Merge pull request 'EIVE upstream' (#29) from use-eive-upstream into develop

Reviewed-on: #29

CHANGELOG.md

@@ -10,6 +10,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
+- Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
+  number fields stored the actual length of the field instead of the length minus 1 like specified
+  in the CFDP standard.
 - PUS Health Service: Size check for set health command.
   Perform operation completion for announce health command.
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
@@ -22,6 +25,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
+- `PusTmZcWriter` now exposes API to set message counter field.
 
 ## Changed
 - Bump ETL version to 20.35.14
@@ -32,6 +36,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
 - Assert that `FixedArrayList` is larger than 0 at compile time.
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
+- Health functions are virtual now.
 
 # [v6.0.0] 2023-02-10
 
@@ -107,6 +112,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- `CServiceHealthCommanding`: Add announce all health info implementation
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
 - Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
 - `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.

docs/conf.py

@@ -51,7 +51,10 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 html_theme = "alabaster"
 
 html_theme_options = {
-    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
+    "extra_nav_links": {
+        "Impressum": "https://www.uni-stuttgart.de/impressum",
+        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
+    }
 }
 
 

src/fsfw/action/ActionHelper.cpp

@@ -59,8 +59,12 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
+  bool hasAdditionalData = false;
   const uint8_t* dataPtr = nullptr;
   size_t size = 0;
+  ReturnValue_t result;
+  if (dataAddress != store_address_t::invalid()) {
+    hasAdditionalData = true;
     ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
     if (result != returnvalue::OK) {
       CommandMessage reply;
@@ -68,8 +72,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
       queueToUse->sendMessage(commandedBy, &reply);
       return;
     }
+  }
   result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+  if (hasAdditionalData) {
     ipcStore->deleteData(dataAddress);
+  }
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
     ActionMessage::setCompletionReply(&reply, actionId, true, result);

src/fsfw/action/CommandActionHelper.h

@@ -16,8 +16,8 @@ class CommandActionHelper {
  public:
   explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
-                              uint32_t size);
+                              const uint8_t* data = nullptr, uint32_t size = 0);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);

src/fsfw/cfdp.h

@@ -2,7 +2,9 @@
 #define FSFW_CFDP_H
 
 #include "cfdp/definitions.h"
+#include "cfdp/handler/DestHandler.h"
 #include "cfdp/handler/FaultHandlerBase.h"
+#include "cfdp/helpers.h"
 #include "cfdp/tlv/Lv.h"
 #include "cfdp/tlv/StringLv.h"
 #include "cfdp/tlv/Tlv.h"

src/fsfw/cfdp/handler/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE FaultHandlerBase.cpp UserBase.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
+                                        FaultHandlerBase.cpp UserBase.cpp)

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -0,0 +1,546 @@
+#include "DestHandler.h"
+
+#include <etl/crc32.h>
+
+#include <utility>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/cfdp/pdu/EofPduReader.h"
+#include "fsfw/cfdp/pdu/FileDataReader.h"
+#include "fsfw/cfdp/pdu/FinishedPduCreator.h"
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/objectmanager.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+using namespace returnvalue;
+
+cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
+    : tlvVec(params.maxTlvsInOnePdu),
+      userTlvVec(params.maxTlvsInOnePdu),
+      dp(std::move(params)),
+      fp(fsfwParams),
+      tp(params.maxFilenameLen) {
+  tp.pduConf.direction = cfdp::Direction::TOWARDS_SENDER;
+}
+
+const cfdp::DestHandler::FsmResult& cfdp::DestHandler::performStateMachine() {
+  ReturnValue_t result;
+  uint8_t errorIdx = 0;
+  fsmRes.resetOfIteration();
+  if (fsmRes.step == TransactionStep::IDLE) {
+    for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
+      if (infoIter->pduType == PduType::FILE_DIRECTIVE and
+          infoIter->directiveType == FileDirective::METADATA) {
+        result = handleMetadataPdu(*infoIter);
+        checkAndHandleError(result, errorIdx);
+        // Store data was deleted in PDU handler because a store guard is used
+        dp.packetListRef.erase(infoIter++);
+      } else {
+        infoIter++;
+      }
+    }
+    if (fsmRes.step == TransactionStep::IDLE) {
+      // To decrease the already high complexity of the software, all packets arriving before
+      // a metadata PDU are deleted.
+      for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
+        fp.tcStore->deleteData(infoIter->storeId);
+        infoIter++;
+      }
+      dp.packetListRef.clear();
+    }
+
+    if (fsmRes.step != TransactionStep::IDLE) {
+      fsmRes.callStatus = CallStatus::CALL_AGAIN;
+    }
+    return updateFsmRes(errorIdx);
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+    if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
+      for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
+        if (infoIter->pduType == PduType::FILE_DATA) {
+          result = handleFileDataPdu(*infoIter);
+          checkAndHandleError(result, errorIdx);
+          // Store data was deleted in PDU handler because a store guard is used
+          dp.packetListRef.erase(infoIter++);
+        } else if (infoIter->pduType == PduType::FILE_DIRECTIVE and
+                   infoIter->directiveType == FileDirective::EOF_DIRECTIVE) {
+          // TODO: Support for check timer missing
+          result = handleEofPdu(*infoIter);
+          checkAndHandleError(result, errorIdx);
+          // Store data was deleted in PDU handler because a store guard is used
+          dp.packetListRef.erase(infoIter++);
+        } else {
+          infoIter++;
+        }
+      }
+    }
+    if (fsmRes.step == TransactionStep::TRANSFER_COMPLETION) {
+      result = handleTransferCompletion();
+      checkAndHandleError(result, errorIdx);
+    }
+    if (fsmRes.step == TransactionStep::SENDING_FINISHED_PDU) {
+      result = sendFinishedPdu();
+      checkAndHandleError(result, errorIdx);
+      finish();
+    }
+    return updateFsmRes(errorIdx);
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
+    // TODO: Will be implemented at a later stage
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CFDP state machine for acknowledged mode not implemented yet" << std::endl;
+#endif
+  }
+  return updateFsmRes(errorIdx);
+}
+
+ReturnValue_t cfdp::DestHandler::passPacket(PacketInfo packet) {
+  if (dp.packetListRef.full()) {
+    return FAILED;
+  }
+  dp.packetListRef.push_back(packet);
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::initialize() {
+  if (fp.tmStore == nullptr) {
+    fp.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
+    if (fp.tmStore == nullptr) {
+      return FAILED;
+    }
+  }
+
+  if (fp.tcStore == nullptr) {
+    fp.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+    if (fp.tcStore == nullptr) {
+      return FAILED;
+    }
+  }
+
+  if (fp.msgQueue == nullptr) {
+    return FAILED;
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
+  // Process metadata PDU
+  auto constAccessorPair = fp.tcStore->getData(info.storeId);
+  if (constAccessorPair.first != OK) {
+    // TODO: This is not a CFDP error. Event and/or warning?
+    return constAccessorPair.first;
+  }
+  cfdp::StringLv sourceFileName;
+  cfdp::StringLv destFileName;
+  MetadataInfo metadataInfo(tp.fileSize, sourceFileName, destFileName);
+  cfdp::Tlv* tlvArrayAsPtr = tlvVec.data();
+  metadataInfo.setOptionsArray(&tlvArrayAsPtr, std::nullopt, tlvVec.size());
+  MetadataPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(),
+                           metadataInfo);
+  ReturnValue_t result = reader.parseData();
+  // TODO: The standard does not really specify what happens if this kind of error happens
+  //       I think it might be a good idea to cache some sort of error code, which
+  //       is translated into a warning and/or event by an upper layer
+  if (result != OK) {
+    return handleMetadataParseError(result, constAccessorPair.second.data(),
+                                    constAccessorPair.second.size());
+  }
+  return startTransaction(reader, metadataInfo);
+}
+
+ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
+  // Process file data PDU
+  auto constAccessorPair = fp.tcStore->getData(info.storeId);
+  if (constAccessorPair.first != OK) {
+    // TODO: This is not a CFDP error. Event and/or warning?
+    return constAccessorPair.first;
+  }
+  cfdp::FileSize offset;
+  FileDataInfo fdInfo(offset);
+  FileDataReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), fdInfo);
+  ReturnValue_t result = reader.parseData();
+  if (result != OK) {
+    return result;
+  }
+  size_t fileSegmentLen = 0;
+  const uint8_t* fileData = fdInfo.getFileData(&fileSegmentLen);
+  FileOpParams fileOpParams(tp.destName.data(), fileSegmentLen);
+  fileOpParams.offset = offset.value();
+  if (dp.cfg.indicCfg.fileSegmentRecvIndicRequired) {
+    FileSegmentRecvdParams segParams;
+    segParams.offset = offset.value();
+    segParams.id = tp.transactionId;
+    segParams.length = fileSegmentLen;
+    segParams.recContState = fdInfo.getRecordContinuationState();
+    size_t segmentMetadatLen = 0;
+    auto* segMetadata = fdInfo.getSegmentMetadata(&segmentMetadatLen);
+    segParams.segmentMetadata = {segMetadata, segmentMetadatLen};
+    dp.user.fileSegmentRecvdIndication(segParams);
+  }
+  result = dp.user.vfs.writeToFile(fileOpParams, fileData);
+  if (result != returnvalue::OK) {
+    // TODO: Proper Error handling
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "cfdp::DestHandler: VFS file write error with code 0x" << std::hex << std::setw(2)
+               << result << std::endl;
+#endif
+    tp.vfsErrorCount++;
+    if (tp.vfsErrorCount < 3) {
+      // TODO: Provide execution step as parameter
+      fp.eventReporter->forwardEvent(events::FILESTORE_ERROR, static_cast<uint8_t>(fsmRes.step),
+                                     result);
+    }
+    return result;
+  } else {
+    tp.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
+    tp.vfsErrorCount = 0;
+  }
+  if (offset.value() + fileSegmentLen > tp.progress) {
+    tp.progress = offset.value() + fileSegmentLen;
+  }
+  return result;
+}
+
+ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PacketInfo& info) {
+  // Process EOF PDU
+  auto constAccessorPair = fp.tcStore->getData(info.storeId);
+  if (constAccessorPair.first != OK) {
+    // TODO: This is not a CFDP error. Event and/or warning?
+    return constAccessorPair.first;
+  }
+  EofInfo eofInfo(nullptr);
+  EofPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), eofInfo);
+  ReturnValue_t result = reader.parseData();
+  if (result != OK) {
+    return result;
+  }
+  // TODO: Error handling
+  if (eofInfo.getConditionCode() == ConditionCode::NO_ERROR) {
+    tp.crc = eofInfo.getChecksum();
+    uint64_t fileSizeFromEof = eofInfo.getFileSize().value();
+    // CFDP 4.6.1.2.9: Declare file size error if progress exceeds file size
+    if (fileSizeFromEof > tp.progress) {
+      // TODO: File size error
+    }
+    tp.fileSize.setFileSize(fileSizeFromEof, std::nullopt);
+  }
+  if (dp.cfg.indicCfg.eofRecvIndicRequired) {
+    dp.user.eofRecvIndication(getTransactionId());
+  }
+  if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
+    if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+      fsmRes.step = TransactionStep::TRANSFER_COMPLETION;
+    } else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
+      fsmRes.step = TransactionStep::SENDING_ACK_PDU;
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t cfdp::DestHandler::handleMetadataParseError(ReturnValue_t result,
+                                                          const uint8_t* rawData, size_t maxSize) {
+  // TODO: try to extract destination ID for error
+  // TODO: Invalid metadata PDU.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Parsing Metadata PDU failed with code " << result << std::endl;
+#else
+#endif
+  PduHeaderReader headerReader(rawData, maxSize);
+  result = headerReader.parseData();
+  if (result != OK) {
+    // TODO: Now this really should not happen. Warning or error,
+    //       yield or cache appropriate returnvalue
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Parsing Header failed" << std::endl;
+#else
+#endif
+    // TODO: Trigger appropriate event
+    return result;
+  }
+  cfdp::EntityId destId;
+  headerReader.getDestId(destId);
+  RemoteEntityCfg* remoteCfg;
+  if (not dp.remoteCfgTable.getRemoteCfg(destId, &remoteCfg)) {
+// TODO: No remote config for dest ID. I consider this a configuration error, which is not
+//       covered by the standard.
+//       Warning or error, yield or cache appropriate returnvalue
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "No remote config exists for destination ID" << std::endl;
+#else
+#endif
+    // TODO: Trigger appropriate event
+  }
+  // TODO: Appropriate returnvalue?
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, MetadataInfo& info) {
+  if (fsmRes.state != CfdpStates::IDLE) {
+    // According to standard, discard metadata PDU if we are busy
+    return OK;
+  }
+  ReturnValue_t result = OK;
+  size_t sourceNameSize = 0;
+
+  const uint8_t* sourceNamePtr = info.getSourceFileName().getValue(&sourceNameSize);
+  if (sourceNameSize + 1 > tp.sourceName.size()) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "source filename too large");
+    return FAILED;
+  }
+  std::memcpy(tp.sourceName.data(), sourceNamePtr, sourceNameSize);
+  tp.sourceName[sourceNameSize] = '\0';
+  size_t destNameSize = 0;
+  const uint8_t* destNamePtr = info.getDestFileName().getValue(&destNameSize);
+  if (destNameSize + 1 > tp.destName.size()) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "dest filename too large");
+    return FAILED;
+  }
+  std::memcpy(tp.destName.data(), destNamePtr, destNameSize);
+  tp.destName[destNameSize] = '\0';
+
+  // If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
+  // so there is no need to create a file or truncate an existing file
+  if (destNameSize > 0 and sourceNameSize > 0) {
+    FilesystemParams fparams(tp.destName.data());
+    // handling to allow only specifying target directory. Example:
+    // Source path /test/hello.txt, dest path /tmp -> dest path /tmp/hello.txt
+    if (dp.user.vfs.isDirectory(tp.destName.data())) {
+      result = tryBuildingAbsoluteDestName(destNameSize);
+      if (result != OK) {
+        return result;
+      }
+    }
+    if (dp.user.vfs.fileExists(fparams)) {
+      result = dp.user.vfs.truncateFile(fparams);
+      if (result != returnvalue::OK) {
+        fileErrorHandler(events::FILESTORE_ERROR, result, "file truncation error");
+        return FAILED;
+        // TODO: Relevant for filestore rejection error?
+      }
+    } else {
+      result = dp.user.vfs.createFile(fparams);
+      if (result != OK) {
+        fileErrorHandler(events::FILESTORE_ERROR, result, "file creation error");
+        return FAILED;
+        // TODO: Relevant for filestore rejection error?
+      }
+    }
+  }
+  EntityId sourceId;
+  reader.getSourceId(sourceId);
+  if (not dp.remoteCfgTable.getRemoteCfg(sourceId, &tp.remoteCfg)) {
+    // TODO: Warning, event etc.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler" << __func__
+                 << ": No remote configuration found for destination ID "
+                 << tp.pduConf.sourceId.getValue() << std::endl;
+#endif
+    return FAILED;
+  }
+  fsmRes.step = TransactionStep::TRANSACTION_START;
+  if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
+  } else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
+  }
+  tp.checksumType = info.getChecksumType();
+  tp.closureRequested = info.isClosureRequested();
+  reader.fillConfig(tp.pduConf);
+  tp.pduConf.direction = Direction::TOWARDS_SENDER;
+  tp.transactionId.entityId = tp.pduConf.sourceId;
+  tp.transactionId.seqNum = tp.pduConf.seqNum;
+  fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
+  MetadataRecvdParams params(tp.transactionId, tp.pduConf.sourceId);
+  params.fileSize = tp.fileSize.getSize();
+  params.destFileName = tp.destName.data();
+  params.sourceFileName = tp.sourceName.data();
+  params.msgsToUserArray = dynamic_cast<MessageToUserTlv*>(userTlvVec.data());
+  params.msgsToUserLen = info.getOptionsLen();
+  dp.user.metadataRecvdIndication(params);
+  return result;
+}
+
+cfdp::CfdpStates cfdp::DestHandler::getCfdpState() const { return fsmRes.state; }
+
+ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
+  ReturnValue_t result;
+  if (tp.checksumType != ChecksumType::NULL_CHECKSUM) {
+    result = checksumVerification();
+    if (result != OK) {
+      // TODO: Warning / error handling?
+    }
+  } else {
+    tp.conditionCode = ConditionCode::NO_ERROR;
+  }
+  result = noticeOfCompletion();
+  if (result != OK) {
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+    if (tp.closureRequested) {
+      fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
+    } else {
+      finish();
+    }
+  } else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
+    fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::tryBuildingAbsoluteDestName(size_t destNameSize) {
+  char baseNameBuf[tp.destName.size()]{};
+  FilesystemParams fparamsSrc(tp.sourceName.data());
+  size_t baseNameLen = 0;
+  ReturnValue_t result =
+      dp.user.vfs.getBaseFilename(fparamsSrc, baseNameBuf, sizeof(baseNameBuf), baseNameLen);
+  if (result != returnvalue::OK or baseNameLen == 0) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "error retrieving source base name");
+    return FAILED;
+  }
+  // Destination name + slash + base name + null termination
+  if (destNameSize + 1 + baseNameLen + 1 > tp.destName.size()) {
+    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0,
+                     "dest filename too large after adding source base name");
+    return FAILED;
+  }
+  tp.destName[destNameSize++] = '/';
+  std::memcpy(tp.destName.data() + destNameSize, baseNameBuf, baseNameLen);
+  destNameSize += baseNameLen;
+  tp.destName[destNameSize++] = '\0';
+  return OK;
+}
+
+void cfdp::DestHandler::fileErrorHandler(Event event, ReturnValue_t result, const char* info) {
+  fp.eventReporter->forwardEvent(events::FILENAME_TOO_LARGE_ERROR,
+                                 static_cast<uint8_t>(fsmRes.step), result);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "cfdp::DestHandler: " << info << std::endl;
+#endif
+}
+
+void cfdp::DestHandler::finish() {
+  tp.reset();
+  dp.packetListRef.clear();
+  fsmRes.state = CfdpStates::IDLE;
+  fsmRes.step = TransactionStep::IDLE;
+}
+
+ReturnValue_t cfdp::DestHandler::checksumVerification() {
+  std::array<uint8_t, 1024> buf{};
+  // TODO: Checksum verification and notice of completion
+  etl::crc32 crcCalc;
+  uint64_t currentOffset = 0;
+  FileOpParams params(tp.destName.data(), tp.fileSize.value());
+  while (currentOffset < tp.fileSize.value()) {
+    uint64_t readLen;
+    if (currentOffset + buf.size() > tp.fileSize.value()) {
+      readLen = tp.fileSize.value() - currentOffset;
+    } else {
+      readLen = buf.size();
+    }
+    if (readLen > 0) {
+      params.offset = currentOffset;
+      params.size = readLen;
+      auto result = dp.user.vfs.readFromFile(params, buf.data(), buf.size());
+      if (result != OK) {
+        // TODO: I think this is a case for a filestore rejection, but it might sense to print
+        //       a warning or trigger an event because this should generally not happen
+        return FAILED;
+      }
+      crcCalc.add(buf.begin(), buf.begin() + readLen);
+    }
+    currentOffset += readLen;
+  }
+
+  uint32_t value = crcCalc.value();
+  if (value == tp.crc) {
+    tp.conditionCode = ConditionCode::NO_ERROR;
+    tp.deliveryCode = FileDeliveryCode::DATA_COMPLETE;
+  } else {
+    // TODO: Proper error handling
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CRC check for file " << tp.destName.data() << " failed" << std::endl;
+#endif
+    tp.conditionCode = ConditionCode::FILE_CHECKSUM_FAILURE;
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::noticeOfCompletion() {
+  if (dp.cfg.indicCfg.transactionFinishedIndicRequired) {
+    TransactionFinishedParams params(tp.transactionId, tp.conditionCode, tp.deliveryCode,
+                                     tp.deliveryStatus);
+    dp.user.transactionFinishedIndication(params);
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
+  FinishedInfo info(tp.conditionCode, tp.deliveryCode, tp.deliveryStatus);
+  FinishPduCreator finishedPdu(tp.pduConf, info);
+  store_address_t storeId;
+  uint8_t* dataPtr = nullptr;
+  ReturnValue_t result =
+      fp.tmStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
+  if (result != OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler:sendFinishedPdu: Getting store slot failed" << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::STORE_ERROR, result, 0);
+    return result;
+  }
+  size_t serLen = 0;
+  result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
+  if (result != OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Serializing Finished PDU failed"
+                 << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::SERIALIZATION_ERROR, result, 0);
+    return result;
+  }
+  TmTcMessage msg(storeId);
+  result = fp.msgQueue->sendMessage(fp.packetDest.getReportReceptionQueue(), &msg);
+  if (result != OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Sending PDU failed" << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::MSG_QUEUE_ERROR, result, 0);
+    return result;
+  }
+  fsmRes.packetsSent++;
+  return OK;
+}
+
+cfdp::DestHandler::TransactionStep cfdp::DestHandler::getTransactionStep() const {
+  return fsmRes.step;
+}
+
+const cfdp::DestHandler::FsmResult& cfdp::DestHandler::updateFsmRes(uint8_t errors) {
+  fsmRes.errors = errors;
+  fsmRes.result = OK;
+  if (fsmRes.errors > 0) {
+    fsmRes.result = FAILED;
+  }
+  return fsmRes;
+}
+
+const cfdp::TransactionId& cfdp::DestHandler::getTransactionId() const { return tp.transactionId; }
+
+void cfdp::DestHandler::checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx) {
+  if (result != OK and errorIdx < 3) {
+    fsmRes.errorCodes[errorIdx] = result;
+    errorIdx++;
+  }
+}
+
+void cfdp::DestHandler::setMsgQueue(MessageQueueIF& queue) { fp.msgQueue = &queue; }
+
+void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
+  fp.eventReporter = &reporter;
+}
+
+const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const { return dp; }
+
+StorageManagerIF* cfdp::DestHandler::getTmStore() const { return fp.tmStore; }
+StorageManagerIF* cfdp::DestHandler::getTcStore() const { return fp.tcStore; }

