Filesystem and CFDP updates

Reviewed-on: eive/fsfw#173
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

.clang-format

@@ -4,4 +4,5 @@ IndentWidth: 2
 ---
 Language: Cpp
 ColumnLimit: 100
+ReflowComments: true
 ---

.gitignore

@@ -2,7 +2,7 @@
 .idea/*
 !/.idea/runConfigurations
 !/.idea/cmake.xml
-!/.idea/codeStyles
+# !/.idea/codeStyles
 
 # Eclipse
 .cproject

.idea/codeStyles/Project.xml

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

.idea/codeStyles/codeStyleConfig.xml

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

CHANGELOG.md

@@ -29,9 +29,12 @@ 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.
+- Relative timeshift in the PUS time service.
 
 ## Changed
 
+- The PUS time service now dumps the time before setting a new time and after having set the
+  time.
 - HK generation is now countdown based.
 - Bump ETL version to 20.35.14
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
@@ -42,6 +45,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - 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.
+- PUS Service Base request queue depth and maximum number of handled packets per cycle is now
+  configurable.
 
 ## Added
 

CMakeLists.txt

@@ -140,7 +140,7 @@ option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 
-add_library(${LIB_FSFW_NAME})
+add_library(${LIB_FSFW_NAME} src/fsfw/cfdp/handler/PduPacketIF.h)
 
 if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
   set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
@@ -175,7 +175,10 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
-  add_executable(${FSFW_TEST_TGT})
+  add_executable(
+    ${FSFW_TEST_TGT}
+    unittests/cfdp/PduSenderMock.cpp unittests/cfdp/PduSenderMock.h
+    unittests/cfdp/handler/OwnedPduPacket.h)
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
     set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                   TRUE)

src/fsfw/cfdp/CfdpDistributor.h

@@ -4,7 +4,7 @@
 #include <utility>
 #include <vector>
 
-#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/cfdp/pdu/HeaderReader.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tcdistribution/CfdpPacketChecker.h"
 #include "fsfw/tcdistribution/TcDistributorBase.h"

src/fsfw/cfdp/definitions.h

@@ -38,6 +38,7 @@ static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
 static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
     returnvalue::makeCode(CFDP_CLASS_ID, 9);
 static constexpr ReturnValue_t INVALID_PDU_FORMAT = returnvalue::makeCode(CFDP_CLASS_ID, 10);
+static constexpr ReturnValue_t PDU_CHECKSUM_FAILURE = returnvalue::makeCode(CFDP_CLASS_ID, 11);
 
 //! Checksum types according to the SANA Checksum Types registry
 //! https://sanaregistry.org/r/checksum_identifiers/

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -8,14 +8,18 @@
 #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/cfdp/pdu/HeaderReader.h"
 #include "fsfw/objectmanager.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 using namespace returnvalue;
 
-cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
-    : tlvVec(params.maxTlvsInOnePdu),
+cfdp::DestHandler::DestHandler(PduSenderIF& pduSender, size_t pduBufSize, DestHandlerParams params,
+                               FsfwParams fsfwParams)
+
+    : pduBuf(pduBufSize),
+      pduSender(pduSender),
+      tlvVec(params.maxTlvsInOnePdu),
       msgToUserVec(params.maxTlvsInOnePdu),
       transactionParams(params.maxFilenameLen),
       destParams(std::move(params)),
@@ -23,69 +27,55 @@ cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
   transactionParams.pduConf.direction = cfdp::Direction::TOWARDS_SENDER;
 }
 
-const cfdp::DestHandler::FsmResult& cfdp::DestHandler::stateMachine() {
+const cfdp::DestHandler::FsmResult& cfdp::DestHandler::stateMachineNoPacket() {
+  return stateMachine(std::nullopt);
+}
+const cfdp::DestHandler::FsmResult& cfdp::DestHandler::stateMachine(
+    const std::optional<std::reference_wrapper<PduPacketIF>> optPduPacket) {
   ReturnValue_t result;
   uint8_t errorIdx = 0;
   fsmRes.resetOfIteration();
   if (fsmRes.step == TransactionStep::IDLE) {
-    for (auto infoIter = destParams.packetListRef.begin();
-         infoIter != destParams.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
-        destParams.packetListRef.erase(infoIter++);
-      } else {
-        infoIter++;
-      }
+    if (!optPduPacket.has_value()) {
+      return fsmRes;
     }
-    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 = destParams.packetListRef.begin();
-           infoIter != destParams.packetListRef.end();) {
-        fsfwParams.tcStore->deleteData(infoIter->storeId);
-        infoIter++;
-      }
-      destParams.packetListRef.clear();
-    }
-
-    if (fsmRes.step != TransactionStep::IDLE) {
-      fsmRes.callStatus = CallStatus::CALL_AGAIN;
+    PduPacketIF& pduPacket = *optPduPacket;
+    if (pduPacket.getPduType() == FILE_DATA or
+        (pduPacket.getPduType() == FILE_DIRECTIVE and *pduPacket.getFileDirective() != METADATA)) {
+      fsmRes.result = DEST_NON_METADATA_PDU_AS_FIRST_PDU;
+      return fsmRes;
     }
+    result = handleMetadataPdu(pduPacket);
+    checkAndHandleError(result, errorIdx);
     return updateFsmRes(errorIdx);
   }
+
   if (fsmRes.state == CfdpState::BUSY_CLASS_1_NACKED) {
     if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
-      for (auto infoIter = destParams.packetListRef.begin();
-           infoIter != destParams.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
-          destParams.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
-          destParams.packetListRef.erase(infoIter++);
-        } else {
-          infoIter++;
-        }
+      if (!optPduPacket.has_value()) {
+        return fsmRes;
+      }
+      PduPacketIF& pduPacket = *optPduPacket;
+      if (pduPacket.getPduType() == FILE_DATA) {
+        result = handleFileDataPdu(pduPacket);
+        checkAndHandleError(result, errorIdx);
+
+      } else if (pduPacket.getPduType() == FILE_DIRECTIVE and
+                 *pduPacket.getFileDirective() == EOF_DIRECTIVE) {
+        // TODO: Support for check timer missing
+        result = handleEofPdu(pduPacket);
+        checkAndHandleError(result, errorIdx);
       }
     }
-    if (fsmRes.step == TransactionStep::TRANSFER_COMPLETION) {
-      result = handleTransferCompletion();
-      checkAndHandleError(result, errorIdx);
-    }
-    if (fsmRes.step == TransactionStep::SENDING_FINISHED_PDU) {
-      result = sendFinishedPdu();
-      checkAndHandleError(result, errorIdx);
-      finish();
-    }
+  }
+  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 == CfdpState::BUSY_CLASS_2_ACKED) {
@@ -97,75 +87,37 @@ const cfdp::DestHandler::FsmResult& cfdp::DestHandler::stateMachine() {
   return updateFsmRes(errorIdx);
 }
 
-ReturnValue_t cfdp::DestHandler::passPacket(PacketInfo packet) {
-  if (destParams.packetListRef.full()) {
-    return FAILED;
-  }
-  destParams.packetListRef.push_back(packet);
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::initialize() {
-  if (fsfwParams.tmStore == nullptr) {
-    fsfwParams.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-    if (fsfwParams.tmStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.tcStore == nullptr) {
-    fsfwParams.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-    if (fsfwParams.tcStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.msgQueue == nullptr) {
-    return FAILED;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
+ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PduPacketIF& pduPacket) {
   // Process metadata PDU
-  auto constAccessorPair = fsfwParams.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;
+
   MetadataGenericInfo metadataInfo(transactionParams.fileSize);
-  MetadataPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(),
-                           metadataInfo, tlvVec.data(), tlvVec.size());
+  size_t pduSize = 0;
+  auto rawPdu = pduPacket.getRawPduData(pduSize);
+  MetadataPduReader reader(rawPdu, pduSize, metadataInfo, tlvVec.data(), tlvVec.size());
   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 handleMetadataParseError(result, rawPdu, pduSize);
   }
   return startTransaction(reader);
 }
 
-ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
+ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const PduPacketIF& info) {
+  size_t pduSize = 0;
+  const auto rawPdu = info.getRawPduData(pduSize);
   // Process file data PDU
-  auto constAccessorPair = fsfwParams.tcStore->getData(info.storeId);
-  if (constAccessorPair.first != OK) {
-    // TODO: This is not a CFDP error. Event and/or warning?
-    return constAccessorPair.first;
-  }
   FileDataInfo fdInfo;
-  FileDataReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), fdInfo);
+  FileDataReader reader(rawPdu, pduSize, fdInfo);
   ReturnValue_t result = reader.parseData();
   if (result != OK) {
     return result;
   }
   size_t fileSegmentLen = 0;
   const uint8_t* fileData = fdInfo.getFileData(&fileSegmentLen);
-  FileOpParams fileOpParams(transactionParams.destName.data(), fileSegmentLen);
-  fileOpParams.offset = fdInfo.getOffset().value();
   if (destParams.cfg.indicCfg.fileSegmentRecvIndicRequired) {
     FileSegmentRecvdParams segParams;
     segParams.offset = fdInfo.getOffset().value();
@@ -177,7 +129,9 @@ ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info)
     segParams.segmentMetadata = {segMetadata, segmentMetadatLen};
     destParams.user.fileSegmentRecvdIndication(segParams);
   }
-  result = destParams.user.vfs.writeToFile(fileOpParams, fileData);
+  sif::printDebug("Writing %d bytes at offset %d\n", fileSegmentLen, fdInfo.getOffset().value());
+  result = destParams.user.vfs.writeToFile(transactionParams.destName.data(),
+                                           fdInfo.getOffset().value(), fileData, fileSegmentLen);
   if (result != returnvalue::OK) {
     // TODO: Proper Error handling
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -191,25 +145,21 @@ ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info)
                                              static_cast<uint8_t>(fsmRes.step), result);
     }
     return result;
-  } else {
-    transactionParams.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
-    transactionParams.vfsErrorCount = 0;
   }
+  transactionParams.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
+  transactionParams.vfsErrorCount = 0;
   if (fdInfo.getOffset().value() + fileSegmentLen > transactionParams.progress) {
     transactionParams.progress = fdInfo.getOffset().value() + fileSegmentLen;
   }
   return result;
 }
 
-ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PacketInfo& info) {
+ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PduPacketIF& info) {
+  size_t pduSize = 0;
+  const auto rawPdu = info.getRawPduData(pduSize);
   // Process EOF PDU
-  auto constAccessorPair = fsfwParams.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);
+  EofPduReader reader(rawPdu, pduSize, eofInfo);
   ReturnValue_t result = reader.parseData();
   if (result != OK) {
     return result;
@@ -244,6 +194,7 @@ ReturnValue_t cfdp::DestHandler::handleMetadataParseError(ReturnValue_t result,
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::warning << "Parsing Metadata PDU failed with code " << result << std::endl;
 #else
+  sif::printWarning("cfdp::DestHandler: parsing metadata PDU failed with code %04x\n", result);
 #endif
   PduHeaderReader headerReader(rawData, maxSize);
   result = headerReader.parseData();
@@ -307,24 +258,26 @@ ReturnValue_t cfdp::DestHandler::startTransaction(const MetadataPduReader& reade
   // so there is no need to create a file or truncate an existing file
   if (destNameSize > 0 and sourceNameSize > 0) {
     transactionParams.metadataOnly = false;
-    FilesystemParams fparams(transactionParams.destName.data());
     // handling to allow only specifying target directory. Example:
     // Source path /test/hello.txt, dest path /tmp -> dest path /tmp/hello.txt
-    if (destParams.user.vfs.isDirectory(transactionParams.destName.data())) {
+    bool isDirectory = false;
+
+    result = destParams.user.vfs.isDirectory(transactionParams.destName.data(), isDirectory);
+    if (result == returnvalue::OK && isDirectory) {
       result = tryBuildingAbsoluteDestName(destNameSize);
       if (result != OK) {
         return result;
       }
     }
-    if (destParams.user.vfs.fileExists(fparams)) {
-      result = destParams.user.vfs.truncateFile(fparams);
+    if (destParams.user.vfs.fileExists(transactionParams.destName.data())) {
+      result = destParams.user.vfs.truncateFile(transactionParams.destName.data());
       if (result != returnvalue::OK) {
         fileErrorHandler(events::FILESTORE_ERROR, result, "file truncation error");
         return FAILED;
         // TODO: Relevant for filestore rejection error?
       }
     } else {
-      result = destParams.user.vfs.createFile(fparams);
+      result = destParams.user.vfs.createFile(transactionParams.destName.data());
       if (result != OK) {
         fileErrorHandler(events::FILESTORE_ERROR, result, "file creation error");
         return FAILED;
@@ -359,6 +312,7 @@ ReturnValue_t cfdp::DestHandler::startTransaction(const MetadataPduReader& reade
   transactionParams.checksumType = info.getChecksumType();
   transactionParams.closureRequested = info.isClosureRequested();
   reader.fillConfig(transactionParams.pduConf);
+  transactionParams.pduConf.crcFlag = transactionParams.remoteCfg->crcOnTransmission;
   transactionParams.pduConf.direction = Direction::TOWARDS_SENDER;
   transactionParams.transactionId.entityId = transactionParams.pduConf.sourceId;
   transactionParams.transactionId.seqNum = transactionParams.pduConf.seqNum;
@@ -368,10 +322,10 @@ ReturnValue_t cfdp::DestHandler::startTransaction(const MetadataPduReader& reade
   params.destFileName = transactionParams.destName.data();
   params.sourceFileName = transactionParams.sourceName.data();
   params.numberOfMsgsToUser = 0;
-  for (const auto& opt : tlvVec) {
-    if (opt.getType() == TlvType::MSG_TO_USER) {
+  for (uint32_t tlvIdx = 0; tlvIdx < reader.getNumberOfParsedOptions(); tlvIdx++) {
+    if (tlvVec[tlvIdx].getType() == TlvType::MSG_TO_USER) {
       msgToUserVec[params.numberOfMsgsToUser] =
-          MessageToUserTlv(opt.getValue(), opt.getLengthField());
+          MessageToUserTlv(tlvVec[tlvIdx].getValue(), tlvVec[tlvIdx].getLengthField());
       params.numberOfMsgsToUser++;
     }
   }
@@ -411,10 +365,9 @@ ReturnValue_t cfdp::DestHandler::tryBuildingAbsoluteDestName(size_t destNameSize
   // A path may only have a maximum of 256 characters in CFDP, so this buffer should be sufficient
   // for all use-cases.
   char baseNameBuf[512]{};
-  FilesystemParams fparamsSrc(transactionParams.sourceName.data());
   size_t baseNameLen = 0;
-  ReturnValue_t result = destParams.user.vfs.getBaseFilename(fparamsSrc, baseNameBuf,
-                                                             sizeof(baseNameBuf), baseNameLen);
+  const ReturnValue_t result = destParams.user.vfs.getBaseFilename(
+      transactionParams.sourceName.data(), 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;
@@ -442,7 +395,6 @@ void cfdp::DestHandler::fileErrorHandler(Event event, ReturnValue_t result,
 
 void cfdp::DestHandler::finish() {
   transactionParams.reset();
-  destParams.packetListRef.clear();
   fsmRes.state = CfdpState::IDLE;
   fsmRes.step = TransactionStep::IDLE;
 }
@@ -451,26 +403,26 @@ ReturnValue_t cfdp::DestHandler::checksumVerification() {
   std::array<uint8_t, 1024> buf{};
   etl::crc32 crcCalc;
   uint64_t currentOffset = 0;
-  FileOpParams params(transactionParams.destName.data(), transactionParams.fileSize.value());
   while (currentOffset < transactionParams.fileSize.value()) {
-    uint64_t readLen;
+    uint64_t lenToRead;
     if (currentOffset + buf.size() > transactionParams.fileSize.value()) {
-      readLen = transactionParams.fileSize.value() - currentOffset;
+      lenToRead = transactionParams.fileSize.value() - currentOffset;
     } else {
-      readLen = buf.size();
+      lenToRead = buf.size();
     }
-    if (readLen > 0) {
-      params.offset = currentOffset;
-      params.size = readLen;
-      auto result = destParams.user.vfs.readFromFile(params, buf.data(), buf.size());
+    if (lenToRead > 0) {
+      size_t readLen = 0;
+      const auto result =
+          destParams.user.vfs.readFromFile(transactionParams.destName.data(), currentOffset,
+                                           lenToRead, buf.data(), readLen, 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);
+      crcCalc.add(buf.begin(), buf.begin() + lenToRead);
     }
-    currentOffset += readLen;
+    currentOffset += lenToRead;
   }
 
