Merge remote-tracking branch 'upstream/mueller/refactor-tmtc-stack' into develop

misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp

@@ -35,7 +35,7 @@ void Factory::produceFsfwObjects(void) {
 }
 
 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
 	PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
 
 	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -14,7 +14,6 @@
 #include "internal/HasLocalDpIFManagerAttorney.h"
 #include "internal/LocalPoolDataSetAttorney.h"
 
-// TODO: Get rid of this. This should be a constructor argument, not something hardcoded in any way
 object_id_t LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
 
 LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
@@ -326,32 +325,28 @@ void LocalDataPoolManager::resetHkUpdateResetHelper() {
   }
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForRegularPeriodicPacket(
+ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-    subdp::RegularHkPeriodicParams params) {
+                                                               float collectionInterval,
-  return subscribeForPeriodicPacket(params);
+                                                               bool isDiagnostics,
-}
+                                                               object_id_t packetDestination) {
-
-ReturnValue_t LocalDataPoolManager::subscribeForDiagPeriodicPacket(
-    subdp::DiagnosticsHkPeriodicParams params) {
-  return subscribeForPeriodicPacket(params);
-}
-
-ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase& params) {
   struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = params.sid;
+  hkReceiver.dataId.sid = sid;
   hkReceiver.reportingType = ReportingType::PERIODIC;
   hkReceiver.dataType = DataType::DATA_SET;
-  if (params.receiver == MessageQueueIF::NO_QUEUE) {
+  if (packetDestination != objects::NO_OBJECT) {
+    auto* receivedHkIF = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
+    if (receivedHkIF->getHkQueue() == MessageQueueIF::NO_QUEUE) {
       hkReceiver.destinationQueue = hkDestinationId;
     } else {
-    hkReceiver.destinationQueue = params.receiver;
+      hkReceiver.destinationQueue = receivedHkIF->getHkQueue();
+    }
   }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet != nullptr) {
-    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, params.enableReporting);
+    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
-    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, params.collectionInterval,
+    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval,
                                                        owner->getPeriodicOperationFrequency());
   }
 
@@ -359,30 +354,26 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForRegularUpdatePacket(
+ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
-    subdp::RegularHkUpdateParams params) {
+                                                             bool isDiagnostics,
-  return subscribeForUpdatePacket(params);
+                                                             object_id_t packetDestination) {
-}
-ReturnValue_t LocalDataPoolManager::subscribeForDiagUpdatePacket(
-    subdp::DiagnosticsHkUpdateParams params) {
-  return subscribeForUpdatePacket(params);
-}
-
-ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(subdp::ParamsBase& params) {
   struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = params.sid;
+  hkReceiver.dataId.sid = sid;
   hkReceiver.reportingType = ReportingType::UPDATE_HK;
   hkReceiver.dataType = DataType::DATA_SET;
-  if (params.receiver == MessageQueueIF::NO_QUEUE) {
+  if (packetDestination != objects::NO_OBJECT) {
+    auto* receivedHkIF = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
+    if (receivedHkIF->getHkQueue() == MessageQueueIF::NO_QUEUE) {
       hkReceiver.destinationQueue = hkDestinationId;
     } else {
-    hkReceiver.destinationQueue = params.receiver;
+      hkReceiver.destinationQueue = receivedHkIF->getHkQueue();
+    }
   }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet != nullptr) {
     LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
   }
 
   hkReceivers.push_back(hkReceiver);

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -241,11 +241,13 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   MutexIF* getMutexHandle();
 
   LocalDataPoolManager* getPoolManagerHandle() override;
-  ReturnValue_t subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams params) override;
+  ReturnValue_t subscribeForPeriodicPacket(
-  ReturnValue_t subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams params) override;
+      sid_t sid, bool enableReporting, float collectionInterval, bool isDiagnostics,
+      object_id_t packetDestination = objects::NO_OBJECT) override;
 
