From 20adc1c9813697744a37c375027114370131695c Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <–meierj@irs.uni-stuttgart.de>
Date: Sat, 7 Aug 2021 14:28:12 +0200
Subject: [PATCH 01/19] queue nullptr check in action helper

---
 action/ActionHelper.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 73007ea3..aaa19ac4 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -33,6 +33,17 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
         setQueueToUse(queueToUse_);
     }
 
+    if(queueToUse == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
+#else
+        sif::printWarning("ActionHelper::initialize: No queue set\n");
+#endif
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     return HasReturnvaluesIF::RETURN_OK;
 }
 

From 4b72e246c36bab632d9efd92ff1d8e6cd533b6a9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 17 Aug 2021 15:05:29 +0200
Subject: [PATCH 02/19] improved DLE encoder

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 67 ++++++++++++++-----------
 src/fsfw/globalfunctions/DleEncoder.h   | 66 +++++++++++++++---------
 2 files changed, 79 insertions(+), 54 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 11df8ad7..d6f3cc87 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -1,6 +1,7 @@
 #include "fsfw/globalfunctions/DleEncoder.h"
 
-DleEncoder::DleEncoder() {}
+DleEncoder::DleEncoder(bool escapeStxEtx, bool escapeCr): escapeStxEtx(escapeStxEtx),
+        escapeCr(escapeCr) {}
 
 DleEncoder::~DleEncoder() {}
 
@@ -17,26 +18,28 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		++encodedIndex;
 	}
 
-	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
-	{
+	while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
 		nextByte = sourceStream[sourceIndex];
 		// STX, ETX and CR characters in the stream need to be escaped with DLE
-		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				/* Escaped byte will be actual byte + 0x40. This prevents
-				 * STX, ETX, and carriage return characters from appearing
-				 * in the encoded data stream at all, so when polling an
-				 * encoded stream, the transmission can be stopped at ETX.
-				 * 0x40 was chosen at random with special requirements:
-				 *  - Prevent going from one control char to another
-				 *  - Prevent overflow for common characters */
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
+		if ((nextByte == STX_CHAR or nextByte == ETX_CHAR) or
+		        (this->escapeCr and nextByte == CARRIAGE_RETURN)) {
+		    if(this->escapeStxEtx) {
+	            if (encodedIndex + 1 >= maxDestLen) {
+	                return STREAM_TOO_SHORT;
+	            }
+	            else {
+	                destStream[encodedIndex] = DLE_CHAR;
+	                ++encodedIndex;
+	                /* Escaped byte will be actual byte + 0x40. This prevents
+	                 * STX, ETX, and carriage return characters from appearing
+	                 * in the encoded data stream at all, so when polling an
+	                 * encoded stream, the transmission can be stopped at ETX.
+	                 * 0x40 was chosen at random with special requirements:
+	                 *  - Prevent going from one control char to another
+	                 *  - Prevent overflow for common characters */
+	                destStream[encodedIndex] = nextByte + 0x40;
+	            }
+		    }
 		}
 		// DLE characters are simply escaped with DLE.
 		else if (nextByte == DLE_CHAR) {
@@ -90,16 +93,22 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 				destStream[decodedIndex] = nextByte;
 			}
 			else {
-			    /* The next byte is a STX, DTX or 0x0D character which
-			     * was escaped by a DLE character. The actual byte was
-				 * also encoded by adding + 0x40 to prevent having control chars,
-				 * in the stream at all, so we convert it back. */
-				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				}
-				else {
-				    return DECODING_ERROR;
-				}
+			    if(this->escapeStxEtx) {
+	                /* The next byte is a STX, DTX or 0x0D character which
+	                 * was escaped by a DLE character. The actual byte was
+	                 * also encoded by adding + 0x40 to prevent having control chars,
+	                 * in the stream at all, so we convert it back. */
+	                if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or
+	                        (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) {
+	                    destStream[decodedIndex] = nextByte - 0x40;
+	                }
+	                else {
+	                    return DECODING_ERROR;
+	                }
+			    }
+			    else {
+	                return DECODING_ERROR;
+			    }
 			}
 			++encodedIndex;
 		}
diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index 6d073f9a..38d4dc75 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 
-#include "../returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
 
 /**
@@ -13,9 +13,9 @@
  *
  * This encoder can be used to achieve a basic transport layer when using
  * char based transmission systems.
- * The passed source strean is converted into a encoded stream by adding
+ * The passed source stream is converted into a encoded stream by adding
  * a STX marker at the start of the stream and an ETX marker at the end of
- * the stream. Any STX, ETX, DLE and CR occurrences in the source stream are
+ * the stream. Any STX, ETX, DLE and CR occurrences in the source stream can be
  * escaped by a DLE character. The encoder also replaces escaped control chars
  * by another char, so STX, ETX and CR should not appear anywhere in the actual
  * encoded data stream.
@@ -26,38 +26,45 @@
  */
 class DleEncoder: public HasReturnvaluesIF {
 private:
-	DleEncoder();
-	virtual ~DleEncoder();
+    DleEncoder(bool escapeStxEtx = true, bool escapeCr = false);
+    virtual ~DleEncoder();
 
 public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
-	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
-	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
+    static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
 
-	//! Start Of Text character. First character is encoded stream
-	static constexpr uint8_t STX_CHAR = 0x02;
-	//! End Of Text character. Last character in encoded stream
-	static constexpr uint8_t ETX_CHAR = 0x03;
-	//! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
-	//! in the source stream.
-	static constexpr uint8_t DLE_CHAR = 0x10;
-	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
+    //! Start Of Text character. First character is encoded stream
+    static constexpr uint8_t STX_CHAR = 0x02;
+    //! End Of Text character. Last character in encoded stream
+    static constexpr uint8_t ETX_CHAR = 0x03;
+    //! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
+    //! in the source stream.
+    static constexpr uint8_t DLE_CHAR = 0x10;
+    static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
 
     /**
      * Encodes the give data stream by preceding it with the STX marker
-     * and ending it with an ETX marker. STX, ETX and DLE characters inside
-     * the stream are escaped by DLE characters and also replaced by adding
-     * 0x40 (which is reverted in the decoding process).
+     * and ending it with an ETX marker. DLE characters inside
+     * the stream are escaped by DLE characters. STX, ETX and CR characters can be escaped with a
+     * DLE character as well. The escaped characters are also encoded by adding
+     * 0x40 (which is reverted in the decoding process). This is performed so the source stream
+     * does not have STX/ETX/CR occurrences anymore, so the receiving side can simply parse for
+     * start and end markers
      * @param sourceStream
      * @param sourceLen
      * @param destStream
      * @param maxDestLen
      * @param encodedLen
-     * @param addStxEtx
-     * Adding STX and ETX can be omitted, if they are added manually.
+     * @param addStxEtx     Adding STX start marker and ETX end marker can be omitted,
+     *                      if they are added manually
+     * @param escapeStxEtx  STX and ETX occurrences in the given source stream will be escaped and
+     *                      encoded by adding 0x40
+     * @param escapeCr      CR characters in the given source stream will be escaped and encoded
+     *                      by adding 0x40
      * @return
      */
-    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+    ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
             uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
             bool addStxEtx = true);
 
@@ -69,11 +76,20 @@ public:
      * @param destStream
      * @param maxDestStreamlen
      * @param decodedLen
+     * @param escapeStxEtx  STX and ETX characters were escaped in the encoded stream and need to
+     *                      be decoded back as well
+     * @param escapeCr      CR characters were escaped in the encoded stream and need to
+     *                      be decoded back as well by subtracting 0x40
      * @return
      */
-	static ReturnValue_t decode(const uint8_t *sourceStream,
-			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-			size_t maxDestStreamlen, size_t *decodedLen);
+    ReturnValue_t decode(const uint8_t *sourceStream,
+            size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+            size_t maxDestStreamlen, size_t *decodedLen);
+
+private:
+
+    bool escapeStxEtx;
+    bool escapeCr;
 };
 
 #endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

From ece7dce6f7ee33b04473a41f698ff15414520a02 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 17 Aug 2021 15:13:58 +0200
Subject: [PATCH 03/19] ctor and dtor public now

---
 src/fsfw/globalfunctions/DleEncoder.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index 38d4dc75..c78fe197 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -25,11 +25,15 @@
  * while ETX can be used to notify the reader that the data has ended.
  */
 class DleEncoder: public HasReturnvaluesIF {
-private:
+public:
+    /**
+     * Create an encoder instance with the given configuration.
+     * @param escapeStxEtx
+     * @param escapeCr
+     */
     DleEncoder(bool escapeStxEtx = true, bool escapeCr = false);
     virtual ~DleEncoder();
 