src/fsfw/cfdp/handler/DestHandler.h

@@ -0,0 +1,206 @@
+#ifndef FSFW_CFDP_CFDPDESTHANDLER_H
+#define FSFW_CFDP_CFDPDESTHANDLER_H
+
+#include <etl/list.h>
+#include <etl/set.h>
+
+#include <optional>
+#include <utility>
+
+#include "RemoteConfigTableIF.h"
+#include "UserBase.h"
+#include "defs.h"
+#include "fsfw/cfdp/handler/mib.h"
+#include "fsfw/cfdp/pdu/MetadataPduReader.h"
+#include "fsfw/cfdp/pdu/PduConfig.h"
+#include "fsfw/container/DynamicFIFO.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/storagemanager/storeAddress.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+
+namespace cfdp {
+
+struct PacketInfo {
+  PacketInfo(PduType type, store_address_t storeId,
+             std::optional<FileDirective> directive = std::nullopt)
+      : pduType(type), directiveType(directive), storeId(storeId) {}
+
+  PduType pduType = PduType::FILE_DATA;
+  std::optional<FileDirective> directiveType = FileDirective::INVALID_DIRECTIVE;
+  store_address_t storeId = store_address_t::invalid();
+  PacketInfo() = default;
+};
+
+template <size_t SIZE>
+using LostSegmentsList = etl::set<etl::pair<uint64_t, uint64_t>, SIZE>;
+template <size_t SIZE>
+using PacketInfoList = etl::list<PacketInfo, SIZE>;
+using LostSegmentsListBase = etl::iset<etl::pair<uint64_t, uint64_t>>;
+using PacketInfoListBase = etl::ilist<PacketInfo>;
+
+struct DestHandlerParams {
+  DestHandlerParams(LocalEntityCfg cfg, UserBase& user, RemoteConfigTableIF& remoteCfgTable,
+                    PacketInfoListBase& packetList,
+                    // TODO: This container can potentially take tons of space. For a better
+                    //       memory efficient implementation, an additional abstraction could be
+                    //       be used so users can use uint32_t as the pair type
+                    LostSegmentsListBase& lostSegmentsContainer)
+      : cfg(std::move(cfg)),
+        user(user),
+        remoteCfgTable(remoteCfgTable),
+        packetListRef(packetList),
+        lostSegmentsContainer(lostSegmentsContainer) {}
+
+  LocalEntityCfg cfg;
+  UserBase& user;
+  RemoteConfigTableIF& remoteCfgTable;
+
+  PacketInfoListBase& packetListRef;
+  LostSegmentsListBase& lostSegmentsContainer;
+  uint8_t maxTlvsInOnePdu = 10;
+  size_t maxFilenameLen = 255;
+};
+
+struct FsfwParams {
+  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
+             EventReportingProxyIF* eventReporter, StorageManagerIF& tcStore,
+             StorageManagerIF& tmStore)
+      : FsfwParams(packetDest, msgQueue, eventReporter) {
+    this->tcStore = &tcStore;
+    this->tmStore = &tmStore;
+  }
+
+  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
+             EventReportingProxyIF* eventReporter)
+      : packetDest(packetDest), msgQueue(msgQueue), eventReporter(eventReporter) {}
+  AcceptsTelemetryIF& packetDest;
+  MessageQueueIF* msgQueue;
+  EventReportingProxyIF* eventReporter = nullptr;
+  StorageManagerIF* tcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+};
+
+enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
+
+class DestHandler {
+ public:
+  enum class TransactionStep : uint8_t {
+    IDLE = 0,
+    TRANSACTION_START = 1,
+    RECEIVING_FILE_DATA_PDUS = 2,
+    SENDING_ACK_PDU = 3,
+    TRANSFER_COMPLETION = 4,
+    SENDING_FINISHED_PDU = 5
+  };
+
+  struct FsmResult {
+   public:
+    ReturnValue_t result = returnvalue::OK;
+    CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
+    TransactionStep step = TransactionStep::IDLE;
+    CfdpStates state = CfdpStates::IDLE;
+    uint32_t packetsSent = 0;
+    uint8_t errors = 0;
+    std::array<ReturnValue_t, 3> errorCodes = {};
+    void resetOfIteration() {
+      result = returnvalue::OK;
+      callStatus = CallStatus::CALL_AFTER_DELAY;
+      packetsSent = 0;
+      errors = 0;
+      errorCodes.fill(returnvalue::OK);
+    }
+  };
+  /**
+   * Will be returned if it is advisable to call the state machine operation call again
+   */
+  ReturnValue_t PARTIAL_SUCCESS = returnvalue::makeCode(0, 2);
+  ReturnValue_t FAILURE = returnvalue::makeCode(0, 3);
+  explicit DestHandler(DestHandlerParams handlerParams, FsfwParams fsfwParams);
+
+  /**
+   *
+   * @return
+   *  - @c returnvalue::OK  State machine OK for this execution cycle
+   *  - @c CALL_FSM_AGAIN   State machine should be called again.
+   */
+  const FsmResult& performStateMachine();
+  void setMsgQueue(MessageQueueIF& queue);
+  void setEventReporter(EventReportingProxyIF& reporter);
+
+  ReturnValue_t passPacket(PacketInfo packet);
+
+  ReturnValue_t initialize();
+
+  [[nodiscard]] CfdpStates getCfdpState() const;
+  [[nodiscard]] TransactionStep getTransactionStep() const;
+  [[nodiscard]] const TransactionId& getTransactionId() const;
+  [[nodiscard]] const DestHandlerParams& getDestHandlerParams() const;
+  [[nodiscard]] StorageManagerIF* getTcStore() const;
+  [[nodiscard]] StorageManagerIF* getTmStore() const;
+
+ private:
+  struct TransactionParams {
+    // Initialize char vectors with length + 1 for 0 termination
+    explicit TransactionParams(size_t maxFileNameLen)
+        : sourceName(maxFileNameLen + 1), destName(maxFileNameLen + 1) {}
+
+    void reset() {
+      pduConf = PduConfig();
+      transactionId = TransactionId();
+      std::fill(sourceName.begin(), sourceName.end(), '\0');
+      std::fill(destName.begin(), destName.end(), '\0');
+      fileSize.setFileSize(0, false);
+      conditionCode = ConditionCode::NO_ERROR;
+      deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
+      deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
+      crc = 0;
+      progress = 0;
+      remoteCfg = nullptr;
+      closureRequested = false;
+      vfsErrorCount = 0;
+      checksumType = ChecksumType::NULL_CHECKSUM;
+    }
+
+    ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
+    bool closureRequested = false;
+    uint16_t vfsErrorCount = 0;
+    std::vector<char> sourceName;
+    std::vector<char> destName;
+    cfdp::FileSize fileSize;
+    TransactionId transactionId;
+    PduConfig pduConf;
+    ConditionCode conditionCode = ConditionCode::NO_ERROR;
+    FileDeliveryCode deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
+    FileDeliveryStatus deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
+    uint32_t crc = 0;
+    uint64_t progress = 0;
+    RemoteEntityCfg* remoteCfg = nullptr;
+  };
+
+  std::vector<cfdp::Tlv> tlvVec;
+  std::vector<cfdp::Tlv> userTlvVec;
+  DestHandlerParams dp;
+  FsfwParams fp;
+  TransactionParams tp;
+  FsmResult fsmRes;
+
+  ReturnValue_t startTransaction(MetadataPduReader& reader, MetadataInfo& info);
+  ReturnValue_t handleMetadataPdu(const PacketInfo& info);
+  ReturnValue_t handleFileDataPdu(const PacketInfo& info);
+  ReturnValue_t handleEofPdu(const PacketInfo& info);
+  ReturnValue_t handleMetadataParseError(ReturnValue_t result, const uint8_t* rawData,
+                                         size_t maxSize);
+  ReturnValue_t handleTransferCompletion();
+  ReturnValue_t tryBuildingAbsoluteDestName(size_t destNameSize);
+  ReturnValue_t sendFinishedPdu();
+  ReturnValue_t noticeOfCompletion();
+  ReturnValue_t checksumVerification();
+  void fileErrorHandler(Event event, ReturnValue_t result, const char* info);
+  const FsmResult& updateFsmRes(uint8_t errors);
+  void checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx);
+  void finish();
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_CFDPDESTHANDLER_H

src/fsfw/cfdp/handler/SourceHandler.cpp

@@ -0,0 +1 @@
+#include "SourceHandler.h"

src/fsfw/cfdp/handler/SourceHandler.h

@@ -0,0 +1,6 @@
+#ifndef FSFW_CFDP_CFDPSOURCEHANDLER_H
+#define FSFW_CFDP_CFDPSOURCEHANDLER_H
+
+class SourceHandler {};
+
+#endif  // FSFW_CFDP_CFDPSOURCEHANDLER_H

src/fsfw/cfdp/handler/defs.h

@@ -5,5 +5,18 @@ namespace cfdp {
 
 enum class CfdpStates { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
 
-}
+static constexpr uint8_t SSID = SUBSYSTEM_ID::CFDP;
+
+namespace events {
+
+static constexpr Event STORE_ERROR = event::makeEvent(SSID, 0, severity::LOW);
+static constexpr Event MSG_QUEUE_ERROR = event::makeEvent(SSID, 1, severity::LOW);
+static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
+static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
+//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
+static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
+
+}  // namespace events
+
+}  // namespace cfdp
 #endif  // FSFW_CFDP_HANDLER_DEFS_H

src/fsfw/cfdp/pdu/HeaderCreator.cpp

@@ -24,8 +24,8 @@ ReturnValue_t HeaderCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
   *buffer += 1;
   **buffer = pduDataFieldLen & 0x00ff;
   *buffer += 1;
-  **buffer = segmentationCtrl << 7 | pduConf.sourceId.getWidth() << 4 | segmentMetadataFlag << 3 |
+  **buffer = segmentationCtrl << 7 | ((pduConf.sourceId.getWidth() - 1) << 4) |
-             pduConf.seqNum.getWidth();
+             segmentMetadataFlag << 3 | (pduConf.seqNum.getWidth() - 1);
   *buffer += 1;
   *size += 4;
   ReturnValue_t result = pduConf.sourceId.serialize(buffer, size, maxSize, streamEndianness);

src/fsfw/cfdp/pdu/HeaderReader.cpp

@@ -78,11 +78,11 @@ cfdp::SegmentationControl PduHeaderReader::getSegmentationControl() const {
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenEntityIds() const {
-  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte >> 4) & 0x07);
+  return static_cast<cfdp::WidthInBytes>(((pointers.fixedHeader->fourthByte >> 4) & 0b111) + 1);
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenSeqNum() const {
-  return static_cast<cfdp::WidthInBytes>(pointers.fixedHeader->fourthByte & 0x07);
+  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte & 0b111) + 1);
 }
 
 cfdp::SegmentMetadataFlag PduHeaderReader::getSegmentMetadataFlag() const {

src/fsfw/controller/ControllerBase.cpp

@@ -4,48 +4,31 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/subsystem/SubsystemBase.h"
+#include "fsfw/subsystem/helper.h"
 
-ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
+ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
-                               size_t commandQueueDepth)
     : SystemObject(setObjectId),
-      parentId(parentId),
       mode(MODE_OFF),
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
 ReturnValue_t ControllerBase::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
+  ReturnValue_t result = modeHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-
+  result = healthHelper.initialize();
-  MessageQueueId_t parentQueue = 0;
-  if (parentId != objects::NO_OBJECT) {
-    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == nullptr) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  result = healthHelper.initialize(parentQueue);
   if (result != returnvalue::OK) {
     return result;
   }
-
+  return SystemObject::initialize();
-  result = modeHelper.initialize(parentQueue);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return returnvalue::OK;
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@@ -75,7 +58,7 @@ void ControllerBase::handleQueue() {
 
 void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
   changeHK(this->mode, this->submode, false);
-  triggerEvent(CHANGING_MODE, mode, submode);
+  triggerEvent(CHANGING_MODE, mode_, submode_);
   mode = mode_;
   submode = submode_;
   modeHelper.modeChanged(mode, submode);
@@ -118,3 +101,13 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
+
+const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& ControllerBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}

src/fsfw/controller/ControllerBase.h

@@ -6,6 +6,9 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/modes/ModeHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+#include "fsfw/subsystem/ModeTreeChildIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -18,13 +21,18 @@
 class ControllerBase : public HasModesIF,
                        public HasHealthIF,
                        public ExecutableObjectIF,
+                       public ModeTreeChildIF,
+                       public ModeTreeConnectionIF,
                        public SystemObject {
  public:
   static const Mode_t MODE_NORMAL = 2;
 
-  ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
+  ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
 
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /** SystemObject override */
   ReturnValue_t initialize() override;
 
@@ -38,6 +46,8 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t performOperation(uint8_t opCode) override;
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
 
  protected:
   /**
@@ -56,8 +66,6 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override = 0;
 
-  const object_id_t parentId;
-
   Mode_t mode;
 
   Submode_t submode;

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -1,8 +1,7 @@
 #include "fsfw/controller/ExtendedControllerBase.h"
 
-ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth)
-                                               size_t commandQueueDepth)
+    : ControllerBase(objectId, commandQueueDepth),
-    : ControllerBase(objectId, parentId, commandQueueDepth),
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 

src/fsfw/controller/ExtendedControllerBase.h

@@ -17,7 +17,7 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasActionsIF,
                                public HasLocalDataPoolIF {
  public:
-  ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
+  ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth = 3);
   ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -70,8 +70,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(uint8_t nonDiagInvlFactor) {
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation() {
-  setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
   return initializeHousekeepingPoolEntriesOnce();
 }
 
@@ -506,9 +505,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
       float newCollIntvl = 0;
       HousekeepingMessage::getCollectionIntervalModificationCommand(message, &newCollIntvl);
       if (command == HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
-        result = changeCollectionInterval(sid, newCollIntvl, true);
+        result = changeCollectionInterval(sid, newCollIntvl);
       } else {
-        result = changeCollectionInterval(sid, newCollIntvl, false);
+        result = changeCollectionInterval(sid, newCollIntvl);
       }
       break;
     }
@@ -570,6 +569,10 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != returnvalue::OK) {
+    if (result == WRONG_HK_PACKET_TYPE) {
+      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
+                          WRONG_HK_PACKET_TYPE);
+    }
     HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
   } else {
     HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@@ -657,10 +660,6 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(HousekeepingPacke
   return hkPacket.serialize(&dataPtr, serializedSize, maxSize, SerializeIF::Endianness::MACHINE);
 }
 
-void LocalDataPoolManager::setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor) {
-  this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
-}
-
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   sid_t sid = receiver.dataId.sid;
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
@@ -714,15 +713,15 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
 
   if ((LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and enable) or
       (not LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and not enable)) {
-    return REPORTING_STATUS_UNCHANGED;
+    return returnvalue::OK;
   }
 
   LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enable);
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float newCollectionInterval,
+ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
-                                                             bool isDiagnostics) {
+                                                             float newCollectionInterval) {
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",
@@ -730,11 +729,6 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float ne
     return DATASET_NOT_FOUND;
   }
 
-  bool targetIsDiagnostics = LocalPoolDataSetAttorney::isDiagnostics(*dataSet);
-  if ((targetIsDiagnostics and not isDiagnostics) or (not targetIsDiagnostics and isDiagnostics)) {
-    return WRONG_HK_PACKET_TYPE;
-  }
-
   PeriodicHousekeepingHelper* periodicHelper =
       LocalPoolDataSetAttorney::getPeriodicHelper(*dataSet);
 
@@ -825,6 +819,8 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
       errorPrint = "Dataset not found";
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
+    } else if (error == WRONG_HK_PACKET_TYPE) {
+      errorPrint = "Wrong Packet Type";
     } else if (error == returnvalue::FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -102,7 +102,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * @param nonDiagInvlFactor
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
+  ReturnValue_t initializeAfterTaskCreation();
 
   /**
    * @brief   This should be called in the periodic handler of the owner.
@@ -152,17 +152,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
 
-  /**
-   * Non-Diagnostics packets usually have a lower minimum sampling frequency
-   * than diagnostic packets.
-   * A factor can be specified to determine the minimum sampling frequency
-   * for non-diagnostic packets. The minimum sampling frequency of the
-   * diagnostics packets,which is usually jusst the period of the
-   * performOperation calls, is multiplied with that factor.
-   * @param factor
-   */
-  void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
-
   /**
    * @brief   The manager is also able to handle housekeeping messages.
    * @details
@@ -185,6 +174,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   ReturnValue_t generateHousekeepingPacket(sid_t sid, LocalPoolDataSetBase* dataSet,
                                            bool forDownlink,
                                            MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
+  ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval);
 
   HasLocalDataPoolIF* getOwner();
 
@@ -348,8 +338,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
 
   void performPeriodicHkGeneration(HkReceiver& hkReceiver);
   ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
-  ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
-                                         bool isDiagnostics);
   ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
 
   void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -250,9 +250,8 @@ void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
 bool LocalPoolDataSetBase::getReportingEnabled() const { return reportingEnabled; }
 
 void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
-                                                    dur_millis_t minimumPeriodicInterval,
+                                                    dur_millis_t minimumPeriodicInterval) {
-                                                    uint8_t nonDiagIntervalFactor) {
+  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval);
-  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
 }
 
 void LocalPoolDataSetBase::setChanged(bool changed) { this->changed = changed; }

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

@@ -162,6 +162,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
   object_id_t getCreatorObjectId();
 
   bool getReportingEnabled() const;
+  void setReportingEnabled(bool enabled);
 
   /**
    * Returns the current periodic HK generation interval this set
@@ -189,10 +190,8 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    * Used for periodic generation.
    */
   bool reportingEnabled = false;
-  void setReportingEnabled(bool enabled);
 
-  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval);
-                                uint8_t nonDiagIntervalFactor = 5);
 
   /**
    * If the valid state of a dataset is always relevant to the whole

src/fsfw/datapoollocal/internal/LocalPoolDataSetAttorney.h

@@ -12,10 +12,8 @@ class LocalPoolDataSetAttorney {
   static bool isDiagnostics(LocalPoolDataSetBase& set) { return set.isDiagnostics(); }
 
   static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
-                                       uint32_t minimumPeriodicIntervalMs,
+                                       uint32_t minimumPeriodicIntervalMs) {
-                                       uint8_t nonDiagIntervalFactor = 5) {
+    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs);
-    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
-                                 nonDiagIntervalFactor);
   }
 
   static void setReportingEnabled(LocalPoolDataSetBase& set, bool enabled) {

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/devicehandlers/AssemblyBase.h"
 
-AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth)
+AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
-    : SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
+    : SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
       internalState(STATE_NONE),
       recoveryState(RECOVERY_IDLE),
       recoveringDevice(childrenMap.end()),
@@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() {
 
 void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   doStartTransition(mode, submode);
-  if (modeHelper.isForced()) {
+  triggerModeHelperEvents(mode, submode);
-    triggerEvent(FORCING_MODE, mode, submode);
-  } else {
-    triggerEvent(CHANGING_MODE, mode, submode);
-  }
 }
 
 void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() {
   }
   HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
   if (healthState == HasHealthIF::NEEDS_RECOVERY) {
-    triggerEvent(TRYING_RECOVERY);
+    triggerEvent(TRYING_RECOVERY, iter->first, 0);
     recoveryState = RECOVERY_STARTED;
     recoveringDevice = iter;
+    // The user needs to take care of commanding the children off in commandChildren
     doStartTransition(targetMode, targetSubmode);
   } else {
     triggerEvent(CHILD_CHANGED_HEALTH);
@@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
 bool AssemblyBase::checkAndHandleRecovery() {
   switch (recoveryState) {
     case RECOVERY_STARTED:
+      // The recovery was already start in #handleChildrenChangedHealth and we just need
+      // to wait for an off time period.
+      // TODO: make time period configurable
       recoveryState = RECOVERY_WAIT;
       recoveryOffTimer.resetTimer();
       return true;
@@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
   modeHelper.setForced(true);
   sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
 }
+
+void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
+  if (modeHelper.isForced()) {
+    triggerEvent(FORCING_MODE, mode, submode);
+  } else {
+    triggerEvent(CHANGING_MODE, mode, submode);
+  }
+}

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,7 +12,8 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices.
+ * otherwise be needed for the handling of redundant devices. However, it can also be used to
+ * manage the mode keeping and recovery of non-redundant devices
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -26,11 +27,9 @@
  *
  * Important:
  *
- * The implementation must call registerChild(object_id_t child)
+ * The implementation must call #registerChild for all commanded children during initialization.
- * for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
- *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -42,14 +41,15 @@ class AssemblyBase : public SubsystemBase {
   static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
 
-  AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
+  AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
   virtual ~AssemblyBase();
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination
+   * Command children to reach [mode,submode] combination. Can be done by setting
-   * Can be done by setting #commandsOutstanding correctly,
+   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * or using executeTable()
+   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
+   * a recovery might be on-going and the device needs to be commanded to off first.
    * @param mode
    * @param submode
    * @return
@@ -120,8 +120,19 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  virtual void performChildOperation();
+  /**
+   * @brief Default periodic handler
+   * @details
+   * This is the default periodic handler which will be called by the SubsystemBase
+   * performOperation. It performs the child transitions or reacts to changed health/mode states
+   * of children objects
+   */
+  virtual void performChildOperation() override;
 
+  /**
+   * This function handles changed mode or health states of children
+   * @return
+   */
   bool handleChildrenChanged();
 
   /**
@@ -134,12 +145,37 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
+  /**
+   * Core transition handler. The default implementation will only do something if
+   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
+   * from the #doPerformTransition call were executed successfully.
+   *
+   * Unless a second step was requested, the function will then use #checkChildrenState to
+   * determine whether the target mode was reached.
+   *
+   * There is some special handling for certain (internal) modes:
+   *  - A second step is necessary. #commandChildren will be performed again
+   *  - The device health was overwritten. #commandChildren will be called
+   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
+   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
+  /**
+   * Calls #doStartTransition and triggers an informative event as well that the mode will
+   * change
+   * @param mode
+   * @param submode
+   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
+  /**
+   * This function starts the transition by setting the internal #targetSubmode and #targetMode
+   * variables and then calling the #commandChildren function.
+   * @param mode
+   * @param submode
+   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -160,7 +196,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  bool checkAndHandleRecovery();
+  virtual bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -168,6 +204,8 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
+
+  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/ChildHandlerBase.cpp

@@ -3,17 +3,12 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-                                   CookieIF* cookie, object_id_t hkDestination,
+                                   CookieIF* cookie, HasModeTreeChildrenIF& parent,
-                                   uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+                                   FailureIsolationBase* customFdir, size_t cmdQueueSize)
-                                   object_id_t parent, FailureIsolationBase* customFdir,
-                                   size_t cmdQueueSize)
     : DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
                         (customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
-      parentId(parent),
+      parent(parent),
-      childHandlerFdir(setObjectId) {
+      childHandlerFdir(setObjectId) {}
-  this->setHkDestination(hkDestination);
-  this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
-}
 
 ChildHandlerBase::~ChildHandlerBase() {}
 
@@ -23,21 +18,5 @@ ReturnValue_t ChildHandlerBase::initialize() {
     return result;
   }
 
-  MessageQueueId_t parentQueue = 0;
+  return DeviceHandlerBase::connectModeTreeParent(parent);
-
-  if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == NULL) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  healthHelper.setParentQueue(parentQueue);
-
-  modeHelper.setParentQueue(parentQueue);
-
-  return returnvalue::OK;
 }

src/fsfw/devicehandlers/ChildHandlerBase.h

@@ -1,22 +1,23 @@
 #ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 #define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
+#include <fsfw/subsystem/HasModeTreeChildrenIF.h>
+
 #include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
 
 class ChildHandlerBase : public DeviceHandlerBase {
  public:
   ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie,
-                   object_id_t hkDestination, uint32_t thermalStatePoolId,
+                   HasModeTreeChildrenIF& parent, FailureIsolationBase* customFdir = nullptr,
-                   uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
+                   size_t cmdQueueSize = 20);
-                   FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 
   virtual ~ChildHandlerBase();
 
   virtual ReturnValue_t initialize();
 
  protected:
-  const uint32_t parentId;
+  HasModeTreeChildrenIF& parent;
   ChildHandlerFDIR childHandlerFdir;
 };
 