-  ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) override;
+  ReturnValue_t subscribeForUpdatePacket(
-  ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) override;
+      sid_t sid, bool reportingEnabled, bool isDiagnostics,
+      object_id_t packetDestination = objects::NO_OBJECT) override;
 
  protected:
   ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);

src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h

@@ -1,96 +1,24 @@
 #ifndef FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 #define FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 
-#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
+#include "../ipc/messageQueueDefinitions.h"
-#include "fsfw/ipc/MessageQueueIF.h"
+#include "../returnvalues/returnvalue.h"
-#include "fsfw/ipc/messageQueueDefinitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
 #include "localPoolDefinitions.h"
 
-namespace subdp {
-
-struct ParamsBase {
-  ParamsBase(sid_t sid, bool enableReporting, float collectionInterval, bool diagnostics)
-      : sid(sid),
-        enableReporting(enableReporting),
-        collectionInterval(collectionInterval),
-        diagnostics(diagnostics) {}
-
-  [[nodiscard]] bool isDiagnostics() const { return diagnostics; }
-
-  sid_t sid;
-  bool enableReporting;
-  float collectionInterval;
-  MessageQueueId_t receiver = MessageQueueIF::NO_QUEUE;
-
- protected:
-  bool diagnostics;
-};
-
-struct RegularHkPeriodicParams : public ParamsBase {
-  RegularHkPeriodicParams(sid_t sid, float collectionInterval)
-      : ParamsBase(sid, false, collectionInterval, false) {}
-
-  RegularHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
-      : ParamsBase(sid, enableReporting, collectionInterval, false) {}
-};
-
-struct DiagnosticsHkPeriodicParams : public ParamsBase {
-  DiagnosticsHkPeriodicParams(sid_t sid, float collectionInterval)
-      : ParamsBase(sid, false, collectionInterval, true) {}
-
-  DiagnosticsHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
-      : ParamsBase(sid, enableReporting, collectionInterval, true) {}
-};
-
-struct RegularHkUpdateParams : public ParamsBase {
-  RegularHkUpdateParams(sid_t sid, bool enableReporting)
-      : ParamsBase(sid, enableReporting, 0.0, false) {}
-};
-
-struct DiagnosticsHkUpdateParams : public ParamsBase {
-  DiagnosticsHkUpdateParams(sid_t sid, bool enableReporting)
-      : ParamsBase(sid, enableReporting, 0.0, true) {}
-};
-}  // namespace subdp
-
 class ProvidesDataPoolSubscriptionIF {
  public:
-  virtual ~ProvidesDataPoolSubscriptionIF() = default;
+  virtual ~ProvidesDataPoolSubscriptionIF(){};
+
   /**
-   * @brief   Subscribe for the generation of periodic packets. Used for regular HK packets
+   * @brief   Subscribe for the generation of periodic packets.
    * @details
    * This subscription mechanism will generally be used by the data creator
    * to generate housekeeping packets which are downlinked directly.
    * @return
    */
-  virtual ReturnValue_t subscribeForRegularPeriodicPacket(
+  virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-      subdp::RegularHkPeriodicParams params) = 0;
+                                                   float collectionInterval, bool isDiagnostics,
-  /**
+                                                   object_id_t packetDestination) = 0;
-   * @brief   Subscribe for the generation of periodic packets. Used for diagnostic packets
-   * @details
-   * This subscription mechanism will generally be used by the data creator
-   * to generate housekeeping packets which are downlinked directly.
-   * @return
-   */
-  virtual ReturnValue_t subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams params) = 0;
-
-  [[deprecated(
-      "Please use the new API which takes all arguments as one wrapper "
-      "struct")]] virtual ReturnValue_t
-  subscribeForPeriodicPacket(sid_t sid, bool enableReporting, float collectionInterval,
-                             bool isDiagnostics,
-                             object_id_t packetDestination = objects::NO_OBJECT) {
-    if (isDiagnostics) {
-      subdp::DiagnosticsHkPeriodicParams params(sid, enableReporting, collectionInterval);
-      return subscribeForDiagPeriodicPacket(params);
-    } else {
-      subdp::RegularHkPeriodicParams params(sid, enableReporting, collectionInterval);
-      return subscribeForRegularPeriodicPacket(params);
-    }
-  }
-
   /**
    * @brief   Subscribe for the  generation of packets if the dataset
    *          is marked as changed.
@@ -101,28 +29,9 @@ class ProvidesDataPoolSubscriptionIF {
    * @param packetDestination
    * @return
    */
-  virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
+  virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
-  virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
+                                                 bool isDiagnostics,
-
+                                                 object_id_t packetDestination) = 0;
-  //  virtual ReturnValue_t
-  //  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
-  //    return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
-  //  }
-
-  [[deprecated(
-      "Please use the new API which takes all arguments as one wrapper "
-      "struct")]] virtual ReturnValue_t
-  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics,
-                           object_id_t packetDestination = objects::NO_OBJECT) {
-    if (isDiagnostics) {
-      subdp::DiagnosticsHkUpdateParams params(sid, reportingEnabled);
-      return subscribeForDiagUpdatePacket(params);
-    } else {
-      subdp::RegularHkUpdateParams params(sid, reportingEnabled);
-      return subscribeForRegularUpdatePacket(params);
-    }
-  }
-
   /**
    * @brief   Subscribe for a notification message which will be sent
    *          if a dataset has changed.
@@ -137,7 +46,8 @@ class ProvidesDataPoolSubscriptionIF {
    *                              Otherwise, only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
+  virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
+                                                     object_id_t destinationObject,
                                                      MessageQueueId_t targetQueueId,
                                                      bool generateSnapshot) = 0;
   /**
@@ -154,7 +64,7 @@ class ProvidesDataPoolSubscriptionIF {
    *                              only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
+  virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
                                                           object_id_t destinationObject,
                                                           MessageQueueId_t targetQueueId,
                                                           bool generateSnapshot) = 0;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -130,9 +130,9 @@ ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
   localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
-  poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
+  poolManager.subscribeForPeriodicPacket(
       internalErrorSid, false,
-      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
+      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0), true);
   internalErrorDataset.setValidity(true, true);
   return returnvalue::OK;
 }