-public:
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
     static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
     static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);

From 5fcac4d85b5eba9f28f9f7fae8dedb8f1f39928a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 17 Aug 2021 15:39:24 +0200
Subject: [PATCH 04/19] added proper non-escaped variant

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 159 +++++++++++++++++-------
 src/fsfw/globalfunctions/DleEncoder.h   |   8 ++
 2 files changed, 121 insertions(+), 46 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index d6f3cc87..0cc3ad2a 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -14,6 +14,10 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 	size_t encodedIndex = 0, sourceIndex = 0;
 	uint8_t nextByte;
 	if (addStxEtx) {
+	    if(not escapeStxEtx) {
+	        destStream[0] = DLE_CHAR;
+	        ++encodedIndex;
+	    }
 		destStream[0] = STX_CHAR;
 		++encodedIndex;
 	}
@@ -61,6 +65,10 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 
 	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
 		if (addStxEtx) {
+	        if(not escapeStxEtx) {
+	            destStream[encodedIndex] = DLE_CHAR;
+	            ++encodedIndex;
+	        }
 			destStream[encodedIndex] = ETX_CHAR;
 			++encodedIndex;
 		}
@@ -72,62 +80,121 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 	}
 }
 
+ReturnValue_t DleEncoder::encodeEscaped(const uint8_t *sourceStream, size_t sourceLen,
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) {
+}
+
+ReturnValue_t DleEncoder::encodeNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) {
+}
+
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
 		size_t maxDestStreamlen, size_t *decodedLen) {
 	size_t encodedIndex = 0, decodedIndex = 0;
 	uint8_t nextByte;
-	if (*sourceStream != STX_CHAR) {
-		return DECODING_ERROR;
+	if(not escapeStxEtx) {
+	    if (*sourceStream != DLE_CHAR) {
+	        return DECODING_ERROR;
+	    }
+	    ++encodedIndex;
 	}
+	if (sourceStream[encodedIndex] != STX_CHAR) {
+	    return DECODING_ERROR;
+	}
+
 	++encodedIndex;
 
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX_CHAR)
-			&& (sourceStream[encodedIndex] != STX_CHAR)) {
-		if (sourceStream[encodedIndex] == DLE_CHAR) {
-			nextByte = sourceStream[encodedIndex + 1];
-			// The next byte is a DLE character that was escaped by another
-			// DLE character, so we can write it to the destination stream.
-			if (nextByte == DLE_CHAR) {
-				destStream[decodedIndex] = nextByte;
-			}
-			else {
-			    if(this->escapeStxEtx) {
-	                /* The next byte is a STX, DTX or 0x0D character which
-	                 * was escaped by a DLE character. The actual byte was
-	                 * also encoded by adding + 0x40 to prevent having control chars,
-	                 * in the stream at all, so we convert it back. */
-	                if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or
-	                        (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) {
-	                    destStream[decodedIndex] = nextByte - 0x40;
-	                }
-	                else {
-	                    return DECODING_ERROR;
-	                }
-			    }
-			    else {
-	                return DECODING_ERROR;
-			    }
-			}
-			++encodedIndex;
-		}
-		else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-
-		++encodedIndex;
-		++decodedIndex;
-	}
-
-	if (sourceStream[encodedIndex] != ETX_CHAR) {
-		*readLen = ++encodedIndex;
-		return DECODING_ERROR;
+	if(escapeStxEtx) {
+	    return decodeStreamEscaped(encodedIndex, decodedIndex, sourceStream, sourceStreamLen,
+	            readLen, destStream, maxDestStreamlen, decodedLen);
 	}
 	else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
+        return decodeStreamNonEscaped(encodedIndex, decodedIndex, sourceStream, sourceStreamLen,
+                readLen, destStream, maxDestStreamlen, decodedLen);
 	}
 }
 
+ReturnValue_t DleEncoder::decodeStreamEscaped(size_t encodedIndex, size_t decodedIndex,
+        const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    uint8_t nextByte;
+    while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
+            && (sourceStream[encodedIndex] != ETX_CHAR)
+            && (sourceStream[encodedIndex] != STX_CHAR)) {
+        if (sourceStream[encodedIndex] == DLE_CHAR) {
+            nextByte = sourceStream[encodedIndex + 1];
+            // The next byte is a DLE character that was escaped by another
+            // DLE character, so we can write it to the destination stream.
+            if (nextByte == DLE_CHAR) {
+                destStream[decodedIndex] = nextByte;
+            }
+            else {
+                if(this->escapeStxEtx) {
+                    /* The next byte is a STX, DTX or 0x0D character which
+                     * was escaped by a DLE character. The actual byte was
+                     * also encoded by adding + 0x40 to prevent having control chars,
+                     * in the stream at all, so we convert it back. */
+                    if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or
+                            (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) {
+                        destStream[decodedIndex] = nextByte - 0x40;
+                    }
+                    else {
+                        return DECODING_ERROR;
+                    }
+                }
+                else {
+                    return DECODING_ERROR;
+                }
+            }
+            ++encodedIndex;
+        }
+        else {
+            destStream[decodedIndex] = sourceStream[encodedIndex];
+        }
+
+        ++encodedIndex;
+        ++decodedIndex;
+    }
+    if (sourceStream[encodedIndex] != ETX_CHAR) {
+        *readLen = ++encodedIndex;
+        return DECODING_ERROR;
+    }
+    else {
+        *readLen = ++encodedIndex;
+        *decodedLen = decodedIndex;
+        return RETURN_OK;
+    }
+}
+
+ReturnValue_t DleEncoder::decodeStreamNonEscaped(size_t encodedIndex, size_t decodedIndex,
+        const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    uint8_t nextByte;
+    while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
+        if (sourceStream[encodedIndex] == DLE_CHAR) {
+            nextByte = sourceStream[encodedIndex + 1];
+            if(nextByte == STX_CHAR) {
+                *readLen = ++encodedIndex;
+                return DECODING_ERROR;
+            }
+            else if(nextByte == DLE_CHAR) {
+                // The next byte is a DLE character that was escaped by another
+                // DLE character, so we can write it to the destination stream.
+                destStream[decodedIndex] = nextByte;
+                ++encodedIndex;
+            }
+            else if(nextByte == ETX_CHAR) {
+                // End of stream reached
+                return RETURN_OK;
+            }
+        }
+        else {
+            destStream[decodedIndex] = sourceStream[encodedIndex];
+        }
+        ++encodedIndex;
+        ++decodedIndex;
+    }
+    return DECODING_ERROR;
+}
+
diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index c78fe197..47bb2a69 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -90,6 +90,14 @@ public:
             size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
             size_t maxDestStreamlen, size_t *decodedLen);
 
+    ReturnValue_t decodeStreamEscaped(size_t encodedIndex, size_t decodedIndex,
+            const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen,
+            uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+
+    ReturnValue_t decodeStreamNonEscaped(size_t encodedIndex, size_t decodedIndex,
+            const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen,
+            uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+
 private:
 
     bool escapeStxEtx;

From 28f2db2c113bb2e34b641c9fbed8dd3568ca83c4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 17 Aug 2021 15:40:51 +0200
Subject: [PATCH 05/19] some fixes

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 0cc3ad2a..81131910 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -80,19 +80,10 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 	}
 }
 
-ReturnValue_t DleEncoder::encodeEscaped(const uint8_t *sourceStream, size_t sourceLen,
-        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) {
-}
-
-ReturnValue_t DleEncoder::encodeNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
-        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) {
-}
-
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
 		size_t maxDestStreamlen, size_t *decodedLen) {
 	size_t encodedIndex = 0, decodedIndex = 0;
-	uint8_t nextByte;
 	if(not escapeStxEtx) {
 	    if (*sourceStream != DLE_CHAR) {
 	        return DECODING_ERROR;

From 654b23869f607c6c89b78dc3bebdab8a2b7be291 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 17 Aug 2021 16:00:39 +0200
Subject: [PATCH 06/19] several imporovements

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 24 ++++++++------
 src/fsfw/globalfunctions/DleEncoder.h   | 43 +++++++++++--------------
 2 files changed, 34 insertions(+), 33 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 81131910..6ad5e5fa 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -83,7 +83,7 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
 		size_t maxDestStreamlen, size_t *decodedLen) {
-	size_t encodedIndex = 0, decodedIndex = 0;
+	size_t encodedIndex = 0;
 	if(not escapeStxEtx) {
 	    if (*sourceStream != DLE_CHAR) {
 	        return DECODING_ERROR;
@@ -94,21 +94,22 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 	    return DECODING_ERROR;
 	}
 