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -49,6 +49,7 @@ class DeviceCommunicationIF {
   // is this needed if there is no open/close call?
   static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
+  static constexpr ReturnValue_t BUSY = MAKE_RETURN_CODE(0x07);
 
   virtual ~DeviceCommunicationIF() {}
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,4 +1,4 @@
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "DeviceHandlerBase.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
@@ -13,6 +13,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
+#include "fsfw/subsystem/helper.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -23,8 +24,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
                                      CookieIF* comCookie, FailureIsolationBase* fdirInstance,
                                      size_t cmdQueueSize)
     : SystemObject(setObjectId),
-      mode(MODE_OFF),
-      submode(SUBMODE_NONE),
       wiretappingMode(OFF),
       storedRawData(StorageManagerIF::INVALID_ADDRESS),
       deviceCommunicationId(deviceCommunication),
@@ -39,10 +38,13 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       defaultFDIRUsed(fdirInstance == nullptr),
       switchOffWasReported(false),
       childTransitionDelay(5000),
+      mode(MODE_OFF),
+      submode(SUBMODE_NONE),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -50,21 +52,13 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", returnvalue::FAILED,
                         "Invalid cookie");
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
-  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
   this->hkDestination = hkDestination;
 }
 
-void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId,
+void DeviceHandlerBase::enableThermalModule(ThermalStateCfg cfg) { this->thermalStateCfg = cfg; }
-                                                      lp_id_t heaterRequestPoolId,
-                                                      uint32_t thermalSetId) {
-  thermalSet =
-      new DeviceHandlerThermalSet(this, thermalSetId, thermalStatePoolId, heaterRequestPoolId);
-}
 
 DeviceHandlerBase::~DeviceHandlerBase() {
   if (comCookie != nullptr) {
@@ -130,6 +124,10 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance =
+        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
+  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -224,12 +222,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   fillCommandAndReplyMap();
 
   if (thermalSet != nullptr) {
+    PoolReadGuard pg(thermalSet);
     // Set temperature target state to NON_OP.
-    result = thermalSet->read();
+    if (pg.getReadResult() == returnvalue::OK) {
-    if (result == returnvalue::OK) {
       thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       thermalSet->heaterRequest.setValid(true);
-      thermalSet->commit();
     }
   }
 
@@ -353,7 +350,6 @@ void DeviceHandlerBase::doStateMachine() {
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(_MODE_POWER_DOWN);
-        callChildStatemachine();
         break;
       }
       ReturnValue_t switchState = getStateOfSwitches();
@@ -367,13 +363,12 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
-
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -381,7 +376,7 @@ void DeviceHandlerBase::doStateMachine() {
       }
       ReturnValue_t switchState = getStateOfSwitches();
       if ((switchState == PowerSwitchIF::SWITCH_OFF) || (switchState == NO_SWITCH)) {
-        setMode(_MODE_SWITCH_IS_OFF);
+        setMode(MODE_OFF, SUBMODE_NONE);
       }
     } break;
     case MODE_OFF:
@@ -394,9 +389,6 @@ void DeviceHandlerBase::doStateMachine() {
     case MODE_NORMAL:
     case MODE_ERROR_ON:
       break;
-    case _MODE_SWITCH_IS_OFF:
-      setMode(MODE_OFF, SUBMODE_NONE);
-      break;
     default:
       triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
       setMode(_MODE_POWER_DOWN, 0);
@@ -568,25 +560,40 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 }
 
 void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
-  /* TODO: This will probably be done by the LocalDataPoolManager now */
+  /**
-  // changeHK(mode, submode, false);
+   * handle transition from OFF to NORMAL by continuing towards normal when ON is reached
+   */
+  if (newMode == MODE_ON and continueToNormal) {
+    continueToNormal = false;
+    // TODO: Check whether the following two lines are okay to do so.
+    transitionSourceMode = MODE_ON;
+    transitionSourceSubMode = newSubmode;
+    mode = _MODE_TO_NORMAL;
+    return;
+  }
+
   submode = newSubmode;
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
+  if (newMode == MODE_OFF) {
+    disableCommandsAndReplies();
+  }
   if (!isTransitionalMode()) {
+    // clear this flag when a non-transitional Mode is reached to be safe
+    continueToNormal = false;
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
   Clock::getUptime(&timeoutStart);
 
   if (mode == MODE_OFF and thermalSet != nullptr) {
-    ReturnValue_t result = thermalSet->read();
+    PoolReadGuard pg(thermalSet);
-    if (result == returnvalue::OK) {
+    if (pg.getReadResult() == returnvalue::OK) {
       if (thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) {
         thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       }
-      thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
+      thermalSet->heaterRequest.setValid(true);
     }
   }
   /* TODO: This will probably be done by the LocalDataPoolManager now */
@@ -1059,8 +1066,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
   return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
 }
 
-// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
+// SHOULDDO: throw away DHB and write a new one:
-// way, throw away DHB and write a new one:
 //  - Include power and thermal completely, but more modular :-)
 //  - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
 //  - Modularization?
@@ -1072,13 +1078,12 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
   if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
     return TRANS_NOT_ALLOWED;
   }
-  if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
-    return TRANS_NOT_ALLOWED;
-  }
 
-  if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
+  // Do not check thermal state for MODE_RAW
-    ReturnValue_t result = thermalSet->read();
+  if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
-    if (result == returnvalue::OK) {
+      (thermalSet != nullptr)) {
+    PoolReadGuard pg(thermalSet);
+    if (pg.getReadResult() == returnvalue::OK) {
       if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
           (not ThermalComponentIF::isOperational(thermalSet->thermalState.value))) {
         triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE, thermalSet->thermalState.value);
@@ -1091,6 +1096,7 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
 }
 
 void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
+  continueToNormal = false;
   switch (commandedMode) {
     case MODE_ON:
       handleTransitionToOnMode(commandedMode, commandedSubmode);
@@ -1120,8 +1126,9 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
     case MODE_NORMAL:
       if (mode != MODE_OFF) {
         setTransition(MODE_NORMAL, commandedSubmode);
-      } else {
+      } else {  // mode is off
-        replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
+        continueToNormal = true;
+        handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
       }
       break;
   }
@@ -1137,11 +1144,10 @@ void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode, Submode_t
     childTransitionDelay = getTransitionDelayMs(_MODE_START_UP, MODE_ON);
     triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
     if (thermalSet != nullptr) {
-      ReturnValue_t result = thermalSet->read();
+      PoolReadGuard pg(thermalSet);
-      if (result == returnvalue::OK) {
+      if (pg.getReadResult() == returnvalue::OK) {
         if (thermalSet->heaterRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
           thermalSet->heaterRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
-          thermalSet->commit();
         }
       }
     }
@@ -1279,6 +1285,7 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
   if (iter->second.command != deviceCommandMap.end()) {
     MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
+    // This may fail, but we'll ignore the fault.
     if (queueId != NO_COMMANDER) {
       // This may fail, but we'll ignore the fault.
       actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
@@ -1457,15 +1464,17 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
+Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
+
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  if (thermalSet != nullptr) {
+  if (thermalStateCfg.has_value()) {
-    localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
+    localDataPoolMap.emplace(thermalStateCfg.value().thermalStatePoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
+                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>());
-    localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
+    localDataPoolMap.emplace(thermalStateCfg.value().thermalRequestPoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
+                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>());
   }
   return returnvalue::OK;
 }
@@ -1478,8 +1487,12 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   }
   this->poolManager.initializeAfterTaskCreation();
 
+  if (thermalStateCfg.has_value()) {
+    ThermalStateCfg& cfg = thermalStateCfg.value();
+    thermalSet = new DeviceHandlerThermalSet(this, cfg);
+  }
   if (setStartupImmediately) {
-    startTransition(MODE_ON, SUBMODE_NONE);
+    startTransition(MODE_ON, getInitialSubmode());
   }
   return returnvalue::OK;
 }
@@ -1566,3 +1579,52 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
+
+void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
+
+void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
+  this->powerSwitcher = switcher;
+}
+
+Mode_t DeviceHandlerBase::getMode() { return mode; }
+
+Submode_t DeviceHandlerBase::getSubmode() { return submode; }
+
+void DeviceHandlerBase::disableCommandsAndReplies() {
+  for (auto& command : deviceCommandMap) {
+    if (command.second.isExecuting) {
+      command.second.isExecuting = false;
+    }
+  }
+  for (auto& reply : deviceReplyMap) {
+    if (!reply.second.periodic) {
+      if (reply.second.countdown != nullptr) {
+        reply.second.countdown->timeOut();
+      } else {
+        reply.second.delayCycles = 0;
+      }
+      reply.second.active = false;
+    }
+  }
+}
+
+ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}
+
+const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
+                                              ReturnValue_t result) {
+  auto commandIter = deviceCommandMap.find(action);
+  if (commandIter == deviceCommandMap.end()) {
+    return MessageQueueIF::NO_QUEUE;
+  }
+  commandIter->second.isExecuting = false;
+  actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
+  return returnvalue::OK;
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -2,6 +2,7 @@
 #define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include <map>
+#include <optional>
 
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
@@ -21,6 +22,7 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -83,6 +85,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                           public HasModesIF,
                           public HasHealthIF,
                           public HasActionsIF,
+                          public ModeTreeChildIF,
+                          public ModeTreeConnectionIF,
                           public ReceivesParameterMessagesIF,
                           public HasLocalDataPoolIF {
   friend void(Factory::setStaticFrameworkObjectIds)();
@@ -102,6 +106,51 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
+  void setCustomFdir(FailureIsolationBase *fdir);
+  void setPowerSwitcher(PowerSwitchIF *switcher);
+
+  /**
+   * extending the modes of DeviceHandler IF for internal state machine
+   */
+  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
+  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+  //! This is a transitional state which can not be commanded. The device
+  //! handler performs all commands to get the device in a state ready to
+  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
+  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+  //! This is a transitional state which can not be commanded.
+  //! The device handler performs all actions and commands to get the device
+  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
+  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+  //! transition if available.
+  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+  //! It is possible to set the mode to _MODE_TO_ON to use the to on
+  //! transition if available.
+  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+  //! transition if available.
+  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+  //! transition if available.
+  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+  //! This is a transitional state which can not be commanded.
+  //! The device is shut down and ready to be switched off.
+  //! After the command to set the switch off has been sent,
+  //! the mode changes to @c _MODE_WAIT_OFF
+  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+  //! This is a transitional state which can not be commanded. The device
+  //! will be switched on in this state. After the command to set the switch
+  //! on has been sent, the mode changes to @c _MODE_WAIT_ON.
+  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and the handler waits for it to be off.
+  //! When the switch is off, the mode changes to @c MODE_OFF.
+  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+  //! This is a transitional state which can not be commanded. The switch
+  //! has been commanded on and the handler waits for it to be on.
+  //! When the switch is on, the mode changes to @c _MODE_TO_ON.
+  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -110,13 +159,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * The device handler will then take care of creating local pool entries
    * for the device thermal state and device heating request.
    * Custom local pool IDs can be assigned as well.
-   * @param thermalStatePoolId
-   * @param thermalRequestPoolId
    */
-  void setThermalStateRequestPoolIds(
+  void enableThermalModule(ThermalStateCfg cfg);
-      lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+
-      lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-      uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /**
    * @brief   Helper function to ease device handler development.
    * This will instruct the transition to MODE_ON immediately
@@ -162,7 +210,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return returnvalue::OK for successful execution
    */
-  virtual ReturnValue_t performOperation(uint8_t counter) override;
+  ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -172,14 +220,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
    *          This function will be called by the executing task.
    * @return
    */
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
   /** Destructor. */
   virtual ~DeviceHandlerBase();
@@ -196,6 +244,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual object_id_t getObjectId() const override;
 
   /**
+   * This is a helper method for classes which are parent nodes in the mode tree.
+   * It registers the passed queue as the destination for mode and health messages.
    * @param parentQueueId
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
@@ -207,8 +257,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
   virtual void getMode(Mode_t *mode, Submode_t *submode);
-  HealthState getHealth();
+  virtual HealthState getHealth() override;
-  ReturnValue_t setHealth(HealthState health);
+  virtual ReturnValue_t setHealth(HealthState health) override;
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
                                      const ParameterWrapper *newValues,
@@ -395,6 +445,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
   MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
+  ReturnValue_t finishAction(bool success, DeviceCommandId_t action, ReturnValue_t result);
+
   /**
    * Helper function to get pending command. This is useful for devices
    * like SPI sensors to identify the last sent command.
@@ -655,6 +707,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
+  /**
+   * @brief Can be overwritten by a child to specify the initial submode when device has been set
+   *        to startup immediately.
+   */
+  virtual Submode_t getInitialSubmode();
+
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -684,15 +742,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   size_t rawPacketLen = 0;
 
   /**
-   * The mode the device handler is currently in.
+   * Get the current mode
-   * This should never be changed directly but only with setMode()
+   *
+   * set via setMode()
    */
-  Mode_t mode;
+  Mode_t getMode();
+
   /**
-   * The submode the device handler is currently in.
+   * Get the current Submode
-   * This should never be changed directly but only with setMode()
+   *
+   * set via setMode()
    */
-  Submode_t submode;
+  Submode_t getSubmode();
 
   /** This is the counter value from performOperation(). */
   uint8_t pstStep = 0;
@@ -773,11 +834,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * This is used to keep track of pending replies.
    */
   struct DeviceReplyInfo {
+    //! For Command-Reply combinations:
     //! The maximum number of cycles the handler should wait for a reply
     //! to this command.
+    //!
+    //! Reply Only:
+    //! For periodic replies, this variable will be the number of delay cycles between the replies.
+    //! For the non-periodic variant, this variable is not used as there is no meaningful
+    //! definition for delay
     uint16_t maxDelayCycles;
-    //! The currently remaining cycles the handler should wait for a reply,
+    //! This variable will be set to #maxDelayCycles if a reply is expected.
-    //! 0 means there is no reply expected
+    //! For non-periodic replies without a command, this variable is unused.
+    //! A runtime value of 0 means there is no reply is currently expected.
     uint16_t delayCycles;
     size_t replyLen = 0;  //!< Expected size of the reply.
     //! if this is !=0, the delayCycles will not be reset to 0 but to
@@ -833,6 +901,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
+  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -853,6 +922,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   //! Object which may be the root cause of an identified fault.
   static object_id_t defaultFdirParentId;
 
+  std::optional<ThermalStateCfg> thermalStateCfg;
+
   /**
    * @brief   Send a reply to a received device handler command.
    *
@@ -873,8 +944,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
    *
    * If the transition is complete, the mode should be set to the target mode,
-   * which can be deduced from the current mode which is
+   * which can be deduced from the current mode (which is
-   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
+   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
    *
    * The intended target submode is already set.
    * The origin submode can be read in subModeFrom.
@@ -941,6 +1012,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   LocalDataPoolManager *getHkManagerHandle() override;
 
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
+
   /**
    * Returns the delay cycle count of a reply.
    * A count != 0 indicates that the command is already executed.
@@ -1120,6 +1194,22 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t doSendReadHook();
 