   uint32_t value = crcCalc.value();
@@ -502,19 +454,11 @@ ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
   FinishedInfo info(transactionParams.conditionCode, transactionParams.deliveryCode,
                     transactionParams.deliveryStatus);
   FinishPduCreator finishedPdu(transactionParams.pduConf, info);
-  store_address_t storeId;
-  uint8_t* dataPtr = nullptr;
-  ReturnValue_t result =
-      fsfwParams.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
-    fsfwParams.eventReporter->forwardEvent(events::STORE_ERROR, result, 0);
-    return result;
-  }
+
   size_t serLen = 0;
-  result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
+  ReturnValue_t result =
+      finishedPdu.serialize(pduBuf.data(), serLen, finishedPdu.getSerializedSize());
+  checkAndHandleError(result, fsmRes.errors);
   if (result != OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "cfdp::DestHandler::sendFinishedPdu: Serializing Finished PDU failed"
@@ -523,13 +467,12 @@ ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
     fsfwParams.eventReporter->forwardEvent(events::SERIALIZATION_ERROR, result, 0);
     return result;
   }
-  TmTcMessage msg(storeId);
-  result = fsfwParams.msgQueue->sendMessage(fsfwParams.packetDest.getReportReceptionQueue(), &msg);
+  pduSender.sendPdu(PduType::FILE_DIRECTIVE, FileDirective::FINISH, pduBuf.data(), serLen);
   if (result != OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "cfdp::DestHandler::sendFinishedPdu: Sending PDU failed" << std::endl;
 #endif
-    fsfwParams.eventReporter->forwardEvent(events::MSG_QUEUE_ERROR, result, 0);
+    fsfwParams.eventReporter->forwardEvent(events::PDU_SEND_ERROR, result, 0);
     return result;
   }
   fsmRes.packetsSent++;
@@ -560,15 +503,10 @@ void cfdp::DestHandler::checkAndHandleError(ReturnValue_t result, uint8_t& error
   }
 }
 
-void cfdp::DestHandler::setMsgQueue(MessageQueueIF& queue) { fsfwParams.msgQueue = &queue; }
-
 void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
   fsfwParams.eventReporter = &reporter;
 }
 
 const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const {
   return destParams;
-}
-
-StorageManagerIF* cfdp::DestHandler::getTmStore() const { return fsfwParams.tmStore; }
-StorageManagerIF* cfdp::DestHandler::getTcStore() const { return fsfwParams.tcStore; }
+}

src/fsfw/cfdp/handler/DestHandler.h

@@ -11,13 +11,13 @@
 #include "RemoteConfigTableIF.h"
 #include "UserBase.h"
 #include "defs.h"
+#include "fsfw/cfdp/handler/PduPacketIF.h"
+#include "fsfw/cfdp/handler/PduSenderIF.h"
 #include "fsfw/cfdp/handler/mib.h"
 #include "fsfw/cfdp/pdu/MetadataPduReader.h"
 #include "fsfw/cfdp/pdu/PduConfig.h"
 #include "fsfw/cfdp/tlv/MessageToUserTlv.h"
-#include "fsfw/container/DynamicFIFO.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/storagemanager/storeAddress.h"
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 
 namespace cfdp {
@@ -28,30 +28,34 @@ using LostSegmentsListBase = etl::iset<etl::pair<uint64_t, uint64_t>>;
 
 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
-                    // TODO: Actually, we can provide a better abstraction via interface, which
-                    //       allows using something like a bounded map. This simplifies
-                    //       the implementation significantly.
+                    //  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
+                    //  TODO: Actually, we can provide a better abstraction via interface, which
+                    //        allows using something like a bounded map. This simplifies
+                    //        the implementation significantly.
                     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 = 20;
   size_t maxFilenameLen = 255;
 };
 
+struct PacketInfo {
+  const uint8_t* rawPdu = nullptr;
+  size_t pduSize = 0;
+  PduType pduType = PduType::FILE_DATA;
+  std::optional<FileDirective> directiveType = FileDirective::INVALID_DIRECTIVE;
+};
+
 class DestHandler {
  public:
   enum class TransactionStep : uint8_t {
@@ -64,17 +68,14 @@ class DestHandler {
   };
 
   struct FsmResult {
-   public:
+    uint32_t packetsSent = 0;
     ReturnValue_t result = returnvalue::OK;
-    CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
     TransactionStep step = TransactionStep::IDLE;
     CfdpState state = CfdpState::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);
@@ -85,28 +86,30 @@ class DestHandler {
    */
   ReturnValue_t PARTIAL_SUCCESS = returnvalue::makeCode(0, 2);
   ReturnValue_t FAILURE = returnvalue::makeCode(0, 3);
-  explicit DestHandler(DestHandlerParams handlerParams, FsfwParams fsfwParams);
+
+  explicit DestHandler(PduSenderIF& pduSender, size_t pduBufSize, DestHandlerParams handlerParams,
+                       FsfwParams fsfwParams);
 
   /**
+   * This is the core function to drive the destination handler. It is also used to insert
+   * packets into the destination handler.
    *
-   * @return
-   *  - @c returnvalue::OK  State machine OK for this execution cycle
-   *  - @c CALL_FSM_AGAIN   State machine should be called again.
+   * The state machine should either be called if packets with the appropriate destination ID
+   * are received and periodically to perform all CFDP related tasks, for example
+   * checking for timeouts or missed file segments.
+   *
+   * The function returns the number of sent PDU packets on success.
    */
-  const FsmResult& stateMachine();
-  void setMsgQueue(MessageQueueIF& queue);
+  const FsmResult& stateMachine(std::optional<std::reference_wrapper<PduPacketIF>> optPduPacket);
+
+  const FsmResult& stateMachineNoPacket();
+
   void setEventReporter(EventReportingProxyIF& reporter);
 
-  ReturnValue_t passPacket(PacketInfo packet);
-
-  ReturnValue_t initialize();
-
   [[nodiscard]] CfdpState 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 {
@@ -149,6 +152,8 @@ class DestHandler {
     RemoteEntityCfg* remoteCfg = nullptr;
   };
 
+  std::vector<uint8_t> pduBuf;
+  PduSenderIF& pduSender;
   std::vector<cfdp::Tlv> tlvVec;
   std::vector<MessageToUserTlv> msgToUserVec;
   TransactionParams transactionParams;
@@ -157,9 +162,9 @@ class DestHandler {
   FsmResult fsmRes;
 
   ReturnValue_t startTransaction(const MetadataPduReader& reader);
-  ReturnValue_t handleMetadataPdu(const PacketInfo& info);
-  ReturnValue_t handleFileDataPdu(const PacketInfo& info);
-  ReturnValue_t handleEofPdu(const PacketInfo& info);
+  ReturnValue_t handleMetadataPdu(const PduPacketIF& pduPacket);
+  ReturnValue_t handleFileDataPdu(const PduPacketIF& info);
+  ReturnValue_t handleEofPdu(const PduPacketIF& info);
   ReturnValue_t handleMetadataParseError(ReturnValue_t result, const uint8_t* rawData,
                                          size_t maxSize);
   ReturnValue_t handleTransferCompletion();

src/fsfw/cfdp/handler/PduPacketIF.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <optional>
+
+#include "fsfw/cfdp/definitions.h"
+
+namespace cfdp {
+
+class PduPacketIF {
+ public:
+  virtual ~PduPacketIF() = default;
+
+  [[nodiscard]] virtual cfdp::PduType getPduType() const = 0;
+  [[nodiscard]] virtual std::optional<cfdp::FileDirective> getFileDirective() const = 0;
+  [[nodiscard]] virtual const uint8_t* getRawPduData(size_t& pduLen) const = 0;
+};
+
+}  // namespace cfdp

src/fsfw/cfdp/handler/PduSenderIF.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <optional>
+
+#include "fsfw/cfdp/definitions.h"
+
+namespace cfdp {
+class PduSenderIF {
+ public:
+  virtual ~PduSenderIF() = default;
+
+  virtual ReturnValue_t sendPdu(cfdp::PduType pduType,
+                                std::optional<cfdp::FileDirective> fileDirective,
+                                const uint8_t* pdu, size_t pduSize) = 0;
+};
+
+}  // namespace cfdp

src/fsfw/cfdp/handler/ReservedMessageParser.cpp

@@ -14,7 +14,7 @@ cfdp::ReservedMessageParser::ReservedMessageParser(StorageManagerIF& ipcStore,
     : msgQueue(msgQueue), ipcStore(ipcStore), userDestination(userDestination) {}
 
 ReturnValue_t cfdp::ReservedMessageParser::parse(const MessageToUserTlv* msgsToUserArray,
-                                                 size_t numMsgToUser) {
+                                                 size_t numMsgToUser) const {
   ReturnValue_t result = returnvalue::OK;
   cfdp::StringLv sourceFileName;
   cfdp::StringLv destFileName;
@@ -23,31 +23,28 @@ ReturnValue_t cfdp::ReservedMessageParser::parse(const MessageToUserTlv* msgsToU
   size_t deserSize = 0;
   bool needToSendPutRequest = false;
   for (size_t idx = 0; idx < numMsgToUser; idx++) {
-    if (&msgsToUserArray[idx] == nullptr) {
+    uint8_t messageType = 0;
+    if (not msgsToUserArray[idx].isReservedCfdpMessage(messageType, &currentPtr, deserSize)) {
       continue;
     }
-    uint8_t messageType = 0;
-    if (msgsToUserArray[idx].isReservedCfdpMessage(messageType, &currentPtr, deserSize)) {
-      if (messageType == static_cast<uint8_t>(ProxyOpMessageType::PUT_REQUEST)) {
-        EntityId entityIdLv;
-        result = entityIdLv.deSerializeFromLv(&currentPtr, &deserSize);
-        if (result != returnvalue::OK) {
-          return result;
-        }
-        putRequest.setDestId(entityIdLv);
-        result =
-            sourceFileName.deSerialize(&currentPtr, &deserSize, SerializeIF::Endianness::NETWORK);
-        if (result != OK) {
-          return result;
-        }
-        result =
-            destFileName.deSerialize(&currentPtr, &deserSize, SerializeIF::Endianness::NETWORK);
-        if (result != OK) {
-          return result;
-        }
-        putRequest.setSourceAndDestName(sourceFileName, destFileName);
-        needToSendPutRequest = true;
+    if (messageType == static_cast<uint8_t>(ProxyOpMessageType::PUT_REQUEST)) {
+      EntityId entityIdLv;
+      result = entityIdLv.deSerializeFromLv(&currentPtr, &deserSize);
+      if (result != returnvalue::OK) {
+        return result;
       }
+      putRequest.setDestId(entityIdLv);
+      result =
+          sourceFileName.deSerialize(&currentPtr, &deserSize, SerializeIF::Endianness::NETWORK);
+      if (result != OK) {
+        return result;
+      }
+      result = destFileName.deSerialize(&currentPtr, &deserSize, SerializeIF::Endianness::NETWORK);
+      if (result != OK) {
+        return result;
+      }
+      putRequest.setSourceAndDestName(sourceFileName, destFileName);
+      needToSendPutRequest = true;
     }
   }
   if (needToSendPutRequest) {
@@ -71,4 +68,4 @@ ReturnValue_t cfdp::ReservedMessageParser::parse(const MessageToUserTlv* msgsToU
     }
   }
   return OK;
-}
+}

src/fsfw/cfdp/handler/ReservedMessageParser.h

@@ -16,7 +16,7 @@ class ReservedMessageParser {
   ReservedMessageParser(StorageManagerIF& ipcStore, MessageQueueIF& msgQueue,
                         MessageQueueId_t userDestination);
 
-  ReturnValue_t parse(const MessageToUserTlv* msgsToUserArray, size_t numMsgsToUser);
+  ReturnValue_t parse(const MessageToUserTlv* msgsToUserArray, size_t numMsgsToUser) const;
 
  private:
   MessageQueueIF& msgQueue;

src/fsfw/cfdp/handler/SourceHandler.cpp

@@ -16,8 +16,12 @@
 
 using namespace returnvalue;
 
-cfdp::SourceHandler::SourceHandler(SourceHandlerParams params, FsfwParams fsfwParams)
-    : sourceParams(std::move(params)), fsfwParams(fsfwParams) {
+cfdp::SourceHandler::SourceHandler(PduSenderIF& pduSender, size_t pduBufferSize,
+                                   SourceHandlerParams params, FsfwParams fsfwParams)
+    : pduSender(pduSender),
+      pduBuf(pduBufferSize),
+      sourceParams(std::move(params)),
+      fsfwParams(fsfwParams) {
   // The entity ID portion of the transaction ID will always remain fixed.
   transactionParams.id.entityId = sourceParams.cfg.localId;
   transactionParams.pduConf.sourceId = sourceParams.cfg.localId;
@@ -61,14 +65,14 @@ cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::fsmNacked() {
     if (result != OK) {
       addError(result);
     }
-    fsmResult.callStatus = CallStatus::CALL_AGAIN;
+    // fsmResult.callStatus = CallStatus::CALL_AGAIN;
     return fsmResult;
   }
   if (step == TransactionStep::SENDING_FILE_DATA) {
     bool noFdPdu = false;
     result = prepareAndSendNextFileDataPdu(noFdPdu);
     if (result == OK and !noFdPdu) {
-      fsmResult.callStatus = CallStatus::CALL_AGAIN;
+      // fsmResult.callStatus = CallStatus::CALL_AGAIN;
       return fsmResult;
     }
   }
@@ -82,10 +86,10 @@ cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::fsmNacked() {
     }
     if (transactionParams.closureRequested) {
       step = TransactionStep::WAIT_FOR_FINISH;
-      fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
+      // fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
     } else {
       step = TransactionStep::NOTICE_OF_COMPLETION;
-      fsmResult.callStatus = CallStatus::CALL_AGAIN;
+      // fsmResult.callStatus = CallStatus::CALL_AGAIN;
     }
     return fsmResult;
   }
@@ -104,7 +108,7 @@ cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::fsmNacked() {
 const cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::stateMachine() {
   fsmResult.packetsSent = 0;
   fsmResult.errors = 0;
-  fsmResult.callStatus = CallStatus::DONE;
+  // fsmResult.callStatus = CallStatus::DONE;
   if (state == cfdp::CfdpState::IDLE) {
     return fsmResult;
   }
@@ -123,25 +127,25 @@ ReturnValue_t cfdp::SourceHandler::checksumGeneration() {
   std::array<uint8_t, 1024> buf{};
   etl::crc32 crcCalc;
   uint64_t currentOffset = 0;
-  FileOpParams params(transactionParams.sourceName.data(), transactionParams.fileSize.value());
   while (currentOffset < transactionParams.fileSize.value()) {
-    uint64_t readLen;
+    uint64_t lenToRead;
     if (currentOffset + buf.size() > transactionParams.fileSize.value()) {
-      readLen = transactionParams.fileSize.value() - currentOffset;
+      lenToRead = transactionParams.fileSize.value() - currentOffset;
     } else {
-      readLen = buf.size();
+      lenToRead = buf.size();
     }
-    if (readLen > 0) {
-      params.offset = currentOffset;
-      params.size = readLen;
-      auto result = sourceParams.user.vfs.readFromFile(params, buf.data(), buf.size());
+    if (lenToRead > 0) {
+      size_t readLen = 0;
+      auto result =
+          sourceParams.user.vfs.readFromFile(transactionParams.sourceName.data(), currentOffset,
+                                             lenToRead, buf.data(), readLen, buf.size());
       if (result != OK) {
         addError(result);
         return FAILED;
       }
-      crcCalc.add(buf.begin(), buf.begin() + readLen);
+      crcCalc.add(buf.begin(), buf.begin() + lenToRead);
     }
-    currentOffset += readLen;
+    currentOffset += lenToRead;
   }
 
