more clang-tidy improvements

Reviewed-on: fsfw/fsfw#643

.gitignore

@@ -1,6 +1,14 @@
+# PyCharm and CLion
+/.idea/*
+!/.idea/runConfigurations
+!/.idea/cmake.xml
+!/.idea/codeStyles
+
+# Eclipse
 .cproject
 .project
 .settings
 .metadata
 
 /build*
+/cmake-build*

.idea/codeStyles/Project.xml

@@ -0,0 +1,14 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <clangFormatSettings>
+      <option name="ENABLED" value="true" />
+    </clangFormatSettings>
+    <codeStyleSettings language="CMake">
+      <indentOptions>
+        <option name="INDENT_SIZE" value="2" />
+        <option name="CONTINUATION_INDENT_SIZE" value="0" />
+        <option name="TAB_SIZE" value="2" />
+      </indentOptions>
+    </codeStyleSettings>
+  </code_scheme>
+</component>

.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

.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

@@ -8,6 +8,168 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v5.0.0]
+
+## Changes
+
+- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
+  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
+- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
+  compiler supports it
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
+- HAL Devicehandlers: Periodic printout is run-time configurable now
+- `oneShotAction` flag in the `TestTask` class is not static anymore
+- Major update for version handling, using `git describe` to fetch version information with git.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
+  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
+    manually now. Those should not change too often and only a small subset is needed
+  - Separate folder for easier update and for distinction
+  - LICENSE file included
+  - use `int` for version numbers to allow unset or uninitialized version
+  - Initialize Version object with numbers set to -1
+  - Instead of hardcoding the git hash, it is now retrieved from git
+  - `Version` now allows specifying additional version information like the git SHA1 hash and the
+    versions since the last tag
+  - Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
+  - Version still need to be hand-updated if the FSFW is not included as a submodule for now.
+- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
+  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
+
+### Task Module Refactoring
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
+
+**Refactoring general task code**
+
+- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
+  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
+
+**Refactor PeriodicTaskIF**
+
+- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
+  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
+  the operation code passed to `performOperation`. Updated API taking
+  an `ExecutableObjectIF` accordingly
+
+**Refactor FixedTimeslotTaskIF**
+
+- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
+
+**Refactor FixedSequenceSlot**
+
+- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
+- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
+  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
+  for the custom checker
+
+**Linux Task Module**
+
+- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
+  member of the class
+
+### HAL
+
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+- 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
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+
+### Time
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
+https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
+
+- `timeval` to `TimeOfDay_t`
+- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+- Moved the statics used by Clock in ClockCommon.cpp to this file
+- Better check for leap seconds
+- Added Unittests for Clock (only getter)
+
+### Power 
+
+- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
+  also specify a `ReturnValue_t` return type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
+  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+
+## Removed
+
+- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
+  datapools have been implemented.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
+
+## Additions
+
+- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
+  whether it is running in CI/CD
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
+- Basic `clion` support: Update `.gitignore` and add some basic run configurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
+- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
+  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
+  can make good use of it and it usually makes the code faster and/or smaller.
+  After some more research:
+  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
+  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
+  because if an application linking against the FSFW does not use LTO, there can be compile
+  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
+  can be seen in the multiple CMake issues for it: 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
+    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
+  Easiest solution for now: Keep this option OFF by default.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
+- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
+  inside `fsfw/version.h`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
+- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
+  (ETL) dependency.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
+- Added ETL dependency and improved library dependency management
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
+- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- New typedef for switcher type
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- `Subsystem`: New API to add table and sequence entries
+
+## Fixed
+
+- TCP TMTC Server: `MutexGuard` was not created properly in
+  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
+- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
+  Is not currently used right now but might be used in the future
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
+- Move some CMake directives further up top so they are not ignored
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
+- Small bugfix in STM32 HAL for SPI
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
+- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
+  configuration fails, the function will exit prematurely with a dedicated error code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
+
 # [v4.0.0]
 
 ## Additions

CMakeLists.txt

@@ -1,20 +1,111 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(FSFW_VERSION 4)
+set(MSG_PREFIX "fsfw |")
-set(FSFW_SUBVERSION 0)
-set(FSFW_REVISION 0)
 
 # Add the cmake folder so the FindSphinx module is found
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH
+     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
+list(APPEND CMAKE_MODULE_PATH
+     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
+
+# ##############################################################################
+# Version file handling  #
+# ##############################################################################
+
+set(FSFW_VERSION_IF_GIT_FAILS 4)
+set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
+set(FSFW_REVISION_IF_GIT_FAILS 0)
+
+set(FSFW_GIT_VER_HANDLING_OK FALSE)
+# Version handling
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
+  message(STATUS "${MSG_PREFIX} Determining version information with git")
+  include(FsfwHelpers)
+  determine_version_with_git("--exclude" "docker_*")
+  if(GIT_INFO)
+    set(FSFW_GIT_INFO
+        ${GIT_INFO}
+        CACHE STRING "Version information retrieved with git describe")
+    list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
+    list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
+    list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
+    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
+    if(NOT FSFW_VERSION)
+      set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_SUBVERSION)
+      set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+    endif()
+    if(NOT FSFW_REVISION)
+      set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+    endif()
+    set(FSFW_GIT_VER_HANDLING_OK TRUE)
+  else()
+    set(FSFW_GIT_VER_HANDLING_OK FALSE)
+  endif()
+endif()
+if(NOT FSFW_GIT_VER_HANDLING_OK)
+  set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+  set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+  set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+endif()
+
+set(LIB_FSFW_NAME fsfw)
+project(${LIB_FSFW_NAME}
+        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 17)
+  message(
+    FATAL_ERROR
+      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
+endif()
+
+set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
+
+set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LIB_MAJOR_VERSION
+    20
+    CACHE STRING "ETL library major version requirement")
+set(FSFW_ETL_LIB_VERSION
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
+    CACHE STRING "ETL library exact version requirement")
+set(FSFW_ETL_LINK_TARGET etl::etl)
+
+set(FSFW_CATCH2_LIB_MAJOR_VERSION
+    3
+    CACHE STRING "Catch2 library major version requirement")
+set(FSFW_CATCH2_LIB_VERSION
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    CACHE STRING "Catch2 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
+option(
+  FSFW_ENABLE_IPO
+  "Enable interprocedural optimization or link-time optimization if available"
+  OFF)
+if(FSFW_ENABLE_IPO)
+  include(CheckIPOSupported)
+  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
+  if(NOT IPO_SUPPORTED)
+    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
+  endif()
+endif()
 
 option(FSFW_GENERATE_SECTIONS
-    "Generate function and data sections. Required to remove unused code" ON
+       "Generate function and data sections. Required to remove unused code" ON)
-)
 if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+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_UNITTESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@@ -38,78 +129,109 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
-set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
-project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
+if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
+  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
+                                                TRUE)
+endif()
+
 if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "Building the FSFW unittests in addition to the static library")
+  message(
+    STATUS
+      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
+  )
   # Check whether the user has already installed Catch2 first
-    find_package(Catch2 3)
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
+    message(
+      STATUS
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
     include(FetchContent)
 
     FetchContent_Declare(
       Catch2
       GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        v3.0.0-preview4
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
-        )
 
-        FetchContent_MakeAvailable(Catch2)
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
-        #fixes regression -preview4, to be confirmed in later releases
-        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   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)
+  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 "Generating coverage data for the library")
+    message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
-        message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
+    message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
+                   "will be compiled with coverage data as well")
-        )
-        include(FetchContent)
-        FetchContent_Declare(
-            cmake-modules
-            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
-        )
-        FetchContent_MakeAvailable(cmake-modules)
     set(CMAKE_BUILD_TYPE "Debug")
-        list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
     include(CodeCoverage)
   endif()
 endif()
 
+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)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_ETL_LIB_NAME}
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
+endif()
+
+# The documentation for FetchContent recommends declaring all the dependencies
+# before making them available. We make all declared dependency available here
+# after their declaration
+if(FSFW_FETCH_CONTENT_TARGETS)
+  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+  if(TARGET ${FSFW_ETL_LIB_NAME})
+    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
+  endif()
+  if(TARGET Catch2)
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+  endif()
+endif()
+
 set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-    ${CMAKE_CURRENT_BINARY_DIR}
+target_include_directories(${LIB_FSFW_NAME}
-)
+                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-
-if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 11)
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 11)
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
-endif()
 
 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+  message(
+    WARNING
+      "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
   set(FSFW_OSAL OS_FSFW)
 endif()
 
@@ -117,16 +239,14 @@ if(NOT FSFW_OSAL)
   message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
   # Assume host OS and autodetermine from OS_FSFW
   if(UNIX)
-		set(FSFW_OSAL  "linux" 
+    set(FSFW_OSAL
-			CACHE STRING 
+        "linux"
-			"OS abstraction layer used in the FSFW"
+        CACHE STRING "OS abstraction layer used in the FSFW")
-		)
   elseif(WIN32)
-		set(FSFW_OSAL  "host" 
+    set(FSFW_OSAL
-			CACHE STRING "OS abstraction layer used in the FSFW"
+        "host"
-		)
+        CACHE STRING "OS abstraction layer used in the FSFW")
   endif()
-
 endif()
 
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
@@ -140,15 +260,14 @@ elseif(FSFW_OSAL MATCHES linux)
 elseif(FSFW_OSAL MATCHES freertos)
   set(FSFW_OS_NAME "FreeRTOS")
   set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
-        ${LIB_OS_NAME}
-    )
 elseif(FSFW_OSAL STREQUAL rtems)
   set(FSFW_OS_NAME "RTEMS")
   set(FSFW_OSAL_RTEMS ON)
 else()
-    message(WARNING
+  message(
-        "Invalid operating system for FSFW specified! Setting to host.."
+    WARNING
+      "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
   )
   set(FSFW_OS_NAME "Host")
   set(OS_FSFW "host")
@@ -157,7 +276,9 @@ endif()
 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 
-message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
+message(
+  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
+)
 
 add_subdirectory(src)
 add_subdirectory(tests)
@@ -175,95 +296,86 @@ if(FSFW_BUILD_UNITTESTS)
       include(CodeCoverage)
 
       # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
+      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+                         "${COVERAGE_COMPILER_FLAGS}")
-            )
 
       # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+      target_compile_options(${FSFW_TEST_TGT}
-                "${COVERAGE_COMPILER_FLAGS}"
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-            )
+      target_compile_options(${LIB_FSFW_NAME}
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
 
       # Exclude directories here
       if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
+        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
-                    "--exclude-throw-branches"
+                                  "--exclude-unreachable-branches")
-                    "--exclude-unreachable-branches"
+        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
-                )
-                set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
-                )
       elseif(UNIX)
         set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+            "/usr/include/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
+            "/usr/bin/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
+            "Catch2/*"
-                )
+            "/usr/local/include/*"
+            "*/fsfw_tests/*"
+            "*/catch2-src/*"
+            "*/fsfw_hal/*")
       endif()
 
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
+      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-                -fprofile-arcs
+                          -ftest-coverage)
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-            )
+                          -ftest-coverage)
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
+      # Need to specify this as an interface, otherwise there will the compile
-                -fprofile-arcs
+      # issues
-                -ftest-coverage
+      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-            )
+                          -ftest-coverage)
-            # Need to specify this as an interface, otherwise there will the compile issues
-            target_link_options(${LIB_FSFW_NAME} INTERFACE
-                -fprofile-arcs
-                -ftest-coverage
-            )
 
       if(WIN32)
         setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
       else()
         setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-                    EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
       endif()
     endif()
   endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
+                                                 ${LIB_FSFW_NAME})
 endif()
 
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
-# If this is not given, we include the default configuration and emit a warning.
+# this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
   set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
   if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "Flight Software Framework configuration path not set!")
+    message(
-        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+      WARNING
+        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+    message(
+      WARNING
+        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
   endif()
   add_subdirectory(${DEF_CONF_PATH})
   set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
-# FSFW might be part of a possibly complicated folder structure, so we 
+# FSFW might be part of a possibly complicated folder structure, so we extract
-# extract the absolute path of the fsfwconfig folder.
+# the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
   set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+                         BASE_DIR ${CMAKE_SOURCE_DIR})
-	)
 endif()
 