-	++encodedIndex;
-
 	if(escapeStxEtx) {
-	    return decodeStreamEscaped(encodedIndex, decodedIndex, sourceStream, sourceStreamLen,
+	    return decodeStreamEscaped(sourceStream, sourceStreamLen,
 	            readLen, destStream, maxDestStreamlen, decodedLen);
 	}
 	else {
-        return decodeStreamNonEscaped(encodedIndex, decodedIndex, sourceStream, sourceStreamLen,
+        return decodeStreamNonEscaped(sourceStream, sourceStreamLen,
                 readLen, destStream, maxDestStreamlen, decodedLen);
 	}
 }
 
-ReturnValue_t DleEncoder::decodeStreamEscaped(size_t encodedIndex, size_t decodedIndex,
-        const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+        size_t *readLen, uint8_t *destStream,
         size_t maxDestStreamlen, size_t *decodedLen) {
+    // Skip start marker, was already checked
+    size_t encodedIndex = 1;
+    size_t decodedIndex = 0;
     uint8_t nextByte;
     while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
             && (sourceStream[encodedIndex] != ETX_CHAR)
@@ -158,9 +159,12 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(size_t encodedIndex, size_t decode
     }
 }
 
-ReturnValue_t DleEncoder::decodeStreamNonEscaped(size_t encodedIndex, size_t decodedIndex,
-        const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
+        size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
         size_t maxDestStreamlen, size_t *decodedLen) {
+    // Skip start marker, was already checked
+    size_t encodedIndex = 2;
+    size_t decodedIndex = 0;
     uint8_t nextByte;
     while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
         if (sourceStream[encodedIndex] == DLE_CHAR) {
@@ -177,6 +181,8 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(size_t encodedIndex, size_t dec
             }
             else if(nextByte == ETX_CHAR) {
                 // End of stream reached
+                *readLen = encodedIndex + 2;
+                *decodedLen = decodedIndex;
                 return RETURN_OK;
             }
         }
diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index 47bb2a69..cc7dbc22 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -12,24 +12,29 @@
  * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
  *
  * This encoder can be used to achieve a basic transport layer when using
- * char based transmission systems.
- * The passed source stream is converted into a encoded stream by adding
- * a STX marker at the start of the stream and an ETX marker at the end of
- * the stream. Any STX, ETX, DLE and CR occurrences in the source stream can be
- * escaped by a DLE character. The encoder also replaces escaped control chars
- * by another char, so STX, ETX and CR should not appear anywhere in the actual
- * encoded data stream.
+ * char based transmission systems. There are two implemented variants:
  *
- * When using a strictly char based reception of packets encoded with DLE,
+ * 1. Escaped variant
+ *
+ * The encoded stream starts with a STX marker and ends with an ETX marker.
+ * STX and ETX occurrences in the stream are escaped and internally encoded as well so the
+ * receiver side can simply check for STX and ETX markers as frame delimiters. When using a
+ * strictly char based reception of packets encoded with DLE,
  * STX can be used to notify a reader that actual data will start to arrive
  * while ETX can be used to notify the reader that the data has ended.
+ *
+ * 2. Non-escaped variant
+ *
+ * The encoded stream starts with DLE STX and ends with DLE ETX. All DLE occurrences in the stream
+ * are escaped with DLE. If the received detects a DLE char, it needs to read the next char
+ * and to determine whether a start (STX) or end (ETX) of a frame has been detected.
  */
 class DleEncoder: public HasReturnvaluesIF {
 public:
     /**
      * Create an encoder instance with the given configuration.
-     * @param escapeStxEtx
-     * @param escapeCr
+     * @param escapeStxEtx  Determines whether the algorithm works in escaped or non-escaped mode
+     * @param escapeCr      In escaped mode, escape all CR occurrences as well
      */
     DleEncoder(bool escapeStxEtx = true, bool escapeCr = false);
     virtual ~DleEncoder();
@@ -62,10 +67,6 @@ public:
      * @param encodedLen
      * @param addStxEtx     Adding STX start marker and ETX end marker can be omitted,
      *                      if they are added manually
-     * @param escapeStxEtx  STX and ETX occurrences in the given source stream will be escaped and
-     *                      encoded by adding 0x40
-     * @param escapeCr      CR characters in the given source stream will be escaped and encoded
-     *                      by adding 0x40
      * @return
      */
     ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
@@ -80,23 +81,17 @@ public:
      * @param destStream
      * @param maxDestStreamlen
      * @param decodedLen
-     * @param escapeStxEtx  STX and ETX characters were escaped in the encoded stream and need to
-     *                      be decoded back as well
-     * @param escapeCr      CR characters were escaped in the encoded stream and need to
-     *                      be decoded back as well by subtracting 0x40
      * @return
      */
     ReturnValue_t decode(const uint8_t *sourceStream,
             size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
             size_t maxDestStreamlen, size_t *decodedLen);
 
-    ReturnValue_t decodeStreamEscaped(size_t encodedIndex, size_t decodedIndex,
-            const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen,
-            uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+    ReturnValue_t decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+            size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
 
-    ReturnValue_t decodeStreamNonEscaped(size_t encodedIndex, size_t decodedIndex,
-            const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen,
-            uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+    ReturnValue_t decodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+            size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
 
 private:
 

From 8780c5ddcdb055052ab27ddae55c498d59455d24 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 17 Aug 2021 16:02:54 +0200
Subject: [PATCH 07/19] comment typos

---
 src/fsfw/globalfunctions/DleEncoder.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index cc7dbc22..cd2164f8 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -26,8 +26,8 @@
  * 2. Non-escaped variant
  *
  * The encoded stream starts with DLE STX and ends with DLE ETX. All DLE occurrences in the stream
- * are escaped with DLE. If the received detects a DLE char, it needs to read the next char
- * and to determine whether a start (STX) or end (ETX) of a frame has been detected.
+ * are escaped with DLE. If the receiver detects a DLE char, it needs to read the next char
+ * to determine whether a start (STX) or end (ETX) of a frame has been detected.
  */
 class DleEncoder: public HasReturnvaluesIF {
 public:

From 3cec9f5f8054e2003c66affc39f45ed73cba2398 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 18 Aug 2021 13:18:42 +0200
Subject: [PATCH 08/19] Made two functions private, small tweak

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 19 +++++++------------
 src/fsfw/globalfunctions/DleEncoder.h   |  4 ++--
 2 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 6ad5e5fa..e30eee22 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -122,18 +122,13 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
                 destStream[decodedIndex] = nextByte;
             }
             else {
-                if(this->escapeStxEtx) {
-                    /* The next byte is a STX, DTX or 0x0D character which
-                     * was escaped by a DLE character. The actual byte was
-                     * also encoded by adding + 0x40 to prevent having control chars,
-                     * in the stream at all, so we convert it back. */
-                    if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or
-                            (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) {
-                        destStream[decodedIndex] = nextByte - 0x40;
-                    }
-                    else {
-                        return DECODING_ERROR;
-                    }
+                /* The next byte is a STX, DTX or 0x0D character which
+                 * was escaped by a DLE character. The actual byte was
+                 * also encoded by adding + 0x40 to prevent having control chars,
+                 * in the stream at all, so we convert it back. */
+                if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or
+                        (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) {
+                    destStream[decodedIndex] = nextByte - 0x40;
                 }
                 else {
                     return DECODING_ERROR;
diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index cd2164f8..292e00f8 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -87,14 +87,14 @@ public:
             size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
             size_t maxDestStreamlen, size_t *decodedLen);
 
+private:
+
     ReturnValue_t decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
             size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
 
     ReturnValue_t decodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
             size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
 
-private:
-
     bool escapeStxEtx;
     bool escapeCr;
 };

From 5dcf0e44b65f5d986b71881c731207f8bbc47029 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 18 Aug 2021 13:33:31 +0200
Subject: [PATCH 09/19] encoder functions split up

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 179 ++++++++++++++++--------
 src/fsfw/globalfunctions/DleEncoder.h   |   8 ++
 2 files changed, 125 insertions(+), 62 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index e30eee22..a043cbf7 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -8,76 +8,131 @@ DleEncoder::~DleEncoder() {}
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
 		size_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
-		return STREAM_TOO_SHORT;
-	}
-	size_t encodedIndex = 0, sourceIndex = 0;
-	uint8_t nextByte;
+    size_t minAllowedLen = 0;
+    if(escapeStxEtx) {
+        minAllowedLen = 2;
+
+    }
+    else {
+        minAllowedLen = 1;
+
+    }
+    if(maxDestLen < minAllowedLen) {
+        return STREAM_TOO_SHORT;
+    }
 	if (addStxEtx) {
 	    if(not escapeStxEtx) {
 	        destStream[0] = DLE_CHAR;
-	        ++encodedIndex;
 	    }
 		destStream[0] = STX_CHAR;
-		++encodedIndex;
 	}
 