   transactionParams.crc = crcCalc.value();
@@ -169,8 +173,7 @@ ReturnValue_t cfdp::SourceHandler::transactionStart(PutRequest& putRequest, Remo
   // operation is safe.
   transactionParams.sourceName[transactionParams.sourceNameSize] = '\0';
   transactionParams.destName[transactionParams.destNameSize] = '\0';
-  FilesystemParams params(transactionParams.sourceName.data());
-  if (!sourceParams.user.vfs.fileExists(params)) {
+  if (!sourceParams.user.vfs.fileExists(transactionParams.sourceName.data())) {
     return FILE_DOES_NOT_EXIST;
   }
   if (cfg.maxFileSegmentLen > fileBuf.size() or cfg.maxFileSegmentLen == 0) {
@@ -206,7 +209,7 @@ ReturnValue_t cfdp::SourceHandler::transactionStart(PutRequest& putRequest, Remo
   }
   step = TransactionStep::IDLE;
   uint64_t fileSize = 0;
-  sourceParams.user.vfs.getFileSize(params, fileSize);
+  sourceParams.user.vfs.getFileSize(transactionParams.sourceName.data(), fileSize);
   transactionParams.pduConf.largeFile = false;
   if (fileSize > UINT32_MAX) {
     transactionParams.pduConf.largeFile = true;
@@ -230,7 +233,8 @@ ReturnValue_t cfdp::SourceHandler::prepareAndSendMetadataPdu() {
                           transactionParams.fileSize);
   auto metadataPdu =
       MetadataPduCreator(transactionParams.pduConf, metadataInfo, sourceName, destName, nullptr, 0);
-  ReturnValue_t result = sendGenericPdu(metadataPdu);
+  ReturnValue_t result =
+      sendGenericPdu(PduType::FILE_DIRECTIVE, FileDirective::METADATA, metadataPdu);
   if (result != OK) {
     return result;
   }
@@ -241,7 +245,7 @@ ReturnValue_t cfdp::SourceHandler::prepareAndSendMetadataPdu() {
 
 ReturnValue_t cfdp::SourceHandler::prepareAndSendNextFileDataPdu(bool& noFileDataPdu) {
   cfdp::Fss offset(transactionParams.progress);
-  uint64_t readLen;
+  uint64_t lenToRead;
   uint64_t fileSize = transactionParams.fileSize.value();
   noFileDataPdu = false;
   if (fileSize == 0) {
@@ -251,29 +255,31 @@ ReturnValue_t cfdp::SourceHandler::prepareAndSendNextFileDataPdu(bool& noFileDat
     return OK;
   }
   if (fileSize < transactionParams.remoteCfg.maxFileSegmentLen) {
-    readLen = transactionParams.fileSize.value();
+    lenToRead = transactionParams.fileSize.value();
   } else {
     if (transactionParams.progress + transactionParams.remoteCfg.maxFileSegmentLen > fileSize) {
-      readLen = fileSize - transactionParams.progress;
+      lenToRead = fileSize - transactionParams.progress;
     } else {
-      readLen = transactionParams.remoteCfg.maxFileSegmentLen;
+      lenToRead = transactionParams.remoteCfg.maxFileSegmentLen;
     }
   }
-  FileOpParams fileParams(transactionParams.sourceName.data(), readLen);
+  FileOpParams fileParams(transactionParams.sourceName.data(), lenToRead);
   fileParams.offset = transactionParams.progress;
-  ReturnValue_t result =
-      sourceParams.user.vfs.readFromFile(fileParams, fileBuf.data(), fileBuf.size());
+  size_t readLen = 0;
+  ReturnValue_t result = sourceParams.user.vfs.readFromFile(
+      transactionParams.sourceName.data(), transactionParams.progress, lenToRead, fileBuf.data(),
+      readLen, fileBuf.size());
   if (result != returnvalue::OK) {
     addError(result);
     return result;
   }
-  auto fileDataInfo = FileDataInfo(offset, fileBuf.data(), readLen);
+  auto fileDataInfo = FileDataInfo(offset, fileBuf.data(), lenToRead);
   auto fileDataPdu = FileDataCreator(transactionParams.pduConf, fileDataInfo);
-  result = sendGenericPdu(fileDataPdu);
+  result = sendGenericPdu(PduType::FILE_DATA, std::nullopt, fileDataPdu);
   if (result != OK) {
     return result;
   }
-  transactionParams.progress += readLen;
+  transactionParams.progress += lenToRead;
   if (transactionParams.progress >= fileSize) {
     // Advance FSM after all file data PDUs were sent.
     step = TransactionStep::SENDING_EOF;
@@ -285,72 +291,44 @@ ReturnValue_t cfdp::SourceHandler::prepareAndSendEofPdu() {
   auto eofInfo =
       EofInfo(ConditionCode::NO_ERROR, transactionParams.crc, transactionParams.fileSize);
   auto eofPdu = EofPduCreator(transactionParams.pduConf, eofInfo);
-  ReturnValue_t result = sendGenericPdu(eofPdu);
-  if (result != OK) {
-    return result;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::initialize() {
-  if (fsfwParams.tmStore == nullptr) {
-    fsfwParams.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-    if (fsfwParams.tmStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.tcStore == nullptr) {
-    fsfwParams.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-    if (fsfwParams.tcStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.msgQueue == nullptr) {
-    return FAILED;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::sendGenericPdu(const SerializeIF& pdu) {
-  uint8_t* dataPtr;
-  store_address_t storeId;
   ReturnValue_t result =
-      fsfwParams.tmStore->getFreeElement(&storeId, pdu.getSerializedSize(), &dataPtr);
+      sendGenericPdu(PduType::FILE_DIRECTIVE, FileDirective::EOF_DIRECTIVE, eofPdu);
   if (result != OK) {
-    addError(result);
-    fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
-    if (result == StorageManagerIF::DATA_STORAGE_FULL) {
-      return TM_STORE_FULL;
-    }
     return result;
   }
+  return OK;
+}
+
+ReturnValue_t cfdp::SourceHandler::initialize() { return OK; }
+
+ReturnValue_t cfdp::SourceHandler::sendGenericPdu(PduType pduType,
+                                                  std::optional<FileDirective> fileDirective,
+                                                  const SerializeIF& pdu) {
+  store_address_t storeId;
+  if (pdu.getSerializedSize() > pduBuf.size()) {
+    addError(PDU_BUFFER_TOO_SMALL);
+    return PDU_BUFFER_TOO_SMALL;
+  }
   size_t serializedLen = 0;
-  result = pdu.serializeBe(dataPtr, serializedLen, pdu.getSerializedSize());
+  ReturnValue_t result = pdu.serializeBe(pduBuf.data(), serializedLen, pdu.getSerializedSize());
   if (result != OK) {
     addError(result);
     return result;
   }
-  TmTcMessage tmMsg(storeId);
-  result =
-      fsfwParams.msgQueue->sendMessage(fsfwParams.packetDest.getReportReceptionQueue(), &tmMsg);
-  if (result != OK) {
-    fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
-  }
-  if (result == MessageQueueIF::FULL) {
-    return TARGET_MSG_QUEUE_FULL;
-  } else if (result == OK) {
-    fsmResult.packetsSent += 1;
-  }
+  pduSender.sendPdu(pduType, fileDirective, pduBuf.data(), serializedLen);
+  fsmResult.packetsSent += 1;
   return result;
 }
 
 ReturnValue_t cfdp::SourceHandler::noticeOfCompletion() {
   if (sourceParams.cfg.indicCfg.transactionFinishedIndicRequired) {
+    // TODO: This could still be improved by caching the Finished PDU parameters.
+    FileDeliveryStatus deliveryStatus = FileDeliveryStatus::FILE_STATUS_UNREPORTED;
+    if (transactionParams.closureRequested) {
+      deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
+    }
     cfdp::TransactionFinishedParams params(transactionParams.id, ConditionCode::NO_ERROR,
-                                           FileDeliveryCode::DATA_COMPLETE,
-                                           FileDeliveryStatus::RETAINED_IN_FILESTORE);
+                                           FileDeliveryCode::DATA_COMPLETE, deliveryStatus);
     sourceParams.user.transactionFinishedIndication(params);
   }
   return OK;
@@ -359,7 +337,7 @@ ReturnValue_t cfdp::SourceHandler::noticeOfCompletion() {
 ReturnValue_t cfdp::SourceHandler::reset() {
   step = TransactionStep::IDLE;
   state = cfdp::CfdpState::IDLE;
-  fsmResult.callStatus = CallStatus::DONE;
+  // fsmResult.callStatus = CallStatus::DONE;
   transactionParams.reset();
   return OK;
 }

src/fsfw/cfdp/handler/SourceHandler.h

@@ -4,6 +4,7 @@
 #include <cstdint>
 #include <vector>
 
+#include "PduSenderIF.h"
 #include "UserBase.h"
 #include "defs.h"
 #include "fsfw/cfdp/Fss.h"
@@ -40,14 +41,15 @@ class SourceHandler {
   struct FsmResult {
    public:
     ReturnValue_t result = returnvalue::OK;
-    CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
-    CfdpState state = CfdpState::IDLE;
     uint32_t packetsSent = 0;
+    // CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
+    CfdpState state = CfdpState::IDLE;
     uint8_t errors = 0;
     std::array<ReturnValue_t, 3> errorCodes = {};
   };
 
-  SourceHandler(SourceHandlerParams params, FsfwParams fsfwParams);
+  SourceHandler(PduSenderIF& pduSender, size_t pduBufferSize, SourceHandlerParams params,
+                FsfwParams fsfwParams);
 
   [[nodiscard]] CfdpState getState() const;
   [[nodiscard]] TransactionStep getStep() const;
@@ -86,6 +88,8 @@ class SourceHandler {
     }
   } transactionParams;
 
+  PduSenderIF& pduSender;
+  std::vector<uint8_t> pduBuf;
   cfdp::CfdpState state = cfdp::CfdpState::IDLE;
   TransactionStep step = TransactionStep::IDLE;
   std::array<uint8_t, 4096> fileBuf{};
@@ -101,7 +105,9 @@ class SourceHandler {
   ReturnValue_t noticeOfCompletion();
   ReturnValue_t reset();
 
-  [[nodiscard]] ReturnValue_t sendGenericPdu(const SerializeIF& pdu);
+  [[nodiscard]] ReturnValue_t sendGenericPdu(PduType pduType,
+                                             std::optional<FileDirective> fileDirective,
+                                             const SerializeIF& pdu);
   void addError(ReturnValue_t error);
 };
 

src/fsfw/cfdp/handler/defs.h

@@ -1,5 +1,4 @@
-#ifndef FSFW_CFDP_HANDLER_DEFS_H
-#define FSFW_CFDP_HANDLER_DEFS_H
+#pragma once
 
 #include <etl/list.h>
 
@@ -8,59 +7,25 @@
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 
 namespace cfdp {
-
 enum class CfdpState { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
 
 static constexpr uint8_t SSID = SUBSYSTEM_ID::CFDP;
 static constexpr uint8_t CID = CLASS_ID::CFDP_HANDLER;
 
-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;
-};
-
 struct FsfwParams {
-  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
-             EventReportingProxyIF* eventReporter, StorageManagerIF& tcStore,
-             StorageManagerIF& tmStore)
-      : FsfwParams(packetDest, msgQueue, eventReporter) {
-    this->tcStore = &tcStore;
-    this->tmStore = &tmStore;
-  }
+  FsfwParams(EventReportingProxyIF* eventReporter) : eventReporter(eventReporter) {}
 
-  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;
 };
 
-template <size_t SIZE>
-using PacketInfoList = etl::list<PacketInfo, SIZE>;
-using PacketInfoListBase = etl::ilist<PacketInfo>;
-
-enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
-
 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 PDU_SEND_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);
 //! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
 static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW);
-
 }  // namespace events
 
 static constexpr ReturnValue_t SOURCE_TRANSACTION_PENDING = returnvalue::makeCode(CID, 0);
@@ -71,6 +36,6 @@ static constexpr ReturnValue_t DEST_NAME_EMPTY = returnvalue::makeCode(CID, 4);
 static constexpr ReturnValue_t WRONG_REMOTE_CFG_ENTITY_ID = returnvalue::makeCode(CID, 5);
 static constexpr ReturnValue_t TARGET_MSG_QUEUE_FULL = returnvalue::makeCode(CID, 6);
 static constexpr ReturnValue_t TM_STORE_FULL = returnvalue::makeCode(CID, 7);
-
-}  // namespace cfdp
-#endif  // FSFW_CFDP_HANDLER_DEFS_H
+static constexpr ReturnValue_t DEST_NON_METADATA_PDU_AS_FIRST_PDU = returnvalue::makeCode(CID, 8);
+static constexpr ReturnValue_t PDU_BUFFER_TOO_SMALL = returnvalue::makeCode(CID, 9);
+}  // namespace cfdp

src/fsfw/cfdp/pdu/AckPduCreator.cpp

@@ -1,5 +1,7 @@
 #include "AckPduCreator.h"
 
+#include "fsfw/globalfunctions/CRC.h"
+
 AckPduCreator::AckPduCreator(AckInfo &ackInfo, PduConfig &pduConf)
     : FileDirectiveCreator(pduConf, cfdp::FileDirective::ACK, 2), ackInfo(ackInfo) {}
 
@@ -7,6 +9,7 @@ size_t AckPduCreator::getSerializedSize() const { return FileDirectiveCreator::g
 
 ReturnValue_t AckPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                        Endianness streamEndianness) const {
+  const uint8_t *start = *buffer;
   ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
@@ -29,5 +32,10 @@ ReturnValue_t AckPduCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
   **buffer = ackedConditionCode << 4 | transactionStatus;
   *buffer += 1;
   *size += 1;
+
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
   return returnvalue::OK;
 }

src/fsfw/cfdp/pdu/EofPduCreator.cpp

@@ -1,6 +1,7 @@
 #include "EofPduCreator.h"
 
 #include "fsfw/FSFW.h"
+#include "fsfw/globalfunctions/CRC.h"
 
 EofPduCreator::EofPduCreator(PduConfig &conf, EofInfo &info)
     : FileDirectiveCreator(conf, cfdp::FileDirective::EOF_DIRECTIVE, 9), info(info) {
@@ -11,6 +12,7 @@ size_t EofPduCreator::getSerializedSize() const { return FileDirectiveCreator::g
 