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
   if(IS_ABSOLUTE ${INCLUDE_PATH})
     set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
   else()
-        get_filename_component(CURR_ABS_INC_PATH
+    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+                           ${CMAKE_SOURCE_DIR})
   endif()
 
   if(CMAKE_VERBOSE)
@@ -281,20 +393,34 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
         -Wimplicit-fallthrough=1
         -Wno-unused-parameter
         -Wno-psabi
+        -Wduplicated-cond # check for duplicate conditions
+        -Wduplicated-branches # check for duplicate branches
+        -Wlogical-op # Search for bitwise operations instead of logical
+        -Wnull-dereference # Search for NULL dereference
+        -Wundef # Warn if undefind marcos are used
+        -Wformat=2 # Format string problem detection
+        -Wformat-overflow=2 # Formatting issues in printf
+        -Wformat-truncation=2 # Formatting issues in printf
+        -Wformat-security # Search for dangerous printf operations
+        -Wstrict-overflow=3 # Warn if integer overflows might happen
+        -Warray-bounds=2 # Some array bounds violations will be found
+        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+        -Wcast-qual # Warn if the constness is cast away
+        -Wstringop-overflow=4
+        # -Wstack-protector # Emits a few false positives for low level access
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
+        # be used to look through problems
     )
   endif()
 
   if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
-            "-ffunction-sections"
+                                                    "-fdata-sections")
-            "-fdata-sections"
-        )
   endif()
 
   if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
+    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
-            "Wl,--gc-sections"
-        )
   endif()
 
   if(FSFW_WARNING_SHADOW_LOCAL_GCC)
@@ -308,41 +434,31 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 endif()
 
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+target_include_directories(
-	${CMAKE_SOURCE_DIR}
+  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
+                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
 
-# Includes path required to compile FSFW itself as well
+# Includes path required to compile FSFW itself as well We assume that the
-# We assume that the fsfwconfig folder uses include relative to the project
+# fsfwconfig folder uses include relative to the project root here!
-# root here!
+target_include_directories(
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-	${CMAKE_SOURCE_DIR}
+                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
 
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
-	${FSFW_WARNING_FLAGS}
+                                                ${COMPILER_FLAGS})
-	${COMPILER_FLAGS}
-)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-    ${FSFW_ADDITIONAL_LINK_LIBS}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})
-)
 
-string(CONCAT POST_BUILD_COMMENT
+string(
+  CONCAT
+    POST_BUILD_COMMENT
     "######################################################################\n"
     "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
     "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
+    "######################################################################\n")
-)
 
 add_custom_command(
   TARGET ${LIB_FSFW_NAME}
   POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
+  COMMENT ${POST_BUILD_COMMENT})
-)

README.md

@@ -11,9 +11,15 @@ with Airbus Defence and Space GmbH.
 
 ## Quick facts
 
-The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+The framework is designed for systems, which communicate with external devices, perform control loops, 
+receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore,
+a mode and health system provides control over the states of the software and the controlled devices.
+In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 
-The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system
+abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
+also very useful for developers to implement the same application logic on different operating
+systems with a uniform interface.
 
 Currently, the FSFW provides the following OSALs:
 
@@ -45,6 +51,28 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
+## Prerequisites
+
+The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
+installed and provided by the build system unless the correction version was installed.
+The current recommended version can be found inside the fsfw `CMakeLists.txt` file or by using
+`ccmake` and looking up the `FSFW_ETL_LIB_MAJOR_VERSION` variable.
+
+You can install the ETL library like this. On Linux, it might be necessary to add `sudo` before
+the install call:
+
+```cpp
+git clone https://github.com/ETLCPP/etl
+cd etl
+git checkout <currentRecommendedVersion>
+mkdir build && cd build
+cmake ..
+cmake --install .
+```
+
+It is recommended to install `20.27.2` or newer for the package version handling of
+ETL to work.
+
 ## Adding the library
 
 The following steps show how to add and use FSFW components. It is still recommended to
@@ -71,8 +99,8 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-	```cmake
+   ```sh
-	target_link_libraries(<YourProjectName> PRIVATE fsfw)
+   target_link_libraries(${YourProjectName} PRIVATE fsfw)
    ```
 
 5. It should now be possible use the FSFW as a static library from the user code.
@@ -83,6 +111,19 @@ The FSFW also has unittests which use the [Catch2 library](https://github.com/ca
 These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
+You can install the Catch2 library, which prevents the build system to avoid re-downloading
+the dependency if the unit tests are completely rebuilt. The current recommended version
+can be found inside the fsfw `CMakeLists.txt` file or by using `ccmake` and looking up
+the `FSFW_CATCH2_LIB_VERSION` variable.
+
+```sh
+git clone https://github.com/catchorg/Catch2.git
+cd Catch2
+git checkout <currentRecommendedVersion>
+cmake -Bbuild -H. -DBUILD_TESTING=OFF
+sudo cmake --build build/ --target install
+```
+
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
@@ -90,7 +131,7 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system
 
 ```sh
-mkdir build-Unittest && cd build-Unittest
+mkdir build-tests && cd build-tests
 cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 

automation/Dockerfile

@@ -6,3 +6,9 @@ RUN apt-get --yes upgrade
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
+
+RUN git clone https://github.com/catchorg/Catch2.git && \
+	cd Catch2 && \
+	git checkout v3.0.0-preview5 && \
+	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+	cmake --build build/ --target install

automation/Jenkinsfile

@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image 'fsfw-ci:d1'}
+        docker { image 'fsfw-ci:d2'}
     }
     stages {
         stage('Clean') {
@@ -14,21 +14,21 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
                 }
             }
         }
         stage('Build') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -j'
+                    sh 'cmake --build . -j4'
                 }
             }
         }
         stage('Unittests') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
                 }
             }
         }

cmake/FsfwHelpers.cmake

@@ -0,0 +1,28 @@
+# Determines the git version with git describe and returns it by setting
+# the GIT_INFO list in the parent scope. The list has the following entries
+# 1. Full version string
+# 2. Major version
+# 3. Minor version
+# 4. Revision
+# 5. git SHA hash and commits since tag
+function(determine_version_with_git)
+    include(GetGitRevisionDescription)
+    git_describe(VERSION ${ARGN})
+    string(FIND ${VERSION} "." VALID_VERSION)
+    if(VALID_VERSION EQUAL -1)
+        message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
+        return()
+    endif()
+    # Parse the version information into pieces.
+    string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
+    string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
+    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
+    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
+    set(GIT_INFO ${VERSION})
+    list(APPEND GIT_INFO ${_VERSION_MAJOR})
+    list(APPEND GIT_INFO ${_VERSION_MINOR})
+    list(APPEND GIT_INFO ${_VERSION_PATCH})
+    list(APPEND GIT_INFO ${VERSION_SHA1})
+    set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
+    message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
+endfunction()

cmake/cmake-modules/README.md

@@ -0,0 +1,7 @@
+The files in the `bilke` folder were manually copy and pasted from the
+[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
+this because only a small subset of its provided functions are needed.
+
+The files in the `rpavlik` folder were manually copy and pasted from the
+[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
+this because only a small subset of its provided functions are needed.