+  /**
+   * Send a RMAP getRead command.
+   *
+   * The size of the getRead command is #maxDeviceReplyLen.
+   * This is always executed, independently from the current mode.
+   */
+  virtual void doSendRead(void);
+  /**
+   * Check the getRead reply and the contained data.
+   *
+   * If data was received scanForReply() and, if successful, handleReply()
+   * are called. If the current mode is @c MODE_RAW, the received packet
+   * is sent to the commanding object via commandQueue.
+   */
+  virtual void doGetRead();
+
  private:
   /**
    * State a cookie is in.
@@ -1170,6 +1260,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   uint32_t childTransitionDelay;
 
+  /**
+   * The mode the device handler is currently in.
+   * This should not be changed directly but only with setMode()
+   */
+  Mode_t mode;
+
+  /**
+   * The submode the device handler is currently in.
+   * This should not be changed directly but only with setMode()
+   */
+  Submode_t submode;
+
   /**
    * @brief   The mode the current transition originated from
    *
@@ -1187,6 +1289,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   Submode_t transitionSourceSubMode;
 
+  /**
+   * used to make the state machine continue from ON to NOMAL when
+   * a Device is commanded to NORMAL in OFF mode
+   *
+   * set in startTransition()
+   * evaluated in setMode() to continue to NORMAL when ON is reached
+   */
+  bool continueToNormal;
+
   /**
    * read the command queue
    */
@@ -1255,21 +1366,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * - if the action was successful, the reply timout counter is initialized
    */
   void doGetWrite(void);
-  /**
-   * Send a RMAP getRead command.
-   *
-   * The size of the getRead command is #maxDeviceReplyLen.
-   * This is always executed, independently from the current mode.
-   */
-  void doSendRead(void);
-  /**
-   * Check the getRead reply and the contained data.
-   *
-   * If data was received scanForReply() and, if successful, handleReply()
-   * are called. If the current mode is @c MODE_RAW, the received packet
-   * is sent to the commanding object via commandQueue.
-   */
-  void doGetRead(void);
 
   /**
    * @brief Resets replies which use a timeout to detect missed replies.
@@ -1323,6 +1419,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = returnvalue::FAILED,
                            const char *errorPrint = nullptr);
+
+  /**
+   * @brief Disables all commands and replies when device is set to MODE_OFF
+   */
+  void disableCommandsAndReplies();
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -10,8 +10,9 @@
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent)
+DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
-    : FailureIsolationBase(owner, parent),
+                                                             uint8_t eventQueueDepth)
+    : FailureIsolationBase(owner, parent, eventQueueDepth),
       strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES, DEFAULT_STRANGE_REPLIES_TIME_MS,
                         parameterDomainBase++),
       missedReplyCount(DEFAULT_MAX_MISSED_REPLY_COUNT, DEFAULT_MISSED_REPLY_TIME_MS,
@@ -29,6 +30,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
     case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       handleRecovery(event->getEvent());

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.h

@@ -13,7 +13,8 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
   friend class Heater;
 
  public:
-  DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent);
+  DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
+                                uint8_t eventQueueDepth = 10);
   ~DeviceHandlerFailureIsolation();
   ReturnValue_t initialize();
   void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -24,9 +24,6 @@ class DeviceHandlerIF {
   static const DeviceCommandId_t RAW_COMMAND_ID = -1;
   static const DeviceCommandId_t NO_COMMAND_ID = -2;
 
-  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
-  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
-
   using dh_heater_request_t = uint8_t;
   using dh_thermal_state_t = int8_t;
 
@@ -54,47 +51,6 @@ class DeviceHandlerIF {
   //! device still is powered. In this mode, only a mode change to @c MODE_OFF
   //! can be commanded, which tries to switch off the device again.
   static const Mode_t MODE_ERROR_ON = 4;
-  //! This is a transitional state which can not be commanded. The device
-  //! handler performs all commands to get the device in a state ready to
-  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
-  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
-  //! This is a transitional state which can not be commanded.
-  //! The device handler performs all actions and commands to get the device
-  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
-  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-  //! transition if available.
-  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
-  //! It is possible to set the mode to _MODE_TO_ON to use the to on
-  //! transition if available.
-  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
-  //! transition if available.
-  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
-  //! transition if available.
-  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-  //! This is a transitional state which can not be commanded.
-  //! The device is shut down and ready to be switched off.
-  //! After the command to set the switch off has been sent,
-  //! the mode changes to @c MODE_WAIT_OFF
-  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
-  //! This is a transitional state which can not be commanded. The device
-  //! will be switched on in this state. After the command to set the switch
-  //! on has been sent, the mode changes to @c MODE_WAIT_ON.
-  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and the handler waits for it to be off.
-  //! When the switch is off, the mode changes to @c MODE_OFF.
-  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
-  //! This is a transitional state which can not be commanded. The switch
-  //! has been commanded on and the handler waits for it to be on.
-  //! When the switch is on, the mode changes to @c MODE_TO_ON.
-  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and is off now. This state is only to do an RMAP
-  //! cycle once more where the doSendRead() function will set the mode to
-  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
-  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
   static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
@@ -109,6 +65,7 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
+  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
@@ -179,4 +136,10 @@ class DeviceHandlerIF {
   virtual MessageQueueId_t getCommandQueue() const = 0;
 };
 
+struct ThermalStateCfg {
+  lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID;
+  lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID;
+  uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID;
+};
+
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

src/fsfw/devicehandlers/DeviceHandlerThermalSet.h

@@ -7,27 +7,21 @@
 
 class DeviceHandlerThermalSet : public StaticLocalDataSet<2> {
  public:
-  DeviceHandlerThermalSet(
+  DeviceHandlerThermalSet(HasLocalDataPoolIF* hkOwner, ThermalStateCfg cfg)
-      HasLocalDataPoolIF* hkOwner, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+      : DeviceHandlerThermalSet(hkOwner->getObjectId(), cfg) {}
-      lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
-      lp_id_t heaterRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
-      : DeviceHandlerThermalSet(hkOwner->getObjectId(), setId, thermalStateId, heaterRequestId) {}
 
-  DeviceHandlerThermalSet(
+  DeviceHandlerThermalSet(object_id_t deviceHandler, ThermalStateCfg cfg)
-      object_id_t deviceHandler, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+      : StaticLocalDataSet(sid_t(deviceHandler, cfg.thermalSetId)),
-      lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+        thermalStatePoolId(cfg.thermalStatePoolId),
-      lp_id_t thermalStateRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
+        heaterRequestPoolId(cfg.thermalRequestPoolId) {}
-      : StaticLocalDataSet(sid_t(deviceHandler, setId)),
-        thermalStatePoolId(thermalStateId),
-        heaterRequestPoolId(thermalStateRequestId) {}
 
   const lp_id_t thermalStatePoolId;
   const lp_id_t heaterRequestPoolId;
 
   lp_var_t<DeviceHandlerIF::dh_thermal_state_t> thermalState =
-      lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(thermalStatePoolId, sid.objectId, this);
+      lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(sid.objectId, thermalStatePoolId, this);
   lp_var_t<DeviceHandlerIF::dh_heater_request_t> heaterRequest =
-      lp_var_t<DeviceHandlerIF::dh_heater_request_t>(heaterRequestPoolId, sid.objectId, this);
+      lp_var_t<DeviceHandlerIF::dh_heater_request_t>(sid.objectId, heaterRequestPoolId, this);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_ */

src/fsfw/devicehandlers/DeviceTmReportingWrapper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 #define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 
-#include "../action/HasActionsIF.h"
+#include "fsfw/action/HasActionsIF.h"
-#include "../objectmanager/SystemObjectIF.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "../serialize/SerializeIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 
 class DeviceTmReportingWrapper : public SerializeIF {
  public:

src/fsfw/devicehandlers/HealthDevice.cpp

@@ -8,7 +8,9 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(3);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
@@ -27,11 +29,10 @@ ReturnValue_t HealthDevice::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (parentQueue != 0) {
+  if (parentQueue != MessageQueueIF::NO_QUEUE) {
     return healthHelper.initialize(parentQueue);
-  } else {
-    return healthHelper.initialize();
   }
+  return healthHelper.initialize();
 }
 
 MessageQueueId_t HealthDevice::getCommandQueue() const { return commandQueue->getId(); }

src/fsfw/devicehandlers/HealthDevice.h

@@ -29,10 +29,8 @@ class HealthDevice : public SystemObject, public ExecutableObjectIF, public HasH
  protected:
   HealthState lastHealth;
 
-  MessageQueueId_t parentQueue;
+  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
   MessageQueueIF* commandQueue;
-
- public:
   HealthHelper healthHelper;
 };
 

src/fsfw/events/EventManager.cpp

@@ -15,11 +15,12 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
     {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS, sizeof(EventIdRangeMatcher)},
     {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS, sizeof(ReporterRangeMatcher)}};
 
-EventManager::EventManager(object_id_t setObjectId)
+EventManager::EventManager(object_id_t setObjectId, uint32_t eventQueueDepth)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-                                                                  EventMessage::EVENT_MESSAGE_SIZE);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(
+      eventQueueDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 EventManager::~EventManager() {
@@ -47,9 +48,21 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+  for (auto& listener : listenerList) {
-    if (iter->second.match(message)) {
+    if (listener.second.match(message)) {
-      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
+      ReturnValue_t result =
+          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
+      if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
+                   << std::setw(8) << listener.first << " for event 0x" << std::setw(4)
+                   << message->getEventId() << " failed with result 0x" << std::setw(4) << result
+                   << std::setfill(' ') << std::endl;
+#else
+        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
+                        listener.first, result);
+#endif
+      }
     }
   }
   unlockMutex();
@@ -200,4 +213,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
+void EventManager::printListeners() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
+  for (auto& listener : listenerList) {
+    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
+  }
+  sif::info << std::dec << std::setfill(' ');
+#else
+  sif::printInfo("Event manager listener MQ IDs:\n");
+  for (auto& listener : listenerList) {
+    sif::printInfo("0x%08x\n", listener.first);
+  }
+#endif
+}
+
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -21,9 +21,9 @@ extern const char* translateEvents(Event event);
 
 class EventManager : public EventManagerIF, public ExecutableObjectIF, public SystemObject {
  public:
-  static const uint16_t MAX_EVENTS_PER_CYCLE = 80;
+  static const uint16_t DEFAULT_MAX_EVENTS_PER_CYCLE = 80;
 
-  EventManager(object_id_t setObjectId);
+  EventManager(object_id_t setObjectId, uint32_t eventQueueDepth);
   virtual ~EventManager();
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
@@ -44,6 +44,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
+  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -9,8 +9,9 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  eventQueue =
+  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -62,10 +63,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid." << std::endl;
+                 << "invalid" << std::endl;
-#endif
+      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+#else
-      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
+      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
+      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return returnvalue::FAILED;

src/fsfw/fdir/FailureIsolationBase.h

@@ -12,13 +12,12 @@
 class FailureIsolationBase : public ConfirmsFailuresIF, public HasParametersIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  static const Event FDIR_CHANGED_STATE =
+  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
+  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
-                                      //!< (oldState) to par1 (newState).
+  //! FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
-      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
+  //! FDIR turns off device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
-      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.
 
   FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                        uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);

src/fsfw/fdir/FaultCounter.cpp

@@ -68,7 +68,7 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
       parameterWrapper->set(faultCount);
       break;
     case ParameterIds::TIMEOUT:
-      parameterWrapper->set(timer.timeout);
+      parameterWrapper->set(timer.getTimeoutMs());
       break;
     default:
       return INVALID_IDENTIFIER_ID;

src/fsfw/filesystem/HasFileSystemIF.h

@@ -40,6 +40,7 @@ class HasFileSystemIF {
   //! [EXPORT] : P1: Can be file system specific error code
   static constexpr ReturnValue_t GENERIC_FILE_ERROR = MAKE_RETURN_CODE(0);
   static constexpr ReturnValue_t GENERIC_DIR_ERROR = MAKE_RETURN_CODE(1);
+  static constexpr ReturnValue_t FILESYSTEM_INACTIVE = MAKE_RETURN_CODE(2);
   static constexpr ReturnValue_t GENERIC_RENAME_ERROR = MAKE_RETURN_CODE(3);
 
   //! [EXPORT] : File system is currently busy
@@ -73,6 +74,12 @@ class HasFileSystemIF {
     return MessageQueueIF::NO_QUEUE;
   }
 
+  // Get the base filename without the full directory path
+  virtual ReturnValue_t getBaseFilename(FilesystemParams params, char* nameBuf, size_t maxLen,
+                                        size_t& baseNameLen) = 0;
+
+  virtual bool isDirectory(const char* path) = 0;
+
   virtual bool fileExists(FilesystemParams params) = 0;
 
   /**

src/fsfw/globalfunctions/DleParser.cpp

@@ -63,8 +63,7 @@ ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
         size_t decodedLen = 0;
         size_t dummy = 0;
 
-        result =
+        result = decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
-            decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
                                 decodedBuf.first, decodedBuf.second, &decodedLen);
         if (result == returnvalue::OK) {
           ctx.setType(ContextType::PACKET_FOUND);

src/fsfw/globalfunctions/DleParser.h

@@ -18,8 +18,11 @@
  */
 class DleParser {
  public:
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
+
   using BufPair = std::pair<uint8_t*, size_t>;
 
   enum class ContextType { NONE, PACKET_FOUND, ERROR };

src/fsfw/globalfunctions/math/VectorOperations.h

@@ -53,8 +53,9 @@ class VectorOperations {
     mulScalar(vector, 1 / norm(vector, size), normalizedVector, size);
   }
 
-  static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = 0) {
+  static T maxAbsValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
-    T max = -1;
+    T max = vector[size - 1];
+    uint8_t foundIndex = size - 1;
 
     for (; size > 0; size--) {
       T abs = vector[size - 1];
@@ -64,24 +65,35 @@ class VectorOperations {
       if (abs > max) {
         max = abs;
         if (index != 0) {
-          *index = size - 1;
+          foundIndex = size - 1;
         }
       }
     }
+
+    if (index != nullptr) {
+      *index = foundIndex;
+    }
+
     return max;
   }
 
-  static T maxValue(const T *vector, uint8_t size, uint8_t *index = 0) {
+  static T maxValue(const T *vector, uint8_t size, uint8_t *index = nullptr) {
-    T max = -1;
+    T max = vector[size - 1];
+    uint8_t foundIndex = size - 1;
 
     for (; size > 0; size--) {
       if (vector[size - 1] > max) {
         max = vector[size - 1];
         if (index != 0) {
-          *index = size - 1;
+          foundIndex = size - 1;
         }
       }
     }
+
+    if (index != nullptr) {
+      *index = foundIndex;
+    }
+
     return max;
   }
 

src/fsfw/housekeeping/PeriodicHousekeepingHelper.cpp

@@ -8,10 +8,8 @@ PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* own
     : owner(owner) {}
 
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
-                                            dur_millis_t minimumPeriodicInterval,
+                                            dur_millis_t minimumPeriodicInterval) {
-                                            uint8_t nonDiagIntervalFactor) {
   this->minimumPeriodicInterval = minimumPeriodicInterval;
-  this->nonDiagIntervalFactor = nonDiagIntervalFactor;
   collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
   /* This will cause a checkOpNecessary call to be true immediately. I think it's okay
       if a HK packet is generated immediately instead of waiting one generation cycle. */
@@ -36,42 +34,17 @@ uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
   if (owner == nullptr) {
     return 0;
   }
-  bool isDiagnostics = owner->isDiagnostics();
 
   /* Avoid division by zero */
   if (minimumPeriodicInterval == 0) {
-    if (isDiagnostics) {
     /* Perform operation each cycle */
     return 1;
-    } else {
+
-      return nonDiagIntervalFactor;
-    }
   } else {
     dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
     uint32_t divisor = minimumPeriodicInterval;
-    if (not isDiagnostics) {
-      /* We need to multiply the divisor because non-diagnostics only
-      allow a multiple of the minimum periodic interval */
-      divisor *= nonDiagIntervalFactor;
-    }
     uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
-    if (not isDiagnostics) {
-      /* Now we need to multiply the calculated ticks with the factor as as well
-      because the minimum tick count to generate a non-diagnostic is the factor itself.
 