 ReturnValue_t EofPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                        Endianness streamEndianness) const {
+  const uint8_t *start = *buffer;
   ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
@@ -36,5 +38,9 @@ ReturnValue_t EofPduCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
   if (info.getFaultLoc() != nullptr and info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
     result = info.getFaultLoc()->serialize(buffer, size, maxSize, streamEndianness);
   }
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
   return result;
 }

src/fsfw/cfdp/pdu/FileDataCreator.cpp

@@ -2,6 +2,8 @@
 
 #include <cstring>
 
+#include "fsfw/globalfunctions/CRC.h"
+
 FileDataCreator::FileDataCreator(PduConfig& conf, FileDataInfo& info)
     : HeaderCreator(conf, cfdp::PduType::FILE_DATA, 0, info.getSegmentMetadataFlag()), info(info) {
   update();
@@ -18,6 +20,7 @@ ReturnValue_t FileDataCreator::serialize(uint8_t** buffer, size_t* size, size_t
   if (buffer == nullptr or size == nullptr) {
     return returnvalue::FAILED;
   }
+  const uint8_t* start = *buffer;
   if (*size + getSerializedSize() > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
   }
@@ -50,6 +53,11 @@ ReturnValue_t FileDataCreator::serialize(uint8_t** buffer, size_t* size, size_t
   std::memcpy(*buffer, readOnlyPtr, fileSize);
   *buffer += fileSize;
   *size += fileSize;
+
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
   return returnvalue::OK;
 }
 

src/fsfw/cfdp/pdu/FileDataReader.cpp

@@ -8,6 +8,9 @@ ReturnValue_t FileDataReader::parseData() {
   if (result != returnvalue::OK) {
     return result;
   }
+  if (not performCrcCheckIfApplicable()) {
+    return cfdp::PDU_CHECKSUM_FAILURE;
+  }
   size_t currentIdx = PduHeaderReader::getHeaderSize();
   const uint8_t* buf = pointers.rawPtr + currentIdx;
   size_t remSize = PduHeaderReader::getWholePduSize() - currentIdx;
@@ -34,6 +37,9 @@ ReturnValue_t FileDataReader::parseData() {
   if (result != returnvalue::OK) {
     return result;
   }
+  if (getCrcFlag()) {
+    remSize -= 2;
+  }
   if (remSize > 0) {
     info.setFileData(buf, remSize);
   }

src/fsfw/cfdp/pdu/FileDataReader.h

@@ -3,7 +3,7 @@
 
 #include "../definitions.h"
 #include "FileDataInfo.h"
-#include "PduHeaderReader.h"
+#include "HeaderReader.h"
 
 class FileDataReader : public PduHeaderReader {
  public:

src/fsfw/cfdp/pdu/FileDirectiveReader.cpp

@@ -1,5 +1,7 @@
 #include "FileDirectiveReader.h"
 
+#include "fsfw/globalfunctions/CRC.h"
+
 FileDirectiveReader::FileDirectiveReader(const uint8_t *pduBuf, size_t maxSize)
     : PduHeaderReader(pduBuf, maxSize) {}
 
@@ -10,6 +12,10 @@ ReturnValue_t FileDirectiveReader::parseData() {
   if (result != returnvalue::OK) {
     return result;
   }
+  if (not performCrcCheckIfApplicable()) {
+    return cfdp::PDU_CHECKSUM_FAILURE;
+  }
+
   if (this->getPduDataFieldLen() < 1) {
     return cfdp::INVALID_PDU_DATAFIELD_LEN;
   }

src/fsfw/cfdp/pdu/FileDirectiveReader.h

@@ -2,7 +2,7 @@
 #define FSFW_SRC_FSFW_CFDP_PDU_FILEDIRECTIVEDESERIALIZER_H_
 
 #include "../definitions.h"
-#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/cfdp/pdu/HeaderReader.h"
 
 /**
  * @brief   This class is used to deserialize a PDU file directive header from raw memory.

src/fsfw/cfdp/pdu/FinishedPduCreator.cpp

@@ -1,5 +1,7 @@
 #include "FinishedPduCreator.h"
 
+#include "fsfw/globalfunctions/CRC.h"
+
 FinishPduCreator::FinishPduCreator(PduConfig &conf, FinishedInfo &finishInfo)
     : FileDirectiveCreator(conf, cfdp::FileDirective::FINISH, 0), finishInfo(finishInfo) {
   updateDirectiveFieldLen();
@@ -13,6 +15,7 @@ void FinishPduCreator::updateDirectiveFieldLen() {
 
 ReturnValue_t FinishPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                           Endianness streamEndianness) const {
+  const uint8_t *start = *buffer;
   ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
@@ -40,5 +43,9 @@ ReturnValue_t FinishPduCreator::serialize(uint8_t **buffer, size_t *size, size_t
   if (finishInfo.getFaultLocation(&entityId) == returnvalue::OK) {
     result = entityId->serialize(buffer, size, maxSize, streamEndianness);
   }
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
   return result;
 }

src/fsfw/cfdp/pdu/HeaderReader.cpp

@@ -1,8 +1,10 @@
+#include "HeaderReader.h"
+
 #include <fsfw/serialize/SerializeAdapter.h>
 
 #include <cstring>
 
-#include "PduHeaderReader.h"
+#include "fsfw/globalfunctions/CRC.h"
 
 PduHeaderReader::PduHeaderReader(const uint8_t *pduBuf, size_t maxSize) {
   setReadOnlyData(pduBuf, maxSize);
@@ -17,28 +19,29 @@ ReturnValue_t PduHeaderReader::parseData() {
   }
   pointers.fixedHeader =
       reinterpret_cast<PduHeaderFixedStruct *>(const_cast<uint8_t *>(pointers.rawPtr));
-  sourceIdRaw = static_cast<uint8_t *>(&pointers.fixedHeader->variableFieldsStart);
+  sourceIdRaw = &pointers.fixedHeader->variableFieldsStart;
   cfdp::WidthInBytes widthEntityIds = getLenEntityIds();
   cfdp::WidthInBytes widthSeqNum = getLenSeqNum();
   seqNumRaw = static_cast<uint8_t *>(sourceIdRaw) + static_cast<uint8_t>(widthEntityIds);
   destIdRaw = static_cast<uint8_t *>(seqNumRaw) + static_cast<uint8_t>(widthSeqNum);
   if (getWholePduSize() > PduHeaderReader::getHeaderSize()) {
-    pointers.dataFieldStart = reinterpret_cast<const uint8_t *>(destIdRaw) + widthEntityIds;
+    pointers.dataFieldStart = static_cast<const uint8_t *>(destIdRaw) + widthEntityIds;
   } else {
     pointers.dataFieldStart = nullptr;
   }
+
   return returnvalue::OK;
 }
 
-ReturnValue_t PduHeaderReader::setData(uint8_t *dataPtr, size_t maxSize_, void *args) {
+ReturnValue_t PduHeaderReader::setData(uint8_t *dataPtr, size_t maxSize, void *args) {
   if (dataPtr == nullptr) {
     return returnvalue::FAILED;
   }
-  if (maxSize_ < 7) {
+  if (maxSize < 7) {
     return SerializeIF::STREAM_TOO_SHORT;
   }
   pointers.rawPtr = dataPtr;
-  maxSize = maxSize_;
+  this->maxSize = maxSize;
   return returnvalue::OK;
 }
 
@@ -166,3 +169,12 @@ void PduHeaderReader::fillConfig(PduConfig &cfg) const {
 }
 
 const uint8_t *PduHeaderReader::getPduDataField() const { return pointers.dataFieldStart; }
+
+bool PduHeaderReader::performCrcCheckIfApplicable() const {
+  if (getCrcFlag()) {
+    if (CRC::crc16ccitt(pointers.rawPtr, getWholePduSize()) != 0) {
+      return false;
+    }
+  }
+  return true;
+}

src/fsfw/cfdp/pdu/HeaderReader.h

@@ -71,6 +71,11 @@ class PduHeaderReader : public RedirectableDataPointerIF, public PduHeaderIF {
   void getDestId(cfdp::EntityId& destId) const override;
   void getTransactionSeqNum(cfdp::TransactionSeqNum& seqNum) const override;
 
+  /**
+   * Performs the CRC check on the whole PDU if the CRC flag is set.
+   */
+  [[nodiscard]] bool performCrcCheckIfApplicable() const;
+
   ReturnValue_t deserResult = returnvalue::OK;
 
   [[nodiscard]] size_t getMaxSize() const;

src/fsfw/cfdp/pdu/KeepAlivePduCreator.cpp

@@ -1,5 +1,7 @@
 #include "KeepAlivePduCreator.h"
 
+#include "fsfw/globalfunctions/CRC.h"
+
 KeepAlivePduCreator::KeepAlivePduCreator(PduConfig &conf, cfdp::Fss &progress)
     : FileDirectiveCreator(conf, cfdp::FileDirective::KEEP_ALIVE, 4), progress(progress) {
   updateDirectiveFieldLen();
@@ -17,9 +19,18 @@ void KeepAlivePduCreator::updateDirectiveFieldLen() {
 
 ReturnValue_t KeepAlivePduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                              Endianness streamEndianness) const {
+  const uint8_t *start = *buffer;
   ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
   }
-  return progress.serialize(this->getLargeFileFlag(), buffer, size, maxSize, streamEndianness);
+  result = progress.serialize(this->getLargeFileFlag(), buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
+  return result;
 }

src/fsfw/cfdp/pdu/MetadataPduCreator.cpp

@@ -1,5 +1,7 @@
 #include "MetadataPduCreator.h"
 
+#include "fsfw/globalfunctions/CRC.h"
+
 MetadataPduCreator::MetadataPduCreator(PduConfig &conf, MetadataGenericInfo &info,
                                        cfdp::StringLv &srcFileName, cfdp::StringLv &destFileName,
                                        cfdp::Tlv **optionsArray, size_t optionsLen)
@@ -29,6 +31,7 @@ size_t MetadataPduCreator::getSerializedSize() const {
 
 ReturnValue_t MetadataPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                             Endianness streamEndianness) const {
+  const uint8_t *start = *buffer;
   ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
@@ -60,6 +63,11 @@ ReturnValue_t MetadataPduCreator::serialize(uint8_t **buffer, size_t *size, size
       }
     }
   }
+
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
   return result;
 }
 const cfdp::StringLv &MetadataPduCreator::getSourceFileName() const { return srcFileName; }

src/fsfw/cfdp/pdu/MetadataPduReader.cpp

@@ -38,6 +38,10 @@ ReturnValue_t MetadataPduReader::parseData() {
     return result;
   }
 
+  if (getCrcFlag() && remSize == 2) {
+    return returnvalue::OK;
+  }
+
   if (remSize > 0) {
     if (optionArrayMaxSize == 0 or optionArray == nullptr) {
       return cfdp::METADATA_CANT_PARSE_OPTIONS;

src/fsfw/cfdp/pdu/NakPduCreator.cpp

@@ -1,5 +1,7 @@
 #include "NakPduCreator.h"
 
+#include "fsfw/globalfunctions/CRC.h"
+
 NakPduCreator::NakPduCreator(PduConfig &pduConf, NakInfo &nakInfo)
     : FileDirectiveCreator(pduConf, cfdp::FileDirective::NAK, 0), nakInfo(nakInfo) {
   updateDirectiveFieldLen();
@@ -13,6 +15,7 @@ size_t NakPduCreator::getSerializedSize() const { return FileDirectiveCreator::g
 
 ReturnValue_t NakPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                        Endianness streamEndianness) const {
+  const uint8_t *start = *buffer;
   ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
@@ -40,5 +43,9 @@ ReturnValue_t NakPduCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
       }
     }
   }
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
   return result;
 }

src/fsfw/cfdp/pdu/PromptPduCreator.cpp

@@ -1,5 +1,7 @@
 #include "PromptPduCreator.h"
 
+#include "fsfw/globalfunctions/CRC.h"
+
 PromptPduCreator::PromptPduCreator(PduConfig &conf, cfdp::PromptResponseRequired responseRequired)
     : FileDirectiveCreator(conf, cfdp::FileDirective::PROMPT, 1),
       responseRequired(responseRequired) {}
@@ -10,6 +12,7 @@ size_t PromptPduCreator::getSerializedSize() const {
 
 ReturnValue_t PromptPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                           Endianness streamEndianness) const {
+  const uint8_t *start = *buffer;
   ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
@@ -20,5 +23,10 @@ ReturnValue_t PromptPduCreator::serialize(uint8_t **buffer, size_t *size, size_t
   **buffer = responseRequired << 7;
   *buffer += 1;
   *size += 1;
+
+  if (getCrcFlag()) {
+    uint16_t crc = CRC::crc16ccitt(start, getWholePduSize() - 2);
+    result = SerializeAdapter::serialize(&crc, buffer, size, maxSize, streamEndianness);
+  }
   return result;
 }

src/fsfw/cfdp/tlv/FilestoreTlvBase.h

@@ -66,9 +66,9 @@ static constexpr uint8_t FSR_DENY_DIR_NOT_ALLOWED = 0b0010;
 
 class FilestoreTlvBase : public TlvIF {
  public:
-  explicit FilestoreTlvBase(cfdp::StringLv& firstFileName) : firstFileName(firstFileName){};
+  explicit FilestoreTlvBase(cfdp::StringLv& firstFileName) : firstFileName(firstFileName) {};
   FilestoreTlvBase(FilestoreActionCode actionCode, cfdp::StringLv& firstFileName)
-      : actionCode(actionCode), firstFileName(firstFileName){};
+      : actionCode(actionCode), firstFileName(firstFileName) {};
 
   ReturnValue_t commonSerialize(uint8_t** buffer, size_t* size, size_t maxSize,
                                 Endianness streamEndianness, bool isResponse = false,

src/fsfw/cfdp/tlv/TlvIF.h

@@ -5,7 +5,7 @@
 
 class TlvIF : public SerializeIF {
  public:
-  virtual ~TlvIF(){};
+  virtual ~TlvIF() {};
 
   virtual uint8_t getLengthField() const = 0;
   virtual cfdp::TlvType getType() const = 0;

src/fsfw/coordinates/CoordinateTransformations.cpp

@@ -6,6 +6,8 @@
 #include "fsfw/globalfunctions/constants.h"
 #include "fsfw/globalfunctions/math/MatrixOperations.h"
 #include "fsfw/globalfunctions/math/VectorOperations.h"
+#include "fsfw/globalfunctions/sign.h"
+#include "fsfw/serviceinterface.h"
 
 void CoordinateTransformations::positionEcfToEci(const double* ecfPosition, double* eciPosition,
                                                  timeval* timeUTC) {
@@ -97,7 +99,16 @@ void CoordinateTransformations::ecfToEci(const double* ecfCoordinates, double* e
 
 double CoordinateTransformations::getJuleanCenturiesTT(timeval timeUTC) {
   timeval timeTT;
-  Clock::convertUTCToTT(timeUTC, &timeTT);
+  ReturnValue_t result = Clock::convertUTCToTT(timeUTC, &timeTT);
+  if (result != returnvalue::OK) {
+    // i think it is better to continue here than to abort
+    timeTT = timeUTC;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "CoordinateTransformations::Conversion from UTC to TT failed. Continuing "
+                  "calculations with UTC."
+               << std::endl;
+#endif
+  }
   double jD2000TT;
   Clock::convertTimevalToJD2000(timeTT, &jD2000TT);
 
@@ -207,3 +218,61 @@ void CoordinateTransformations::getTransMatrixECITOECF(timeval timeUTC, double T
 