cmake/cmake-modules/bilke/CodeCoverage.cmake

@@ -0,0 +1,719 @@
+# Copyright (c) 2012 - 2017, Lars Bilke
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without modification,
+# are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software without
+#    specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# CHANGES:
+#
+# 2012-01-31, Lars Bilke
+# - Enable Code Coverage
+#
+# 2013-09-17, Joakim Söderberg
+# - Added support for Clang.
+# - Some additional usage instructions.
+#
+# 2016-02-03, Lars Bilke
+# - Refactored functions to use named parameters
+#
+# 2017-06-02, Lars Bilke
+# - Merged with modified version from github.com/ufz/ogs
+#
+# 2019-05-06, Anatolii Kurotych
+# - Remove unnecessary --coverage flag
+#
+# 2019-12-13, FeRD (Frank Dana)
+# - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor
+#   of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments.
+# - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY
+# - All setup functions: accept BASE_DIRECTORY, EXCLUDE list
+# - Set lcov basedir with -b argument
+# - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be
+#   overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().)
+# - Delete output dir, .info file on 'make clean'
+# - Remove Python detection, since version mismatches will break gcovr
+# - Minor cleanup (lowercase function names, update examples...)
+#
+# 2019-12-19, FeRD (Frank Dana)
+# - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets
+#
+# 2020-01-19, Bob Apthorpe
+# - Added gfortran support
+#
+# 2020-02-17, FeRD (Frank Dana)
+# - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters
+#   in EXCLUDEs, and remove manual escaping from gcovr targets
+#
+# 2021-01-19, Robin Mueller
+# - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run
+# - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional
+#   flags to the gcovr command
+#
+# 2020-05-04, Mihchael Davis
+#     - Add -fprofile-abs-path to make gcno files contain absolute paths
+#     - Fix BASE_DIRECTORY not working when defined
+#     - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines
+#
+# 2021-05-10, Martin Stump
+#     - Check if the generator is multi-config before warning about non-Debug builds
+#
+# 2022-02-22, Marko Wehle
+#     - Change gcovr output from -o <filename> for --xml <filename> and --html <filename> output respectively.
+#       This will allow for Multiple Output Formats at the same time by making use of GCOVR_ADDITIONAL_ARGS, e.g. GCOVR_ADDITIONAL_ARGS "--txt".
+#
+# USAGE:
+#
+# 1. Copy this file into your cmake modules path.
+#
+# 2. Add the following line to your CMakeLists.txt (best inside an if-condition
+#    using a CMake option() to enable it just optionally):
+#      include(CodeCoverage)
+#
+# 3. Append necessary compiler flags for all supported source files:
+#      append_coverage_compiler_flags()
+#    Or for specific target:
+#      append_coverage_compiler_flags_to_target(YOUR_TARGET_NAME)
+#
+# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
+#
+# 4. If you need to exclude additional directories from the report, specify them
+#    using full paths in the COVERAGE_EXCLUDES variable before calling
+#    setup_target_for_coverage_*().
+#    Example:
+#      set(COVERAGE_EXCLUDES
+#          '${PROJECT_SOURCE_DIR}/src/dir1/*'
+#          '/path/to/my/src/dir2/*')
+#    Or, use the EXCLUDE argument to setup_target_for_coverage_*().
+#    Example:
+#      setup_target_for_coverage_lcov(
+#          NAME coverage
+#          EXECUTABLE testrunner
+#          EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*")
+#
+# 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set
+#     relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR)
+#     Example:
+#       set(COVERAGE_EXCLUDES "dir1/*")
+#       setup_target_for_coverage_gcovr_html(
+#           NAME coverage
+#           EXECUTABLE testrunner
+#           BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src"
+#           EXCLUDE "dir2/*")
+#
+# 5. Use the functions described below to create a custom make target which
+#    runs your test executable and produces a code coverage report.
+#
+# 6. Build a Debug build:
+#      cmake -DCMAKE_BUILD_TYPE=Debug ..
+#      make
+#      make my_coverage_target
+#
+
+include(CMakeParseArguments)
+
+option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE)
+
+# Check prereqs
+find_program( GCOV_PATH gcov )
+find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
+find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
+find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
+find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
+find_program( CPPFILT_PATH NAMES c++filt )
+
+if(NOT GCOV_PATH)
+    message(FATAL_ERROR "gcov not found! Aborting...")
+endif() # NOT GCOV_PATH
+
+get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
+list(GET LANGUAGES 0 LANG)
+
+if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
+    if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3)
+        message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
+    endif()
+elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
+    if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang")
+        # Do nothing; exit conditional without error if true
+    elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU")
+        # Do nothing; exit conditional without error if true
+    else()
+        message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
+    endif()
+endif()
+
+set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage"
+    CACHE INTERNAL "")
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    include(CheckCXXCompilerFlag)
+    check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path)
+    if(HAVE_fprofile_abs_path)
+        set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path")
+    endif()
+endif()
+
+set(CMAKE_Fortran_FLAGS_COVERAGE
+    ${COVERAGE_COMPILER_FLAGS}
+    CACHE STRING "Flags used by the Fortran compiler during coverage builds."
+    FORCE )
+set(CMAKE_CXX_FLAGS_COVERAGE
+    ${COVERAGE_COMPILER_FLAGS}
+    CACHE STRING "Flags used by the C++ compiler during coverage builds."
+    FORCE )
+set(CMAKE_C_FLAGS_COVERAGE
+    ${COVERAGE_COMPILER_FLAGS}
+    CACHE STRING "Flags used by the C compiler during coverage builds."
+    FORCE )
+set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
+    ""
+    CACHE STRING "Flags used for linking binaries during coverage builds."
+    FORCE )
+set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
+    ""
+    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
+    FORCE )
+mark_as_advanced(
+    CMAKE_Fortran_FLAGS_COVERAGE
+    CMAKE_CXX_FLAGS_COVERAGE
+    CMAKE_C_FLAGS_COVERAGE
+    CMAKE_EXE_LINKER_FLAGS_COVERAGE
+    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
+
+get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG))
+    message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
+endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)
+
+if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU")
+    link_libraries(gcov)
+endif()
+
+# Defines a target for running and collection code coverage information
+# Builds dependencies, runs the given executable and outputs reports.
+# NOTE! The executable should always have a ZERO as exit code otherwise
+# the coverage generation will not complete.
+#
+# setup_target_for_coverage_lcov(
+#     NAME testrunner_coverage                    # New target name
+#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+#     DEPENDENCIES testrunner                     # Dependencies to build first
+#     BASE_DIRECTORY "../"                        # Base directory for report
+#                                                 #  (defaults to PROJECT_SOURCE_DIR)
+#     EXCLUDE "src/dir1/*" "src/dir2/*"           # Patterns to exclude (can be relative
+#                                                 #  to BASE_DIRECTORY, with CMake 3.4+)
+#     NO_DEMANGLE                                 # Don't demangle C++ symbols
+#                                                 #  even if c++filt is found
+# )
+function(setup_target_for_coverage_lcov)
+
+    set(options NO_DEMANGLE)
+    set(oneValueArgs BASE_DIRECTORY NAME)
+    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
+    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT LCOV_PATH)
+        message(FATAL_ERROR "lcov not found! Aborting...")
+    endif() # NOT LCOV_PATH
+
+    if(NOT GENHTML_PATH)
+        message(FATAL_ERROR "genhtml not found! Aborting...")
+    endif() # NOT GENHTML_PATH
+
+    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
+    if(DEFINED Coverage_BASE_DIRECTORY)
+        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
+    else()
+        set(BASEDIR ${PROJECT_SOURCE_DIR})
+    endif()
+
+    # Collect excludes (CMake 3.4+: Also compute absolute paths)
+    set(LCOV_EXCLUDES "")
+    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES})
+        if(CMAKE_VERSION VERSION_GREATER 3.4)
+            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
+        endif()
+        list(APPEND LCOV_EXCLUDES "${EXCLUDE}")
+    endforeach()
+    list(REMOVE_DUPLICATES LCOV_EXCLUDES)
+
+    # Conditional arguments
+    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
+      set(GENHTML_EXTRA_ARGS "--demangle-cpp")
+    endif()
+     
+    # Setting up commands which will be run to generate coverage data.
+    # Cleanup lcov
+    set(LCOV_CLEAN_CMD 
+        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory . 
+        -b ${BASEDIR} --zerocounters
+    )
+    # Create baseline to make sure untouched files show up in the report
+    set(LCOV_BASELINE_CMD 
+        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b 
+        ${BASEDIR} -o ${Coverage_NAME}.base
+    )
+    # Run tests
+    set(LCOV_EXEC_TESTS_CMD 
+        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
+    )    
+    # Capturing lcov counters and generating report
+    set(LCOV_CAPTURE_CMD 
+        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b 
+        ${BASEDIR} --capture --output-file ${Coverage_NAME}.capture
+    )
+    # add baseline counters
+    set(LCOV_BASELINE_COUNT_CMD
+        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base 
+        -a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total
+    ) 
+    # filter collected data to final coverage report
+    set(LCOV_FILTER_CMD 
+        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove 
+        ${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info
+    )    
+    # Generate HTML output
+    set(LCOV_GEN_HTML_CMD
+        ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o 
+        ${Coverage_NAME} ${Coverage_NAME}.info
+    )
+    
+
+    if(CODE_COVERAGE_VERBOSE)
+        message(STATUS "Executed command report")
+        message(STATUS "Command to clean up lcov: ")
+        string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}")
+        message(STATUS "${LCOV_CLEAN_CMD_SPACED}")
+
+        message(STATUS "Command to create baseline: ")
+        string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}")
+        message(STATUS "${LCOV_BASELINE_CMD_SPACED}")
+
+        message(STATUS "Command to run the tests: ")
+        string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}")
+        message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}")
+
+        message(STATUS "Command to capture counters and generate report: ")
+        string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}")
+        message(STATUS "${LCOV_CAPTURE_CMD_SPACED}")
+
+        message(STATUS "Command to add baseline counters: ")
+        string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}")
+        message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}")
+
+        message(STATUS "Command to filter collected data: ")
+        string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}")
+        message(STATUS "${LCOV_FILTER_CMD_SPACED}")
+
+        message(STATUS "Command to generate lcov HTML output: ")
+        string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}")
+        message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}")
+    endif()
+
+    # Setup target
+    add_custom_target(${Coverage_NAME}
+        COMMAND ${LCOV_CLEAN_CMD}
+        COMMAND ${LCOV_BASELINE_CMD} 
+        COMMAND ${LCOV_EXEC_TESTS_CMD}
+        COMMAND ${LCOV_CAPTURE_CMD}
+        COMMAND ${LCOV_BASELINE_COUNT_CMD}
+        COMMAND ${LCOV_FILTER_CMD} 
+        COMMAND ${LCOV_GEN_HTML_CMD}
+
+        # Set output files as GENERATED (will be removed on 'make clean')
+        BYPRODUCTS
+            ${Coverage_NAME}.base
+            ${Coverage_NAME}.capture
+            ${Coverage_NAME}.total
+            ${Coverage_NAME}.info
+            ${Coverage_NAME}/index.html
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+        DEPENDS ${Coverage_DEPENDENCIES}
+        VERBATIM # Protect arguments to commands
+        COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
+    )
+
+    # Show where to find the lcov info report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
+    )
+
+    # Show info where to find the report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
+    )
+
+endfunction() # setup_target_for_coverage_lcov
+
+# Defines a target for running and collection code coverage information
+# Builds dependencies, runs the given executable and outputs reports.
+# NOTE! The executable should always have a ZERO as exit code otherwise
+# the coverage generation will not complete.
+#
+# setup_target_for_coverage_gcovr_xml(
+#     NAME ctest_coverage                    # New target name
+#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+#     DEPENDENCIES executable_target         # Dependencies to build first
+#     BASE_DIRECTORY "../"                   # Base directory for report
+#                                            #  (defaults to PROJECT_SOURCE_DIR)
+#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
+#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
+# )
+# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
+# GCVOR command.
+function(setup_target_for_coverage_gcovr_xml)
+
+    set(options NONE)
+    set(oneValueArgs BASE_DIRECTORY NAME)
+    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
+    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT GCOVR_PATH)
+        message(FATAL_ERROR "gcovr not found! Aborting...")
+    endif() # NOT GCOVR_PATH
+
+    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
+    if(DEFINED Coverage_BASE_DIRECTORY)
+        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
+    else()
+        set(BASEDIR ${PROJECT_SOURCE_DIR})
+    endif()
+
+    # Collect excludes (CMake 3.4+: Also compute absolute paths)
+    set(GCOVR_EXCLUDES "")
+    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
+        if(CMAKE_VERSION VERSION_GREATER 3.4)
+            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
+        endif()
+        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
+    endforeach()
+    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
+
+    # Combine excludes to several -e arguments
+    set(GCOVR_EXCLUDE_ARGS "")
+    foreach(EXCLUDE ${GCOVR_EXCLUDES})
+        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
+        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
+    endforeach()
+    
+    # Set up commands which will be run to generate coverage data
+    # Run tests
+    set(GCOVR_XML_EXEC_TESTS_CMD
+        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
+    )
+    # Running gcovr
+    set(GCOVR_XML_CMD
+        ${GCOVR_PATH} --xml ${Coverage_NAME}.xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
+        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
+    )
+    
+    if(CODE_COVERAGE_VERBOSE)
+        message(STATUS "Executed command report")
+
+        message(STATUS "Command to run tests: ")
+        string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}")
+        message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}")
+
+        message(STATUS "Command to generate gcovr XML coverage data: ")
+        string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}")
+        message(STATUS "${GCOVR_XML_CMD_SPACED}")
+    endif()
+
+    add_custom_target(${Coverage_NAME}
+        COMMAND ${GCOVR_XML_EXEC_TESTS_CMD}
+        COMMAND ${GCOVR_XML_CMD}
+        
+        BYPRODUCTS ${Coverage_NAME}.xml
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+        DEPENDS ${Coverage_DEPENDENCIES}
+        VERBATIM # Protect arguments to commands
+        COMMENT "Running gcovr to produce Cobertura code coverage report."
+    )
+
+    # Show info where to find the report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
+    )
+endfunction() # setup_target_for_coverage_gcovr_xml
+
+# Defines a target for running and collection code coverage information
+# Builds dependencies, runs the given executable and outputs reports.
+# NOTE! The executable should always have a ZERO as exit code otherwise
+# the coverage generation will not complete.
+#
+# setup_target_for_coverage_gcovr_html(
+#     NAME ctest_coverage                    # New target name
+#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+#     DEPENDENCIES executable_target         # Dependencies to build first
+#     BASE_DIRECTORY "../"                   # Base directory for report
+#                                            #  (defaults to PROJECT_SOURCE_DIR)
+#     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
+#                                            #  to BASE_DIRECTORY, with CMake 3.4+)
+# )
+# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
+# GCVOR command.
+function(setup_target_for_coverage_gcovr_html)
+
+    set(options NONE)
+    set(oneValueArgs BASE_DIRECTORY NAME)
+    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
+    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT GCOVR_PATH)
+        message(FATAL_ERROR "gcovr not found! Aborting...")
+    endif() # NOT GCOVR_PATH
+
+    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
+    if(DEFINED Coverage_BASE_DIRECTORY)
+        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
+    else()
+        set(BASEDIR ${PROJECT_SOURCE_DIR})
+    endif()
+
+    # Collect excludes (CMake 3.4+: Also compute absolute paths)
+    set(GCOVR_EXCLUDES "")
+    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
+        if(CMAKE_VERSION VERSION_GREATER 3.4)
+            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
+        endif()
+        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
+    endforeach()
+    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
+
+    # Combine excludes to several -e arguments
+    set(GCOVR_EXCLUDE_ARGS "")
+    foreach(EXCLUDE ${GCOVR_EXCLUDES})
+        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
+        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
+    endforeach()
+
+    # Set up commands which will be run to generate coverage data
+    # Run tests
+    set(GCOVR_HTML_EXEC_TESTS_CMD
+        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
+    )
+    # Create folder
+    set(GCOVR_HTML_FOLDER_CMD
+        ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
+    )
+    # Running gcovr
+    set(GCOVR_HTML_CMD
+        ${GCOVR_PATH} --html ${Coverage_NAME}/index.html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
+        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
+    )
+
+    if(CODE_COVERAGE_VERBOSE)
+        message(STATUS "Executed command report")
+
+        message(STATUS "Command to run tests: ")
+        string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}")
+        message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}")
+
+        message(STATUS "Command to create a folder: ")
+        string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}")
+        message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}")
+
+        message(STATUS "Command to generate gcovr HTML coverage data: ")
+        string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}")
+        message(STATUS "${GCOVR_HTML_CMD_SPACED}")
+    endif()
+
+    add_custom_target(${Coverage_NAME}
+        COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD}
+        COMMAND ${GCOVR_HTML_FOLDER_CMD}
+        COMMAND ${GCOVR_HTML_CMD}
+
+        BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html  # report directory
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+        DEPENDS ${Coverage_DEPENDENCIES}
+        VERBATIM # Protect arguments to commands
+        COMMENT "Running gcovr to produce HTML code coverage report."
+    )
+
+    # Show info where to find the report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
+    )
+
+endfunction() # setup_target_for_coverage_gcovr_html
+
+# Defines a target for running and collection code coverage information
+# Builds dependencies, runs the given executable and outputs reports.
+# NOTE! The executable should always have a ZERO as exit code otherwise
+# the coverage generation will not complete.
+#
+# setup_target_for_coverage_fastcov(
+#     NAME testrunner_coverage                    # New target name
+#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+#     DEPENDENCIES testrunner                     # Dependencies to build first
+#     BASE_DIRECTORY "../"                        # Base directory for report
+#                                                 #  (defaults to PROJECT_SOURCE_DIR)
+#     EXCLUDE "src/dir1/" "src/dir2/"             # Patterns to exclude.
+#     NO_DEMANGLE                                 # Don't demangle C++ symbols
+#                                                 #  even if c++filt is found
+#     SKIP_HTML                                   # Don't create html report
+#     POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json  # E.g. for stripping source dir from file paths
+# )
+function(setup_target_for_coverage_fastcov)
+
+    set(options NO_DEMANGLE SKIP_HTML)
+    set(oneValueArgs BASE_DIRECTORY NAME)
+    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD)
+    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT FASTCOV_PATH)
+        message(FATAL_ERROR "fastcov not found! Aborting...")
+    endif()
+
+    if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH)
+        message(FATAL_ERROR "genhtml not found! Aborting...")
+    endif()
+
+    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
+    if(Coverage_BASE_DIRECTORY)
+        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
+    else()
+        set(BASEDIR ${PROJECT_SOURCE_DIR})
+    endif()
+
+    # Collect excludes (Patterns, not paths, for fastcov)
+    set(FASTCOV_EXCLUDES "")
+    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES})
+        list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}")
+    endforeach()
+    list(REMOVE_DUPLICATES FASTCOV_EXCLUDES)
+
+    # Conditional arguments
+    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
+        set(GENHTML_EXTRA_ARGS "--demangle-cpp")
+    endif()
+
+    # Set up commands which will be run to generate coverage data
+    set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS})
+
+    set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
+        --search-directory ${BASEDIR}
+        --process-gcno
+        --output ${Coverage_NAME}.json
+        --exclude ${FASTCOV_EXCLUDES}
+        --exclude ${FASTCOV_EXCLUDES}
+    )
+    
+    set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH}
+        -C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info
+    )
+
+    if(Coverage_SKIP_HTML)
+        set(FASTCOV_HTML_CMD ";")
+    else()
+        set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS}
+            -o ${Coverage_NAME} ${Coverage_NAME}.info
+        )
+    endif()
+
+    set(FASTCOV_POST_CMD ";")
+    if(Coverage_POST_CMD)
+        set(FASTCOV_POST_CMD ${Coverage_POST_CMD})
+    endif()
+
+    if(CODE_COVERAGE_VERBOSE)
+        message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):")
+
+        message("   Running tests:")
+        string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}")
+        message("     ${FASTCOV_EXEC_TESTS_CMD_SPACED}")
+
+        message("   Capturing fastcov counters and generating report:")
+        string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}")
+        message("     ${FASTCOV_CAPTURE_CMD_SPACED}")
+
+        message("   Converting fastcov .json to lcov .info:")
+        string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}")
+        message("     ${FASTCOV_CONVERT_CMD_SPACED}")
+
+        if(NOT Coverage_SKIP_HTML)
+            message("   Generating HTML report: ")
+            string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}")
+            message("     ${FASTCOV_HTML_CMD_SPACED}")
+        endif()
+        if(Coverage_POST_CMD)
+            message("   Running post command: ")
+            string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}")
+            message("     ${FASTCOV_POST_CMD_SPACED}")
+        endif()
+    endif()
+
+    # Setup target
+    add_custom_target(${Coverage_NAME}
+
+        # Cleanup fastcov
+        COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
+            --search-directory ${BASEDIR}
+            --zerocounters
+
+        COMMAND ${FASTCOV_EXEC_TESTS_CMD}
+        COMMAND ${FASTCOV_CAPTURE_CMD}
+        COMMAND ${FASTCOV_CONVERT_CMD}
+        COMMAND ${FASTCOV_HTML_CMD}
+        COMMAND ${FASTCOV_POST_CMD}
+
+        # Set output files as GENERATED (will be removed on 'make clean')
+        BYPRODUCTS
+             ${Coverage_NAME}.info
+             ${Coverage_NAME}.json
+             ${Coverage_NAME}/index.html  # report directory
+
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+        DEPENDS ${Coverage_DEPENDENCIES}
+        VERBATIM # Protect arguments to commands
+        COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report."
+    )
+
+    set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.")
+    if(NOT Coverage_SKIP_HTML)
+        string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.")
+    endif()
+    # Show where to find the fastcov info report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG}
+    )
+
+endfunction() # setup_target_for_coverage_fastcov
+
+function(append_coverage_compiler_flags)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
+    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
+    message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
+endfunction() # append_coverage_compiler_flags
+
+# Setup coverage for specific library
+function(append_coverage_compiler_flags_to_target name)
+    target_compile_options(${name}
+        PRIVATE ${COVERAGE_COMPILER_FLAGS})
+endfunction()