src/fsfw/ipc/MessageQueueMessage.cpp

@@ -12,7 +12,7 @@ MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()
 MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
     : messageSize(MessageQueueMessage::HEADER_SIZE + size) {
   if (size <= MessageQueueMessage::MAX_DATA_SIZE) {
-    std::memcpy(internalBuffer + MessageQueueMessage::HEADER_SIZE, data, size);
+    std::memcpy(MessageQueueMessage::getData(), data, size);
     this->messageSize = MessageQueueMessage::HEADER_SIZE + size;
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -581,8 +581,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
   }
 
   // additional security check, this should never be true
-  if ((itBegin != telecommandMap.end() and itEnd != telecommandMap.end()) and
+  if (itBegin > itEnd) {
-      (itBegin->first > itEnd->first)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "11::getMapFilterFromData: itBegin > itEnd\n" << std::endl;
 #else

src/fsfw/timemanager/CCSDSTime.h

@@ -39,13 +39,13 @@ class CCSDSTime {
    * Struct for CDS day-segmented format.
    */
   struct CDS_short {
-    uint8_t pField;
+    uint8_t pField = P_FIELD_CDS_SHORT;
-    uint8_t dayMSB;
+    uint8_t dayMSB = 0;
-    uint8_t dayLSB;
+    uint8_t dayLSB = 0;
-    uint8_t msDay_hh;
+    uint8_t msDay_hh = 0;
-    uint8_t msDay_h;
+    uint8_t msDay_h = 0;
-    uint8_t msDay_l;
+    uint8_t msDay_l = 0;
-    uint8_t msDay_ll;
+    uint8_t msDay_ll = 0;
   };
   /**
    * Struct for the CCS fromat in day of month variation with max resolution

src/fsfw/tmtcpacket/pus/defs.h

@@ -13,44 +13,6 @@ using PusChecksumT = uint16_t;
 //! Version numbers according to ECSS-E-ST-70-41C p.439
 enum PusVersion : uint8_t { PUS_A = 1, PUS_C = 2 };
 