   MatrixOperations<double>::multiply(mTheta[0], Ttemp[0], Tfi[0], 3, 3, 3);
 };
+
+void CoordinateTransformations::cartesianFromLatLongAlt(const double lat, const double longi,
+                                                        const double alt, double* cartesianOutput) {
+  /* @brief:  cartesianFromLatLongAlt() - calculates cartesian coordinates in ECEF from latitude,
+   * 								longitude and altitude
+   * @param:  lat   				geodetic latitude [rad]
+   * 			longi 				longitude [rad]
+   * 			alt					altitude [m]
+   * 			cartesianOutput 	Cartesian Coordinates in ECEF (3x1)
+   * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.34ff
+   * 			Landis Markley and John L. Crassidis*/
+  double radiusPolar = 6356752.314;
+  double radiusEqua = 6378137;
+
+  double eccentricity = sqrt(1 - pow(radiusPolar, 2) / pow(radiusEqua, 2));
+  double auxRadius = radiusEqua / sqrt(1 - pow(eccentricity, 2) * pow(sin(lat), 2));
+
+  cartesianOutput[0] = (auxRadius + alt) * cos(lat) * cos(longi);
+  cartesianOutput[1] = (auxRadius + alt) * cos(lat) * sin(longi);
+  cartesianOutput[2] = ((1 - pow(eccentricity, 2)) * auxRadius + alt) * sin(lat);
+};
+
+void CoordinateTransformations::latLongAltFromCartesian(const double* vector, double& latitude,
+                                                        double& longitude, double& altitude) {
+  /* @brief:  latLongAltFromCartesian() - calculates latitude, longitude and altitude from
+   * cartesian coordinates in ECEF
+   * @param:  x   			x-value of position vector [m]
+   * 			y 				y-value of position vector [m]
+   * 			z				z-value of position vector [m]
+   * 			latitude 		geodetic latitude [rad]
+   * 			longitude		longitude [rad]
+   * 			altitude		altitude [m]
+   * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.35 f
+   * 			Landis Markley and John L. Crassidis*/
+  // From World Geodetic System the Earth Radii
+  double a = 6378137.0;     // semimajor axis [m]
+  double b = 6356752.3142;  // semiminor axis [m]
+
+  // Calculation
+  double e2 = 1 - pow(b, 2) / pow(a, 2);
+  double epsilon2 = pow(a, 2) / pow(b, 2) - 1;
+  double rho = sqrt(pow(vector[0], 2) + pow(vector[1], 2));
+  double p = std::abs(vector[2]) / epsilon2;
+  double s = pow(rho, 2) / (e2 * epsilon2);
+  double q = pow(p, 2) - pow(b, 2) + s;
+  double u = p / sqrt(q);
+  double v = pow(b, 2) * pow(u, 2) / q;
+  double P = 27 * v * s / q;
+  double Q = pow(sqrt(P + 1) + sqrt(P), 2. / 3.);
+  double t = (1 + Q + 1 / Q) / 6;
+  double c = sqrt(pow(u, 2) - 1 + 2 * t);
+  double w = (c - u) / 2;
+  double d = sign(vector[2]) * sqrt(q) * (w + sqrt(sqrt(pow(t, 2) + v) - u * w - t / 2 - 1. / 4.));
+  double N = a * sqrt(1 + epsilon2 * pow(d, 2) / pow(b, 2));
+  latitude = asin((epsilon2 + 1) * d / N);
+  altitude = rho * cos(latitude) + vector[2] * sin(latitude) - pow(a, 2) / N;
+  longitude = atan2(vector[1], vector[0]);
+}

src/fsfw/coordinates/CoordinateTransformations.h

@@ -23,6 +23,12 @@ class CoordinateTransformations {
 
   static void getEarthRotationMatrix(timeval timeUTC, double matrix[][3]);
 
+  static void cartesianFromLatLongAlt(const double lat, const double longi, const double alt,
+                                      double* cartesianOutput);
+
+  static void latLongAltFromCartesian(const double* vector, double& latitude, double& longitude,
+                                      double& altitude);
+
  private:
   CoordinateTransformations();
   static void ecfToEci(const double* ecfCoordinates, double* eciCoordinates,

src/fsfw/coordinates/Jgm3Model.h

@@ -29,7 +29,7 @@ class Jgm3Model {
     lastExecutionTime.tv_sec = 0;
     lastExecutionTime.tv_usec = 0;
   }
-  virtual ~Jgm3Model(){};
+  virtual ~Jgm3Model() {};
 
   // double acsNavOrbit(double posECF[3],double velECF[3],timeval gpsTime);
 
@@ -70,10 +70,10 @@ class Jgm3Model {
               W[n][m] = W[n][m] - (((n + m - 1) / (double)(n - m)) *
                                    (pow(Earth::MEAN_RADIUS, 2) / pow(r, 2)) * W[n - 2][m]);
             }  // End of if(n!=(m+1))
-          }    // End of if(n==m){
-        }      // End of if(n==0 and m==0)
-      }        // End of for(uint8_t n=0;n<(DEGREE+1);n++)
-    }          // End of for(uint8_t m=0;m<(ORDER+1);m++)
+          }  // End of if(n==m){
+        }  // End of if(n==0 and m==0)
+      }  // End of for(uint8_t n=0;n<(DEGREE+1);n++)
+    }  // End of for(uint8_t m=0;m<(ORDER+1);m++)
 
     // overwrite accel if not properly initialized
     accel[0] = 0;
@@ -106,7 +106,7 @@ class Jgm3Model {
         accel[1] += partAccel[1];
         accel[2] += partAccel[2];
       }  // End of for(uint8_t n=0;n<DEGREE;n++)
-    }    // End of uint8_t m=0;m<ORDER;m++
+    }  // End of uint8_t m=0;m<ORDER;m++
   }
 
   void initializeNavOrbit(const double position[3], const double velocity[3], timeval timeUTC) {

src/fsfw/datapool/PoolDataSetIF.h

@@ -10,7 +10,7 @@
  */
 class PoolDataSetIF : virtual public DataSetIF, virtual public ReadCommitIF {
  public:
-  virtual ~PoolDataSetIF(){};
+  virtual ~PoolDataSetIF() {};
 
   /**
    * @brief   Most underlying data structures will have a pool like structure

src/fsfw/datapool/SharedDataSetIF.h

@@ -5,7 +5,7 @@
 
 class SharedDataSetIF {
  public:
-  virtual ~SharedDataSetIF(){};
+  virtual ~SharedDataSetIF() {};
 
  private:
   virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType,

src/fsfw/datapoollocal/AccessLocalPoolF.h

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

src/fsfw/datapoollocal/HasLocalDataPoolIF.h

@@ -44,7 +44,7 @@ class HasLocalDataPoolIF {
   friend class HasLocalDpIFUserAttorney;
 
  public:
-  virtual ~HasLocalDataPoolIF(){};
+  virtual ~HasLocalDataPoolIF() {};
 
   static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
 

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -257,7 +257,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
 
   union DataId {
-    DataId() : sid(){};
+    DataId() : sid() {};
     sid_t sid;
     lp_id_t localPoolId;
   };

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -17,8 +17,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, uint32_t
   if (hkOwner == nullptr) {
     // Configuration error.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
-               << "invalid!" << std::endl;
+    sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner " << "invalid!" << std::endl;
 #else
     sif::printError(
         "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
@@ -187,8 +186,8 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t **buffer, size
         SerializeAdapter::serialize(&currentPoolId, buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "LocalPoolDataSetBase::serializeLocalPoolIds: "
-                   << "Serialization error!" << std::endl;
+      sif::warning << "LocalPoolDataSetBase::serializeLocalPoolIds: " << "Serialization error!"
+                   << std::endl;
 #else
       sif::printWarning(
           "LocalPoolDataSetBase::serializeLocalPoolIds: "

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -17,8 +17,8 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkO
   }
   if (hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
-               << "owner is a invalid!" << std::endl;
+    sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool " << "owner is a invalid!"
+               << std::endl;
 #endif
     return;
   }

src/fsfw/datapoollocal/LocalPoolVariable.h

@@ -76,7 +76,7 @@ class LocalPoolVariable : public LocalPoolObjectBase {
   LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
                     pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
-  virtual ~LocalPoolVariable(){};
+  virtual ~LocalPoolVariable() {};
 
   /**
    * @brief	This is the local copy of the data pool entry.

src/fsfw/datapoollocal/LocalPoolVector.h

@@ -88,7 +88,7 @@ class LocalPoolVector : public LocalPoolObjectBase {
    * @details	If commit() was not called, the local value is
    * 			discarded and not written back to the data pool.
    */
-  ~LocalPoolVector(){};
+  ~LocalPoolVector() {};
   /**
    * @brief	The operation returns the number of array entries
    * 			in this variable.

src/fsfw/datapoollocal/MarkChangedIF.h

@@ -6,7 +6,7 @@
  */
 class MarkChangedIF {
  public:
-  virtual ~MarkChangedIF(){};
+  virtual ~MarkChangedIF() {};
 
   virtual bool hasChanged() const = 0;
   virtual void setChanged(bool changed) = 0;

src/fsfw/devicehandlers/CookieIF.h

@@ -28,7 +28,7 @@ using address_t = uint32_t;
  */
 class CookieIF {
  public:
-  virtual ~CookieIF(){};
+  virtual ~CookieIF() {};
 };
 
 #endif /* FSFW_DEVICEHANDLER_COOKIE_H_ */

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -26,6 +26,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
   if (isFdirInActionOrAreWeFaulty(event)) {
     return returnvalue::OK;
   }
+  // As mentioned in the function documentation, no FDIR reaction are performed when the device
+  // is in external control.
+  if (owner->getHealth() == HasHealthIF::EXTERNAL_CONTROL) {
+    return returnvalue::OK;
+  }
   ReturnValue_t result = returnvalue::FAILED;
   switch (event->getEvent()) {
     case HasModesIF::MODE_TRANSITION_FAILED:
@@ -186,15 +191,6 @@ void DeviceHandlerFailureIsolation::setFdirState(FDIRState state) {
   fdirState = state;
 }
 
-void DeviceHandlerFailureIsolation::triggerEvent(Event event, uint32_t parameter1,
-                                                 uint32_t parameter2) {
-  // Do not throw error events if fdirState != none.
-  // This will still forward MODE and HEALTH INFO events in any case.
-  if (fdirState == NONE || event::getSeverity(event) == severity::INFO) {
-    FailureIsolationBase::triggerEvent(event, parameter1, parameter2);
-  }
-}
-
 bool DeviceHandlerFailureIsolation::isFdirActionInProgress() { return (fdirState != NONE); }
 
 void DeviceHandlerFailureIsolation::startRecovery(Event reason) {
@@ -247,8 +243,8 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(EventMessage* ev
   if (owner == nullptr) {
     // Configuration error.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DeviceHandlerFailureIsolation::"
-               << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
+    sif::error << "DeviceHandlerFailureIsolation::" << "isFdirInActionOrAreWeFaulty: Owner not set!"
+               << std::endl;
 #endif
     return false;
   }

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.h

@@ -17,7 +17,6 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
                                 uint8_t eventQueueDepth = 10);
   ~DeviceHandlerFailureIsolation();
   ReturnValue_t initialize();
-  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
   bool isFdirActionInProgress();
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper* parameterWrapper,
@@ -41,6 +40,19 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
   static const uint32_t DEFAULT_MAX_MISSED_REPLY_COUNT = 5;
   static const uint32_t DEFAULT_MISSED_REPLY_TIME_MS = 10000;
 
+  /**
+   * This is the default implementation of the eventReceived function.
+   *
+   * It will perform recoveries or failures on a pre-defined set of events. If the user wants
+   * to add handling for custom events, this function should be overriden.
+   *
+   * It should be noted that the default implementation will not perform FDIR reactions if the
+   * handler is faulty or in external control by default. If the user commands the device
+   * manually, this might be related to debugging to testing the device in a low-level way. FDIR
+   * reactions might get in the way of this process by restarting the device or putting it in
+   * the faulty state. If the user still requires FDIR handling in the EXTERNAL_CONTROL case,
+   * this function should be overriden.
+   */
   virtual ReturnValue_t eventReceived(EventMessage* event);
   virtual void eventConfirmed(EventMessage* event);
   void wasParentsFault(EventMessage* event);

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -31,6 +31,7 @@ FreshDeviceHandlerBase::~FreshDeviceHandlerBase() {
 ReturnValue_t FreshDeviceHandlerBase::performOperation(uint8_t opCode) {
   performDeviceOperationPreQueueHandling(opCode);
   handleQueue();
+  fdirInstance->checkForFailures();
   performDeviceOperation(opCode);
   poolManager.performHkOperation();
   return returnvalue::OK;

src/fsfw/devicehandlers/FreshDeviceHandlerBase.h

@@ -129,7 +129,7 @@ class FreshDeviceHandlerBase : public SystemObject,
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override = 0;
   // Executable overrides.
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
   /**

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -62,8 +62,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid" << std::endl;
+      sif::error << "FailureIsolationBase::intialize: Parent object " << "invalid" << std::endl;
       sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
 #else
       sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
@@ -148,25 +147,16 @@ void FailureIsolationBase::doConfirmFault(EventMessage* event) {
 ReturnValue_t FailureIsolationBase::confirmFault(EventMessage* event) { return YOUR_FAULT; }
 
 void FailureIsolationBase::triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
-  // With this mechanism, all events are disabled for a certain device.
-  // That's not so good for visibility.
-  if (isFdirDisabledForSeverity(event::getSeverity(event))) {
-    return;
-  }
+  // By default, we trigger all events and also call the handler function to handle FDIR reactions
+  // which might occur due to these events. This makes all events visible. If the handling of
+  // FDIR reaction should be disabled, this should be done through dedicated logic inside the
+  // eventReceived function.
   EventMessage message(event, ownerId, parameter1, parameter2);
   EventManagerIF::triggerEvent(&message, eventQueue->getId());
   eventReceived(&message);
 }
 
-bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) {
-  if ((owner != NULL) && (severity != severity::INFO)) {
-    if (owner->getHealth() == HasHealthIF::EXTERNAL_CONTROL) {
-      // External control disables handling of fault messages.
-      return true;
-    }
-  }
-  return false;
-}
+bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) { return false; }
 
 void FailureIsolationBase::throwFdirEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
   EventMessage message(event, ownerId, parameter1, parameter2);

src/fsfw/fdir/FailureIsolationBase.h

@@ -44,13 +44,13 @@ class FailureIsolationBase : public ConfirmsFailuresIF, public HasParametersIF {
   virtual void wasParentsFault(EventMessage* event);
   virtual ReturnValue_t confirmFault(EventMessage* event);
   virtual void decrementFaultCounters() = 0;
+  virtual bool isFdirDisabledForSeverity(EventSeverity_t severity);
   ReturnValue_t sendConfirmationRequest(EventMessage* event,
                                         MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
   void throwFdirEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
 
  private:
   void doConfirmFault(EventMessage* event);
-  bool isFdirDisabledForSeverity(EventSeverity_t severity);
 };
 
-#endif /* FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_ */
+#endif /* FRAMEWORK_FDIR */

src/fsfw/filesystem/HasFileSystemIF.h

@@ -58,11 +58,7 @@ class HasFileSystemIF {
   static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(22);
   static constexpr ReturnValue_t NOT_A_DIRECTORY = MAKE_RETURN_CODE(23);
   static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(24);
-
-  //! [EXPORT] : P1: Sequence number missing
-  static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(30);
-  //! [EXPORT] : P1: Sequence number missing
-  static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(31);
+  static constexpr ReturnValue_t ELEMENT_DOES_NOT_EXIST = MAKE_RETURN_CODE(25);
 
   virtual ~HasFileSystemIF() = default;
 
@@ -75,21 +71,27 @@ class HasFileSystemIF {
   }
 
   // Get the base filename without the full directory path
-  virtual ReturnValue_t getBaseFilename(FilesystemParams params, char* nameBuf, size_t maxLen,
+  virtual ReturnValue_t getBaseFilename(const char* path, char* nameBuf, size_t maxLen,
                                         size_t& baseNameLen) = 0;
 
-  virtual bool isDirectory(const char* path) = 0;
+  virtual ReturnValue_t isDirectory(const char* path, bool& isDirectory) = 0;
 
-  virtual bool getFileSize(FilesystemParams params, uint64_t& fileSize) = 0;
+  virtual ReturnValue_t getFileSize(const char* path, uint64_t& fileSize,
+                                    FileSystemArgsIF* args) = 0;
+  virtual ReturnValue_t getFileSize(const char* path, uint64_t& fileSize) {
+    return getFileSize(path, fileSize, nullptr);
+  }
 
-  virtual bool fileExists(FilesystemParams params) = 0;
+  virtual bool fileExists(const char* path, FileSystemArgsIF* args) = 0;
+  virtual bool fileExists(const char* path) { return fileExists(path, nullptr); }
 
   /**
    * Truncate a file, deleting its contents and setting its size to 0 accordingly.
    * @param params
    * @return
    */
-  virtual ReturnValue_t truncateFile(FilesystemParams params) = 0;
+  virtual ReturnValue_t truncateFile(const char* path, FileSystemArgsIF* args) = 0;
+  virtual ReturnValue_t truncateFile(const char* path) { return truncateFile(path, nullptr); }
 