cmake/cmake-modules/bilke/LICENSE_1_0.txt

@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake

@@ -0,0 +1,284 @@
+# - Returns a version string from Git
+#
+# These functions force a re-configure on each git commit so that you can
+# trust the values of the variables in your build system.
+#
+#  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
+#
+# Returns the refspec and sha hash of the current head revision
+#
+#  git_describe(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the source tree, and adjusting
+# the output so that it tests false if an error occurs.
+#
+#  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the working tree (--dirty option),
+# and adjusting the output so that it tests false if an error occurs.
+#
+#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe --exact-match on the source tree,
+# and adjusting the output so that it tests false if there was no exact
+# matching tag.
+#
+#  git_local_changes(<var>)
+#
+# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
+# Uses the return code of "git diff-index --quiet HEAD --".
+# Does not regard untracked files.
+#
+# Requires CMake 2.6 or newer (uses the 'function' command)
+#
+# Original Author:
+# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
+# http://academic.cleardefinition.com
+#
+# Copyright 2009-2013, Iowa State University.
+# Copyright 2013-2020, Ryan Pavlik
+# Copyright 2013-2020, Contributors
+# SPDX-License-Identifier: BSL-1.0
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+if(__get_git_revision_description)
+    return()
+endif()
+set(__get_git_revision_description YES)
+
+# We must run the following at "include" time, not at function call time,
+# to find the path to this module rather than the path to a calling list file
+get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
+
+# Function _git_find_closest_git_dir finds the next closest .git directory
+# that is part of any directory in the path defined by _start_dir.
+# The result is returned in the parent scope variable whose name is passed
+# as variable _git_dir_var. If no .git directory can be found, the
+# function returns an empty string via _git_dir_var.
+#
+# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
+# neither foo nor bar contain a file/directory .git. This wil return
+# C:/bla/.git
+#
+function(_git_find_closest_git_dir _start_dir _git_dir_var)
+    set(cur_dir "${_start_dir}")
+    set(git_dir "${_start_dir}/.git")
+    while(NOT EXISTS "${git_dir}")
+        # .git dir not found, search parent directories
+        set(git_previous_parent "${cur_dir}")
+        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
+        if(cur_dir STREQUAL git_previous_parent)
+            # We have reached the root directory, we are not in git
+            set(${_git_dir_var}
+                ""
+                PARENT_SCOPE)
+            return()
+        endif()
+        set(git_dir "${cur_dir}/.git")
+    endwhile()
+    set(${_git_dir_var}
+        "${git_dir}"
+        PARENT_SCOPE)
+endfunction()
+
+function(get_git_head_revision _refspecvar _hashvar)
+    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
+
+    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
+        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
+    else()
+        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
+    endif()
+    if(NOT "${GIT_DIR}" STREQUAL "")
+        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
+             "${GIT_DIR}")
+        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
+            # We've gone above the CMake root dir.
+            set(GIT_DIR "")
+        endif()
+    endif()
+    if("${GIT_DIR}" STREQUAL "")
+        set(${_refspecvar}
+            "GITDIR-NOTFOUND"
+            PARENT_SCOPE)
+        set(${_hashvar}
+            "GITDIR-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    # Check if the current source dir is a git submodule or a worktree.
+    # In both cases .git is a file instead of a directory.
+    #
+    if(NOT IS_DIRECTORY ${GIT_DIR})
+        # The following git command will return a non empty string that
+        # points to the super project working tree if the current
+        # source dir is inside a git submodule.
+        # Otherwise the command will return an empty string.
+        #
+        execute_process(
+            COMMAND "${GIT_EXECUTABLE}" rev-parse
+                    --show-superproject-working-tree
+            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+            OUTPUT_VARIABLE out
+            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+        if(NOT "${out}" STREQUAL "")
+            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
+            file(READ ${GIT_DIR} submodule)
+            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
+                                 ${submodule})
+            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
+            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
+            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
+                                   ABSOLUTE)
+            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
+        else()
+            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
+            file(READ ${GIT_DIR} worktree_ref)
+            # The .git directory contains a path to the worktree information directory
+            # inside the parent git repo of the worktree.
+            #
+            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
+                                 ${worktree_ref})
+            string(STRIP ${git_worktree_dir} git_worktree_dir)
+            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
+            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
+        endif()
+    else()
+        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
+    endif()
+    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
+    if(NOT EXISTS "${GIT_DATA}")
+        file(MAKE_DIRECTORY "${GIT_DATA}")
+    endif()
+
+    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
+        return()
+    endif()
+    set(HEAD_FILE "${GIT_DATA}/HEAD")
+    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
+
+    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
+                   "${GIT_DATA}/grabRef.cmake" @ONLY)
+    include("${GIT_DATA}/grabRef.cmake")
+
+    set(${_refspecvar}
+        "${HEAD_REF}"
+        PARENT_SCOPE)
+    set(${_hashvar}
+        "${HEAD_HASH}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_describe _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var}
+            "HEAD-HASH-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    # TODO sanitize
+    #if((${ARGN}" MATCHES "&&") OR
+    #   (ARGN MATCHES "||") OR
+    #   (ARGN MATCHES "\\;"))
+    #   message("Please report the following error to the project!")
+    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
+    #endif()
+
+    #message(STATUS "Arguments to execute_process: ${ARGN}")
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_describe_working_tree _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_get_exact_tag _var)
+    git_describe(out --exact-match ${ARGN})
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_local_changes _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var}
+            "HEAD-HASH-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(res EQUAL 0)
+        set(${_var}
+            "CLEAN"
+            PARENT_SCOPE)
+    else()
+        set(${_var}
+            "DIRTY"
+            PARENT_SCOPE)
+    endif()
+endfunction()

cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in

@@ -0,0 +1,43 @@
+#
+# Internal file for GetGitRevisionDescription.cmake
+#
+# Requires CMake 2.6 or newer (uses the 'function' command)
+#
+# Original Author:
+# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
+# http://academic.cleardefinition.com
+# Iowa State University HCI Graduate Program/VRAC
+#
+# Copyright 2009-2012, Iowa State University
+# Copyright 2011-2015, Contributors
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+# SPDX-License-Identifier: BSL-1.0
+
+set(HEAD_HASH)
+
+file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
+
+string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
+if(HEAD_CONTENTS MATCHES "ref")
+    # named branch
+    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
+    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
+        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+    else()
+        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
+        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
+        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
+            set(HEAD_HASH "${CMAKE_MATCH_1}")
+        endif()
+    endif()
+else()
+    # detached HEAD
+    configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
+endif()
+
+if(NOT HEAD_HASH)
+    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
+    string(STRIP "${HEAD_HASH}" HEAD_HASH)
+endif()

cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt

@@ -0,0 +1,26 @@
+Copyright (c) <year> <owner>. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt

@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute, execute,
+and transmit the Software, and to prepare derivative works of the Software,
+and to permit third-parties to whom the Software is furnished to do so, all
+subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer, must
+be included in all copies of the Software, in whole or in part, and all derivative
+works of the Software, unless such copies or derivative works are solely in
+the form of machine-executable object code generated by a source language
+processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
+OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

cmake/cmake-modules/rpavlik/LICENSE_1_0.txt

@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

docs/getting_started.rst

@@ -19,6 +19,29 @@ A template configuration folder was provided and can be copied into the project
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
+Prerequisites
+-------------------
+
+The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
+installed and provided by the build system unless the correction version was installed.
+The current recommended version can be found inside the fsfw ``CMakeLists.txt`` file or by using
+``ccmake`` and looking up the ``FSFW_ETL_LIB_MAJOR_VERSION`` variable.
+
+You can install the ETL library like this. On Linux, it might be necessary to add ``sudo`` before
+the install call:
+
+.. code-block:: console
+
+   git clone https://github.com/ETLCPP/etl
+   cd etl
+   git checkout <currentRecommendedVersion>
+   mkdir build && cd build
+   cmake ..
+   cmake --install .
+
+It is recommended to install ``20.27.2`` or newer for the package version handling of
+ETL to work.
+
 Adding the library
 -------------------
 
@@ -60,6 +83,20 @@ The FSFW also has unittests which use the `Catch2 library`_.
 These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 
+You can install the Catch2 library, which prevents the build system to avoid re-downloading
+the dependency if the unit tests are completely rebuilt. The current recommended version
+can be found inside the fsfw ``CMakeLists.txt`` file or by using ``ccmake`` and looking up
+the ``FSFW_CATCH2_LIB_VERSION`` variable.
+
+.. code-block:: console
+
+   git clone https://github.com/catchorg/Catch2.git
+   cd Catch2
+   git checkout <currentRecommendedVersion>
+   cmake -Bbuild -H. -DBUILD_TESTING=OFF
+   sudo cmake --build build/ --target install
+
+
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.

hal/CMakeLists.txt

@@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
 # Linux. The only exception from this is the gpiod library which requires a dedicated installation,
 # but CMake is able to determine whether this library is installed with find_library.
 option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
 
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)

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

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

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -8,11 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
                                        CookieIF *comCookie, uint32_t transitionDelayMs)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       transitionDelayMs(transitionDelayMs),
-      dataset(this) {
+      dataset(this) {}
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(3);
-#endif
-}
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
@@ -193,8 +189,8 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
       int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
       float temperature = 25.0 + temperaturOffset;
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+      if (periodicPrintout) {
-      if (debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
           /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
           sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
@@ -208,7 +204,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
           sif::printInfo("Z: %f\n", angVelocZ);
 #endif
         }
-#endif
+      }
 
       PoolReadGuard readSet(&dataset);
       if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@@ -272,3 +268,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
   this->absLimitY = limitY;
   this->absLimitZ = limitZ;
 }
+
+void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