-	while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
-		nextByte = sourceStream[sourceIndex];
-		// STX, ETX and CR characters in the stream need to be escaped with DLE
-		if ((nextByte == STX_CHAR or nextByte == ETX_CHAR) or
-		        (this->escapeCr and nextByte == CARRIAGE_RETURN)) {
-		    if(this->escapeStxEtx) {
-	            if (encodedIndex + 1 >= maxDestLen) {
-	                return STREAM_TOO_SHORT;
-	            }
-	            else {
-	                destStream[encodedIndex] = DLE_CHAR;
-	                ++encodedIndex;
-	                /* Escaped byte will be actual byte + 0x40. This prevents
-	                 * STX, ETX, and carriage return characters from appearing
-	                 * in the encoded data stream at all, so when polling an
-	                 * encoded stream, the transmission can be stopped at ETX.
-	                 * 0x40 was chosen at random with special requirements:
-	                 *  - Prevent going from one control char to another
-	                 *  - Prevent overflow for common characters */
-	                destStream[encodedIndex] = nextByte + 0x40;
-	            }
-		    }
-		}
-		// DLE characters are simply escaped with DLE.
-		else if (nextByte == DLE_CHAR) {
-			if (encodedIndex + 1 >= maxDestLen) {
-			    return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE_CHAR;
-			}
-		}
-		else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
+    if(escapeStxEtx) {
+        return encodeStreamEscaped(sourceStream, sourceLen,
+                destStream, maxDestLen, encodedLen, addStxEtx);
+    }
+    else {
+        return encodeStreamNonEscaped(sourceStream, sourceLen,
+                destStream, maxDestLen, encodedLen, addStxEtx);
+    }
 
-	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
-		if (addStxEtx) {
-	        if(not escapeStxEtx) {
-	            destStream[encodedIndex] = DLE_CHAR;
-	            ++encodedIndex;
-	        }
-			destStream[encodedIndex] = ETX_CHAR;
-			++encodedIndex;
-		}
-		*encodedLen = encodedIndex;
-		return RETURN_OK;
-	}
-	else {
-		return STREAM_TOO_SHORT;
-	}
+}
+
+ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+        bool addStxEtx) {
+    size_t encodedIndex = 2;
+    size_t sourceIndex = 0;
+    uint8_t nextByte = 0;
+    while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
+        nextByte = sourceStream[sourceIndex];
+        // STX, ETX and CR characters in the stream need to be escaped with DLE
+        if ((nextByte == STX_CHAR or nextByte == ETX_CHAR) or
+                (this->escapeCr and nextByte == CARRIAGE_RETURN)) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                /* Escaped byte will be actual byte + 0x40. This prevents
+                 * STX, ETX, and carriage return characters from appearing
+                 * in the encoded data stream at all, so when polling an
+                 * encoded stream, the transmission can be stopped at ETX.
+                 * 0x40 was chosen at random with special requirements:
+                 *  - Prevent going from one control char to another
+                 *  - Prevent overflow for common characters */
+                destStream[encodedIndex] = nextByte + 0x40;
+            }
+        }
+        // DLE characters are simply escaped with DLE.
+        else if (nextByte == DLE_CHAR) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                destStream[encodedIndex] = DLE_CHAR;
+            }
+        }
+        else {
+            destStream[encodedIndex] = nextByte;
+        }
+        ++encodedIndex;
+        ++sourceIndex;
+    }
+
+    if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+        if (addStxEtx) {
+            destStream[encodedIndex] = ETX_CHAR;
+            ++encodedIndex;
+        }
+        *encodedLen = encodedIndex;
+        return RETURN_OK;
+    }
+    else {
+        return STREAM_TOO_SHORT;
+    }
+}
+
+ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+        bool addStxEtx) {
+    size_t encodedIndex = 1;
+    size_t sourceIndex = 0;
+    uint8_t nextByte = 0;
+    while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
+        nextByte = sourceStream[sourceIndex];
+        // DLE characters are simply escaped with DLE.
+        if (nextByte == DLE_CHAR) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                destStream[encodedIndex] = DLE_CHAR;
+            }
+        }
+        else {
+            destStream[encodedIndex] = nextByte;
+        }
+        ++encodedIndex;
+        ++sourceIndex;
+    }
+
+    if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+        if (addStxEtx) {
+            destStream[encodedIndex] = ETX_CHAR;
+            ++encodedIndex;
+        }
+        *encodedLen = encodedIndex;
+        return RETURN_OK;
+    }
+    else {
+        return STREAM_TOO_SHORT;
+    }
 }
 
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index 292e00f8..dc178a0e 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -89,6 +89,14 @@ public:
 
 private:
 
+    ReturnValue_t encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    ReturnValue_t encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
     ReturnValue_t decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
             size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
 

From dfc44fce071a29ce1de05eaecd76e795b09ea8fc Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 8 Sep 2021 23:33:10 +0200
Subject: [PATCH 10/19] added DLE encoder test files

---
 .../unit/globalfunctions/CMakeLists.txt       |  1 +
 .../unit/globalfunctions/testDleEncoder.cpp   | 69 +++++++++++++++++++
 2 files changed, 70 insertions(+)
 create mode 100644 tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp

diff --git a/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt b/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt
index 8e57e01b..617c7f5a 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt
+++ b/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt
@@ -1,2 +1,3 @@
 target_sources(${TARGET_NAME} PRIVATE
+    testDleEncoder.cpp
 )
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
new file mode 100644
index 00000000..01ac3568
--- /dev/null
+++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
@@ -0,0 +1,69 @@
+#include "fsfw/globalfunctions/DleEncoder.h"
+#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "catch2/catch_test_macros.hpp"
+
+#include <array>
+
+const std::array<uint8_t, 5> TEST_ARRAY_0 = { 0 };
+const std::array<uint8_t, 3> TEST_ARRAY_1 = { 0, DleEncoder::DLE_CHAR, 5};
+const std::array<uint8_t, 3> TEST_ARRAY_2 = { 0, DleEncoder::STX_CHAR, 5};
+const std::array<uint8_t, 3> TEST_ARRAY_3 = { 0, DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR};
+
+TEST_CASE("DleEncoder" , "[DleEncoder]") {
+
+    DleEncoder dleEncoder;
+    std::array<uint8_t, 32> buffer;
+    SECTION("Encoding") {
+        size_t encodedLen = 0;
+        ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_0.data(), TEST_ARRAY_0.size(),
+                buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        std::vector<uint8_t> expected = {DleEncoder::STX_CHAR, 0, 0, 0, 0, 0,
+                DleEncoder::ETX_CHAR};
+        for(size_t idx = 0; idx < expected.size(); idx++) {
+            REQUIRE(buffer[idx] == expected[idx]);
+        }
+        REQUIRE(encodedLen == 7);
+
+        result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(),
+                buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        expected = std::vector<uint8_t>{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR,
+                DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR};
+        for(size_t idx = 0; idx < expected.size(); idx++) {
+            REQUIRE(buffer[idx] == expected[idx]);
+        }
+        REQUIRE(encodedLen == expected.size());
+
+        result = dleEncoder.encode(TEST_ARRAY_2.data(), TEST_ARRAY_2.size(),
+                buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        expected = std::vector<uint8_t>{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR,
+               DleEncoder::STX_CHAR + 0x40, 5, DleEncoder::ETX_CHAR};
+        for(size_t idx = 0; idx < expected.size(); idx++) {
+            REQUIRE(buffer[idx] == expected[idx]);
+        }
+        REQUIRE(encodedLen == expected.size());
+
+        result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(),
+                buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        expected = std::vector<uint8_t>{DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN,
+            DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR};
+        for(size_t idx = 0; idx < expected.size(); idx++) {
+            REQUIRE(buffer[idx] == expected[idx]);
+        }
+        REQUIRE(encodedLen == expected.size());
+
+        result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(),
+                buffer.data(), 0, &encodedLen);
+        REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+        result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(),
+                buffer.data(), 4, &encodedLen);
+        REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+    }
+
+    SECTION("Decoding") {
+
+    }
+}

From b5063117f62393be273dbbcdf10532055a848ec3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 9 Sep 2021 00:02:17 +0200
Subject: [PATCH 11/19] added check to avoid seg fault