-      Example calculation for non-diagnostic with
-      0.4 second interval and 0.2 second task interval.
-      Resultant tick count of 5 is equal to operation each second.
-
-      Examle calculation for non-diagnostic with  2.0 second interval and 0.2 second
-      task interval.
-      Resultant tick count of 10 is equal to operatin every 2 seconds.
-
-      Example calculation for diagnostic with 0.4 second interval and 0.3
-      second task interval. Resulting tick count of 2 is equal to operation
-      every 0.6 seconds. */
-      ticks *= nonDiagIntervalFactor;
-    }
     return ticks;
   }
 }

src/fsfw/housekeeping/PeriodicHousekeepingHelper.h

@@ -11,8 +11,7 @@ class PeriodicHousekeepingHelper {
  public:
   PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
 
-  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval);
-                  uint8_t nonDiagIntervalFactor);
 
   void changeCollectionInterval(float newInterval);
   float getCollectionIntervalInSeconds() const;
@@ -20,7 +19,6 @@ class PeriodicHousekeepingHelper {
 
  private:
   LocalPoolDataSetBase* owner = nullptr;
-  uint8_t nonDiagIntervalFactor = 0;
 
   uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
   float intervalTicksToSeconds(uint32_t collectionInterval) const;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -5,13 +5,19 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
+InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
+                                             bool enableSetByDefault, float generationFrequency)
     : SystemObject(setObjectId),
       poolManager(this, commandQueue),
+      enableSetByDefault(enableSetByDefault),
+      generationFrequency(generationFrequency),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
   commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   mutex = MutexFactory::instance()->createMutex();
+  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 InternalErrorReporter::~InternalErrorReporter() {
@@ -39,15 +45,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured!" << std::endl;
+                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+                 << newStoreHits << std::endl;
-      sif::debug << "TM errors: " << newTmHits << std::endl;
-      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug(
-      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+          "| %lu\n",
-      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
+          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
+          static_cast<unsigned int>(newStoreHits));
 #endif
     }
   }
@@ -132,9 +137,8 @@ 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.subscribeForRegularPeriodicPacket(
-      internalErrorSid, false,
+      subdp::RegularHkPeriodicParams(internalErrorSid, enableSetByDefault, generationFrequency));
-      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
   internalErrorDataset.setValidity(true, true);
   return returnvalue::OK;
 }

src/fsfw/internalerror/InternalErrorReporter.h

@@ -21,7 +21,8 @@ class InternalErrorReporter : public SystemObject,
                               public InternalErrorReporterIF,
                               public HasLocalDataPoolIF {
  public:
-  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth = 5);
+  InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth,
+                        bool enableSetByDefault, float generationFrequency);
 
   /**
    * Enable diagnostic printout. Please note that this feature will
@@ -63,6 +64,8 @@ class InternalErrorReporter : public SystemObject,
   MutexIF* mutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  bool enableSetByDefault;
+  float generationFrequency;
 
   sid_t internalErrorSid;
   InternalErrorDataset internalErrorDataset;

src/fsfw/ipc/CommandMessageIF.h

@@ -34,7 +34,7 @@ class CommandMessageIF {
   static const Command_t CMD_NONE = MAKE_COMMAND_ID(0);
   static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID(1);
   //! Reply indicating that the current command was rejected,
-  //! par1 should contain the error code
+  //! Parameter 1 should contain the error code
   static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2);
 
   virtual ~CommandMessageIF(){};

src/fsfw/ipc/MutexGuard.h

@@ -7,14 +7,17 @@
 class MutexGuard {
  public:
   MutexGuard(MutexIF* mutex, MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::BLOCKING,
-             uint32_t timeoutMs = 0)
+             uint32_t timeoutMs = 0, const char* context = nullptr)
       : internalMutex(mutex) {
+    if (context == nullptr) {
+      context = "unknown";
+    }
     if (mutex == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "MutexGuard: Passed mutex is invalid!" << std::endl;
+      sif::error << "MutexGuard::" << context << ": Passed mutex is invalid!" << std::endl;
 #else
-      sif::printError("MutexGuard: Passed mutex is invalid!\n");
+      sif::printError("MutexGuard::%s: Passed mutex is invalid!\n", context);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
       return;
@@ -23,11 +26,11 @@ class MutexGuard {
 #if FSFW_VERBOSE_LEVEL >= 1
     if (result == MutexIF::MUTEX_TIMEOUT) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "MutexGuard: Lock of mutex failed with timeout of " << timeoutMs
+      sif::error << "MutexGuard::" << context << ": Lock of mutex failed with timeout of "
-                 << " milliseconds!" << std::endl;
+                 << timeoutMs << " milliseconds!" << std::endl;
 #else
-      sif::printError("MutexGuard: Lock of mutex failed with timeout of %lu milliseconds\n",
+      sif::printError("MutexGuard::%s: Lock of mutex failed with timeout of %lu milliseconds\n",
-                      timeoutMs);
+                      context, timeoutMs);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
     } else if (result != returnvalue::OK) {

src/fsfw/modes/HasModesIF.h

@@ -19,32 +19,33 @@ class HasModesIF {
   static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  static const Event CHANGING_MODE =
+  //! An object announces changing the mode. p1: target mode. p2: target submode
-      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
+  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
-                                      //!< p2: target submode
+  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
-  static const Event MODE_INFO = MAKE_EVENT(
+  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
-      1,
-      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
   static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
   static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
   static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  static const Event OBJECT_IN_INVALID_MODE =
+  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
-      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
+  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
-                                     //!< mode it should never be in.
+  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
-  static const Event FORCING_MODE = MAKE_EVENT(
+  //! p1: target mode. p2: target submode
-      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
+  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
-                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
-  static const Event MODE_CMD_REJECTED =
+  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
-      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
-                                     //!< called object id, Par2: return code.
 
-  static const Mode_t MODE_ON =
+  //! The device is powered and ready to perform operations. In this mode, no commands are
-      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
+  //! sent by the device handler itself, but direct commands van be commanded and will be
-          //!< sent by the device handler itself, but direct commands van be commanded and will be
+  //! interpreted
-          //!< interpreted
+  static constexpr Mode_t MODE_ON = 1;
-  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
+  //! The device is powered off. The only command accepted in this mode is a mode change to on.
-                                     //!< this mode is a mode change to on.
+  static constexpr Mode_t MODE_OFF = 0;
-  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".
+
+  static constexpr Mode_t MODE_INVALID = -1;
+  static constexpr Mode_t MODE_UNDEFINED = -2;
+
+  //! To avoid checks against magic number "0".
+  static const Submode_t SUBMODE_NONE = 0;
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/modes/ModeMessage.h

@@ -1,43 +1,42 @@
 #ifndef FSFW_MODES_MODEMESSAGE_H_
 #define FSFW_MODES_MODEMESSAGE_H_
 
-#include "../ipc/CommandMessage.h"
+#include "fsfw/ipc/CommandMessage.h"
 
 typedef uint32_t Mode_t;
 typedef uint8_t Submode_t;
 
 class ModeMessage {
- private:
-  ModeMessage();
-
  public:
   static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
-  static const Command_t CMD_MODE_COMMAND =
+  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
-      MAKE_COMMAND_ID(0x01);  //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
   //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
   //! as this will break the subsystem mode machine!!
-  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
+  static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);
-      0xF1);  //!> Command to set the specified Mode, regardless of external control flag, replies
+  //!> Command to set the specified Mode, regardless of external control flag, replies
   //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
   //! replies, as this will break the subsystem mode machine!!
-  static const Command_t REPLY_MODE_REPLY =
+  static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);
-      MAKE_COMMAND_ID(0x02);  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+  //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
-  static const Command_t REPLY_MODE_INFO =
+  static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);
-      MAKE_COMMAND_ID(0x03);  //!> Unrequested info about the current mode (used for composites to
+  //!> Unrequested info about the current mode (used for composites to
   //! inform their container of a changed mode)
-  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
+  static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);
-      0x04);  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
+  //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
-  static const Command_t REPLY_WRONG_MODE_REPLY =
+  static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04);
-      MAKE_COMMAND_ID(0x05);  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
+  //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
   //! and a transition started but was aborted; the parameters contain
   //! the mode that was reached
-  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
+  static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);
-      0x06);  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
+  //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
-  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
+  static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);
-      0x07);  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
+  //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
-  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
+  static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);
-      MAKE_COMMAND_ID(0x08);  //!> Command to trigger an ModeInfo Event and to send this command to
+  //!> Command to trigger an ModeInfo Event and to send this command to
   //! every child. This command does NOT have a reply.
+  static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
+
+  ModeMessage() = delete;
 
   static Mode_t getMode(const CommandMessage* message);
   static Submode_t getSubmode(const CommandMessage* message);

src/fsfw/objectmanager/ObjectManager.cpp

@@ -117,7 +117,9 @@ void ObjectManager::initialize() {
                     "initialize with code 0x"
                  << result << std::dec << std::setfill(' ') << std::endl;
 #else
-     sif::printError("ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var, result);
+      sif::printError(
+          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
+          result);
 #endif
       errorCount++;
     }

src/fsfw/objectmanager/frameworkObjects.h

@@ -15,6 +15,7 @@ enum framework_objects : object_id_t {
   PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
   PUS_SERVICE_9_TIME_MGMT = 0x53000009,
   PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
+  PUS_SERVICE_15_TM_STORAGE = 0x53000015,
   PUS_SERVICE_17_TEST = 0x53000017,
   PUS_SERVICE_20_PARAMETERS = 0x53000020,
   PUS_SERVICE_200_MODE_MGMT = 0x53000200,

src/fsfw/osal/common/TcpIpBase.cpp

@@ -41,6 +41,7 @@ int TcpIpBase::closeSocket(socket_t socket) {
 #elif defined(PLATFORM_UNIX)
   return close(socket);
 #endif
+  return -1;
 }
 
 int TcpIpBase::getLastSocketError() {
@@ -49,4 +50,5 @@ int TcpIpBase::getLastSocketError() {
 #elif defined(PLATFORM_UNIX)
   return errno;
 #endif
+  return 0;
 }

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -16,9 +16,9 @@
 
 #endif
 
-TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
+TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             object_id_t tcStoreId)
+                             uint32_t msgQueueDepth, object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
+    : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
   mutex = MutexFactory::instance()->createMutex();
   // Connection is always up, TM is requested by connecting to server and receiving packets
   registerCommConnect();

src/fsfw/osal/common/TcpTmTcBridge.h

@@ -38,7 +38,7 @@ class TcpTmTcBridge : public TmTcBridge {
    * @param tmStoreId TM store object ID. It is recommended to the default object ID
    * @param tcStoreId TC store object ID. It is recommended to the default object ID
    */
-  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+  TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
                 object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
   virtual ~TcpTmTcBridge();

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -283,6 +283,8 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
     ConstStorageAccessor storeAccessor(storeId);
     ReturnValue_t result = tmStore->getData(storeId, storeAccessor);
     if (result != returnvalue::OK) {
+      // Invalid entry, pop FIFO
+      tmtcBridge->tmFifo->pop();
       return result;
     }
     if (wiretappingEnabled) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -79,6 +79,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     bool reusePort = false;
   };
+
   enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -20,9 +20,9 @@
 const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-                             const std::string &udpServerPort_, object_id_t tmStoreId,
+                             uint32_t msgQueueDepth, const std::string &udpServerPort_,
-                             object_id_t tcStoreId)
+                             object_id_t tmStoreId, object_id_t tcStoreId)
-    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
+    : TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
   if (udpServerPort_.empty()) {
     udpServerPort = DEFAULT_SERVER_PORT;
   } else {
@@ -126,10 +126,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
     tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
   }
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent
+  sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were sent" << std::endl;
-             << " bytes were"
-                " sent."
-             << std::endl;
 #endif
   return returnvalue::OK;
 }

src/fsfw/osal/common/UdpTmTcBridge.h

@@ -29,7 +29,7 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
   /* The ports chosen here should not be used by any other process. */
   static const std::string DEFAULT_SERVER_PORT;
 
-  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+  UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, uint32_t msgQueueDepth,
                 const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
                 object_id_t tcStoreId = objects::TC_STORE);
   ~UdpTmTcBridge() override;

src/fsfw/osal/freertos/Clock.cpp

@@ -44,6 +44,11 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::getClockMonotonic(timeval* time) {
+  // TODO: I don't actually know if the timekeeper is monotonic..
+  return getClock_timeval(time);
+}
+
 ReturnValue_t Clock::getUptime(timeval* uptime) {
   *uptime = getUptime();
 

src/fsfw/osal/freertos/TaskFactory.cpp

@@ -10,9 +10,10 @@ TaskFactory::~TaskFactory() {}
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
-    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod period_,
+                                                TaskStackSize stackSize_, TaskPeriod period_,
-    TaskDeadlineMissedFunction deadLineMissedFunction_) {
+                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                                void* args) {
   return dynamic_cast<PeriodicTaskIF*>(
       new PeriodicTask(name_, taskPriority_, stackSize_, period_, deadLineMissedFunction_));
 }
@@ -22,7 +23,7 @@ PeriodicTaskIF* TaskFactory::createPeriodicTask(
  */
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod period_,
-    TaskDeadlineMissedFunction deadLineMissedFunction_) {
+    TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
   return dynamic_cast<FixedTimeslotTaskIF*>(
       new FixedTimeslotTask(name_, taskPriority_, stackSize_, period_, deadLineMissedFunction_));
 }

src/fsfw/osal/host/Clock.cpp

@@ -47,7 +47,32 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock_timeval(timeval* time) {
+ReturnValue_t Clock::getClockMonotonic(timeval* time) {
+#if defined(PLATFORM_WIN)
+  // TODO: Implement with std::chrono::steady_clock.. or in some other way. I am not even sure
+  // whether this is possible with steady_clock. The conversion we have to do here just to be
+  // generic is kind of awkward..
+  return returnvalue::FAILED;
+#elif defined(PLATFORM_UNIX)
+  timespec timeMonotonic;
+  int status = clock_gettime(CLOCK_MONOTONIC_RAW, &timeMonotonic);
+  if (status != 0) {
+    return returnvalue::FAILED;
+  }
+  time->tv_sec = timeMonotonic.tv_sec;
+  time->tv_usec = timeMonotonic.tv_nsec / 1000.0;
+  return returnvalue::OK;
+#else
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Clock::getUptime: Not implemented for found OS!" << std::endl;
+#else
+  sif::printWarning("Clock::getUptime: Not implemented for found OS!\n");
+#endif
+  return returnvalue::FAILED;
+#endif
+}
+
+ReturnValue_t Clock::getClock(timeval* time) {
 #if defined(PLATFORM_WIN)
   auto now = std::chrono::system_clock::now();
   auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
@@ -75,6 +100,8 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 #endif
 }
 