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

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -1,20 +1,14 @@
 #include "MgmLIS3MDLHandler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       dataset(this),
       transitionDelay(transitionDelay) {
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(3);
-#endif
   // Set to default values right away
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@@ -23,8 +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): {
@@ -96,7 +88,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
 
 uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
   command |= (1 << MGMLIS3MDL::RW_BIT);
-  if (continuousCom == true) {
+  if (continuousCom) {
     command |= (1 << MGMLIS3MDL::MS_BIT);
   }
   return command;
@@ -104,7 +96,7 @@ uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
 
 uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
   command &= ~(1 << MGMLIS3MDL::RW_BIT);
-  if (continuousCom == true) {
+  if (continuousCom) {
     command |= (1 << MGMLIS3MDL::MS_BIT);
   }
   return command;
@@ -264,7 +256,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       int16_t mgmMeasurementRawZ =
           packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
 
-      /* Target value in microtesla */
+      // Target value in microtesla
       float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
                    MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
       float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
@@ -272,8 +264,8 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
                    MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (periodicPrintout) {
-      if (debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
           sif::info << "MGMHandlerLIS3: Magnetic field strength in"
                        " microtesla:"
@@ -288,7 +280,8 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
           sif::printInfo("Z: %f uT\n", mgmZ);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
         }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
+      }
+
       PoolReadGuard readHelper(&dataset);
       if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         if (std::abs(mgmX) < absLimitX) {
@@ -318,15 +311,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case MGMLIS3MDL::READ_TEMPERATURE: {
       int16_t tempValueRaw = packet[2] << 8 | packet[1];
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (periodicPrintout) {
-      if (debugDivider->check()) {
+        if (debugDivider.check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
           sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
 #else
           sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
         }
-#endif
+      }
+
       ReturnValue_t result = dataset.read();
       if (result == HasReturnvaluesIF::RETURN_OK) {
         dataset.temperature = tempValue;
@@ -462,7 +456,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
   return RETURN_OK;
 }
 
-void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
+void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+}
 
 uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
 
@@ -482,3 +478,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
   this->absLimitY = yLimit;
   this->absLimitZ = zLimit;
 }
+
+void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -3,8 +3,8 @@
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
 #include "events/subsystemIdRanges.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 
 class PeriodicOperationDivider;
 
@@ -28,8 +28,9 @@ 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);
   /**
    * Set the absolute limit for the values on the axis in microtesla. The dataset values will
    * be marked as invalid if that limit is exceeded
@@ -45,7 +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;
@@ -59,9 +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;
 
@@ -71,8 +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];
 
@@ -87,7 +86,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
 
-  uint8_t statusRegister = 0;
   bool goToNormalMode = false;
 
   enum class InternalState {
@@ -110,14 +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
@@ -167,9 +165,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
    */
   ReturnValue_t prepareCtrlRegisterWrite();
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+  bool periodicPrintout = false;
-  PeriodicOperationDivider *debugDivider;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-#endif
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -10,11 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
                                    CookieIF *comCookie, uint32_t transitionDelay)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       primaryDataset(this),
-      transitionDelay(transitionDelay) {
+      transitionDelay(transitionDelay) {}
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(3);
-#endif
-}
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
@@ -333,12 +329,12 @@ 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 FSFW_HAL_RM3100_MGM_DEBUG == 1
+  if (periodicPrintout) {
-  if (debugDivider->checkAndIncrement()) {
+    if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::info << "MgmRM3100Handler: Magnetic field strength in"
                    " microtesla:"
@@ -353,7 +349,7 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
       sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
     }
-#endif
+  }
 
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
@@ -365,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   }
   return RETURN_OK;
 }
+
+void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -2,12 +2,8 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
-#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
 
 /**
  * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
@@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                    uint32_t transitionDelay);
   virtual ~MgmRM3100Handler();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Configure device handler to go to normal mode after startup immediately
    * @param enable
@@ -75,7 +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;
@@ -98,9 +94,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
                                         size_t commandDataLen);
 
   ReturnValue_t handleDataReadout(const uint8_t *packet);
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+
-  PeriodicOperationDivider *debugDivider;
+  bool periodicPrintout = false;
-#endif
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
-#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
+#endif /* MISSION_DEVICES_MGMRM3100HANDLER_H_ */

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -9,10 +9,17 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
 )
 
 if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
-	add_subdirectory(spi)
+endif()
-	add_subdirectory(i2c)
 	add_subdirectory(uart)
+	# Adding those does not really make sense on Apple systems which
+	# are generally host systems. It won't even compile as the headers
+	# are missing
+	if(NOT APPLE)
+		add_subdirectory(i2c)
+		add_subdirectory(spi)
+	endif()
 endif()
 
 add_subdirectory(uio)

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

@@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
   ReturnValue_t result;
   if (gpioCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -44,6 +46,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
+  ReturnValue_t result = RETURN_OK;
   for (auto& gpioConfig : mapToAdd) {
     auto& gpioType = gpioConfig.second->gpioType;
     switch (gpioType) {
@@ -55,7 +58,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        configureGpioByChip(gpioConfig.first, *regularGpio);
+        result = configureGpioByChip(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
@@ -63,7 +66,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        configureGpioByLabel(gpioConfig.first, *regularGpio);
+        result = configureGpioByLabel(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
@@ -71,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
-        configureGpioByLineName(gpioConfig.first, *regularGpio);
+        result = configureGpioByLineName(gpioConfig.first, *regularGpio);
         break;
       }
       case (gpio::GpioTypes::CALLBACK): {
@@ -83,8 +86,11 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                                gpioCallback->initValue, gpioCallback->callbackArgs);
       }
     }
+    if (result != RETURN_OK) {
+      return GPIO_INIT_FAILED;
     }
-  return RETURN_OK;
+  }
+  return result;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
@@ -92,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
   std::string& label = gpioByLabel.label;
   struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                  << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "label: " + label;
@@ -104,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
   std::string& chipname = gpioByChip.chipname;
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                  << ". Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "chipname: " + chipname;
@@ -129,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
   if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                  << ". <Gpio ID: " << gpioId << std::endl;
+#endif
     return RETURN_FAILED;
   }
   std::string failOutput = "line name: " + lineName;
@@ -149,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   lineNum = regularGpio.lineNum;
   lineHandle = gpiod_chip_get_line(chip, lineNum);
   if (!lineHandle) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
     sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                  << std::endl;
     sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+#endif
     gpiod_chip_close(chip);
     return RETURN_FAILED;
   }
@@ -161,16 +175,19 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   consumer = regularGpio.consumer;
   /* Configure direction and add a description to the GPIO */
   switch (direction) {
-    case (gpio::OUT): {
+    case (gpio::Direction::OUT): {
-      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                                         static_cast<int>(regularGpio.initValue));
       break;
     }
-    case (gpio::IN): {
+    case (gpio::Direction::IN): {
       result = gpiod_line_request_input(lineHandle, consumer.c_str());
       break;
     }
     default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+#endif
       return GPIO_INVALID_INSTANCE;
     }
 
@@ -199,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+#endif
     return UNKNOWN_GPIO_ID;
   }
 
@@ -211,7 +230,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::HIGH);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -243,7 +262,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-    return driveGpio(gpioId, *regularGpio, gpio::LOW);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
   } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
@@ -258,11 +277,11 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
                                         gpio::Levels logicLevel) {
-  int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+  int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
   if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
-                 << " to logic level " << logicLevel << std::endl;
+                 << " to logic level " << static_cast<int>(logicLevel) << std::endl;
 #else
     sif::printWarning(
         "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "

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

@@ -29,6 +29,8 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
   static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
+  static constexpr ReturnValue_t GPIO_INIT_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
 
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();

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

@@ -1,4 +1,13 @@
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "I2cComIF.h"
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+#include "fsfw/globalfunctions/arrayprinter.h"
+#endif
 
 #include <errno.h>
 #include <fcntl.h>
@@ -8,11 +17,6 @@
 
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
-#include "fsfw_hal/linux/utility.h"
-
 I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 I2cComIF::~I2cComIF() {}
@@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(sendData, sendLen);
+#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(replyBuffer, requestLen);
+#endif
+
   i2cDeviceMapIter->second.replyLen = requestLen;
   return HasReturnvaluesIF::RETURN_OK;
 }

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

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

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

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

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

@@ -210,7 +210,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
       return result;
     }
-    ReturnValue_t result = gpioComIF->pullLow(gpioId);
+    result = gpioComIF->pullLow(gpioId);
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
 }

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

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

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

@@ -1,4 +1,4 @@
-#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "SpiCookie.h"
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                      const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)

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

@@ -148,16 +148,16 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
   /* Clear size bits */
   options->c_cflag &= ~CSIZE;
   switch (uartCookie->getBitsPerWord()) {
-    case 5:
+    case BitsPerWord::BITS_5:
       options->c_cflag |= CS5;
       break;
-    case 6:
+    case BitsPerWord::BITS_6:
       options->c_cflag |= CS6;
       break;
-    case 7:
+    case BitsPerWord::BITS_7:
       options->c_cflag |= CS7;
       break;
-    case 8:
+    case BitsPerWord::BITS_8:
       options->c_cflag |= CS8;
       break;
     default:
@@ -193,82 +193,128 @@ void UartComIF::setFixedOptions(struct termios* options) {
 
 void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
   switch (uartCookie->getBaudrate()) {
-    case 50:
+    case UartBaudRate::RATE_50:
       cfsetispeed(options, B50);
       cfsetospeed(options, B50);
       break;
-    case 75:
+    case UartBaudRate::RATE_75:
       cfsetispeed(options, B75);
       cfsetospeed(options, B75);
       break;
-    case 110:
+    case UartBaudRate::RATE_110:
       cfsetispeed(options, B110);
       cfsetospeed(options, B110);
       break;
-    case 134:
+    case UartBaudRate::RATE_134:
       cfsetispeed(options, B134);
       cfsetospeed(options, B134);
       break;
-    case 150:
+    case UartBaudRate::RATE_150:
       cfsetispeed(options, B150);
       cfsetospeed(options, B150);
       break;
-    case 200:
+    case UartBaudRate::RATE_200:
       cfsetispeed(options, B200);
       cfsetospeed(options, B200);
       break;
-    case 300:
+    case UartBaudRate::RATE_300:
       cfsetispeed(options, B300);
       cfsetospeed(options, B300);
       break;
-    case 600:
+    case UartBaudRate::RATE_600:
       cfsetispeed(options, B600);
       cfsetospeed(options, B600);
       break;
-    case 1200:
+    case UartBaudRate::RATE_1200:
       cfsetispeed(options, B1200);
       cfsetospeed(options, B1200);
       break;
-    case 1800:
+    case UartBaudRate::RATE_1800:
       cfsetispeed(options, B1800);
       cfsetospeed(options, B1800);
       break;
-    case 2400:
+    case UartBaudRate::RATE_2400:
       cfsetispeed(options, B2400);
       cfsetospeed(options, B2400);
       break;
-    case 4800:
+    case UartBaudRate::RATE_4800:
       cfsetispeed(options, B4800);
       cfsetospeed(options, B4800);
       break;
-    case 9600:
+    case UartBaudRate::RATE_9600:
       cfsetispeed(options, B9600);
       cfsetospeed(options, B9600);
       break;
-    case 19200:
+    case UartBaudRate::RATE_19200:
       cfsetispeed(options, B19200);
       cfsetospeed(options, B19200);
       break;
-    case 38400:
+    case UartBaudRate::RATE_38400:
       cfsetispeed(options, B38400);
       cfsetospeed(options, B38400);
       break;
-    case 57600:
+    case UartBaudRate::RATE_57600:
       cfsetispeed(options, B57600);
       cfsetospeed(options, B57600);
       break;
-    case 115200:
+    case UartBaudRate::RATE_115200:
       cfsetispeed(options, B115200);
       cfsetospeed(options, B115200);
       break;
-    case 230400:
+    case UartBaudRate::RATE_230400:
       cfsetispeed(options, B230400);
       cfsetospeed(options, B230400);
       break;
-    case 460800:
+#ifndef __APPLE__
+    case UartBaudRate::RATE_460800:
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
       break;
+    case UartBaudRate::RATE_500000:
+      cfsetispeed(options, B500000);
+      cfsetospeed(options, B500000);
+      break;
+    case UartBaudRate::RATE_576000:
+      cfsetispeed(options, B576000);
+      cfsetospeed(options, B576000);
+      break;
+    case UartBaudRate::RATE_921600:
+      cfsetispeed(options, B921600);
+      cfsetospeed(options, B921600);
+      break;
+    case UartBaudRate::RATE_1000000:
+      cfsetispeed(options, B1000000);
+      cfsetospeed(options, B1000000);
+      break;
+    case UartBaudRate::RATE_1152000:
+      cfsetispeed(options, B1152000);
+      cfsetospeed(options, B1152000);
+      break;
+    case UartBaudRate::RATE_1500000:
+      cfsetispeed(options, B1500000);
+      cfsetospeed(options, B1500000);
+      break;
+    case UartBaudRate::RATE_2000000:
+      cfsetispeed(options, B2000000);
+      cfsetospeed(options, B2000000);
+      break;
+    case UartBaudRate::RATE_2500000:
+      cfsetispeed(options, B2500000);
+      cfsetospeed(options, B2500000);
+      break;
+    case UartBaudRate::RATE_3000000:
+      cfsetispeed(options, B3000000);
+      cfsetospeed(options, B3000000);
+      break;
+    case UartBaudRate::RATE_3500000:
+      cfsetispeed(options, B3500000);
+      cfsetospeed(options, B3500000);
+      break;
+    case UartBaudRate::RATE_4000000:
+      cfsetispeed(options, B4000000);
+      cfsetospeed(options, B4000000);
+      break;
+#endif  // ! __APPLE__
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
@@ -427,7 +473,7 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
   auto bufferPtr = iter->second.replyBuffer.data();
   // Size check to prevent buffer overflow
   if (requestLen > uartCookie.getMaxReplyLen()) {
-#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                  << std::endl;