---
 src/fsfw/globalfunctions/DleEncoder.cpp  | 20 +++++++++++---------
 tests/src/fsfw_tests/unit/CatchFactory.h |  2 +-
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index a043cbf7..5ab9fae6 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -10,12 +10,10 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		size_t* encodedLen, bool addStxEtx) {
     size_t minAllowedLen = 0;
     if(escapeStxEtx) {
-        minAllowedLen = 2;
-
+        minAllowedLen = 1;
     }
     else {
-        minAllowedLen = 1;
-
+        minAllowedLen = 2;
     }
     if(maxDestLen < minAllowedLen) {
         return STREAM_TOO_SHORT;
@@ -41,7 +39,7 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
         uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
         bool addStxEtx) {
-    size_t encodedIndex = 2;
+    size_t encodedIndex = 1;
     size_t sourceIndex = 0;
     uint8_t nextByte = 0;
     while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
@@ -99,7 +97,7 @@ ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_
 ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
         uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
         bool addStxEtx) {
-    size_t encodedIndex = 1;
+    size_t encodedIndex = 2;
     size_t sourceIndex = 0;
     uint8_t nextByte = 0;
     while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
@@ -166,10 +164,14 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
     size_t encodedIndex = 1;
     size_t decodedIndex = 0;
     uint8_t nextByte;
-    while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-            && (sourceStream[encodedIndex] != ETX_CHAR)
-            && (sourceStream[encodedIndex] != STX_CHAR)) {
+    while ((encodedIndex < sourceStreamLen)
+            and (decodedIndex < maxDestStreamlen)
+            and (sourceStream[encodedIndex] != ETX_CHAR)
+            and (sourceStream[encodedIndex] != STX_CHAR)) {
         if (sourceStream[encodedIndex] == DLE_CHAR) {
+            if(encodedIndex + 1 >= sourceStreamLen) {
+                return DECODING_ERROR;
+            }
             nextByte = sourceStream[encodedIndex + 1];
             // The next byte is a DLE character that was escaped by another
             // DLE character, so we can write it to the destination stream.
diff --git a/tests/src/fsfw_tests/unit/CatchFactory.h b/tests/src/fsfw_tests/unit/CatchFactory.h
index ae0629e5..38ec46bd 100644
--- a/tests/src/fsfw_tests/unit/CatchFactory.h
+++ b/tests/src/fsfw_tests/unit/CatchFactory.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_CATCHFACTORY_H_
 #define FSFW_CATCHFACTORY_H_
 
-#include "TestConfig.h"
+#include "TestsConfig.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 

From 35b53e9a1707dd4502f1d58ac912564be23557aa Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 9 Sep 2021 01:06:54 +0200
Subject: [PATCH 12/19] continuing tests

---
 src/fsfw/globalfunctions/DleEncoder.cpp       |   8 +-
 src/fsfw/globalfunctions/DleEncoder.h         |   3 +
 .../unit/globalfunctions/testDleEncoder.cpp   | 120 +++++++++++-------
 3 files changed, 84 insertions(+), 47 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 5ab9fae6..02e4aba4 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -22,7 +22,7 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 	    if(not escapeStxEtx) {
 	        destStream[0] = DLE_CHAR;
 	    }
-		destStream[0] = STX_CHAR;
+		destStream[1] = STX_CHAR;
 	}
 
     if(escapeStxEtx) {
@@ -220,6 +220,9 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
     uint8_t nextByte;
     while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
         if (sourceStream[encodedIndex] == DLE_CHAR) {
+            if(encodedIndex + 1 >= sourceStreamLen) {
+                return DECODING_ERROR;
+            }
             nextByte = sourceStream[encodedIndex + 1];
             if(nextByte == STX_CHAR) {
                 *readLen = ++encodedIndex;
@@ -247,3 +250,6 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
     return DECODING_ERROR;
 }
 
+void DleEncoder::setEscapeMode(bool escapeStxEtx) {
+    this->escapeStxEtx = escapeStxEtx;
+}
diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index dc178a0e..e4871bf0 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -37,6 +37,9 @@ public:
      * @param escapeCr      In escaped mode, escape all CR occurrences as well
      */
     DleEncoder(bool escapeStxEtx = true, bool escapeCr = false);
+
+    void setEscapeMode(bool escapeStxEtx);
+
     virtual ~DleEncoder();
 
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
index 01ac3568..91eb9052 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
+++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
@@ -4,58 +4,82 @@
 
 #include <array>
 
-const std::array<uint8_t, 5> TEST_ARRAY_0 = { 0 };
-const std::array<uint8_t, 3> TEST_ARRAY_1 = { 0, DleEncoder::DLE_CHAR, 5};
-const std::array<uint8_t, 3> TEST_ARRAY_2 = { 0, DleEncoder::STX_CHAR, 5};
-const std::array<uint8_t, 3> TEST_ARRAY_3 = { 0, DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR};
+const std::vector<uint8_t> TEST_ARRAY_0 = { 0, 0, 0, 0, 0 };
+const std::vector<uint8_t> TEST_ARRAY_1 = { 0, DleEncoder::DLE_CHAR, 5};
+const std::vector<uint8_t> TEST_ARRAY_2 = { 0, DleEncoder::STX_CHAR, 5};
+const std::vector<uint8_t> TEST_ARRAY_3 = { 0, DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR};
+const std::vector<uint8_t> TEST_ARRAY_4 = { DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR,
+        DleEncoder::STX_CHAR };
+
+const std::vector<uint8_t> TEST_ARRAY_0_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, 0, 0, 0, 0, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_0_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, 0, 0, 0, 0,
+        DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
+
+const std::vector<uint8_t> TEST_ARRAY_1_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_2_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR + 0x40,
+        5, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_3_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN,
+        DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR
+};
+const std::vector<uint8_t> TEST_ARRAY_4_ENCODED_ESCAPED = {
+        DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR,
+        DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::DLE_CHAR,
+        DleEncoder::STX_CHAR + 0x40, DleEncoder::ETX_CHAR
+};
+
 
 TEST_CASE("DleEncoder" , "[DleEncoder]") {
-
     DleEncoder dleEncoder;
     std::array<uint8_t, 32> buffer;
+
+    size_t encodedLen = 0;
+    size_t readLen = 0;
+    size_t decodedLen = 0;
+
+    auto testLambdaEncode = [&](DleEncoder& encoder, const std::vector<uint8_t>& vecToEncode,
+            const std::vector<uint8_t>& expectedVec) {
+        ReturnValue_t result = encoder.encode(vecToEncode.data(), vecToEncode.size(),
+                buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        for(size_t idx = 0; idx < expectedVec.size(); idx++) {
+            REQUIRE(buffer[idx] == expectedVec[idx]);
+        }
+        REQUIRE(encodedLen == expectedVec.size());
+    };
+
+    auto testLambdaDecode = [&](DleEncoder& encoder, const std::vector<uint8_t>& testVecEncoded,
+            const std::vector<uint8_t>& expectedVec) {
+        ReturnValue_t result = encoder.decode(testVecEncoded.data(),
+                testVecEncoded.size(),
+                &readLen, buffer.data(), buffer.size(), &decodedLen);
+        REQUIRE(result == retval::CATCH_OK);
+        REQUIRE(readLen == testVecEncoded.size());
+        REQUIRE(decodedLen == expectedVec.size());
+        for(size_t idx = 0; idx < decodedLen; idx++) {
+            REQUIRE(buffer[idx] == expectedVec[idx]);
+        }
+    };
+
     SECTION("Encoding") {
-        size_t encodedLen = 0;
-        ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_0.data(), TEST_ARRAY_0.size(),
-                buffer.data(), buffer.size(), &encodedLen);
-        REQUIRE(result == retval::CATCH_OK);
-        std::vector<uint8_t> expected = {DleEncoder::STX_CHAR, 0, 0, 0, 0, 0,
-                DleEncoder::ETX_CHAR};
-        for(size_t idx = 0; idx < expected.size(); idx++) {
-            REQUIRE(buffer[idx] == expected[idx]);
-        }
-        REQUIRE(encodedLen == 7);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED);
 
-        result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(),
-                buffer.data(), buffer.size(), &encodedLen);
-        REQUIRE(result == retval::CATCH_OK);
-        expected = std::vector<uint8_t>{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR,
-                DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR};
-        for(size_t idx = 0; idx < expected.size(); idx++) {
-            REQUIRE(buffer[idx] == expected[idx]);
-        }
-        REQUIRE(encodedLen == expected.size());
+        dleEncoder.setEscapeMode(false);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED);
 