+ReturnValue_t Clock::getClock_timeval(timeval* time) { return Clock::getClock(time); }
+
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   if (time == nullptr) {
     return returnvalue::FAILED;

src/fsfw/osal/host/TaskFactory.cpp

@@ -20,16 +20,18 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
-    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
+                                                TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+                                                TaskPeriod periodInSeconds_,
+                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                                void* args) {
   return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                           deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }

src/fsfw/osal/linux/Clock.cpp

@@ -42,7 +42,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock_timeval(timeval* time) {
+ReturnValue_t Clock::getClock(timeval* time) {
   timespec timeUnix{};
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
@@ -53,6 +53,8 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::getClock_timeval(timeval* time) { return Clock::getClock(time); }
+
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   timeval timeVal{};
   ReturnValue_t result = getClock_timeval(&timeVal);
@@ -64,6 +66,17 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
   return returnvalue::OK;
 }
 
+ReturnValue_t Clock::getClockMonotonic(timeval* time) {
+  timespec timeMonotonic{};
+  int status = clock_gettime(CLOCK_MONOTONIC_RAW, &timeMonotonic);
+  if (status != 0) {
+    return returnvalue::FAILED;
+  }
+  time->tv_sec = timeMonotonic.tv_sec;
+  time->tv_usec = timeMonotonic.tv_nsec / 1000.0;
+  return returnvalue::OK;
+}
+
 timeval Clock::getUptime() {
   timeval uptime{};
   auto result = getUptime(&uptime);

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -7,10 +7,15 @@
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
+                                     PosixThreadArgs* args)
     : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
-      posixThread(name_, priority_, stackSize_),
+      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
-      started(false) {}
+      started(false) {
+  if (args != nullptr) {
+    posixThread.setSchedPolicy(args->policy);
+  }
+}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -23,7 +23,8 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
    * @param deadlineMissedFunc_
    */
   FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
+                    PosixThreadArgs* args);
   ~FixedTimeslotTask() override = default;
 
   ReturnValue_t startTask() override;

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -4,10 +4,15 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_,
+                                     PosixThreadArgs* args)
     : PeriodicTaskBase(period_, dlmFunc_),
-      posixThread(name_, priority_, stackSize_),
+      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
-      started(false) {}
+      started(false) {
+  if (args != nullptr) {
+    posixThread.setSchedPolicy(args->policy);
+  }
+}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -24,7 +24,7 @@ class PeriodicPosixTask : public PeriodicTaskBase {
    * @param deadlineMissedFunc_
    */
   PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
-                    TaskDeadlineMissedFunction dlmFunc_);
+                    TaskDeadlineMissedFunction dlmFunc_, PosixThreadArgs* args);
   ~PeriodicPosixTask() override = default;
 
   /**

src/fsfw/osal/linux/PosixThread.cpp

@@ -7,8 +7,9 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_)
+PosixThread::PosixThread(const char* name_, SchedulingPolicy schedPolciy, int priority_,
-    : thread(0), priority(priority_), stackSize(stackSize_) {
+                         size_t stackSize_)
+    : thread(0), schedPolicy(schedPolciy), priority(priority_), stackSize(stackSize_) {
   name[0] = '\0';
   std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
@@ -178,20 +179,30 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 #ifndef FSFW_USE_REALTIME_FOR_LINUX
 #error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
 #endif
+  if (schedPolicy == SchedulingPolicy::RR) {
+    // RR -> This needs root privileges for the process
 #if FSFW_USE_REALTIME_FOR_LINUX == 1
-  // FIFO -> This needs root privileges for the process
+    status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
-  status = pthread_attr_setschedpolicy(&attributes, SCHED_FIFO);
     if (status != 0) {
       utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
     }
-
     sched_param scheduleParams;
-  scheduleParams.__sched_priority = priority;
+    scheduleParams.sched_priority = priority;
     status = pthread_attr_setschedparam(&attributes, &scheduleParams);
     if (status != 0) {
-    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-  }
+      sif::warning << "PosixThread: Setting priority failed" << std::endl;
 #endif
+    }
+#else
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning
+        << "Real time priorities are only allowed if FSFW_USE_REALTIME_FOR_LINUX is set to 1"
+        << std::endl;
+#endif
+#endif
+  }
+
   // Set Signal Mask for suspend until startTask is called
   sigset_t waitSignal;
   sigemptyset(&waitSignal);
@@ -243,3 +254,5 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
     utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
   }
 }
+
+void PosixThread::setSchedPolicy(SchedulingPolicy policy) { this->schedPolicy = policy; }

src/fsfw/osal/linux/PosixThread.h

@@ -9,10 +9,15 @@
 
 #include "../../returnvalues/returnvalue.h"
 
+enum SchedulingPolicy { REGULAR, RR };
+struct PosixThreadArgs {
+  SchedulingPolicy policy = SchedulingPolicy::REGULAR;
+};
+
 class PosixThread {
  public:
   static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
-  PosixThread(const char* name_, int priority_, size_t stackSize_);
+  PosixThread(const char* name_, SchedulingPolicy schedPolicy, int priority_, size_t stackSize_);
   virtual ~PosixThread();
   /**
    * Set the Thread to sleep state
@@ -20,6 +25,9 @@ class PosixThread {
    * @return Returns Failed if sleep fails
    */
   static ReturnValue_t sleep(uint64_t ns);
+
+  void setSchedPolicy(SchedulingPolicy policy);
+
   /**
    * @brief Function to suspend the task until SIGUSR1 was received
    *
@@ -72,6 +80,7 @@ class PosixThread {
 
  private:
   char name[PTHREAD_MAX_NAMELEN];
+  SchedulingPolicy schedPolicy;
   int priority;
   size_t stackSize = 0;
 

src/fsfw/osal/linux/TaskFactory.cpp

@@ -12,18 +12,20 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
-    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
+                                                TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+                                                TaskPeriod periodInSeconds_,
+                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                                void* args) {
   return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_);
+                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_);
+                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/parameters/HasParametersIF.h

@@ -66,7 +66,8 @@ class HasParametersIF {
    * @param newValues
    * @param startAtIndex Linear index, runs left to right, top to bottom for
    * matrix indexes.
-   * @return
+   * @return returnvalue::OK if parameter is valid and a set function of the parameter wrapper was
+   * called.
    */
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                                      ParameterWrapper *parameterWrapper,

src/fsfw/parameters/ParameterWrapper.cpp

@@ -211,9 +211,13 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (data == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or "
+                    "data pointer not set"
+                 << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
+    sif::printWarning(
+        "ParameterWrapper::copyFrom: Called on read-only variable "
+        "or data pointer not set\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return READONLY;
@@ -222,9 +226,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (from->readonlyData == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Source not set\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return SOURCE_NOT_SET;
@@ -233,9 +237,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (type != from->type) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return DATATYPE_MISSMATCH;
@@ -245,9 +249,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
   if (rows == 0 or columns == 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     return COLUMN_OR_ROWS_ZERO;

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -6,7 +6,11 @@ DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwit
     : SystemObject(objectId, registerGlobally),
       switcherList(numberOfSwitches),
       fuseList(numberOfFuses),
-      switchDelayMs(switchDelayMs) {}
+      switchDelayMs(switchDelayMs) {
+  for (auto &switchState : switcherList) {
+    switchState = PowerSwitchIF::SWITCH_UNKNOWN;
+  }
+}
 
 void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
   this->switcherList = switcherList;

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -2,6 +2,7 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/subsystem/helper.h>
 
 PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
                                                power::Switch_t pwrSwitch)
@@ -28,6 +29,9 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
       continue;
     }
   }
+  if (getHealth() == FAULTY) {
+    performFaultyOperation();
+  }
   if (switcher.active()) {
     switcher.doStateMachine();
     auto currState = switcher.getState();
@@ -105,3 +109,17 @@ void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
 }
 
 HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }
+
+const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this; }
+
+const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
+
+ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}
+
+object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
+
+ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }
+
+void PowerSwitcherComponent::performFaultyOperation() {}

src/fsfw/power/PowerSwitcherComponent.h

@@ -1,5 +1,4 @@
-#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
+#pragma once
-#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
 
 #include <fsfw/health/HasHealthIF.h>
 #include <fsfw/health/HealthHelper.h>
@@ -8,6 +7,8 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitcher.h>
 #include <fsfw/power/definitions.h>
+#include <fsfw/subsystem/ModeTreeChildIF.h>
+#include <fsfw/subsystem/ModeTreeConnectionIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
 class PowerSwitchIF;
@@ -24,17 +25,24 @@ class PowerSwitchIF;
  */
 class PowerSwitcherComponent : public SystemObject,
                                public ExecutableObjectIF,
+                               public ModeTreeChildIF,
+                               public ModeTreeConnectionIF,
                                public HasModesIF,
                                public HasHealthIF {
  public:
   PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
                          power::Switch_t pwrSwitch);
 
- private:
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  MessageQueueIF *queue = nullptr;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
+ protected:
   PowerSwitcher switcher;
 
-  Mode_t mode = MODE_OFF;
+ private:
+  MessageQueueIF *queue = nullptr;
+
+  Mode_t mode = MODE_UNDEFINED;
   Submode_t submode = 0;
 
   ModeHelper modeHelper;
@@ -42,20 +50,23 @@ class PowerSwitcherComponent : public SystemObject,
 
   void setMode(Mode_t newMode, Submode_t newSubmode);
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
   ReturnValue_t initialize() override;
 
-  MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
   void getMode(Mode_t *mode, Submode_t *submode) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
+  virtual void performFaultyOperation();
   void setToExternalControl() override;
   void announceMode(bool recursive) override;
 
   ReturnValue_t setHealth(HealthState health) override;
   HasHealthIF::HealthState getHealth() override;
-};
 
-#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */
+  [[nodiscard]] object_id_t getObjectId() const override;
+  [[nodiscard]] const HasHealthIF *getOptHealthIF() const override;
+  [[nodiscard]] const HasModesIF &getModeIF() const override;
+};

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -79,7 +79,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
   // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
   // does not work in this case as we are deleting the current element here.
   for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
-    if (it->first <= tNow.tv_sec) {
+    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
       if (schedulingEnabled) {
         // release tc
         TmTcMessage releaseMsg(it->second.storeAddr);
@@ -160,7 +160,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   // (See requirement for Time margin)
   timeval tNow = {};
   Clock::getClock_timeval(&tNow);
-  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
+  if (timestamp < static_cast<uint32_t>(tNow.tv_sec + RELEASE_TIME_MARGIN_SECONDS)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
                     "current time"

src/fsfw/pus/Service17Test.cpp

@@ -1,5 +1,7 @@
 #include "fsfw/pus/Service17Test.h"
 
+#include <fsfw/serialize/SerializeElement.h>
+
 #include "fsfw/FSFW.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -31,6 +33,15 @@ ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
       }
       return tmHelper.storeAndSendTmPacket();
     }
+    case Subservice::PING_WITH_DATA: {
+      SerializeElement<uint32_t> receivedDataLen = currentPacket.getUserDataLen();
+      ReturnValue_t result =
+          tmHelper.prepareTmPacket(Subservice::PING_WITH_DATA_REPORT_WITH_SIZE, receivedDataLen);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      return tmHelper.storeAndSendTmPacket();
+    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }

src/fsfw/pus/Service17Test.h

@@ -32,6 +32,9 @@ class Service17Test : public PusServiceBase {
     CONNECTION_TEST_REPORT = 2,
     //!  [EXPORT] : [COMMAND] Trigger test reply and test event
     EVENT_TRIGGER_TEST = 128,
+    PING_WITH_DATA = 129,
+    //! [EXPORT] : [COMMAND] Report which reports the sent user data size
+    PING_WITH_DATA_REPORT_WITH_SIZE = 130
   };
 
   explicit Service17Test(PsbParams params);

src/fsfw/pus/Service3Housekeeping.cpp

@@ -4,9 +4,10 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/pus/servicepackets/Service3Packets.h"
 
-Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId)
+Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
+                                           uint32_t queueDepth, uint8_t numParallelCommands)
-                            COMMAND_TIMEOUT_SECONDS) {}
+    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, numParallelCommands,
+                            COMMAND_TIMEOUT_SECONDS, queueDepth) {}
 
 Service3Housekeeping::~Service3Housekeeping() {}
 
@@ -208,17 +209,17 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
       ReturnValue_t error = returnvalue::FAILED;
       HousekeepingMessage::getHkRequestFailureReply(reply, &error);
       failureParameter2 = error;
-      return CommandingServiceBase::EXECUTION_COMPLETE;
+      return returnvalue::FAILED;
     }
 
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << "!" << std::endl;
+                   << "reply command " << command << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu!\n",
+          "reply command %hu\n",
           command);
 #endif
       return CommandingServiceBase::INVALID_REPLY;
@@ -248,19 +249,28 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
     case (HousekeepingMessage::HK_REQUEST_FAILURE): {
       break;
     }
+    case (CommandMessage::REPLY_REJECTED): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
+                      "rejected with error code"
+                   << reply->getParameter() << std::endl;
+#else
+#endif
+      break;
+    }
 
     default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
                       "command "
-                   << command << "!" << std::endl;
+                   << command << "" << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu!\n",
+          "reply command %hu\n",
           command);
 #endif
-      return;
+      break;
     }
   }
 
@@ -275,6 +285,7 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
         "Could not generate reply!\n");
 #endif
   }
+  CommandingServiceBase::handleUnrequestedReply(reply);
 }
 
 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }

src/fsfw/pus/Service3Housekeeping.h

@@ -28,7 +28,8 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
   static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
   static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
 
-  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId);
+  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId, uint32_t queueDepth,
+                       uint8_t numParallelCommands);
   virtual ~Service3Housekeeping();
 
  protected:

src/fsfw/pus/Service5EventReporting.cpp

@@ -13,8 +13,10 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
       storeHelper(params.apid),
       tmHelper(params.serviceId, storeHelper, sendHelper),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
+  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
   psbParams.name = "PUS 5 Event Reporting";
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 Service5EventReporting::~Service5EventReporting() {
@@ -38,9 +40,6 @@ ReturnValue_t Service5EventReporting::performService() {
       }
     }
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
-#endif
   return returnvalue::OK;
 }
 

src/fsfw/pus/Service5EventReporting.h

@@ -42,7 +42,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10,
-                         uint32_t messageQueueDepth = 10);
+                         uint32_t messageQueueDepth = 20);
   ~Service5EventReporting() override;
 
   /***

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -9,11 +9,11 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uint16_t apid,
-                                                       uint8_t serviceId,
+                                                       uint8_t serviceId, size_t queueDepth,
                                                        uint8_t numParallelCommands,
                                                        uint16_t commandTimeoutSeconds)
     : CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
-                            numParallelCommands, commandTimeoutSeconds) {}
+                            numParallelCommands, commandTimeoutSeconds, queueDepth) {}
 
 Service8FunctionManagement::~Service8FunctionManagement() {}
 

src/fsfw/pus/Service8FunctionManagement.h

@@ -31,7 +31,8 @@
 class Service8FunctionManagement : public CommandingServiceBase {
  public:
   Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                             uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
+                             size_t queueDepth, uint8_t numParallelCommands = 4,
+                             uint16_t commandTimeoutSeconds = 60);
   ~Service8FunctionManagement() override;
 
  protected:

src/fsfw/pus/servicepackets/Service200Packets.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 #define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 
-#include "../../modes/ModeMessage.h"
+#include "fsfw/modes/ModeMessage.h"
-#include "../../serialize/SerialLinkedListAdapter.h"
+#include "fsfw/serialize/SerialLinkedListAdapter.h"
-#include "../../serialize/SerializeIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 
 /**
  * @brief Subservice 1, 2, 3, 4, 5

src/fsfw/storagemanager/PoolManager.cpp

@@ -3,14 +3,14 @@
 #include "fsfw/FSFW.h"
 
 PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPoolConfig)
-    : LocalPool(setObjectId, localPoolConfig, true) {
+    : LocalPool(setObjectId, localPoolConfig, true, true) {
   mutex = MutexFactory::instance()->createMutex();
 }
 
 PoolManager::~PoolManager() { MutexFactory::instance()->deleteMutex(mutex); }
 
 ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address) {
-  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs);
+  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs, LOCK_CTX);
   ReturnValue_t status = LocalPool::reserveSpace(size, address);
   return status;
 }
@@ -22,12 +22,12 @@ ReturnValue_t PoolManager::deleteData(store_address_t storeId) {
              << storeId.poolIndex << ". id is " << storeId.packetIndex << std::endl;
 #endif
 #endif
-  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs);
+  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs, LOCK_CTX);
   return LocalPool::deleteData(storeId);
 }
 
 ReturnValue_t PoolManager::deleteData(uint8_t* buffer, size_t size, store_address_t* storeId) {
-  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs, LOCK_CTX);
   ReturnValue_t status = LocalPool::deleteData(buffer, size, storeId);
   return status;
 }

src/fsfw/storagemanager/PoolManager.h

@@ -56,6 +56,7 @@ class PoolManager : public LocalPool {
  protected:
   //! Default mutex timeout value to prevent permanent blocking.
   uint32_t mutexTimeoutMs = 20;
+  static constexpr char LOCK_CTX[] = "PoolManager";
 
   ReturnValue_t reserveSpace(size_t size, store_address_t* address) override;
 

src/fsfw/subsystem/CMakeLists.txt

@@ -1,3 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp
+                                        helper.cpp)
 
 add_subdirectory(modes)

src/fsfw/subsystem/HasModeTreeChildrenIF.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
+#define FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_
+
+#include "ModeTreeChildIF.h"
+
+class HasModeTreeChildrenIF {
+ public:
+  virtual ~HasModeTreeChildrenIF() = default;
+  virtual ReturnValue_t registerChild(const ModeTreeChildIF& child) = 0;
+  virtual MessageQueueId_t getCommandQueue() const = 0;
+};
+
+#endif  // FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_

src/fsfw/subsystem/ModeTreeChildIF.h

@@ -0,0 +1,15 @@
+#ifndef FSFW_SUBSYSTEM_MODETREECHILDIF_H_
+#define FSFW_SUBSYSTEM_MODETREECHILDIF_H_
+
+#include <fsfw/health/HasHealthIF.h>
+#include <fsfw/modes/HasModesIF.h>
+
+class ModeTreeChildIF {
+ public:
+  virtual ~ModeTreeChildIF() = default;
+  virtual object_id_t getObjectId() const = 0;
+  virtual const HasHealthIF* getOptHealthIF() const = 0;
+  virtual const HasModesIF& getModeIF() const = 0;
+};
+
+#endif /* FSFW_SUBSYSTEM_MODETREECHILDIF_H_ */

src/fsfw/subsystem/ModeTreeConnectionIF.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
+#define FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_
+
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+
+class ModeTreeConnectionIF {
+ public:
+  virtual ~ModeTreeConnectionIF() = default;
+  virtual ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) = 0;
+  virtual ModeTreeChildIF& getModeTreeChildIF() = 0;
+};
+
+#endif /* FSFW_SRC_FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ */

src/fsfw/subsystem/Subsystem.cpp

@@ -9,9 +9,9 @@
 #include "fsfw/serialize/SerialLinkedListAdapter.h"
 #include "fsfw/serialize/SerializeElement.h"
 
-Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+Subsystem::Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                      uint32_t maxNumberOfTables)
-    : SubsystemBase(setObjectId, parent, 0),
+    : SubsystemBase(setObjectId, 0),
       isInTransition(false),
       childrenChangedHealth(false),
       currentTargetTable(),
@@ -36,6 +36,13 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
 
   for (; iter.value != nullptr; ++iter) {
     if (!existsModeTable(iter->getTableId())) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      using namespace std;
+      sif::warning << "Subsystem::checkSequence: "
+                   << "Object " << setfill('0') << hex << "0x" << setw(8) << getObjectId()
+                   << setw(0) << ": Mode table for mode ID "
+                   << "0x" << setw(8) << iter->getTableId() << " does not exist" << dec << endl;
+#endif
       return TABLE_DOES_NOT_EXIST;
     } else {
       ReturnValue_t result = checkTable(getTable(iter->getTableId()));

src/fsfw/subsystem/Subsystem.h

@@ -33,8 +33,12 @@ struct SequenceEntry : public TableSequenceBase {
 };
 
 /**
- * @brief   TODO: documentation missing
+ * @brief   This class extends the SubsystemBase to perform the management of mode tables
+ *          and mode sequences
  * @details
+ * This class is able to use mode tables and sequences to command all its children into the
+ * right mode. Fallback sequences can be used to handle failed transitions or have a fallback
+ * in case a component can't keep its current mode.
  */
 class Subsystem : public SubsystemBase, public HasModeSequenceIF {
  public:
@@ -62,8 +66,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    */
-  Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+  Subsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
-            uint32_t maxNumberOfTables);
   virtual ~Subsystem();
 
   ReturnValue_t addSequence(SequenceEntry sequence);

src/fsfw/subsystem/SubsystemBase.cpp

@@ -1,52 +1,27 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
+#include "fsfw/FSFW.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/subsystem/helper.h"
 
-SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode,
+SubsystemBase::SubsystemBase(object_id_t setObjectId, Mode_t initialMode,
                              uint16_t commandQueueDepth)
     : SystemObject(setObjectId),
       mode(initialMode),
-      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-                                                                CommandMessage::MAX_MESSAGE_SIZE)),
       healthHelper(this, setObjectId),
-      modeHelper(this),
+      modeHelper(this) {
-      parentId(parent) {}
+  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
 
 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
-ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
-  ChildInfo info;
-
-  HasModesIF* child = ObjectManager::instance()->get<HasModesIF>(objectId);
-  // This is a rather ugly hack to have the changedHealth info for all
-  // children available.
-  HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
-  if (child == nullptr) {
-    if (healthChild == nullptr) {
-      return CHILD_DOESNT_HAVE_MODES;
-    } else {
-      info.commandQueue = healthChild->getCommandQueue();
-      info.mode = MODE_OFF;
-    }
-  } else {
-    info.commandQueue = child->getCommandQueue();
-    info.mode = -1;  // intentional to force an initial command during system startup
-  }
-
-  info.submode = SUBMODE_NONE;
-  info.healthChanged = false;
-
-  auto resultPair = childrenMap.emplace(objectId, info);
-  if (not resultPair.second) {
-    return COULD_NOT_INSERT_CHILD;
-  }
-  return returnvalue::OK;
-}
-
 ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter,
                                                     Submode_t targetSubmode) {
+  using namespace mode;
   std::map<object_id_t, ChildInfo>::iterator childIter;
 
   for (; tableIter.value != NULL; ++tableIter) {
@@ -60,15 +35,23 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry
       return returnvalue::FAILED;
     }
 
-    Submode_t submodeToCheckAgainst = tableIter.value->getSubmode();
+    // Check submodes here.
+    uint8_t mask;
+    bool submodesAllowedMask = tableIter.value->submodesAllowed(&mask);
+    uint8_t submodeToCheckAgainst = tableIter.value->getSubmode();
     if (tableIter.value->inheritSubmode()) {
       submodeToCheckAgainst = targetSubmode;
     }
-
+    if (submodesAllowedMask) {
+      if ((childIter->second.submode | mask) != mask) {
+        return returnvalue::FAILED;
+      }
+    } else {
       if (childIter->second.submode != submodeToCheckAgainst) {
         return returnvalue::FAILED;
       }
     }
+  }
   return returnvalue::OK;
 }
 
@@ -84,7 +67,8 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     if ((iter = childrenMap.find(object)) == childrenMap.end()) {
       // illegal table entry, should only happen due to misconfigured mode table
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << std::hex << getObjectId() << ": invalid mode table entry" << std::endl;
+      sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
+                 << std::endl;
 #endif
       continue;
     }
@@ -142,6 +126,20 @@ ReturnValue_t SubsystemBase::updateChildMode(MessageQueueId_t queue, Mode_t mode
   return CHILD_NOT_FOUND;
 }
 
+ReturnValue_t SubsystemBase::updateChildModeByObjId(object_id_t objectId, Mode_t mode,
+                                                    Submode_t submode) {
+  std::map<object_id_t, ChildInfo>::iterator iter;
+
+  for (iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
+    if (iter->first == objectId) {
+      iter->second.mode = mode;
+      iter->second.submode = submode;
+      return returnvalue::OK;
+    }
+  }
+  return CHILD_NOT_FOUND;
+}
+
 ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth) {
   for (auto iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
     if (iter->second.commandQueue == queue) {
@@ -155,36 +153,15 @@ ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bo
 MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t SubsystemBase::initialize() {
-  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
+  ReturnValue_t result = modeHelper.initialize();
-  ReturnValue_t result = SystemObject::initialize();
-
   if (result != returnvalue::OK) {
     return result;
   }
-
+  result = healthHelper.initialize();
-  if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-    if (parent == nullptr) {
-      return returnvalue::FAILED;
-    }
-    parentQueue = parent->getCommandQueue();
-
-    parent->registerChild(getObjectId());
-  }
-
-  result = healthHelper.initialize(parentQueue);
-
   if (result != returnvalue::OK) {
     return result;
   }
-
+  return SystemObject::initialize();
-  result = modeHelper.initialize(parentQueue);
-
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return returnvalue::OK;
 }
 
 ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
@@ -237,8 +214,14 @@ ReturnValue_t SubsystemBase::handleModeReply(CommandMessage* message) {
 }
 
 ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter) {
-  for (; tableIter.value != NULL; ++tableIter) {
+  for (; tableIter.value != nullptr; ++tableIter) {
     if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      using namespace std;
+      sif::warning << "SubsystemBase::checkTable: Could not find object " << setfill('0') << hex
+                   << "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8)
+                   << setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl;
+#endif
       return TABLE_CONTAINS_INVALID_OBJECT_ID;
     }
   }
@@ -323,4 +306,36 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
 
+ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}
+
+object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); }
+
 void SubsystemBase::modeChanged() {}
+
+ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
+  return registerChild(child.getObjectId(), child.getModeIF().getCommandQueue());
+}
+
+const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQueueId_t childQueue) {
+  ChildInfo info;
+
+  // intentional to force an initial command during system startup
+  info.commandQueue = childQueue;
+  info.mode = HasModesIF::MODE_UNDEFINED;
+  info.submode = SUBMODE_NONE;
+  info.healthChanged = false;
+
+  auto resultPair = childrenMap.emplace(childObjectId, info);
+  if (not resultPair.second) {
+    return COULD_NOT_INSERT_CHILD;
+  }
+  return returnvalue::OK;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -3,23 +3,35 @@
 
 #include <map>
 
-#include "../container/HybridIterator.h"
+#include "fsfw/container/HybridIterator.h"
-#include "../health/HasHealthIF.h"
+#include "fsfw/health/HasHealthIF.h"
-#include "../health/HealthHelper.h"
+#include "fsfw/health/HealthHelper.h"
-#include "../ipc/MessageQueueIF.h"
+#include "fsfw/ipc/MessageQueueIF.h"
-#include "../modes/HasModesIF.h"
+#include "fsfw/modes/HasModesIF.h"
-#include "../objectmanager/SystemObject.h"
+#include "fsfw/objectmanager/SystemObject.h"
-#include "../returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/returnvalue.h"
-#include "../tasks/ExecutableObjectIF.h"
+#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 #include "modes/HasModeSequenceIF.h"
 
 /**
  * @defgroup subsystems Subsystem Objects
- * Contains all Subsystem and Assemblies
+ * All Subsystem and Assemblies can derive from this class. It contains helper classes to
+ * perform mode and health handling, which allows OBSW developers to build a mode tree for
+ * the whole satellite.
+ *
+ * Aside from setting up a mode tree and being able to executing mode tables, this class does not
+ * provide an implementation on what to do with the features. To build a mode tree, helper classes
+ * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
+ * class.
  */
 class SubsystemBase : public SystemObject,
                       public HasModesIF,
                       public HasHealthIF,
+                      public HasModeTreeChildrenIF,
+                      public ModeTreeConnectionIF,
+                      public ModeTreeChildIF,
                       public ExecutableObjectIF {
  public:
   static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
@@ -29,12 +41,14 @@ class SubsystemBase : public SystemObject,
   static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04);
   static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID = MAKE_RETURN_CODE(0x05);
 
-  SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode = 0,
+  SubsystemBase(object_id_t setObjectId, Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
-                uint16_t commandQueueDepth = 8);
   virtual ~SubsystemBase();
 
   virtual MessageQueueId_t getCommandQueue() const override;
 
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF &getModeTreeChildIF() override;
+
   /**
    * Function to register the child objects.
    * Performs a checks if the child does implement HasHealthIF and/or HasModesIF
@@ -46,15 +60,17 @@ class SubsystemBase : public SystemObject,
    *           CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
    *           COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
    */
-  ReturnValue_t registerChild(object_id_t objectId);
+  ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
+  // TODO: Add this to HasModeTreeChildrenIF.
+  ReturnValue_t registerChild(object_id_t childObjectId, MessageQueueId_t childQueue);
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
  protected:
   struct ChildInfo {
@@ -81,8 +97,6 @@ class SubsystemBase : public SystemObject,
 
   ModeHelper modeHelper;
 
-  const object_id_t parentId;
-
   typedef std::map<object_id_t, ChildInfo> ChildrenMap;
   ChildrenMap childrenMap;
 
@@ -95,6 +109,7 @@ class SubsystemBase : public SystemObject,
                                        Submode_t targetSubmode);
 
   /**
+   * This function takes care of sending all according mode commands specified inside a mode table.
    * We need to know the target Submode, as children are able to inherit the submode
    * Still, we have a default for all child implementations which do not use submode inheritance
    */
@@ -102,6 +117,7 @@ class SubsystemBase : public SystemObject,
                     Submode_t targetSubmode = SUBMODE_NONE);
 
   ReturnValue_t updateChildMode(MessageQueueId_t queue, Mode_t mode, Submode_t submode);
+  ReturnValue_t updateChildModeByObjId(object_id_t objectId, Mode_t mode, Submode_t submode);
 
   ReturnValue_t updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth = true);
 
@@ -128,6 +144,10 @@ class SubsystemBase : public SystemObject,
 
   virtual void getMode(Mode_t *mode, Submode_t *submode) override;
 
+  object_id_t getObjectId() const override;
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
+
   virtual void setToExternalControl() override;
 
   virtual void announceMode(bool recursive) override;

src/fsfw/subsystem/helper.cpp

@@ -0,0 +1,15 @@
+#include "helper.h"
+
+ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent,
+                                              const ModeTreeChildIF& child,
+                                              HealthHelper* healthHelper, ModeHelper& modeHelper) {
+  ReturnValue_t result = parent.registerChild(child);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (healthHelper != nullptr) {
+    healthHelper->setParentQueue(parent.getCommandQueue());
+  }
+  modeHelper.setParentQueue(parent.getCommandQueue());
+  return returnvalue::OK;
+}