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

@@ -1,9 +1,9 @@
-#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "UartCookie.h"
 
 #include <fsfw/serviceinterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-                       uint32_t baudrate, size_t maxReplyLen)
+                       UartBaudRate baudrate, size_t maxReplyLen)
     : handlerId(handlerId),
       deviceFile(deviceFile),
       uartMode(uartMode),
@@ -12,7 +12,7 @@ UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes
 
 UartCookie::~UartCookie() {}
 
-uint32_t UartCookie::getBaudrate() const { return baudrate; }
+UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
 
 size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
 
@@ -24,23 +24,9 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
 Parity UartCookie::getParity() const { return parity; }
 
-void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
+void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
-  switch (bitsPerWord_) {
-    case 5:
-    case 6:
-    case 7:
-    case 8:
-      break;
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
-#endif
-      return;
-  }
-  bitsPerWord = bitsPerWord_;
-}
 
-uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
+BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
 
 StopBits UartCookie::getStopBits() const { return stopBits; }
 

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

@@ -12,6 +12,41 @@ enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
 
 enum class UartModes { CANONICAL, NON_CANONICAL };
 
+enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
+
+enum class UartBaudRate {
+  RATE_50,
+  RATE_75,
+  RATE_110,
+  RATE_134,
+  RATE_150,
+  RATE_200,
+  RATE_300,
+  RATE_600,
+  RATE_1200,
+  RATE_1800,
+  RATE_2400,
+  RATE_4800,
+  RATE_9600,
+  RATE_19200,
+  RATE_38400,
+  RATE_57600,
+  RATE_115200,
+  RATE_230400,
+  RATE_460800,
+  RATE_500000,
+  RATE_576000,
+  RATE_921600,
+  RATE_1000000,
+  RATE_1152000,
+  RATE_1500000,
+  RATE_2000000,
+  RATE_2500000,
+  RATE_3000000,
+  RATE_3500000,
+  RATE_4000000
+};
+
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
  *          The constructor only requests for common options like the baudrate. Other options can
@@ -27,25 +62,23 @@ class UartCookie : public CookieIF {
    * @param uartMode      Specify the UART mode. The canonical mode should be used if the
    *                      messages are separated by a delimited character like '\n'. See the
    *                      termios documentation for more information
-   * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
+   * @param baudrate      The baudrate to use for input and output.
-   *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
-   *                      38400, 57600, 115200, 230400, 460800
    * @param maxReplyLen   The maximum size an object using this cookie expects
    * @details
    * Default configuration: No parity
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-             size_t maxReplyLen);
+             UartBaudRate baudrate, size_t maxReplyLen);
 
   virtual ~UartCookie();
 
-  uint32_t getBaudrate() const;
+  UartBaudRate getBaudrate() const;
   size_t getMaxReplyLen() const;
   std::string getDeviceFile() const;
   Parity getParity() const;
-  uint8_t getBitsPerWord() const;
+  BitsPerWord getBitsPerWord() const;
   StopBits getStopBits() const;
   UartModes getUartMode() const;
   object_id_t getHandlerId() const;
@@ -76,7 +109,7 @@ class UartCookie : public CookieIF {
   /**
    * Function two set number of bits per UART frame.
    */
-  void setBitsPerWord(uint8_t bitsPerWord_);
+  void setBitsPerWord(BitsPerWord bitsPerWord_);
 
   /**
    * Function to specify the number of stopbits.
@@ -97,10 +130,10 @@ class UartCookie : public CookieIF {
   std::string deviceFile;
   const UartModes uartMode;
   bool flushInput = false;
-  uint32_t baudrate;
+  UartBaudRate baudrate;
   size_t maxReplyLen = 0;
   Parity parity = Parity::NONE;
-  uint8_t bitsPerWord = 8;
+  BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
   uint8_t readCycles = 1;
   StopBits stopBits = StopBits::ONE_STOP_BIT;
   bool replySizeFixed = true;

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

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

hal/src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -21,7 +21,7 @@ using mspCb = void (*)(void);
 namespace spi {
 
 struct MspCfgBase {
-  MspCfgBase();
+  MspCfgBase() {}
   MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
              mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
       : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}

scripts/apply-clang-format.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-if [[ ! -f README.md ]]; then
-	cd ..
-fi
-
-find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

scripts/auto-formatter.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+  cd ..
+fi
+
+cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
+if command -v ${cmake_fmt} &> /dev/null; then
+  ${cmake_fmt} -i CMakeLists.txt
+  find ./src ${file_selectors} | xargs ${cmake_fmt}  -i
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./hal ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./tests ${file_selectors} | xargs ${cpp_format} --style=file -i
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi

scripts/helper.py

@@ -97,11 +97,11 @@ def handle_docs_type(args, build_dir_list: list):
         build_directory = determine_build_dir(build_dir_list)
     os.chdir(build_directory)
     if args.build:
-        os.system("cmake --build . -j")
+        cmd_runner("cmake --build . -j")
     if args.open:
         if not os.path.isfile("docs/sphinx/index.html"):
             # try again..
-            os.system("cmake --build . -j")
+            cmd_runner("cmake --build . -j")
             if not os.path.isfile("docs/sphinx/index.html"):
                 print(
                     "No Sphinx documentation file detected. "
@@ -143,25 +143,21 @@ def handle_tests_type(args, build_dir_list: list):
         if which("valgrind") is None:
             print("Please install valgrind first")
             sys.exit(1)
-        if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
+        cmd_runner("valgrind --leak-check=full ./fsfw-tests")
-            # If we are in a different directory we try to switch into it but
-            # this might fail
-            os.chdir(UNITTEST_FOLDER_NAME)
-        os.system("valgrind --leak-check=full ./fsfw-tests")
         os.chdir("..")
 
 
 def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
     os.chdir("..")
 
 
 def create_docs_build_cfg():
     os.mkdir(DOCS_FOLDER_NAME)
     os.chdir(DOCS_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
     os.chdir("..")
 
 
@@ -184,7 +180,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
 def perform_lcov_operation(directory: str, chdir: bool):
     if chdir:
         os.chdir(directory)
-    os.system("cmake --build . -- fsfw-tests_coverage -j")
+    cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
 
 
 def determine_build_dir(build_dir_list: List[str]):
@@ -206,5 +202,10 @@ def determine_build_dir(build_dir_list: List[str]):
     return build_directory
 
 
+def cmd_runner(cmd: str):
+    print(f"Executing command: {cmd}")
+    os.system(cmd)
+
+
 if __name__ == "__main__":
     main()

src/CMakeLists.txt

@@ -1,9 +1,6 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
 
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
+target_include_directories(${LIB_FSFW_NAME}
-    ${CMAKE_CURRENT_SOURCE_DIR}
+                           INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
-)
 
 add_subdirectory(fsfw)

src/fsfw/CMakeLists.txt

@@ -1,3 +1,5 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE version.cpp)
+
 # Core
 
 add_subdirectory(action)

src/fsfw/FSFW.h.in

@@ -30,6 +30,10 @@
 #define FSFW_VERBOSE_LEVEL                  1
 #endif /* FSFW_VERBOSE_LEVEL */
 
+#ifndef FSFW_DISABLE_PRINTOUT
+#define FSFW_DISABLE_PRINTOUT               0
+#endif
+
 #ifndef FSFW_USE_REALTIME_FOR_LINUX
 #define FSFW_USE_REALTIME_FOR_LINUX         0
 #endif /* FSFW_USE_REALTIME_FOR_LINUX */
@@ -57,16 +61,9 @@
 #define FSFW_HAL_SPI_WIRETAPPING            0
 #endif
 
-#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
+// Can be used for low-level debugging of the I2C bus
-#define FSFW_HAL_L3GD20_GYRO_DEBUG          0
+#ifndef FSFW_HAL_I2C_WIRETAPPING
-#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
+#define FSFW_HAL_I2C_WIRETAPPING            0
-
+#endif
-#ifndef FSFW_HAL_RM3100_MGM_DEBUG
-#define FSFW_HAL_RM3100_MGM_DEBUG           0
-#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
-
-#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
-#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
 
 #endif /* FSFW_FSFW_H_ */

src/fsfw/FSFWVersion.h.in

@@ -1,9 +1,11 @@
 #ifndef FSFW_VERSION_H_
 #define FSFW_VERSION_H_
 
-// Versioning is kept in project CMakeLists.txt file
+// Versioning is managed in project CMakeLists.txt file
-#define FSFW_VERSION @FSFW_VERSION@
+static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
-#define FSFW_SUBVERSION @FSFW_SUBVERSION@
+static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
-#define FSFW_REVISION @FSFW_REVISION@
+static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
+// Also contains CST (Commits since tag) information
+static const char FSFW_VCS_INFO[] = "@FSFW_VCS_INFO@";
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/action/ActionHelper.cpp

@@ -6,7 +6,7 @@
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
 
-ActionHelper::~ActionHelper() {}
+ActionHelper::~ActionHelper() = default;
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
   if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
@@ -59,7 +59,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *

src/fsfw/action/ActionMessage.cpp

@@ -2,9 +2,9 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-ActionMessage::ActionMessage() {}
+ActionMessage::ActionMessage() = default;
 
-ActionMessage::~ActionMessage() {}
+ActionMessage::~ActionMessage() = default;
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
                                store_address_t parameters) {
@@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
   switch (message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-      StorageManagerIF* ipcStore =
+      auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+      if (ipcStore != nullptr) {
-      if (ipcStore != NULL) {
         ipcStore->deleteData(getStoreId(message));
       }
       break;

src/fsfw/action/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-    PRIVATE 
+  ${LIB_FSFW_NAME} PRIVATE ActionHelper.cpp ActionMessage.cpp
-        ActionHelper.cpp
+                           CommandActionHelper.cpp SimpleActionHelper.cpp)
-        ActionMessage.cpp
-        CommandActionHelper.cpp
-        SimpleActionHelper.cpp
-)

src/fsfw/action/CommandActionHelper.cpp

@@ -2,14 +2,14 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
+    : owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
 
-CommandActionHelper::~CommandActionHelper() {}
+CommandActionHelper::~CommandActionHelper() = default;
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  SerializeIF *data) {
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -29,11 +29,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  const uint8_t *data, uint32_t size) {
-  //    if (commandCount != 0) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
+  if (receiver == nullptr) {
-  //    }
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -59,12 +56,12 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
 
 ReturnValue_t CommandActionHelper::initialize() {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (ipcStore == NULL) {
+  if (ipcStore == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   queueToUse = owner->getCommandQueuePtr();
-  if (queueToUse == NULL) {
+  if (queueToUse == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -104,7 +101,7 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
 uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-  const uint8_t *data = NULL;
+  const uint8_t *data = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/CommandActionHelper.h

@@ -14,14 +14,14 @@ class CommandActionHelper {
   friend class CommandsActionsIF;
 
  public:
-  CommandActionHelper(CommandsActionsIF* owner);
+  explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
                               uint32_t size);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);
-  uint8_t getCommandCount() const;
+  [[nodiscard]] uint8_t getCommandCount() const;
 
  private:
   CommandsActionsIF* owner;

src/fsfw/action/CommandsActionsIF.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "CommandActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.
@@ -21,7 +21,7 @@ class CommandsActionsIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
   static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
   static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-  virtual ~CommandsActionsIF() {}
+  virtual ~CommandsActionsIF() = default;
   virtual MessageQueueIF* getCommandQueuePtr() = 0;
 
  protected:

src/fsfw/action/HasActionsIF.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief
@@ -40,12 +40,12 @@ class HasActionsIF {
   static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
   static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
   static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-  virtual ~HasActionsIF() {}
+  virtual ~HasActionsIF() = default;
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
    */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently

src/fsfw/action/SimpleActionHelper.cpp

@@ -3,7 +3,7 @@
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
 
-SimpleActionHelper::~SimpleActionHelper() {}
+SimpleActionHelper::~SimpleActionHelper() = default;
 
 void SimpleActionHelper::step(ReturnValue_t result) {
   // STEP_OFFESET is subtracted to compensate for adding offset in base
@@ -38,7 +38,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
     ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
     queueToUse->sendMessage(commandedBy, &reply);
   }
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/SimpleActionHelper.h