-        result = dleEncoder.encode(TEST_ARRAY_2.data(), TEST_ARRAY_2.size(),
-                buffer.data(), buffer.size(), &encodedLen);
-        REQUIRE(result == retval::CATCH_OK);
-        expected = std::vector<uint8_t>{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR,
-               DleEncoder::STX_CHAR + 0x40, 5, DleEncoder::ETX_CHAR};
-        for(size_t idx = 0; idx < expected.size(); idx++) {
-            REQUIRE(buffer[idx] == expected[idx]);
-        }
-        REQUIRE(encodedLen == expected.size());
-
-        result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(),
-                buffer.data(), buffer.size(), &encodedLen);
-        REQUIRE(result == retval::CATCH_OK);
-        expected = std::vector<uint8_t>{DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN,
-            DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR};
-        for(size_t idx = 0; idx < expected.size(); idx++) {
-            REQUIRE(buffer[idx] == expected[idx]);
-        }
-        REQUIRE(encodedLen == expected.size());
-
-        result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(),
+        ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(),
                 buffer.data(), 0, &encodedLen);
         REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
         result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(),
@@ -64,6 +88,10 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
     }
 
     SECTION("Decoding") {
-
+        testLambdaDecode(dleEncoder, TEST_ARRAY_0_ENCODED_ESCAPED, TEST_ARRAY_0);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_1_ENCODED_ESCAPED, TEST_ARRAY_1);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4);
     }
 }

From d05eb23ea73499f37b9dc3d7c6b5389c43a53c2c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 9 Sep 2021 01:28:21 +0200
Subject: [PATCH 13/19] debugged and tested non-escaped encoder

---
 src/fsfw/globalfunctions/DleEncoder.cpp       |  9 ++---
 .../unit/globalfunctions/testDleEncoder.cpp   | 34 ++++++++++++++++---
 2 files changed, 34 insertions(+), 9 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 02e4aba4..f17df055 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -19,10 +19,11 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
         return STREAM_TOO_SHORT;
     }
 	if (addStxEtx) {
+	    size_t currentIdx = 0;
 	    if(not escapeStxEtx) {
-	        destStream[0] = DLE_CHAR;
+	        destStream[currentIdx++] = DLE_CHAR;
 	    }
-		destStream[1] = STX_CHAR;
+		destStream[currentIdx] = STX_CHAR;
 	}
 
     if(escapeStxEtx) {
@@ -122,8 +123,8 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si
 
     if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
         if (addStxEtx) {
-            destStream[encodedIndex] = ETX_CHAR;
-            ++encodedIndex;
+            destStream[encodedIndex++] = DLE_CHAR;
+            destStream[encodedIndex++] = ETX_CHAR;
         }
         *encodedLen = encodedIndex;
         return RETURN_OK;
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
index 91eb9052..bb8ee40f 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
+++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
@@ -22,19 +22,39 @@ const std::vector<uint8_t> TEST_ARRAY_0_ENCODED_NON_ESCAPED = {
 const std::vector<uint8_t> TEST_ARRAY_1_ENCODED_ESCAPED = {
         DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR
 };
+const std::vector<uint8_t> TEST_ARRAY_1_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR,
+        5, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
+
 const std::vector<uint8_t> TEST_ARRAY_2_ENCODED_ESCAPED = {
         DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR + 0x40,
         5, DleEncoder::ETX_CHAR
 };
+const std::vector<uint8_t> TEST_ARRAY_2_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0,
+        DleEncoder::STX_CHAR, 5, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
+
 const std::vector<uint8_t> TEST_ARRAY_3_ENCODED_ESCAPED = {
         DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN,
-        DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR
+        DleEncoder::DLE_CHAR,  DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR
 };
+const std::vector<uint8_t> TEST_ARRAY_3_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0,
+        DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR, DleEncoder::DLE_CHAR,
+        DleEncoder::ETX_CHAR
+};
+
 const std::vector<uint8_t> TEST_ARRAY_4_ENCODED_ESCAPED = {
         DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR,
         DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::DLE_CHAR,
         DleEncoder::STX_CHAR + 0x40, DleEncoder::ETX_CHAR
 };
+const std::vector<uint8_t> TEST_ARRAY_4_ENCODED_NON_ESCAPED = {
+        DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR,
+        DleEncoder::ETX_CHAR, DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR
+};
 
 
 TEST_CASE("DleEncoder" , "[DleEncoder]") {
@@ -75,16 +95,20 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED);
         testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED);
         testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED);
-
-        dleEncoder.setEscapeMode(false);
-        testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED);
-
         ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(),
                 buffer.data(), 0, &encodedLen);
         REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
         result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(),
                 buffer.data(), 4, &encodedLen);
         REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+
+        dleEncoder.setEscapeMode(false);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED);
+        testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED);
+        dleEncoder.setEscapeMode(true);
     }
 
     SECTION("Decoding") {

From 3d336c08f20cbae3703660787c1169bc8d31bcb8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 9 Sep 2021 10:47:54 +0200
Subject: [PATCH 14/19] tests almost complete

---
 src/fsfw/globalfunctions/DleEncoder.cpp       |  5 +-
 .../unit/globalfunctions/testDleEncoder.cpp   | 69 ++++++++++++++++---
 2 files changed, 65 insertions(+), 9 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index f17df055..e9e5e856 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -15,7 +15,7 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
     else {
         minAllowedLen = 2;
     }
-    if(maxDestLen < minAllowedLen) {
+    if(minAllowedLen > maxDestLen) {
         return STREAM_TOO_SHORT;
     }
 	if (addStxEtx) {
@@ -123,6 +123,9 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si
 
     if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
         if (addStxEtx) {
+            if(encodedIndex + 2 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
             destStream[encodedIndex++] = DLE_CHAR;
             destStream[encodedIndex++] = ETX_CHAR;
         }
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
index bb8ee40f..42701377 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
+++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
@@ -59,6 +59,7 @@ const std::vector<uint8_t> TEST_ARRAY_4_ENCODED_NON_ESCAPED = {
 
 TEST_CASE("DleEncoder" , "[DleEncoder]") {
     DleEncoder dleEncoder;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     std::array<uint8_t, 32> buffer;
 
     size_t encodedLen = 0;
@@ -67,7 +68,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
 
     auto testLambdaEncode = [&](DleEncoder& encoder, const std::vector<uint8_t>& vecToEncode,
             const std::vector<uint8_t>& expectedVec) {
-        ReturnValue_t result = encoder.encode(vecToEncode.data(), vecToEncode.size(),
+        result = encoder.encode(vecToEncode.data(), vecToEncode.size(),
                 buffer.data(), buffer.size(), &encodedLen);
         REQUIRE(result == retval::CATCH_OK);
         for(size_t idx = 0; idx < expectedVec.size(); idx++) {
@@ -78,7 +79,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
 
     auto testLambdaDecode = [&](DleEncoder& encoder, const std::vector<uint8_t>& testVecEncoded,
             const std::vector<uint8_t>& expectedVec) {
-        ReturnValue_t result = encoder.decode(testVecEncoded.data(),
+        result = encoder.decode(testVecEncoded.data(),
                 testVecEncoded.size(),
                 &readLen, buffer.data(), buffer.size(), &decodedLen);
         REQUIRE(result == retval::CATCH_OK);
@@ -95,12 +96,25 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED);
         testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED);
         testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED);
-        ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(),
-                buffer.data(), 0, &encodedLen);
-        REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
-        result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(),
-                buffer.data(), 4, &encodedLen);
-        REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+
+        auto testFaultyEncoding = [&](const std::vector<uint8_t>& vecToEncode,
+                const std::vector<uint8_t>& expectedVec) {
+
+            for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) {
+                if(faultyDestSize == 8) {
+
+                }
+                result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(),
+                        buffer.data(), faultyDestSize, &encodedLen);
+                REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+            }
+        };
+
+        testFaultyEncoding(TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED);
 
         dleEncoder.setEscapeMode(false);
         testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED);
@@ -108,6 +122,12 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED);
         testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED);
         testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED);
+
+        testFaultyEncoding(TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED);
+        testFaultyEncoding(TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED);
         dleEncoder.setEscapeMode(true);
     }
 
