-  void modeChanged(void) override;
+  void modeChanged() override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
 
@@ -72,8 +72,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
   static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
 
   uint32_t transitionDelay;
-  // Single SPI command has 2 bytes, first for adress, second for content
-  size_t singleComandSize = 2;
   // Has the size for all adresses of the lis3mdl + the continous write bit
   uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
 
@@ -88,7 +86,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
 
-  uint8_t statusRegister = 0;
   bool goToNormalMode = false;
 
   enum class InternalState {
@@ -111,14 +108,14 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    * @param single command to set the read-bit at
    * @param boolean to select a continuous read bit, default = false
    */
-  uint8_t readCommand(uint8_t command, bool continuousCom = false);
+  static uint8_t readCommand(uint8_t command, bool continuousCom = false);
 
   /**
    * Sets the write bit for the command
    * @param single command to set the write-bit at
    * @param boolean to select a continuous write bit, default = false
    */
-  uint8_t writeCommand(uint8_t command, bool continuousCom = false);
+  static uint8_t writeCommand(uint8_t command, bool continuousCom = false);
 
   /**
    * This Method gets the full scale for the measurement range

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -81,8 +81,18 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
       break;
     }
     default:
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       // Might be a configuration error
-      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
+      sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
+                      "Unknown internal state"
+                   << std::endl;
+#else
+      sif::printWarning(
+          "MgmRM3100Handler::buildTransitionDeviceCommand: "
+          "Unknown internal state\n");
+#endif
+#endif
       return HasReturnvaluesIF::RETURN_OK;
   }
 
@@ -319,16 +329,25 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
 
   // Now scale to physical value in microtesla
-  float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
+  float fieldStrengthX = static_cast<float>(fieldStrengthRawX) * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+  float fieldStrengthY = static_cast<float>(fieldStrengthRawY) * scaleFactorY;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
+  float fieldStrengthZ = static_cast<float>(fieldStrengthRawZ) * scaleFactorZ;
 
   if (periodicPrintout) {
     if (debugDivider.checkAndIncrement()) {
-      FSFW_LOGI(
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-          "MgmRM3100Handler: Magnetic field strength in"
+      sif::info << "MgmRM3100Handler: Magnetic field strength in"
-          " microtesla(uT)\nX {} | Y {} | Z {}\n",
+                   " microtesla:"
-          fieldStrengthX, fieldStrengthY, fieldStrengthZ);
+                << std::endl;
+      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+#else
+      sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+      sif::printInfo("X: %f uT\n", fieldStrengthX);
+      sif::printInfo("Y: %f uT\n", fieldStrengthY);
+      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+#endif
     }
   }
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -72,7 +72,6 @@ class MgmRM3100Handler : public DeviceHandlerBase {
   RM3100::Rm3100PrimaryDataset primaryDataset;
 
   uint8_t commandBuffer[10];
-  uint8_t commandBufferLen = 0;
 
   uint8_t cmmRegValue = RM3100::CMM_VALUE;
   uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
@@ -100,4 +99,4 @@ class MgmRM3100Handler : public DeviceHandlerBase {
   PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
-#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
+#endif /* MISSION_DEVICES_MGMRM3100HANDLER_H_ */

hal/src/fsfw_hal/linux/CommandExecutor.cpp

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

hal/src/fsfw_hal/linux/CommandExecutor.h

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

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

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

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

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

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

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

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

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

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

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

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

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

hal/src/fsfw_hal/linux/utility.cpp

@@ -0,0 +1,23 @@
+#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 */
+}

scripts/helper.py

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

@@ -4,8 +4,3 @@ 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.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
@@ -28,7 +28,13 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
   }
 
   if (queueToUse == nullptr) {
-    FSFW_LOGW("{}", "initialize: No queue set\n");
+#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 */
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -90,7 +96,14 @@ 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) {
-    FSFW_LOGWT("{}", "reportData: Getting free element from IPC store failed\n");
+#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
     return result;
   }
   result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
@@ -125,7 +138,11 @@ 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) {
-    FSFW_LOGWT("{}", "reportData: Adding data to IPC store failed\n");
+#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
     return result;
   }
 

src/fsfw/cfdp/CFDPHandler.cpp

@@ -4,7 +4,6 @@
 #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"
 
@@ -29,7 +28,13 @@ ReturnValue_t CFDPHandler::initialize() {
 }
 
 ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
-  FSFW_LOGDT("{}", "CFDPHandler::handleRequest\n");
+#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
 
   // TODO read out packet from store using storeId
 

src/fsfw/cfdp/pdu/AckInfo.cpp

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

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

src/fsfw/cfdp/pdu/VarLenField.cpp

@@ -7,7 +7,13 @@
 cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
   ReturnValue_t result = this->setValue(width, value);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    FSFW_LOGW("{}", "cfdp::VarLenField: Setting value failed\n");
+#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
   }
 }
 

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.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <cstddef>
 #include <cstdint>
@@ -128,7 +128,17 @@ class FilestoreTlvBase : public TlvIF {
   }
 
   void secondFileNameMissing() const {
-    FSFW_LOGWT("{}", "secondFileNameMissing: Second file name required but TLV pointer not set\n");
+#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
   }
 
   FilestoreActionCode getActionCode() const { return actionCode; }

src/fsfw/datalinklayer/Clcw.cpp

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