-struct RawData {
-  const uint8_t* data;
-  size_t len;
-};
-
-enum DataTypes { RAW, SERIALIZABLE };
-
-union DataUnion {
-  RawData raw;
-  SerializeIF* serializable;
-};
-
-struct DataWrapper {
-  DataTypes type;
-  DataUnion dataUnion;
-  using BufPairT = std::pair<const uint8_t*, size_t>;
-
-  [[nodiscard]] size_t getLength() const {
-    if (type == DataTypes::RAW) {
-      return dataUnion.raw.len;
-    } else if (type == DataTypes::SERIALIZABLE and dataUnion.serializable != nullptr) {
-      return dataUnion.serializable->getSerializedSize();
-    }
-    return 0;
-  }
-
-  void setRawData(BufPairT bufPair) {
-    type = DataTypes::RAW;
-    dataUnion.raw.data = bufPair.first;
-    dataUnion.raw.len = bufPair.second;
-  }
-
-  void setSerializable(SerializeIF& serializable) {
-    type = DataTypes::SERIALIZABLE;
-    dataUnion.serializable = &serializable;
-  }
-};
-
 /**
  * This struct defines the data structure of a Space Packet when accessed
  * via a pointer.

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp

@@ -37,14 +37,14 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
   if (result != returnvalue::OK) {
     return result;
   }
-  if (pusParams.dataWrapper.type == ecss::DataTypes::RAW) {
+  if (pusParams.dataWrapper.type == util::DataTypes::RAW) {
     const uint8_t *data = pusParams.dataWrapper.dataUnion.raw.data;
     if (data != nullptr and userDataLen > 0) {
       std::memcpy(*buffer, data, userDataLen);
       *buffer += userDataLen;
       *size += userDataLen;
     }
-  } else if (pusParams.dataWrapper.type == ecss::DataTypes::SERIALIZABLE and
+  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
              pusParams.dataWrapper.dataUnion.serializable != nullptr) {
     result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
                                                                      streamEndianness);

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.h

@@ -7,6 +7,7 @@
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
 #include "fsfw/tmtcpacket/pus/defs.h"
 #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
+#include "fsfw/util/dataWrapper.h"
 
 struct PusTcParams {
   PusTcParams(uint8_t service_, uint8_t subservice_) : service(service_), subservice(subservice_) {}
@@ -15,7 +16,7 @@ struct PusTcParams {
   uint8_t subservice;
   uint8_t ackFlags = ecss::ACK_ALL;
   uint16_t sourceId = 0;
-  ecss::DataWrapper dataWrapper{};
+  util::DataWrapper dataWrapper{};
   uint8_t pusVersion = ecss::PusVersion::PUS_C;
 };
 

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp

@@ -77,12 +77,12 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
     }
   }
 
-  if (pusParams.dataWrapper.type == ecss::DataTypes::RAW and
+  if (pusParams.dataWrapper.type == util::DataTypes::RAW and
       pusParams.dataWrapper.dataUnion.raw.data != nullptr) {
     std::memcpy(*buffer, pusParams.dataWrapper.dataUnion.raw.data, userDataLen);
     *buffer += userDataLen;
     *size += userDataLen;
-  } else if (pusParams.dataWrapper.type == ecss::DataTypes::SERIALIZABLE and
+  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
              pusParams.dataWrapper.dataUnion.serializable != nullptr) {
     result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
                                                                      streamEndianness);

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.h

@@ -4,6 +4,7 @@
 #include "PusTmIF.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
+#include "fsfw/util/dataWrapper.h"
 
 struct PusTmSecHeader {
   PusTmSecHeader() = default;
@@ -22,19 +23,19 @@ struct PusTmSecHeader {
 struct PusTmParams {
   PusTmParams() = default;
   explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader){};
-  PusTmParams(PusTmSecHeader secHeader, ecss::DataWrapper dataWrapper)
+  PusTmParams(PusTmSecHeader secHeader, util::DataWrapper dataWrapper)
       : secHeader(secHeader), dataWrapper(dataWrapper) {}
 
   PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
       : secHeader(service, subservice, timeStamper) {}
 
   PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper,
-              ecss::DataWrapper dataWrapper_)
+              util::DataWrapper dataWrapper_)
       : PusTmParams(service, subservice, timeStamper) {
     dataWrapper = dataWrapper_;
   }
   PusTmSecHeader secHeader;
-  ecss::DataWrapper dataWrapper{};
+  util::DataWrapper dataWrapper{};
 };
 
 class TimeStamperIF;

src/fsfw/tmtcservices/VerificationCodes.h

@@ -5,7 +5,7 @@
 
 namespace tcverif {
 
-enum VerifFlags : uint8_t {
+enum VerificationFlags : uint8_t {
   NONE = 0b0000,
   ACCEPTANCE = 0b0001,
   START = 0b0010,

src/fsfw/tmtcservices/tmHelpers.h

@@ -11,13 +11,13 @@ class DataWithObjectIdPrefix : public SerializeIF {
  public:
   DataWithObjectIdPrefix(object_id_t objectId, const uint8_t* srcData, size_t srcDataLen)
       : objectId(objectId) {
-    dataWrapper.type = ecss::DataTypes::RAW;
+    dataWrapper.type = util::DataTypes::RAW;
     dataWrapper.dataUnion.raw.data = srcData;
     dataWrapper.dataUnion.raw.len = srcDataLen;
   }
 
   DataWithObjectIdPrefix(object_id_t objectId, SerializeIF& serializable) : objectId(objectId) {
-    dataWrapper.type = ecss::DataTypes::SERIALIZABLE;
+    dataWrapper.type = util::DataTypes::SERIALIZABLE;
     dataWrapper.dataUnion.serializable = &serializable;
   }
 
@@ -26,11 +26,11 @@ class DataWithObjectIdPrefix : public SerializeIF {
     if (*size + getSerializedSize() > maxSize) {
       return SerializeIF::BUFFER_TOO_SHORT;
     }
-    if (dataWrapper.type != ecss::DataTypes::RAW) {
+    if (dataWrapper.type != util::DataTypes::RAW) {
       if ((dataWrapper.dataUnion.raw.data == nullptr) and (dataWrapper.dataUnion.raw.len > 0)) {
         return returnvalue::FAILED;
       }
-    } else if (dataWrapper.type == ecss::DataTypes::SERIALIZABLE) {
+    } else if (dataWrapper.type == util::DataTypes::SERIALIZABLE) {
       if (dataWrapper.dataUnion.serializable == nullptr) {
         return returnvalue::FAILED;
       }
@@ -40,7 +40,7 @@ class DataWithObjectIdPrefix : public SerializeIF {
     if (result != returnvalue::OK) {
       return result;
     }
-    if (dataWrapper.type != ecss::DataTypes::RAW) {
+    if (dataWrapper.type != util::DataTypes::RAW) {
       std::memcpy(*buffer, dataWrapper.dataUnion.raw.data, dataWrapper.dataUnion.raw.len);
       *buffer += dataWrapper.dataUnion.raw.len;
       *size += dataWrapper.dataUnion.raw.len;
@@ -63,7 +63,7 @@ class DataWithObjectIdPrefix : public SerializeIF {
 
  private:
   object_id_t objectId;
-  ecss::DataWrapper dataWrapper{};
+  util::DataWrapper dataWrapper{};
 };
 
 }  // namespace telemetry

src/fsfw/util/dataWrapper.h

@@ -0,0 +1,60 @@
+#ifndef FSFW_UTIL_DATAWRAPPER_H
+#define FSFW_UTIL_DATAWRAPPER_H
+
+#include <cstddef>
+#include <cstdint>
+#include <utility>
+
+#include "fsfw/serialize.h"
+
+namespace util {
+
+struct RawData {
+  const uint8_t* data = nullptr;
+  size_t len = 0;
+};
+
+enum DataTypes { NONE, RAW, SERIALIZABLE };
+
+union DataUnion {
+  RawData raw;
+  SerializeIF* serializable = nullptr;
+};
+
+struct DataWrapper {
+  DataTypes type = DataTypes::NONE;
+  DataUnion dataUnion;
+  using BufPairT = std::pair<const uint8_t*, size_t>;
+
+  [[nodiscard]] size_t getLength() const {
+    if (type == DataTypes::RAW) {
+      return dataUnion.raw.len;
+    } else if (type == DataTypes::SERIALIZABLE and dataUnion.serializable != nullptr) {
+      return dataUnion.serializable->getSerializedSize();
+    }
+    return 0;
+  }
+
+  [[nodiscard]] bool isNull() const {
+    if ((type == DataTypes::NONE) or (type == DataTypes::RAW and dataUnion.raw.data == nullptr) or
+        (type == DataTypes::SERIALIZABLE and dataUnion.serializable == nullptr)) {
+      return true;
+    }
+    return false;
+  }
+
+  void setRawData(BufPairT bufPair) {
+    type = DataTypes::RAW;
+    dataUnion.raw.data = bufPair.first;
+    dataUnion.raw.len = bufPair.second;
+  }
+
+  void setSerializable(SerializeIF& serializable) {
+    type = DataTypes::SERIALIZABLE;
+    dataUnion.serializable = &serializable;
+  }
+};
+
+}  // namespace util
+
+#endif  // FSFW_UTIL_DATAWRAPPER_H