   /**
    * @brief   Generic function to write to a file.
@@ -100,32 +102,23 @@ class HasFileSystemIF {
    * @param fileOpInfo General information: File name, size to write, offset, additional arguments
    * @param data The data to write to the file
    */
-  virtual ReturnValue_t writeToFile(FileOpParams params, const uint8_t* data) = 0;
+  virtual ReturnValue_t writeToFile(const char* path, size_t offset, const uint8_t* data,
+                                    size_t size) = 0;
 
   /**
    * @brief Generic function to read from a file. This variant takes a pointer to a buffer and
    * performs pointer arithmetic by incrementing the pointer by the read size
-   * @param fileOpInfo General information: File name, size to write, offset, additional arguments
-   * @param buffer [in/out] Data will be read into the provided buffer, and the pointer will be
-   *    incremented by the read length
-   * @param readSize [out] Will be incremented by the read length
-   * @param maxSize Maximum size of the provided buffer
+   * @param path [in] file path
+   * @param offset [in] offset of data to read
+   * @param sizeToRead [in] size of data to read
+   * @param buffer [in/out] Data will be read into the provided buffer.
+   * @param actuallyRead [out] Will be set to the length actually read.
+   * @param maxSize [in] Maximum size of the provided buffer
    * @param args
    * @return
    */
-  virtual ReturnValue_t readFromFile(FileOpParams fileOpInfo, uint8_t** buffer, size_t& readSize,
-                                     size_t maxSize) = 0;
-  /**
-   * Variant of the @readFromFile which does not perform pointer arithmetic.
-   * @param fileOpInfo General information: File name, size to write, offset, additional arguments
-   * @param buf
-   * @param maxSize
-   * @return
-   */
-  virtual ReturnValue_t readFromFile(FileOpParams fileOpInfo, uint8_t* buf, size_t maxSize) {
-    size_t dummy = 0;
-    return readFromFile(fileOpInfo, &buf, dummy, maxSize);
-  }
+  virtual ReturnValue_t readFromFile(const char* path, size_t offset, size_t sizeToRead,
+                                     uint8_t* buffer, size_t& actuallyRead, size_t maxSize) = 0;
 
   /**
    * @brief   Generic function to create a new file.
@@ -136,10 +129,8 @@ class HasFileSystemIF {
    * @param args Any other arguments which an implementation might require
    * @return
    */
-  virtual ReturnValue_t createFile(FilesystemParams params) {
-    return createFile(params, nullptr, 0);
-  }
-  virtual ReturnValue_t createFile(FilesystemParams params, const uint8_t* data, size_t size) = 0;
+  virtual ReturnValue_t createFile(const char* path) { return createFile(path, nullptr, 0); }
+  virtual ReturnValue_t createFile(const char* path, const uint8_t* data, size_t size) = 0;
 
   /**
    * @brief   Generic function to delete a file.
@@ -159,9 +150,13 @@ class HasFileSystemIF {
    * @param args Any other arguments which an implementation might require
    * @return
    */
-  virtual ReturnValue_t createDirectory(FilesystemParams params, bool createParentDirs) = 0;
-  virtual ReturnValue_t createDirectory(FilesystemParams params) {
-    return createDirectory(params, false);
+  virtual ReturnValue_t createDirectory(const char* path, bool createParentDirs,
+                                        FileSystemArgsIF* args) = 0;
+  virtual ReturnValue_t createDirectory(const char* path, FileSystemArgsIF* args) {
+    return createDirectory(path, false, args);
+  }
+  virtual ReturnValue_t createDirectory(const char* path) {
+    return createDirectory(path, false, nullptr);
   }
 
   /**
@@ -169,9 +164,10 @@ class HasFileSystemIF {
    * @param repositoryPath
    * @param args Any other arguments which an implementation might require
    */
-  virtual ReturnValue_t removeDirectory(FilesystemParams params, bool deleteRecurively) = 0;
-  virtual ReturnValue_t removeDirectory(FilesystemParams params) {
-    return removeDirectory(params, false);
+  virtual ReturnValue_t removeDirectory(const char* path, bool deleteRecurively,
+                                        FileSystemArgsIF* args) = 0;
+  virtual ReturnValue_t removeDirectory(const char* path, FileSystemArgsIF* args) {
+    return removeDirectory(path, false, nullptr);
   }
 
   virtual ReturnValue_t rename(const char* oldPath, const char* newPath) {

src/fsfw/globalfunctions/math/MatrixOperations.h

@@ -1,9 +1,12 @@
 #ifndef MATRIXOPERATIONS_H_
 #define MATRIXOPERATIONS_H_
 
+#include <fsfw/retval.h>
 #include <stdint.h>
 
 #include <cmath>
+#include <cstring>
+#include <utility>
 
 template <typename T1, typename T2 = T1, typename T3 = T2>
 class MatrixOperations {
@@ -95,6 +98,139 @@ class MatrixOperations {
       }
     }
   }
+
+  static bool isFinite(const T1 *inputMatrix, uint8_t rows, uint8_t cols) {
+    for (uint8_t col = 0; col < cols; col++) {
+      for (uint8_t row = 0; row < rows; row++) {
+        if (not std::isfinite(inputMatrix[row * cols + cols])) {
+          return false;
+        }
+      }
+    }
+    return true;
+  }
+
+  static void writeSubmatrix(T1 *mainMatrix, T1 *subMatrix, uint8_t subRows, uint8_t subCols,
+                             uint8_t mainRows, uint8_t mainCols, uint8_t startRow,
+                             uint8_t startCol) {
+    if ((startRow + subRows > mainRows) or (startCol + subCols > mainCols)) {
+      return;
+    }
+    for (uint8_t row = 0; row < subRows; row++) {
+      for (uint8_t col = 0; col < subCols; col++) {
+        mainMatrix[(startRow + row) * mainCols + (startCol + col)] = subMatrix[row * subCols + col];
+      }
+    }
+  }
+
+  static ReturnValue_t inverseMatrix(const T1 *inputMatrix, T1 *inverse, uint8_t size) {
+    // Stopwatch stopwatch;
+    T1 matrix[size][size], identity[size][size];
+    // reformat array to matrix
+    for (uint8_t row = 0; row < size; row++) {
+      for (uint8_t col = 0; col < size; col++) {
+        matrix[row][col] = inputMatrix[row * size + col];
+      }
+    }
+    // init identity matrix
+    std::memset(identity, 0.0, sizeof(identity));
+    for (uint8_t diag = 0; diag < size; diag++) {
+      identity[diag][diag] = 1;
+    }
+    // gauss-jordan algo
+    // sort matrix such as no diag entry shall be 0
+    for (uint8_t row = 0; row < size; row++) {
+      if (matrix[row][row] == 0.0) {
+        bool swaped = false;
+        uint8_t rowIndex = 0;
+        while ((rowIndex < size) && !swaped) {
+          if ((matrix[rowIndex][row] != 0.0) && (matrix[row][rowIndex] != 0.0)) {
+            for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
+              std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
+              std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
+            }
+            swaped = true;
+          }
+          rowIndex++;
+        }
+        if (!swaped) {
+          return returnvalue::FAILED;  // matrix not invertible
+        }
+      }
+    }
+
+    for (int row = 0; row < size; row++) {
+      if (matrix[row][row] == 0.0) {
+        uint8_t rowIndex;
+        if (row == 0) {
+          rowIndex = size - 1;
+        } else {
+          rowIndex = row - 1;
+        }
+        for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
+          std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
+          std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
+        }
+        row--;
+        if (row < 0) {
+          return returnvalue::FAILED;  // Matrix is not invertible
+        }
+      }
+    }
+    // remove non diag elements in matrix (jordan)
+    for (int row = 0; row < size; row++) {
+      for (int rowIndex = 0; rowIndex < size; rowIndex++) {
+        if (row != rowIndex) {
+          double ratio = matrix[rowIndex][row] / matrix[row][row];
+          for (int colIndex = 0; colIndex < size; colIndex++) {
+            matrix[rowIndex][colIndex] -= ratio * matrix[row][colIndex];
+            identity[rowIndex][colIndex] -= ratio * identity[row][colIndex];
+          }
+        }
+      }
+    }
+    // normalize rows in matrix (gauss)
+    for (int row = 0; row < size; row++) {
+      for (int col = 0; col < size; col++) {
+        identity[row][col] = identity[row][col] / matrix[row][row];
+      }
+    }
+    std::memcpy(inverse, identity, sizeof(identity));
+    return returnvalue::OK;  // successful inversion
+  }
+
+  static void inverseMatrixDimThree(const T1 *matrix, T1 *output) {
+    int i, j;
+    double determinant = 0;
+    double mat[3][3] = {{matrix[0], matrix[1], matrix[2]},
+                        {matrix[3], matrix[4], matrix[5]},
+                        {matrix[6], matrix[7], matrix[8]}};
+
+    for (i = 0; i < 3; i++) {
+      determinant = determinant + (mat[0][i] * (mat[1][(i + 1) % 3] * mat[2][(i + 2) % 3] -
+                                                mat[1][(i + 2) % 3] * mat[2][(i + 1) % 3]));
+    }
+    for (i = 0; i < 3; i++) {
+      for (j = 0; j < 3; j++) {
+        output[i * 3 + j] = ((mat[(j + 1) % 3][(i + 1) % 3] * mat[(j + 2) % 3][(i + 2) % 3]) -
+                             (mat[(j + 1) % 3][(i + 2) % 3] * mat[(j + 2) % 3][(i + 1) % 3])) /
+                            determinant;
+      }
+    }
+  }
+
+  static void skewMatrix(const T1 *vector, T2 *result) {
+    // Input Dimension [3], Output [3][3]
+    result[0] = 0;
+    result[1] = -vector[2];
+    result[2] = vector[1];
+    result[3] = vector[2];
+    result[4] = 0;
+    result[5] = -vector[0];
+    result[6] = -vector[1];
+    result[7] = vector[0];
+    result[8] = 0;
+  }
 };
 
 #endif /* MATRIXOPERATIONS_H_ */

src/fsfw/globalfunctions/math/QuaternionOperations.cpp

@@ -72,6 +72,15 @@ void QuaternionOperations::slerp(const double q1[4], const double q2[4], const d
   normalize(q);
 }
 
+void QuaternionOperations::preventSignJump(double qNew[4], const double qOld[4]) {
+  double qDiff[4] = {0, 0, 0, 0}, qSum[4] = {0, 0, 0, 0};
+  VectorOperations<double>::subtract(qOld, qNew, qDiff, 4);
+  VectorOperations<double>::add(qOld, qNew, qSum, 4);
+  if (VectorOperations<double>::norm(qDiff, 4) > VectorOperations<double>::norm(qSum, 4)) {
+    VectorOperations<double>::mulScalar(qNew, -1, qNew, 4);
+  }
+}
+
 QuaternionOperations::QuaternionOperations() {}
 
 void QuaternionOperations::normalize(const double* quaternion, double* unitQuaternion) {
@@ -153,3 +162,25 @@ double QuaternionOperations::getAngle(const double* quaternion, bool abs) {
     }
   }
 }
+
+void QuaternionOperations::rotationFromQuaternions(const double qNew[4], const double qOld[4],
+                                                   const double timeDelta, double rotRate[3]) {
+  double qOldInv[4] = {0, 0, 0, 0};
+  double qDelta[4] = {0, 0, 0, 0};
+
+  inverse(qOld, qOldInv);
+  multiply(qNew, qOldInv, qDelta);
+  if (VectorOperations<double>::norm(qDelta, 4) != 0.0) {
+    normalize(qDelta);
+  }
+  if (VectorOperations<double>::norm(qDelta, 3) == 0.0) {
+    rotRate[0] = 0.0;
+    rotRate[1] = 0.0;
+    rotRate[2] = 0.0;
+    return;
+  }
+  double rotVec[3] = {0, 0, 0};
+  double angle = getAngle(qDelta);
+  VectorOperations<double>::normalize(qDelta, rotVec, 3);
+  VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotRate, 3);
+}

src/fsfw/globalfunctions/math/QuaternionOperations.h

@@ -25,6 +25,11 @@ class QuaternionOperations {
 
   static void slerp(const double q1[4], const double q2[4], const double weight, double q[4]);
 
+  static void rotationFromQuaternions(const double qNew[4], const double qOld[4],
+                                      const double timeDelta, double rotRate[3]);
+
+  static void preventSignJump(double qNew[4], const double qOld[4]);
+
   /**
    * returns angle in ]-Pi;Pi] or [0;Pi] if abs == true
    */

src/fsfw/globalfunctions/math/VectorOperations.h

@@ -99,6 +99,15 @@ class VectorOperations {
 
   static void copy(const T *in, T *out, uint8_t size) { mulScalar(in, 1, out, size); }
 
+  static bool isFinite(const T *inputVector, uint8_t size) {
+    for (uint8_t i = 0; i < size; i++) {
+      if (not std::isfinite(inputVector[i])) {
+        return false;
+      }
+    }
+    return true;
+  }
+
  private:
   VectorOperations();
 };

src/fsfw/housekeeping/HousekeepingSnapshot.h

@@ -23,7 +23,7 @@ class HousekeepingSnapshot : public SerializeIF {
   HousekeepingSnapshot(CCSDSTime::CDS_short* cdsShort, LocalPoolDataSetBase* dataSetPtr)
       : timeStamp(reinterpret_cast<uint8_t*>(cdsShort)),
         timeStampSize(sizeof(CCSDSTime::CDS_short)),
-        updateData(dataSetPtr){};
+        updateData(dataSetPtr) {};
 
   /**
    * Update packet constructor for datasets.
@@ -32,7 +32,7 @@ class HousekeepingSnapshot : public SerializeIF {
    * @param dataSetPtr        Pointer to the dataset instance to deserialize the data into
    */
   HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize, LocalPoolDataSetBase* dataSetPtr)
-      : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr){};
+      : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr) {};
 
   /**
    * Update packet constructor for pool variables.
@@ -43,7 +43,7 @@ class HousekeepingSnapshot : public SerializeIF {
   HousekeepingSnapshot(CCSDSTime::CDS_short* cdsShort, LocalPoolObjectBase* dataSetPtr)
       : timeStamp(reinterpret_cast<uint8_t*>(cdsShort)),
         timeStampSize(sizeof(CCSDSTime::CDS_short)),
-        updateData(dataSetPtr){};
+        updateData(dataSetPtr) {};
 
   /**
    * Update packet constructor for pool variables.
@@ -52,7 +52,7 @@ class HousekeepingSnapshot : public SerializeIF {
    * @param dataSetPtr
    */
   HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize, LocalPoolObjectBase* dataSetPtr)
-      : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr){};
+      : timeStamp(timeStamp), timeStampSize(timeStampSize), updateData(dataSetPtr) {};
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const {

src/fsfw/ipc/CommandMessageIF.h

@@ -37,7 +37,7 @@ class CommandMessageIF {
   //! Parameter 1 should contain the error code
   static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2);
 
-  virtual ~CommandMessageIF(){};
+  virtual ~CommandMessageIF() {};
 
   /**
    * A command message shall have a uint16_t command ID field.

src/fsfw/ipc/definitions.h

@@ -5,7 +5,7 @@
 #include <fsfw/objectmanager/frameworkObjects.h>
 
 struct MqArgs {
-  MqArgs(){};
+  MqArgs() {};
   MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
   object_id_t objectId = objects::NO_OBJECT;
   void* args = nullptr;

src/fsfw/objectmanager/ObjectManagerIF.h

@@ -40,7 +40,7 @@ class ObjectManagerIF {
   /**
    * @brief	This is the empty virtual destructor as requested by C++ interfaces.
    */
-  virtual ~ObjectManagerIF(void){};
+  virtual ~ObjectManagerIF(void) {};
   /**
    * @brief	With this call, new objects are inserted to the list.
    * @details	The implementation shall return an error code in case the