@@ -117,5 +137,38 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2);
         testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3);
         testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4);
+
+        auto testFaultyDecoding = [&](const std::vector<uint8_t>& vecToDecode,
+                const std::vector<uint8_t>& expectedVec) {
+            for(size_t faultyDestSizes = 0;
+                    faultyDestSizes < expectedVec.size();
+                    faultyDestSizes ++) {
+                result = dleEncoder.decode(vecToDecode.data(),
+                        vecToDecode.size(), &readLen,
+                        buffer.data(), faultyDestSizes, &decodedLen);
+                REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+            }
+        };
+
+        testFaultyDecoding(TEST_ARRAY_0_ENCODED_ESCAPED, TEST_ARRAY_0);
+        testFaultyDecoding(TEST_ARRAY_1_ENCODED_ESCAPED, TEST_ARRAY_1);
+        testFaultyDecoding(TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2);
+        testFaultyDecoding(TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3);
+        testFaultyDecoding(TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4);
+
+        dleEncoder.setEscapeMode(false);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_0_ENCODED_NON_ESCAPED, TEST_ARRAY_0);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_1_ENCODED_NON_ESCAPED, TEST_ARRAY_1);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_NON_ESCAPED, TEST_ARRAY_2);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3);
+        testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4);
+
+        testFaultyDecoding(TEST_ARRAY_0_ENCODED_NON_ESCAPED, TEST_ARRAY_0);
+        testFaultyDecoding(TEST_ARRAY_1_ENCODED_NON_ESCAPED, TEST_ARRAY_1);
+        testFaultyDecoding(TEST_ARRAY_2_ENCODED_NON_ESCAPED, TEST_ARRAY_2);
+        testFaultyDecoding(TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3);
+        testFaultyDecoding(TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4);
+
+        dleEncoder.setEscapeMode(true);
     }
 }

From ea573b0523ea205ef36c8f4c91c61d948bab29c7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 9 Sep 2021 11:12:42 +0200
Subject: [PATCH 15/19] a few more tests with faulty source data

---
 src/fsfw/globalfunctions/DleEncoder.cpp       |  3 ++
 .../unit/globalfunctions/testDleEncoder.cpp   | 54 +++++++++++++++++--
 2 files changed, 54 insertions(+), 3 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index e9e5e856..0db557b6 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -244,6 +244,9 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
                 *decodedLen = decodedIndex;
                 return RETURN_OK;
             }
+            else {
+                return DECODING_ERROR;
+            }
         }
         else {
             destStream[decodedIndex] = sourceStream[encodedIndex];
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
index 42701377..4cc3326e 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
+++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
@@ -101,9 +101,6 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
                 const std::vector<uint8_t>& expectedVec) {
 
             for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) {
-                if(faultyDestSize == 8) {
-
-                }
                 result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(),
                         buffer.data(), faultyDestSize, &encodedLen);
                 REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
@@ -138,6 +135,28 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3);
         testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4);
 
+        // Faulty source data
+        auto testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_ESCAPED;
+        testArray1EncodedFaulty[3] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        auto testArray2EncodedFaulty = TEST_ARRAY_2_ENCODED_ESCAPED;
+        testArray2EncodedFaulty[5] = 0;
+        result = dleEncoder.decode(testArray2EncodedFaulty.data(), testArray2EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        auto testArray4EncodedFaulty = TEST_ARRAY_4_ENCODED_ESCAPED;
+        testArray4EncodedFaulty[2] = 0;
+        result = dleEncoder.decode(testArray4EncodedFaulty.data(), testArray4EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        auto testArray4EncodedFaulty2 = TEST_ARRAY_4_ENCODED_ESCAPED;
+        testArray4EncodedFaulty2[4] = 0;
+        result = dleEncoder.decode(testArray4EncodedFaulty2.data(), testArray4EncodedFaulty2.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+
         auto testFaultyDecoding = [&](const std::vector<uint8_t>& vecToDecode,
                 const std::vector<uint8_t>& expectedVec) {
             for(size_t faultyDestSizes = 0;
@@ -169,6 +188,35 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         testFaultyDecoding(TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3);
         testFaultyDecoding(TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4);
 
+        // Faulty source data
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED;
+        auto prevVal = testArray1EncodedFaulty[0];
+        testArray1EncodedFaulty[0] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        testArray1EncodedFaulty[0] = prevVal;
+        testArray1EncodedFaulty[1] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED;
+        testArray1EncodedFaulty[6] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED;
+        testArray1EncodedFaulty[7] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+        testArray4EncodedFaulty = TEST_ARRAY_4_ENCODED_NON_ESCAPED;
+        testArray4EncodedFaulty[3] = 0;
+        result = dleEncoder.decode(testArray4EncodedFaulty.data(), testArray4EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+
         dleEncoder.setEscapeMode(true);
     }
 }

From 7c7a8a5df7510e9a35f6bd6f88d21cad54454548 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 11 Sep 2021 19:18:18 +0200
Subject: [PATCH 16/19] added improvements from code review

---
 src/fsfw/globalfunctions/DleEncoder.cpp       | 93 ++++++++++++-------
 src/fsfw/globalfunctions/DleEncoder.h         |  5 +
 .../unit/globalfunctions/testDleEncoder.cpp   |  2 +-
 3 files changed, 65 insertions(+), 35 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 0db557b6..35ba84d5 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -8,22 +8,12 @@ DleEncoder::~DleEncoder() {}
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
 		size_t* encodedLen, bool addStxEtx) {
-    size_t minAllowedLen = 0;
-    if(escapeStxEtx) {
-        minAllowedLen = 1;
-    }
-    else {
-        minAllowedLen = 2;
-    }
-    if(minAllowedLen > maxDestLen) {
-        return STREAM_TOO_SHORT;
-    }
 	if (addStxEtx) {
 	    size_t currentIdx = 0;
 	    if(not escapeStxEtx) {
 	        destStream[currentIdx++] = DLE_CHAR;
 	    }
-		destStream[currentIdx] = STX_CHAR;
+
 	}
 
     if(escapeStxEtx) {
@@ -40,9 +30,15 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
         uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
         bool addStxEtx) {
-    size_t encodedIndex = 1;
+    size_t encodedIndex = 0;
     size_t sourceIndex = 0;
     uint8_t nextByte = 0;
+    if(addStxEtx) {
+        if(maxDestLen < 1) {
+            return STREAM_TOO_SHORT;
+        }
+        destStream[encodedIndex++] = STX_CHAR;
+    }
     while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
         nextByte = sourceStream[sourceIndex];
         // STX, ETX and CR characters in the stream need to be escaped with DLE
@@ -82,8 +78,11 @@ ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_
         ++sourceIndex;
     }
 
-    if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+    if (sourceIndex == sourceLen) {
         if (addStxEtx) {
+            if(encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
             destStream[encodedIndex] = ETX_CHAR;
             ++encodedIndex;
         }
@@ -98,9 +97,16 @@ ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_
 ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
         uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
         bool addStxEtx) {
-    size_t encodedIndex = 2;
+    size_t encodedIndex = 0;
     size_t sourceIndex = 0;
     uint8_t nextByte = 0;
+    if(addStxEtx) {
+        if(maxDestLen < 2) {
+            return STREAM_TOO_SHORT;
+        }
+        destStream[encodedIndex++] = DLE_CHAR;
+        destStream[encodedIndex++] = STX_CHAR;
+    }
     while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
         nextByte = sourceStream[sourceIndex];
         // DLE characters are simply escaped with DLE.
@@ -121,7 +127,7 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si
         ++sourceIndex;
     }
 