@@ -11,15 +11,15 @@
 class SimpleActionHelper : public ActionHelper {
  public:
   SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-  virtual ~SimpleActionHelper();
+  ~SimpleActionHelper() override;
   void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   ReturnValue_t reportData(SerializeIF* data);
 
  protected:
   void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                        store_address_t dataAddress);
+                        store_address_t dataAddress) override;
-  virtual void resetHelper();
+  void resetHelper() override;
 
  private:
   bool isExecuting;
@@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
   uint8_t stepCount = 0;
 };
 
-#endif /* SIMPLEACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */

src/fsfw/cfdp/CMakeLists.txt

@@ -1,7 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
-    CFDPHandler.cpp
-    CFDPMessage.cpp
-)
 
 add_subdirectory(pdu)
 add_subdirectory(tlv)

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/CMakeLists.txt

@@ -1,11 +1,11 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    PduConfig.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE PduConfig.cpp
           VarLenField.cpp
           HeaderSerializer.cpp
           HeaderDeserializer.cpp
           FileDirectiveDeserializer.cpp
           FileDirectiveSerializer.cpp
- 
           AckInfo.cpp
           AckPduSerializer.cpp
           AckPduDeserializer.cpp
@@ -25,8 +25,6 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
           KeepAlivePduDeserializer.cpp
           PromptPduSerializer.cpp
           PromptPduDeserializer.cpp
-
           FileDataSerializer.cpp
           FileDataDeserializer.cpp
-    FileDataInfo.cpp
+          FileDataInfo.cpp)
-)

src/fsfw/cfdp/pdu/HeaderSerializer.h

@@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF {
   cfdp::WidthInBytes getLenEntityIds() const override;
   cfdp::WidthInBytes getLenSeqNum() const override;
   cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override;
-  bool hasSegmentMetadataFlag() const;
+  bool hasSegmentMetadataFlag() const override;
   void setSegmentationControl(cfdp::SegmentationControl);
 
   void getSourceId(cfdp::EntityId& sourceId) const override;

src/fsfw/cfdp/tlv/CMakeLists.txt

@@ -1,10 +1,10 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
+target_sources(
-    EntityIdTlv.cpp
+  ${LIB_FSFW_NAME}
+  PRIVATE EntityIdTlv.cpp
           FilestoreRequestTlv.cpp
           FilestoreResponseTlv.cpp
           Lv.cpp
           Tlv.cpp
           FlowLabelTlv.cpp
           MessageToUserTlv.cpp
-    FaultHandlerOverrideTlv.cpp
+          FaultHandlerOverrideTlv.cpp)
-)

src/fsfw/cfdp/tlv/FilestoreTlvBase.h

@@ -6,10 +6,13 @@
 #include <fsfw/cfdp/tlv/Tlv.h>
 #include <fsfw/cfdp/tlv/TlvIF.h>
 #include <fsfw/serialize/SerializeIF.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <cstddef>
 #include <cstdint>
 
+#include "fsfw/FSFW.h"
+
 namespace cfdp {
 
 enum FilestoreActionCode {

src/fsfw/container/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE SharedRingBuffer.cpp
-    PRIVATE 
+                                        SimpleRingBuffer.cpp)
-        SharedRingBuffer.cpp
-        SimpleRingBuffer.cpp
-)

src/fsfw/container/FIFOBase.tpp

@@ -6,8 +6,8 @@
 #endif
 
 template <typename T>
-inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
-        maxCapacity(maxCapacity), values(values){};
+    : maxCapacity(maxCapacity), values(values){};
 
 template <typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
@@ -84,7 +84,6 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
   return maxCapacity;
 }
 
-
 template <typename T>
 inline void FIFOBase<T>::setContainer(T* data) {
   this->values = data;

src/fsfw/container/FixedArrayList.h

@@ -2,6 +2,7 @@
 #define FIXEDARRAYLIST_H_
 
 #include <cmath>
+#include <limits>
 
 #include "ArrayList.h"
 /**
@@ -9,10 +10,9 @@
  */
 template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
-#if !defined(_MSC_VER)
+  static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
-  static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
                 "count_t is not large enough to hold MAX_SIZE");
-#endif
+
  private:
   T data[MAX_SIZE];
 

src/fsfw/container/FixedOrderedMultimap.tpp

@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 
-
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
+                                                                         Iterator *storedValue) {
   if (_size == theMap.maxSize()) {
     return MAP_FULL;
   }
@@ -71,7 +71,8 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key
 }
 
 template <typename key_t, typename T, typename KEY_COMPARE>
-inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
+                                                                          size_t startAt) const {
   if (startAt >= _size) {
     return startAt + 1;
   }
@@ -105,5 +106,4 @@ inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size
   --_size;
 }
 
-
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

src/fsfw/container/HybridIterator.h

@@ -10,16 +10,23 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
   HybridIterator() {}
 
   HybridIterator(typename LinkedElement<T>::Iterator *iter)
-      : LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {}
+      : LinkedElement<T>::Iterator(*iter), linked(true) {
+    if (iter != nullptr) {
+      value = iter->value;
+    }
+  }
 
-  HybridIterator(LinkedElement<T> *start)
+  HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
-      : LinkedElement<T>::Iterator(start), value(start->value), linked(true) {}
+    if (start != nullptr) {
+      value = start->value;
+    }
+  }
 
   HybridIterator(typename ArrayList<T, count_t>::Iterator start,
                  typename ArrayList<T, count_t>::Iterator end)
       : ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) {
     if (value == this->end) {
-      value = NULL;
+      value = nullptr;
     }
   }
 

src/fsfw/controller/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE 
+target_sources(${LIB_FSFW_NAME} PRIVATE ControllerBase.cpp
-    ControllerBase.cpp
+                                        ExtendedControllerBase.cpp)
-    ExtendedControllerBase.cpp
-)

src/fsfw/controller/ControllerBase.cpp

@@ -26,7 +26,7 @@ ReturnValue_t ControllerBase::initialize() {
 
   MessageQueueId_t parentQueue = 0;
   if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
     if (parent == nullptr) {
       return RETURN_FAILED;
     }
@@ -52,7 +52,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
 
 void ControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = modeHelper.handleModeCommand(&command);
@@ -73,20 +73,20 @@ void ControllerBase::handleQueue() {
   }
 }
 
-void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
+void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
   changeHK(this->mode, this->submode, false);
   triggerEvent(CHANGING_MODE, mode, submode);
-  this->mode = mode;
+  mode = mode_;
-  this->submode = submode;
+  submode = submode_;
   modeHelper.modeChanged(mode, submode);
   modeChanged(mode, submode);
   announceMode(false);
   changeHK(this->mode, this->submode, true);
 }
 
-void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
+void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
-  *mode = this->mode;
+  *mode_ = this->mode;
-  *submode = this->submode;
+  *submode_ = this->submode;
 }
 
 void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
@@ -99,7 +99,7 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
   return RETURN_OK;
 }
 
-void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { return; }
+void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
 
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
@@ -115,6 +115,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
 HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
 void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 
-void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {}
+void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }

src/fsfw/controller/ControllerBase.h

@@ -1,7 +1,6 @@
 #ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
 #define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
-#include "fsfw/datapool/HkSwitchHelper.h"
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
 #include "fsfw/modes/HasModesIF.h"
@@ -25,21 +24,21 @@ class ControllerBase : public HasModesIF,
   static const Mode_t MODE_NORMAL = 2;
 
   ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ControllerBase();
+  ~ControllerBase() override;
 
   /** SystemObject override */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /** HasHealthIF overrides */
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
   /** ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual void setTaskIF(PeriodicTaskIF *task) override;
+  void setTaskIF(PeriodicTaskIF *task) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   /**
@@ -55,8 +54,8 @@ class ControllerBase : public HasModesIF,
    */
   virtual void performControlOperation() = 0;
 
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) = 0;
+                                 uint32_t *msToReachTheMode) override = 0;
 
   const object_id_t parentId;
 
@@ -81,10 +80,10 @@ class ControllerBase : public HasModesIF,
 
   /** Mode helpers */
   virtual void modeChanged(Mode_t mode, Submode_t submode);
-  virtual void startTransition(Mode_t mode, Submode_t submode);
+  void startTransition(Mode_t mode, Submode_t submode) override;
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  void getMode(Mode_t *mode, Submode_t *submode) override;
-  virtual void setToExternalControl();
+  void setToExternalControl() override;
-  virtual void announceMode(bool recursive);
+  void announceMode(bool recursive) override;
   /** HK helpers */
   virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -6,7 +6,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 
-ExtendedControllerBase::~ExtendedControllerBase() {}
+ExtendedControllerBase::~ExtendedControllerBase() = default;
 
 ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
                                                     MessageQueueId_t commandedBy,
@@ -31,7 +31,7 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
 
 void ExtendedControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = actionHelper.handleActionMessage(&command);

src/fsfw/controller/ExtendedControllerBase.h

@@ -18,16 +18,16 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasLocalDataPoolIF {
  public:
   ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ExtendedControllerBase();
+  ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /* ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   LocalDataPoolManager poolManager;
@@ -39,31 +39,31 @@ class ExtendedControllerBase : public ControllerBase,
    * @param message
    * @return
    */
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
 
   /**
    * Periodic helper from ControllerBase, implemented by child class.
    */
-  virtual void performControlOperation() = 0;
+  void performControlOperation() override = 0;
 
   /* Handle the four messages mentioned above */
   void handleQueue() override;
 
   /* HasActionsIF overrides */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override;
 
   /* HasLocalDatapoolIF overrides */
-  virtual LocalDataPoolManager* getHkManagerHandle() override;
+  LocalDataPoolManager* getHkManagerHandle() override;
-  virtual object_id_t getObjectId() const override;
+  [[nodiscard]] object_id_t getObjectId() const override;
-  virtual uint32_t getPeriodicOperationFrequency() const override;
+  [[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
 
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override = 0;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
 
   // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override = 0;
 };
 

src/fsfw/coordinates/CMakeLists.txt

@@ -1,5 +1,2 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE CoordinateTransformations.cpp
-	PRIVATE 
+                                        Sgp4Propagator.cpp)
-		CoordinateTransformations.cpp
-		Sgp4Propagator.cpp
-)

src/fsfw/datalinklayer/CMakeLists.txt

@@ -1,6 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		Clcw.cpp
+  PRIVATE Clcw.cpp
           DataLinkLayer.cpp
           Farm1StateLockout.cpp
           Farm1StateOpen.cpp
@@ -8,5 +8,4 @@ target_sources(${LIB_FSFW_NAME}
           MapPacketExtraction.cpp
           TcTransferFrame.cpp
           TcTransferFrameLocal.cpp
-		VirtualChannelReception.cpp
+          VirtualChannelReception.cpp)
-)

src/fsfw/datapool/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE PoolDataSetBase.cpp PoolEntry.cpp)
-	PRIVATE 
-		HkSwitchHelper.cpp
-		PoolDataSetBase.cpp
-		PoolEntry.cpp
-)

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() {}
+  virtual ~DataSetIF() = default;
 
   /**
    * @brief	This operation provides a method to register local data pool
@@ -39,7 +39,7 @@ class DataSetIF {
    */
   virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
 
-  virtual uint16_t getFillCount() const = 0;
+  [[nodiscard]] virtual uint16_t getFillCount() const = 0;
 };
 