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -49,8 +49,8 @@ ReturnValue_t TcpTmTcBridge::handleTm() {
   MutexGuard guard(mutex, timeoutType, mutexTimeoutMs);
   TmTcMessage message;
   ReturnValue_t status = returnvalue::OK;
-  for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
-       result == returnvalue::OK; result = tmTcReceptionQueue->receiveMessage(&message)) {
+  for (ReturnValue_t result = tmtcReceptionQueue->receiveMessage(&message);
+       result == returnvalue::OK; result = tmtcReceptionQueue->receiveMessage(&message)) {
     status = storeDownlinkData(&message);
     if (status != returnvalue::OK) {
       break;

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -321,8 +321,8 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     // Possible configuration error, too much data or/and data coming in too fast,
     // requiring larger buffers
-    sif::warning << "TcpTmTcServer::handleServerOperation: Ring buffer reached "
-                 << "fill count" << std::endl;
+    sif::warning << "TcpTmTcServer::handleServerOperation: Ring buffer reached " << "fill count"
+                 << std::endl;
 #else
     sif::printWarning(
         "TcpTmTcServer::handleServerOperation: Ring buffer reached "

src/fsfw/osal/freertos/Clock.cpp

@@ -34,7 +34,9 @@ ReturnValue_t Clock::setClock(const timeval* time) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Clock::getClock_timeval(timeval* time) {
+ReturnValue_t Clock::getClock_timeval(timeval* time) { return getClock(time); }
+
+ReturnValue_t Clock::getClock(timeval* time) {
   timeval uptime = getUptime();
 
   timeval offset = Timekeeper::instance()->getOffset();

src/fsfw/pus/Service20ParameterManagement.cpp

@@ -49,8 +49,8 @@ ReturnValue_t Service20ParameterManagement::checkAndAcquireTargetID(object_id_t*
   if (SerializeAdapter::deSerialize(objectIdToSet, &tcData, &tcDataLen,
                                     SerializeIF::Endianness::BIG) != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "Service20ParameterManagement::checkAndAcquireTargetID: "
-               << "Invalid data." << std::endl;
+    sif::error << "Service20ParameterManagement::checkAndAcquireTargetID: " << "Invalid data."
+               << std::endl;
 #else
     sif::printError(
         "Service20ParameterManagement::"

src/fsfw/pus/Service3Housekeeping.cpp

@@ -196,8 +196,8 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
 
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << std::endl;
+      sif::warning << "Service3Housekeeping::handleReply: Invalid reply with " << "reply command "
+                   << command << std::endl;
 #else
       sif::printWarning(
           "Service3Housekeeping::handleReply: Invalid reply with "

src/fsfw/pus/Service9TimeManagement.cpp

@@ -2,9 +2,9 @@
 
 #include <cmath>
 
-#include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/CCSDSTime.h"
 
 Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {
@@ -18,16 +18,53 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
     case Subservice::SET_TIME: {
-      return setTime();
+      reportCurrentTime(CLOCK_DUMP_BEFORE_SETTING_TIME);
+      ReturnValue_t result = setTime();
+      reportCurrentTime(CLOCK_DUMP_AFTER_SETTING_TIME);
+      return result;
     }
     case Subservice::DUMP_TIME: {
-      timeval newTime;
-      Clock::getClock_timeval(&newTime);
-      uint32_t subsecondMs =
-          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
-      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
+      reportCurrentTime();
       return returnvalue::OK;
     }
+    case Subservice::RELATIVE_TIMESHIFT: {
+      timeval currentTime;
+      ReturnValue_t result = Clock::getClock(&currentTime);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      reportTime(CLOCK_DUMP_BEFORE_SETTING_TIME, currentTime);
+
+      if (currentPacket.getUserDataLen() != 8) {
+        return AcceptsTelecommandsIF::ILLEGAL_APPLICATION_DATA;
+      }
+      size_t deserLen = 8;
+      int64_t timeshiftNanos = 0;
+      result = SerializeAdapter::deSerialize(&timeshiftNanos, currentPacket.getUserData(),
+                                             &deserLen, SerializeIF::Endianness::NETWORK);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      bool positiveShift = true;
+      if (timeshiftNanos < 0) {
+        positiveShift = false;
+      }
+      timeval offset{};
+      offset.tv_sec = std::abs(timeshiftNanos) / NANOS_PER_SECOND;
+      offset.tv_usec = (std::abs(timeshiftNanos) % NANOS_PER_SECOND) / 1000;
+
+      timeval newTime;
+      if (positiveShift) {
+        newTime = currentTime + offset;
+      } else {
+        newTime = currentTime - offset;
+      }
+      result = Clock::setClock(&newTime);
+      if (result == returnvalue::OK) {
+        reportTime(CLOCK_DUMP_AFTER_SETTING_TIME, newTime);
+      }
+      return result;
+    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
@@ -43,17 +80,20 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  timeval time;
-  Clock::getClock_timeval(&time);
   result = Clock::setClock(&timeToSet);
-
-  if (result == returnvalue::OK) {
-    timeval newTime;
-    Clock::getClock_timeval(&newTime);
-    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
-    return returnvalue::OK;
-  } else {
+  if (result != returnvalue::OK) {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);
     return returnvalue::FAILED;
   }
+  return result;
+}
+
+void Service9TimeManagement::reportCurrentTime(Event event) {
+  timeval currentTime{};
+  Clock::getClock(&currentTime);
+  triggerEvent(event, currentTime.tv_sec, currentTime.tv_usec);
+}
+
+void Service9TimeManagement::reportTime(Event event, timeval time) {
+  triggerEvent(event, time.tv_sec, time.tv_usec);
 }

src/fsfw/pus/Service9TimeManagement.h

@@ -1,18 +1,25 @@
 #ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
 #define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
 
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
 
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
 
-  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
+  static constexpr uint32_t NANOS_PER_SECOND = 1'000'000'000;
+
+  //!< [EXPORT] : [COMMENT] Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
   static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
-  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
-  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
-  //!< Clock could not be set. P1: Returncode.
+  //!< [EXPORT] : [COMMENT] Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+  static constexpr Event CLOCK_DUMP_LEGACY = MAKE_EVENT(1, severity::INFO);
+  //!< [EXPORT] : [COMMENT] Clock could not be set. P1: Returncode.
   static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
+  //!< [EXPORT] : [COMMENT] Clock dump event. P1: timeval seconds P2: timeval microseconds.
+  static constexpr Event CLOCK_DUMP = MAKE_EVENT(3, severity::INFO);
+  static constexpr Event CLOCK_DUMP_BEFORE_SETTING_TIME = MAKE_EVENT(4, severity::INFO);
+  static constexpr Event CLOCK_DUMP_AFTER_SETTING_TIME = MAKE_EVENT(5, severity::INFO);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
@@ -30,12 +37,16 @@ class Service9TimeManagement : public PusServiceBase {
    */
   ReturnValue_t handleRequest(uint8_t subservice) override;
 
+  void reportCurrentTime(Event eventType = CLOCK_DUMP);
+  void reportTime(Event event, timeval time);
+
   virtual ReturnValue_t setTime();
 
  private:
   enum Subservice {
     SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
     DUMP_TIME = 129,
+    RELATIVE_TIMESHIFT = 130,
   };
 };
 

src/fsfw/rmap/RMAPChannelIF.h

@@ -9,7 +9,7 @@
 
 class RMAPChannelIF {
  public:
-  virtual ~RMAPChannelIF(){};
+  virtual ~RMAPChannelIF() {};
   /**
    * Reset an RMAP channel
    *

src/fsfw/storagemanager/LocalPool.cpp

@@ -12,8 +12,7 @@ LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
       spillsToHigherPools(spillsToHigherPools) {
   if (NUMBER_OF_SUBPOOLS == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "LocalPool::LocalPool: Passed pool configuration is "
-               << " invalid!" << std::endl;
+    sif::error << "LocalPool::LocalPool: Passed pool configuration is " << " invalid!" << std::endl;
 #endif
   }
   max_subpools_t index = 0;

src/fsfw/subsystem/Subsystem.cpp

@@ -38,10 +38,9 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> 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;
+      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 {

src/fsfw/subsystem/Subsystem.h

@@ -12,7 +12,7 @@
 
 struct TableSequenceBase {
  public:
-  TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
+  TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table) {};
   Mode_t mode;
   ArrayList<ModeListEntry> *table;
   bool inStore = false;
@@ -21,7 +21,7 @@ struct TableSequenceBase {
 
 struct TableEntry : public TableSequenceBase {
  public:
-  TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
+  TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table) {};
 };
 
 struct SequenceEntry : public TableSequenceBase {

src/fsfw/tasks/ExecutableObjectIF.h

@@ -34,7 +34,7 @@ class ExecutableObjectIF {
    * a reference to the executing task
    * @param task_ Pointer to the taskIF of this task
    */
-  virtual void setTaskIF(PeriodicTaskIF* task_){};
+  virtual void setTaskIF(PeriodicTaskIF* task_) {};
 
   /**
    * This function should be called after the object was assigned to a

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -101,8 +101,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
     if (result != returnvalue::OK) {
       // Continue for now but print error output.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FixedSlotSequence::checkSequence:"
-                 << " Custom check failed!" << std::endl;
+      sif::error << "FixedSlotSequence::checkSequence:" << " Custom check failed!" << std::endl;
 #endif
     }
   }

src/fsfw/tasks/SemaphoreIF.h

@@ -30,7 +30,7 @@ class SemaphoreIF {
     BLOCKING  //!< Block indefinitely until the mutex becomes available.
   };
 
-  virtual ~SemaphoreIF(){};
+  virtual ~SemaphoreIF() {};
 
   static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
   //! Semaphore timeout

src/fsfw/tcdistribution/PusDistributor.cpp

@@ -8,8 +8,8 @@
 
 #define PUS_DISTRIBUTOR_DEBUGGING 0
 
-PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
-                               CcsdsDistributorIF* distributor, StorageManagerIF* store_)
+PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId, StorageManagerIF* store_,
+                               CcsdsDistributorIF* distributor)
     : TcDistributorBase(setObjectId),
       store(store_),
       checker(setApid, ccsds::PacketType::TC),
@@ -122,14 +122,12 @@ ReturnValue_t PusDistributor::initialize() {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
   }
-  if (ccsdsDistributor == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;
-    sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
-#else
-    sif::printError("PusDistributor::initialize: Packet source invalid\n");
-    sif::printError("Make sure it exists and implements CcsdsDistributorIF\n");
-#endif
+  if (ccsdsDistributor != nullptr) {
+    ReturnValue_t result =
+        ccsdsDistributor->registerApplication(CcsdsDistributorIF::DestInfo(*this, false));
+    if (result != returnvalue::OK) {
+      return result;
+    }
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   if (verifyChannel == nullptr) {
@@ -139,7 +137,7 @@ ReturnValue_t PusDistributor::initialize() {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }
   }
-  return ccsdsDistributor->registerApplication(CcsdsDistributorIF::DestInfo(*this, false));
+  return SystemObject::initialize();
 }
 
 void PusDistributor::checkerFailurePrinter() const {

src/fsfw/tcdistribution/PusDistributor.h

@@ -31,8 +31,9 @@ class PusDistributor : public TcDistributorBase,
    * @param setPacketSource Object ID of the source of TC packets.
    * Must implement CcsdsDistributorIF.
    */
-  PusDistributor(uint16_t setApid, object_id_t setObjectId, CcsdsDistributorIF* packetSource,
-                 StorageManagerIF* store = nullptr);
+  PusDistributor(uint16_t setApid, object_id_t setObjectId, StorageManagerIF* store = nullptr,
+                 CcsdsDistributorIF* packetSource = nullptr);
+
   [[nodiscard]] const char* getName() const override;
   /**
    * The destructor is empty.

src/fsfw/tcdistribution/definitions.h

@@ -27,5 +27,5 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
 //! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
 static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
 
-};      // namespace tmtcdistrib
+};  // namespace tmtcdistrib
 #endif  // FSFW_TMTCPACKET_DEFINITIONS_H

src/fsfw/timemanager/CCSDSTime.h

@@ -212,8 +212,8 @@ class CCSDSTime {
   static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
 
  private:
-  CCSDSTime(){};
-  virtual ~CCSDSTime(){};
+  CCSDSTime() {};
+  virtual ~CCSDSTime() {};
   /**
    * checks a ccs time stream for validity
    *

src/fsfw/tmtcpacket/ccsds/SpacePacketCreator.cpp

@@ -43,9 +43,10 @@ ReturnValue_t SpacePacketCreator::serialize(uint8_t **buffer, size_t *size, size
 
 void SpacePacketCreator::setCcsdsLenFromTotalDataFieldLen(size_t actualLength) {
   if (actualLength == 0) {
-    return;
+    setDataLenField(actualLength);
+  } else {
+    setDataLenField(actualLength - 1);
   }
-  setDataLenField(actualLength - 1);
 }
 size_t SpacePacketCreator::getSerializedSize() const { return ccsds::HEADER_LEN; }
 

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

@@ -22,7 +22,7 @@ struct PusTmSecHeader {
 
 struct PusTmParams {
   PusTmParams() = default;
-  explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader){};
+  explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader) {};
   PusTmParams(PusTmSecHeader secHeader, const SerializeIF& data)
       : secHeader(secHeader), sourceData(&data) {}
   PusTmParams(PusTmSecHeader secHeader, const uint8_t* data, size_t dataLen)

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -40,7 +40,7 @@ void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle_) { this->taskHandle =
 void PusServiceBase::handleRequestQueue() {
   TmTcMessage message;
   ReturnValue_t result;
-  for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
+  for (uint8_t count = 0; count < psbParams.maxPacketsPerCycle; count++) {
     ReturnValue_t status = psbParams.reqQueue->receiveMessage(&message);
     if (status == MessageQueueIF::EMPTY) {
       break;
@@ -98,7 +98,7 @@ ReturnValue_t PusServiceBase::initialize() {
   }
   if (psbParams.reqQueue == nullptr) {
     ownedQueue = true;
-    psbParams.reqQueue = QueueFactory::instance()->createMessageQueue(PSB_DEFAULT_QUEUE_DEPTH);
+    psbParams.reqQueue = QueueFactory::instance()->createMessageQueue(psbParams.requestQueueDepth);
   } else {
     ownedQueue = false;
   }

src/fsfw/tmtcservices/PusServiceBase.h

@@ -20,6 +20,14 @@ class StorageManagerIF;
  * Configuration parameters for the PUS Service Base
  */
 struct PsbParams {
+  static constexpr uint8_t PSB_DEFAULT_QUEUE_DEPTH = 10;
+  /**
+   * This constant sets the maximum number of packets accepted per call.
+   * Remember that one packet must be completely handled in one
+   * #handleRequest call.
+   */
+  static constexpr uint8_t MAX_PACKETS_PER_CYCLE = 10;
+
   PsbParams() = default;
   PsbParams(uint16_t apid, AcceptsTelemetryIF* tmReceiver) : apid(apid), tmReceiver(tmReceiver) {}
   PsbParams(const char* name, uint16_t apid, AcceptsTelemetryIF* tmReceiver)
@@ -32,6 +40,9 @@ struct PsbParams {
   object_id_t objectId = objects::NO_OBJECT;
   uint16_t apid = 0;
   uint8_t serviceId = 0;
+  uint32_t requestQueueDepth = PSB_DEFAULT_QUEUE_DEPTH;
+  uint32_t maxPacketsPerCycle = MAX_PACKETS_PER_CYCLE;
+
   /**
    * The default destination ID for generated telemetry. If this is not set, @initialize of PSB
    * will attempt to find a suitable object with the object ID @PusServiceBase::packetDestination
@@ -100,14 +111,6 @@ class PusServiceBase : public ExecutableObjectIF,
   friend void Factory::setStaticFrameworkObjectIds();
 
  public:
-  /**
-   * This constant sets the maximum number of packets accepted per call.
-   * Remember that one packet must be completely handled in one
-   * #handleRequest call.
-   */
-  static constexpr uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
-  static constexpr uint8_t PSB_DEFAULT_QUEUE_DEPTH = 10;
-
   /**
    * @brief	The passed values are set, but inter-object initialization is
    * 			done in the initialize method.