-    if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+    if (sourceIndex == sourceLen) {
         if (addStxEtx) {
             if(encodedIndex + 2 >= maxDestLen) {
                 return STREAM_TOO_SHORT;
@@ -140,17 +146,6 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
 		size_t maxDestStreamlen, size_t *decodedLen) {
-	size_t encodedIndex = 0;
-	if(not escapeStxEtx) {
-	    if (*sourceStream != DLE_CHAR) {
-	        return DECODING_ERROR;
-	    }
-	    ++encodedIndex;
-	}
-	if (sourceStream[encodedIndex] != STX_CHAR) {
-	    return DECODING_ERROR;
-	}
-
 	if(escapeStxEtx) {
 	    return decodeStreamEscaped(sourceStream, sourceStreamLen,
 	            readLen, destStream, maxDestStreamlen, decodedLen);
@@ -164,10 +159,15 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
         size_t *readLen, uint8_t *destStream,
         size_t maxDestStreamlen, size_t *decodedLen) {
-    // Skip start marker, was already checked
-    size_t encodedIndex = 1;
+    size_t encodedIndex = 0;
     size_t decodedIndex = 0;
     uint8_t nextByte;
+    if(maxDestStreamlen < 1) {
+        return STREAM_TOO_SHORT;
+    }
+    if (sourceStream[encodedIndex++] != STX_CHAR) {
+        return DECODING_ERROR;
+    }
     while ((encodedIndex < sourceStreamLen)
             and (decodedIndex < maxDestStreamlen)
             and (sourceStream[encodedIndex] != ETX_CHAR)
@@ -192,6 +192,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
                     destStream[decodedIndex] = nextByte - 0x40;
                 }
                 else {
+                    // Set readLen so user can resume parsing after incorrect data
+                    *readLen = encodedIndex + 2;
                     return DECODING_ERROR;
                 }
             }
@@ -205,8 +207,13 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
         ++decodedIndex;
     }
     if (sourceStream[encodedIndex] != ETX_CHAR) {
-        *readLen = ++encodedIndex;
-        return DECODING_ERROR;
+        if(decodedIndex == maxDestStreamlen) {
+            return STREAM_TOO_SHORT;
+        }
+        else {
+            *readLen = ++encodedIndex;
+            return DECODING_ERROR;
+        }
     }
     else {
         *readLen = ++encodedIndex;
@@ -218,18 +225,29 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
 ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
         size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
         size_t maxDestStreamlen, size_t *decodedLen) {
-    // Skip start marker, was already checked
-    size_t encodedIndex = 2;
+    size_t encodedIndex = 0;
     size_t decodedIndex = 0;
     uint8_t nextByte;
+    if(maxDestStreamlen < 2) {
+        return STREAM_TOO_SHORT;
+    }
+    if (sourceStream[encodedIndex++] != DLE_CHAR) {
+        return DECODING_ERROR;
+    }
+    if (sourceStream[encodedIndex++] != STX_CHAR) {
+        return DECODING_ERROR;
+    }
     while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
         if (sourceStream[encodedIndex] == DLE_CHAR) {
             if(encodedIndex + 1 >= sourceStreamLen) {
+                *readLen = encodedIndex;
                 return DECODING_ERROR;
             }
             nextByte = sourceStream[encodedIndex + 1];
             if(nextByte == STX_CHAR) {
-                *readLen = ++encodedIndex;
+                // Set readLen so the DLE/STX char combination is preserved. Could be start of
+                // another frame
+                *readLen = encodedIndex;
                 return DECODING_ERROR;
             }
             else if(nextByte == DLE_CHAR) {
@@ -245,6 +263,7 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
                 return RETURN_OK;
             }
             else {
+                *readLen = encodedIndex;
                 return DECODING_ERROR;
             }
         }
@@ -254,7 +273,13 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
         ++encodedIndex;
         ++decodedIndex;
     }
-    return DECODING_ERROR;
+    *readLen = encodedIndex;
+    if(decodedIndex == maxDestStreamlen) {
+        return STREAM_TOO_SHORT;
+    }
+    else {
+        return DECODING_ERROR;
+    }
 }
 
 void DleEncoder::setEscapeMode(bool escapeStxEtx) {
diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h
index e4871bf0..09fa2726 100644
--- a/src/fsfw/globalfunctions/DleEncoder.h
+++ b/src/fsfw/globalfunctions/DleEncoder.h
@@ -71,6 +71,8 @@ public:
      * @param addStxEtx     Adding STX start marker and ETX end marker can be omitted,
      *                      if they are added manually
      * @return
+     *  - RETURN_OK for successful encoding operation
+     *  - STREAM_TOO_SHORT if the destination stream is too short
      */
     ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
             uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
@@ -85,6 +87,9 @@ public:
      * @param maxDestStreamlen
      * @param decodedLen
      * @return
+     *  - RETURN_OK for successful decode operation
+     *  - DECODE_ERROR if the source stream is invalid
+     *  - STREAM_TOO_SHORT if the destination stream is too short
      */
     ReturnValue_t decode(const uint8_t *sourceStream,
             size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
index 4cc3326e..a82ac73a 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
+++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
@@ -165,7 +165,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
                 result = dleEncoder.decode(vecToDecode.data(),
                         vecToDecode.size(), &readLen,
                         buffer.data(), faultyDestSizes, &decodedLen);
-                REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
+                REQUIRE(result == static_cast<int>(DleEncoder::STREAM_TOO_SHORT));
             }
         };
 

From d36d849e6994356c045e17924a60a00b13ae75e3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 11 Sep 2021 19:21:21 +0200
Subject: [PATCH 17/19] removed part which is now not necessary anymore

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 35ba84d5..04e4985c 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -8,14 +8,6 @@ DleEncoder::~DleEncoder() {}
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
 		size_t* encodedLen, bool addStxEtx) {
-	if (addStxEtx) {
-	    size_t currentIdx = 0;
-	    if(not escapeStxEtx) {
-	        destStream[currentIdx++] = DLE_CHAR;
-	    }
-
-	}
-
     if(escapeStxEtx) {
         return encodeStreamEscaped(sourceStream, sourceLen,
                 destStream, maxDestLen, encodedLen, addStxEtx);

From dae27a8e105a5d0e9c0f8bd5bda6b6d2826441b3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 11 Sep 2021 19:22:51 +0200
Subject: [PATCH 18/19] indentation

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index 04e4985c..df9a909e 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -1,13 +1,13 @@
 #include "fsfw/globalfunctions/DleEncoder.h"
 
-DleEncoder::DleEncoder(bool escapeStxEtx, bool escapeCr): escapeStxEtx(escapeStxEtx),
-        escapeCr(escapeCr) {}
+DleEncoder::DleEncoder(bool escapeStxEtx, bool escapeCr):
+        escapeStxEtx(escapeStxEtx), escapeCr(escapeCr) {}
 
 DleEncoder::~DleEncoder() {}
 
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
-		size_t* encodedLen, bool addStxEtx) {
+        size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+        size_t* encodedLen, bool addStxEtx) {
     if(escapeStxEtx) {
         return encodeStreamEscaped(sourceStream, sourceLen,
                 destStream, maxDestLen, encodedLen, addStxEtx);
@@ -136,16 +136,16 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si
 }
 
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-		size_t maxDestStreamlen, size_t *decodedLen) {
-	if(escapeStxEtx) {
-	    return decodeStreamEscaped(sourceStream, sourceStreamLen,
-	            readLen, destStream, maxDestStreamlen, decodedLen);
-	}
-	else {
+        size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    if(escapeStxEtx) {
+        return decodeStreamEscaped(sourceStream, sourceStreamLen,
+                readLen, destStream, maxDestStreamlen, decodedLen);
+    }
+    else {
         return decodeStreamNonEscaped(sourceStream, sourceStreamLen,
                 readLen, destStream, maxDestStreamlen, decodedLen);
-	}
+    }
 }
 
 ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,

From abacfbf2d5550c189e5c0b48f3eb794eb8525f02 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 13 Sep 2021 10:38:36 +0200
Subject: [PATCH 19/19] added setting of readLen according to review

---
 src/fsfw/globalfunctions/DleEncoder.cpp | 23 ++++++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp
index df9a909e..47ea5c4e 100644
--- a/src/fsfw/globalfunctions/DleEncoder.cpp
+++ b/src/fsfw/globalfunctions/DleEncoder.cpp
@@ -154,6 +154,11 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
     size_t encodedIndex = 0;
     size_t decodedIndex = 0;
     uint8_t nextByte;
+
+    //init to 0 so that we can just return in the first checks (which do not consume anything from
+    //the source stream)
+    *readLen = 0;
+
     if(maxDestStreamlen < 1) {
         return STREAM_TOO_SHORT;
     }
@@ -166,6 +171,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
             and (sourceStream[encodedIndex] != STX_CHAR)) {
         if (sourceStream[encodedIndex] == DLE_CHAR) {
             if(encodedIndex + 1 >= sourceStreamLen) {
+                //reached the end of the sourceStream
+                *readLen = sourceStreamLen;
                 return DECODING_ERROR;
             }
             nextByte = sourceStream[encodedIndex + 1];
@@ -200,6 +207,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
     }
     if (sourceStream[encodedIndex] != ETX_CHAR) {
         if(decodedIndex == maxDestStreamlen) {
+            //so far we did not find anything wrong here, so let user try again
+            *readLen = 0;
             return STREAM_TOO_SHORT;
         }
         else {
@@ -220,6 +229,11 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
     size_t encodedIndex = 0;
     size_t decodedIndex = 0;
     uint8_t nextByte;
+
+    //init to 0 so that we can just return in the first checks (which do not consume anything from
+    //the source stream)
+    *readLen = 0;
+    
     if(maxDestStreamlen < 2) {
         return STREAM_TOO_SHORT;
     }
@@ -227,6 +241,7 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
         return DECODING_ERROR;
     }
     if (sourceStream[encodedIndex++] != STX_CHAR) {
+        *readLen = 1;
         return DECODING_ERROR;
     }
     while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
@@ -265,11 +280,13 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
         ++encodedIndex;
         ++decodedIndex;
     }
-    *readLen = encodedIndex;
+
     if(decodedIndex == maxDestStreamlen) {
+        //so far we did not find anything wrong here, so let user try again
+        *readLen = 0;
         return STREAM_TOO_SHORT;
-    }
-    else {
+    } else {
+        *readLen = encodedIndex;
         return DECODING_ERROR;
     }
 }