 #endif /* FSFW_DATAPOOL_DATASETIF_H_ */

src/fsfw/datapool/HkSwitchHelper.cpp

@@ -1,67 +0,0 @@
-#include "fsfw/datapool/HkSwitchHelper.h"
-
-#include "fsfw/ipc/QueueFactory.h"
-
-HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy)
-    : commandActionHelper(this), eventProxy(eventProxy) {
-  actionQueue = QueueFactory::instance()->createMessageQueue();
-}
-
-HkSwitchHelper::~HkSwitchHelper() { QueueFactory::instance()->deleteMessageQueue(actionQueue); }
-
-ReturnValue_t HkSwitchHelper::initialize() {
-  ReturnValue_t result = commandActionHelper.initialize();
-
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-
-  return result;
-}
-
-ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
-  CommandMessage command;
-  while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
-    ReturnValue_t result = commandActionHelper.handleReply(&command);
-    if (result == HasReturnvaluesIF::RETURN_OK) {
-      continue;
-    }
-    command.setToUnknownCommand();
-    actionQueue->reply(&command);
-  }
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-void HkSwitchHelper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
-
-void HkSwitchHelper::stepFailedReceived(ActionId_t actionId, uint8_t step,
-                                        ReturnValue_t returnCode) {
-  eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
-}
-
-void HkSwitchHelper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
-
-void HkSwitchHelper::completionSuccessfulReceived(ActionId_t actionId) {}
-
-void HkSwitchHelper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
-  eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
-}
-
-ReturnValue_t HkSwitchHelper::switchHK(SerializeIF* sids, bool enable) {
-  //	ActionId_t action = HKService::DISABLE_HK;
-  //	if (enable) {
-  //		action = HKService::ENABLE_HK;
-  //	}
-  //
-  //	ReturnValue_t result = commandActionHelper.commandAction(
-  //			objects::PUS_HK_SERVICE, action, sids);
-  //
-  //	if (result != HasReturnvaluesIF::RETURN_OK) {
-  //		eventProxy->forwardEvent(SWITCHING_TM_FAILED, result);
-  //	}
-  //	return result;
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueIF* HkSwitchHelper::getCommandQueuePtr() { return actionQueue; }

src/fsfw/datapool/HkSwitchHelper.h

@@ -1,44 +0,0 @@
-#ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
-#define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
-
-#include "fsfw/action/CommandsActionsIF.h"
-#include "fsfw/events/EventReportingProxyIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-
-// TODO this class violations separation between mission and framework
-// but it is only a transitional solution until the Datapool is
-// implemented decentrally
-
-class HkSwitchHelper : public ExecutableObjectIF, public CommandsActionsIF {
- public:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
-  static const Event SWITCHING_TM_FAILED =
-      MAKE_EVENT(1, severity::LOW);  //!< Commanding the HK Service failed, p1: error code, p2
-                                     //!< action: 0 disable / 1 enable
-
-  HkSwitchHelper(EventReportingProxyIF* eventProxy);
-  virtual ~HkSwitchHelper();
-
-  ReturnValue_t initialize();
-
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
-
-  ReturnValue_t switchHK(SerializeIF* sids, bool enable);
-
-  virtual void setTaskIF(PeriodicTaskIF* task_){};
-
- protected:
-  virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step);
-  virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode);
-  virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size);
-  virtual void completionSuccessfulReceived(ActionId_t actionId);
-  virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode);
-  virtual MessageQueueIF* getCommandQueuePtr();
-
- private:
-  CommandActionHelper commandActionHelper;
-  MessageQueueIF* actionQueue;
-  EventReportingProxyIF* eventProxy;
-};
-
-#endif /* FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ */

src/fsfw/datapool/PoolDataSetBase.cpp

@@ -9,7 +9,7 @@ PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
                                  const size_t maxFillCount)
     : registeredVariables(registeredVariablesArray), maxFillCount(maxFillCount) {}
 
-PoolDataSetBase::~PoolDataSetBase() {}
+PoolDataSetBase::~PoolDataSetBase() = default;
 
 ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF* variable) {
   if (registeredVariables == nullptr) {

src/fsfw/datapool/PoolDataSetBase.h

@@ -64,7 +64,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
    * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
    *      commit() in between
    */
-  virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+  ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
                      uint32_t lockTimeout = 20) override;
   /**
    * @brief	The commit call initializes writing back the registered variables.
@@ -84,7 +84,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
    * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
    * 			  contains non write-only variables
    */
-  virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+  ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
                        uint32_t lockTimeout = 20) override;
 
   /**
@@ -92,30 +92,29 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
    * @param variable
    * @return
    */
-  virtual ReturnValue_t registerVariable(PoolVariableIF* variable) override;
+  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
    */
-  virtual ReturnValue_t lockDataPool(
+  ReturnValue_t lockDataPool(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-      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
    */
-  virtual ReturnValue_t unlockDataPool() override;
+  ReturnValue_t unlockDataPool() override;
 
-  virtual uint16_t getFillCount() const;
+  [[nodiscard]] uint16_t getFillCount() const override;
 
   /* SerializeIF implementations */
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override;
-  virtual size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             SerializeIF::Endianness streamEndianness) override;
 
   /**
@@ -156,7 +155,7 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF, public HasRetu
   const size_t maxFillCount = 0;
 
   void setContainer(PoolVariableIF** variablesContainer);
-  PoolVariableIF** getContainer() const;
+  [[nodiscard]] PoolVariableIF** getContainer() const;
 
  private:
   bool protectEveryReadCommitCall = false;

src/fsfw/datapool/PoolEntry.cpp

@@ -11,7 +11,7 @@ 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, this->getByteSize());
+    std::memset(this->address, 0, PoolEntry<T>::getByteSize());
   } else {
     std::copy(initValue.begin(), initValue.end(), this->address);
   }
@@ -22,9 +22,9 @@ PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
     : length(setLength), valid(setValid) {
   this->address = new T[this->length];
   if (initValue != nullptr) {
-    std::memcpy(this->address, initValue, this->getByteSize());
+    std::memcpy(this->address, initValue, PoolEntry<T>::getByteSize());
   } else {
-    std::memset(this->address, 0, this->getByteSize());
+    std::memset(this->address, 0, PoolEntry<T>::getByteSize());
   }
 }
 
@@ -62,7 +62,7 @@ bool PoolEntry<T>::getValid() {
 
 template <typename T>
 void PoolEntry<T>::print() {
-  const char* validString = nullptr;
+  const char* validString;
   if (valid) {
     validString = "Valid";
   } else {

src/fsfw/datapool/PoolEntry.h

@@ -62,7 +62,7 @@ class PoolEntry : public PoolEntryIF {
    * @param setValid
    * Sets the initialization flag. It is invalid by default.
    */
-  PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
+  explicit PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
 
   //! Explicitely deleted copy ctor, copying is not allowed.
   PoolEntry(const PoolEntry&) = delete;
@@ -77,7 +77,7 @@ class PoolEntry : public PoolEntryIF {
    * PoolEntries shall never be copied, as a copy might delete the variable
    * on the heap.
    */
-  ~PoolEntry();
+  ~PoolEntry() override;
 
   /**
    * Return typed pointer to start of data.
@@ -91,32 +91,32 @@ 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();
+  uint8_t getSize() override;
   /**
    * @brief	This operation returns the size in bytes.
    * @details	The size is calculated by sizeof(type) * array_size.
    */
-  uint16_t getByteSize();
+  uint16_t getByteSize() override;
   /**
    * @brief	This operation returns a the address pointer casted to void*.
    */
-  void* getRawData();
+  void* getRawData() override;
   /**
    * @brief	This method allows to set the valid information
    * 			of the pool entry.
    */
-  void setValid(bool isValid);
+  void setValid(bool isValid) override;
   /**
    * @brief	This method allows to get the valid information
    * 			of the pool entry.
    */
-  bool getValid();
+  bool getValid() override;
   /**
    * @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();
+  void print() override;
-  Type getType();
+  Type getType() override;
 
  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() {}
+  virtual ~PoolEntryIF() = default;
   /**
    * @brief	getSize returns the array size of the entry.
    * 			A single variable parameter has size 1.

src/fsfw/datapool/PoolReadGuard.h

@@ -11,7 +11,7 @@
  */
 class PoolReadGuard {
  public:
-  PoolReadGuard(ReadCommitIF* readObject,
+  explicit PoolReadGuard(ReadCommitIF* readObject,
                          MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
                          uint32_t mutexTimeout = 20)
       : readObject(readObject), mutexTimeout(mutexTimeout) {
@@ -29,7 +29,7 @@ class PoolReadGuard {
     }
   }
 
-  ReturnValue_t getReadResult() const { return readResult; }
+  [[nodiscard]] ReturnValue_t getReadResult() const { return readResult; }
 
   /**
    * @brief   Can be used to suppress commit on destruction.

src/fsfw/datapool/PoolVarList.h

@@ -1,28 +0,0 @@
-#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 = 1;
+  static constexpr bool VALID = true;
-  static constexpr bool INVALID = 0;
+  static constexpr bool INVALID = false;
   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.
    */
-  virtual ~PoolVariableIF() {}
+  ~PoolVariableIF() override = default;
   /**
    * @brief	This method returns if the variable is write-only,
    * 			read-write or read-only.
    */
-  virtual ReadWriteMode_t getReadWriteMode() const = 0;
+  [[nodiscard]] 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.
    */
-  virtual uint32_t getDataPoolId() const = 0;
+  [[nodiscard]] virtual uint32_t getDataPoolId() const = 0;
   /**
    * @brief	With this call, the valid information of the
    * 			variable is returned.
    */
-  virtual bool isValid() const = 0;
+  [[nodiscard]] 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() {}
+  virtual ~ReadCommitIF() = default;
   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(){};
+  virtual ~SharedDataSetIF() = default;
 
  private:
   virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType,

src/fsfw/datapoollocal/AccessLocalPoolF.h

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

src/fsfw/datapoollocal/CMakeLists.txt

@@ -1,10 +1,6 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(
-	PRIVATE 
+  ${LIB_FSFW_NAME}
-		LocalDataPoolManager.cpp
+  PRIVATE LocalDataPoolManager.cpp LocalDataSet.cpp LocalPoolDataSetBase.cpp
-		LocalDataSet.cpp
+          LocalPoolObjectBase.cpp SharedLocalDataSet.cpp)
-		LocalPoolDataSetBase.cpp
-		LocalPoolObjectBase.cpp
-		SharedLocalDataSet.cpp
-)
 
 add_subdirectory(internal)

src/fsfw/datapoollocal/HasLocalDataPoolIF.h

@@ -44,14 +44,15 @@ class HasLocalDataPoolIF {
   friend class HasLocalDpIFUserAttorney;
 
  public:
-  virtual ~HasLocalDataPoolIF(){};
+  virtual ~HasLocalDataPoolIF() = default;
+  ;
 
   static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
 
-  virtual object_id_t getObjectId() const = 0;
+  [[nodiscard]] virtual object_id_t getObjectId() const = 0;
 
   /** Command queue for housekeeping messages. */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
 
   /**
    * Is used by pool owner to initialize the pool map once
@@ -66,7 +67,7 @@ class HasLocalDataPoolIF {
    * usually be the period the pool owner performs its periodic operation.
    * @return
    */
-  virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
+  [[nodiscard]] virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
 
   /**
    * @brief   This function will be called by the manager if an update

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -1,6 +1,5 @@
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 
-#include <array>
 #include <cmath>
 
 #include "fsfw/datapoollocal.h"
@@ -57,7 +56,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   }
 
   if (defaultHkDestination != objects::NO_OBJECT) {
-    AcceptsHkPacketsIF* hkPacketReceiver =
+    auto* hkPacketReceiver =
         ObjectManager::instance()->get<AcceptsHkPacketsIF>(defaultHkDestination);
     if (hkPacketReceiver != nullptr) {
       hkDestinationId = hkPacketReceiver->getHkQueue();
@@ -84,8 +83,8 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
     return result;
   }
 
-  printWarningOrError(sif::OutputTypes::OUT_WARNING, "initialize", HasReturnvaluesIF::RETURN_FAILED,
+  printWarningOrError(sif::OutputTypes::OUT_WARNING, "initializeHousekeepingPoolEntriesOnce",
-                      "The map should only be initialized once");
+                      HasReturnvaluesIF::RETURN_FAILED, "The map should only be initialized once");
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -209,9 +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),
@@ -245,9 +244,9 @@ 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),
@@ -339,8 +338,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool e
                                                                float collectionInterval,
                                                                bool isDiagnostics,
                                                                object_id_t packetDestination) {
-  AcceptsHkPacketsIF* hkReceiverObject =
+  auto* hkReceiverObject = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
-      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
   if (hkReceiverObject == nullptr) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
                         QUEUE_OR_DESTINATION_INVALID);
@@ -368,8 +366,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool e
 ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool isDiagnostics,
                                                              bool reportingEnabled,
                                                              object_id_t packetDestination) {
-  AcceptsHkPacketsIF* hkReceiverObject =
+  auto* hkReceiverObject = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
-      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
   if (hkReceiverObject == nullptr) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
                         QUEUE_OR_DESTINATION_INVALID);
@@ -696,9 +693,10 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed."
+                 << std::endl;
 #else
-    sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
+    sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif
   }
 }
@@ -787,6 +785,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
   // Serialize set packet into store.
   size_t size = 0;
   result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeId);
+    return result;
+  }
   if (expectedSize != size) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
                         HasReturnvaluesIF::RETURN_FAILED,
@@ -801,7 +803,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
     HousekeepingMessage::setHkStuctureReportReply(&reply, sid, storeId);
   }
 
-  hkQueue->reply(&reply);
+  result = hkQueue->reply(&reply);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeId);
+  }
   return result;
 }
 

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -80,7 +80,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
                        bool appendValidityBuffer = true);
-  virtual ~LocalDataPoolManager();
+  ~LocalDataPoolManager() override;
 
   /**
    * 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(const uint32_t setId, object_id_t destinationObject,
+  ReturnValue_t subscribeForSetUpdateMessage(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(const lp_id_t localPoolId,
+  ReturnValue_t subscribeForVariableUpdateMessage(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();
 
-  object_id_t getCreatorObjectId() const;
+  [[nodiscard]] 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();
 
-  virtual LocalDataPoolManager* getPoolManagerHandle() override;
+  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 updateCounter{};
-    uint8_t currentUpdateCounter;
+    uint8_t currentUpdateCounter{};
   };
 
   using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;