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -469,7 +469,7 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo
                                                          LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
   localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
-  poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
   return returnvalue::OK;
 }
 

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -310,7 +310,7 @@ void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
-  poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
+  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
   return returnvalue::OK;
 }
 

unittests/mocks/LocalPoolOwnerBase.h

@@ -11,6 +11,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 
 #include "fsfw/datapool/PoolEntry.h"
+#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
 #include "mocks/MessageQueueMock.h"
 #include "tests/TestsConfig.h"
 
@@ -104,8 +105,7 @@ class LocalPoolOwnerBase : public SystemObject, public HasLocalDataPoolIF {
   }
 
   ReturnValue_t subscribePeriodicHk(bool enableReporting) {
-    return poolManager.subscribeForRegularPeriodicPacket(
+    return poolManager.subscribeForPeriodicPacket(lpool::testSid, enableReporting, 0.2, false);
-        subdp::RegularHkPeriodicParams(lpool::testSid, enableReporting, 0.2));
   }
 
   ReturnValue_t subscribeWrapperSetUpdate(MessageQueueId_t receiverId) {
@@ -121,17 +121,9 @@ class LocalPoolOwnerBase : public SystemObject, public HasLocalDataPoolIF {
   ReturnValue_t subscribeWrapperSetUpdateHk(bool diagnostics = false,
                                             AcceptsHkPacketsIF* receiver = nullptr) {
     if (diagnostics) {
-      auto params = subdp::DiagnosticsHkUpdateParams(lpool::testSid, true);
+      return poolManager.subscribeForUpdatePacket(lpool::testSid, true, true);
-      if (receiver != nullptr) {
-        params.receiver = receiver->getHkQueue();
-      }
-      return poolManager.subscribeForDiagUpdatePacket(params);
     } else {
-      auto params = subdp::RegularHkUpdateParams(lpool::testSid, true);
+      return poolManager.subscribeForUpdatePacket(lpool::testSid, true, false);
-      if (receiver != nullptr) {
-        params.receiver = receiver->getHkQueue();
-      }
-      return poolManager.subscribeForRegularUpdatePacket(params);
     }
   }
 

unittests/tmtcservices/testStoreAndSendHelper.cpp

@@ -44,7 +44,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(creator.getSubService() == 2);
     REQUIRE(creator.getService() == 17);
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == ecss::DataTypes::RAW);
+    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
     REQUIRE(params.dataWrapper.dataUnion.raw.data == nullptr);
     REQUIRE(params.dataWrapper.dataUnion.raw.len == 0);
     REQUIRE(tmHelper.sendCounter == 0);
@@ -65,7 +65,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, data.data(), data.size()) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == ecss::DataTypes::RAW);
+    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
     REQUIRE(params.dataWrapper.dataUnion.raw.data == data.data());
     REQUIRE(params.dataWrapper.dataUnion.raw.len == data.size());
   }
@@ -75,7 +75,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, simpleSer) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == ecss::DataTypes::SERIALIZABLE);
+    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
     REQUIRE(params.dataWrapper.dataUnion.serializable == &simpleSer);
   }
 
@@ -86,7 +86,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, dataWithObjId) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == ecss::DataTypes::SERIALIZABLE);
+    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
     REQUIRE(params.dataWrapper.dataUnion.serializable == &dataWithObjId);
   }