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -17,11 +17,11 @@ TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDes
 
 {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
+  tmtcReceptionQueue = QueueFactory::instance()->createMessageQueue(
       msgQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
+TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmtcReceptionQueue); }
 
 void TmTcBridge::setNumberOfSentPacketsPerCycle(uint32_t sentPacketsPerCycle_) {
   this->sentPacketsPerCycle = sentPacketsPerCycle_;
@@ -34,8 +34,7 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPa
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
-                 << "packets stored exceeds limits. "
-                 << "Keeping default value." << std::endl;
+                 << "packets stored exceeds limits. " << "Keeping default value." << std::endl;
 #endif
     return returnvalue::FAILED;
   }
@@ -70,7 +69,7 @@ ReturnValue_t TmTcBridge::initialize() {
 
   tmFifo = new DynamicFIFO<store_address_t>(maxNumberOfPacketsStored);
 
-  tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+  tmtcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
   return returnvalue::OK;
 }
 
@@ -79,15 +78,13 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
   result = handleTc();
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "TmTcBridge::performOperation: "
-               << "Error handling TCs" << std::endl;
+    sif::debug << "TmTcBridge::performOperation: " << "Error handling TCs" << std::endl;
 #endif
   }
   result = handleTm();
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "TmTcBridge::performOperation: "
-               << "Error handling TMs" << std::endl;
+    sif::debug << "TmTcBridge::performOperation: " << "Error handling TMs" << std::endl;
 #endif
   }
   return result;
@@ -124,8 +121,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
   const uint8_t* data = nullptr;
   size_t size = 0;
   ReturnValue_t status = returnvalue::OK;
-  for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
-       result == returnvalue::OK; result = tmTcReceptionQueue->receiveMessage(&message)) {
+  for (ReturnValue_t result = tmtcReceptionQueue->receiveMessage(&message);
+       result == returnvalue::OK; result = tmtcReceptionQueue->receiveMessage(&message)) {
 #if FSFW_VERBOSE_LEVEL >= 3
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "Sent packet counter: " << static_cast<int>(packetSentCounter) << std::endl;
@@ -241,7 +238,7 @@ void TmTcBridge::registerCommDisconnect() {
 }
 
 MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) const {
-  return tmTcReceptionQueue->getId();
+  return tmtcReceptionQueue->getId();
 }
 
 void TmTcBridge::printData(uint8_t* data, size_t dataLen) { arrayprinter::print(data, dataLen); }
@@ -253,7 +250,7 @@ uint32_t TmTcBridge::getIdentifier() const {
 
 MessageQueueId_t TmTcBridge::getRequestQueue() const {
   // Default implementation: Relay TC messages to TC distributor directly.
-  return tmTcReceptionQueue->getDefaultDestination();
+  return tmtcReceptionQueue->getDefaultDestination();
 }
 
 void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) { this->overwriteOld = overwriteOld; }

src/fsfw/tmtcservices/TmTcBridge.h

@@ -80,7 +80,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
 
   //! Used to send and receive TMTC messages.
   //! The TmTcMessage class is used to transport messages between tasks.
-  MessageQueueIF* tmTcReceptionQueue = nullptr;
+  MessageQueueIF* tmtcReceptionQueue = nullptr;
 
   StorageManagerIF* tmStore = nullptr;
   StorageManagerIF* tcStore = nullptr;

src/fsfw_hal/common/gpio/GpioIF.h

@@ -15,7 +15,7 @@ class GpioCookie;
  */
 class GpioIF {
  public:
-  virtual ~GpioIF(){};
+  virtual ~GpioIF() {};
 
   /**
    * @brief   Called by the GPIO using object.

src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -60,7 +60,7 @@ class GpioBase {
            gpio::Levels initValue)
       : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
 
-  virtual ~GpioBase(){};
+  virtual ~GpioBase() {};
 
   // Can be used to cast GpioBase to a concrete child implementation
   gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;

src/fsfw_hal/host/HostFilesystem.cpp

@@ -10,11 +10,12 @@ using namespace std;
 
 HostFilesystem::HostFilesystem() = default;
 
-ReturnValue_t HostFilesystem::writeToFile(FileOpParams params, const uint8_t *data) {
-  if (params.path() == nullptr) {
+ReturnValue_t HostFilesystem::writeToFile(const char *path_, size_t offset, const uint8_t *data,
+                                          size_t size) {
+  if (path_ == nullptr) {
     return returnvalue::FAILED;
   }
-  path path(params.path());
+  path path(path_);
   std::error_code e;
   if (not exists(path, e)) {
     return HasFileSystemIF::FILE_DOES_NOT_EXIST;
@@ -25,17 +26,20 @@ ReturnValue_t HostFilesystem::writeToFile(FileOpParams params, const uint8_t *da
   if (file.fail()) {
     return HasFileSystemIF::GENERIC_FILE_ERROR;
   }
-  file.seekp(static_cast<unsigned int>(params.offset));
-  file.write(reinterpret_cast<const char *>(data), static_cast<unsigned int>(params.size));
+  file.seekp(static_cast<unsigned int>(offset));
+  file.write(reinterpret_cast<const char *>(data), static_cast<unsigned int>(size));
   return returnvalue::OK;
 }
 
-ReturnValue_t HostFilesystem::readFromFile(FileOpParams params, uint8_t **buffer, size_t &readSize,
-                                           size_t maxSize) {
-  if (params.path() == nullptr) {
+ReturnValue_t HostFilesystem::readFromFile(const char *path_, size_t offset, size_t sizeToRead,
+                                           uint8_t *buffer, size_t &actuallyRead, size_t maxSize) {
+  if (path_ == nullptr) {
     return returnvalue::FAILED;
   }
-  path path(params.path());
+  if (sizeToRead > maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  path path(path_);
   std::error_code e;
   if (not exists(path, e)) {
     return HasFileSystemIF::FILE_DOES_NOT_EXIST;
@@ -44,23 +48,17 @@ ReturnValue_t HostFilesystem::readFromFile(FileOpParams params, uint8_t **buffer
   if (file.fail()) {
     return HasFileSystemIF::GENERIC_FILE_ERROR;
   }
-  auto sizeToRead = static_cast<unsigned int>(params.size);
-  file.seekg(static_cast<unsigned int>(params.offset));
-  if (readSize + sizeToRead > maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  file.read(reinterpret_cast<char *>(*buffer), sizeToRead);
-  readSize += sizeToRead;
-  *buffer += sizeToRead;
+  file.seekg(static_cast<unsigned int>(offset));
+  file.read(reinterpret_cast<char *>(buffer), static_cast<long>(sizeToRead));
+  actuallyRead = sizeToRead;
   return returnvalue::OK;
 }
 
-ReturnValue_t HostFilesystem::createFile(FilesystemParams params, const uint8_t *data,
-                                         size_t size) {
-  if (params.path == nullptr) {
+ReturnValue_t HostFilesystem::createFile(const char *path_, const uint8_t *data, size_t size) {
+  if (path_ == nullptr) {
     return returnvalue::FAILED;
   }
-  path path(params.path);
+  std::filesystem::path path(path_);
   std::error_code e;
   if (exists(path, e)) {
     return HasFileSystemIF::FILE_ALREADY_EXISTS;
@@ -87,11 +85,12 @@ ReturnValue_t HostFilesystem::removeFile(const char *path_, FileSystemArgsIF *ar
   return HasFileSystemIF::GENERIC_FILE_ERROR;
 }
 
-ReturnValue_t HostFilesystem::createDirectory(FilesystemParams params, bool createParentDirs) {
-  if (params.path == nullptr) {
+ReturnValue_t HostFilesystem::createDirectory(const char *path, bool createParentDirs,
+                                              FileSystemArgsIF *args) {
+  if (path == nullptr) {
     return returnvalue::FAILED;
   }
-  path dirPath(params.path);
+  std::filesystem::path dirPath(path);
 
   std::error_code e;
   if (exists(dirPath, e)) {
@@ -110,11 +109,12 @@ ReturnValue_t HostFilesystem::createDirectory(FilesystemParams params, bool crea
   return HasFileSystemIF::GENERIC_DIR_ERROR;
 }
 
-ReturnValue_t HostFilesystem::removeDirectory(FilesystemParams params, bool deleteRecurively) {
-  if (params.path == nullptr) {
+ReturnValue_t HostFilesystem::removeDirectory(const char *path, bool deleteRecurively,
+                                              FileSystemArgsIF *args) {
+  if (path == nullptr) {
     return returnvalue::FAILED;
   }
-  path dirPath(params.path);
+  std::filesystem::path dirPath(path);
   std::error_code e;
   if (not exists(dirPath, e)) {
     return HasFileSystemIF::DIRECTORY_DOES_NOT_EXIST;
@@ -153,14 +153,14 @@ ReturnValue_t HostFilesystem::rename(const char *oldPath_, const char *newPath_,
   return returnvalue::OK;
 }
 
-bool HostFilesystem::fileExists(FilesystemParams params) {
-  path path(params.path);
+bool HostFilesystem::fileExists(const char *path_, FileSystemArgsIF *args) {
+  std::filesystem::path path(path_);
   std::error_code e;
   return filesystem::exists(path, e);
 }
 
-ReturnValue_t HostFilesystem::truncateFile(FilesystemParams params) {
-  path path(params.path);
+ReturnValue_t HostFilesystem::truncateFile(const char *path_, FileSystemArgsIF *args) {
+  std::filesystem::path path(path_);
   std::error_code e;
   if (not filesystem::exists(path, e)) {
     return FILE_DOES_NOT_EXIST;
@@ -170,12 +170,19 @@ ReturnValue_t HostFilesystem::truncateFile(FilesystemParams params) {
   return returnvalue::OK;
 }
 
-bool HostFilesystem::isDirectory(const char *path) { return filesystem::is_directory(path); }
+ReturnValue_t HostFilesystem::isDirectory(const char *path, bool &isDirectory) {
+  isDirectory = filesystem::is_directory(path);
+  return returnvalue::OK;
+}
 
-ReturnValue_t HostFilesystem::getBaseFilename(FilesystemParams params, char *nameBuf, size_t maxLen,
+ReturnValue_t HostFilesystem::getBaseFilename(const char *path, char *nameBuf, size_t maxLen,
                                               size_t &baseNameLen) {
-  std::string path(params.path);
-  std::string baseName = path.substr(path.find_last_of("/\\") + 1);
+  std::string pathAsStr(path);
+  size_t lastPos = pathAsStr.find_last_of("/\\");
+  if (lastPos == std::string::npos) {
+    return returnvalue::FAILED;
+  }
+  std::string baseName = pathAsStr.substr(pathAsStr.find_last_of("/\\") + 1);
   if (baseName.size() + 1 > maxLen) {
     return returnvalue::FAILED;
   }
@@ -185,10 +192,11 @@ ReturnValue_t HostFilesystem::getBaseFilename(FilesystemParams params, char *nam
   return returnvalue::OK;
 }
 
-bool HostFilesystem::getFileSize(FilesystemParams params, uint64_t &fileSize) {
-  if (!fileExists(params)) {
-    return false;
+ReturnValue_t HostFilesystem::getFileSize(const char *path, uint64_t &fileSize,
+                                          FileSystemArgsIF *args) {
+  if (!fileExists(path, args)) {
+    return HasFileSystemIF::FILE_DOES_NOT_EXIST;
   }
-  fileSize = std::filesystem::file_size(params.path);
-  return true;
+  fileSize = std::filesystem::file_size(path);
+  return returnvalue::OK;
 }

src/fsfw_hal/host/HostFilesystem.h

@@ -9,19 +9,23 @@ class HostFilesystem : public HasFileSystemIF {
  public:
   HostFilesystem();
 
-  ReturnValue_t getBaseFilename(FilesystemParams params, char *nameBuf, size_t maxLen,
+  ReturnValue_t getBaseFilename(const char *path, char *nameBuf, size_t maxLen,
                                 size_t &baseNameLen) override;
-  virtual bool getFileSize(FilesystemParams params, uint64_t &fileSize) override;
-  bool isDirectory(const char *path) override;
-  bool fileExists(FilesystemParams params) override;
-  ReturnValue_t truncateFile(FilesystemParams params) override;
-  ReturnValue_t writeToFile(FileOpParams params, const uint8_t *data) override;
-  ReturnValue_t readFromFile(FileOpParams fileOpInfo, uint8_t **buffer, size_t &readSize,
-                             size_t maxSize) override;
-  ReturnValue_t createFile(FilesystemParams params, const uint8_t *data, size_t size) override;
+  virtual ReturnValue_t getFileSize(const char *path, uint64_t &fileSize,
+                                    FileSystemArgsIF *args) override;
+  ReturnValue_t isDirectory(const char *path, bool &isDirectory) override;
+  bool fileExists(const char *path, FileSystemArgsIF *args) override;
+  ReturnValue_t truncateFile(const char *path, FileSystemArgsIF *args) override;
+  ReturnValue_t writeToFile(const char *path, size_t offset, const uint8_t *data,
+                            size_t size) override;
+  ReturnValue_t readFromFile(const char *path, size_t offset, size_t sizeToRead, uint8_t *buffer,
+                             size_t &actuallyRead, size_t maxSize) override;
+  ReturnValue_t createFile(const char *path, const uint8_t *data, size_t size) override;
   ReturnValue_t removeFile(const char *path, FileSystemArgsIF *args) override;
-  ReturnValue_t createDirectory(FilesystemParams params, bool createParentDirs) override;
-  ReturnValue_t removeDirectory(FilesystemParams params, bool deleteRecurively) override;
+  ReturnValue_t createDirectory(const char *path, bool createParentDirs,
+                                FileSystemArgsIF *args) override;
+  ReturnValue_t removeDirectory(const char *path, bool deleteRecurively,
+                                FileSystemArgsIF *args) override;
   ReturnValue_t rename(const char *oldPath, const char *newPath, FileSystemArgsIF *args) override;
 
   std::error_code errorCode;

src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -418,8 +418,8 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
                     "definition with ID "
-                 << gpioIdToCheck << " detected. "
-                 << "Duplicate will be removed from map to add" << std::endl;
+                 << gpioIdToCheck << " detected. " << "Duplicate will be removed from map to add"
+                 << std::endl;
 #else
     sif::printWarning(
         "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -49,8 +49,7 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
     if (not statusPair.second) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
-                 << i2cAddress << "to I2C device "
-                 << "map" << std::endl;
+                 << i2cAddress << "to I2C device " << "map" << std::endl;
 #endif
       return returnvalue::FAILED;
     }
@@ -91,8 +90,8 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
   auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
-               << "registered in i2cDeviceMap" << std::endl;
+    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not " << "registered in i2cDeviceMap"
+               << std::endl;
 #endif
     return returnvalue::FAILED;
   }

src/fsfw_hal/linux/serial/helper.cpp

@@ -1,6 +1,8 @@
 #include <fsfw_hal/linux/serial/helper.h>
 #include <sys/ioctl.h>
+#include <termios.h>
 
+#include "FSFWConfig.h"
 #include "fsfw/serviceinterface.h"
 
 void serial::setMode(struct termios& options, UartModes mode) {
@@ -108,7 +110,7 @@ void serial::setBaudrate(struct termios& options, UartBaudRate baud) {
 #endif  // ! __APPLE__
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+      sif::warning << "serial::configureBaudrate: Baudrate not supported" << std::endl;
 #endif
       break;
   }
@@ -153,15 +155,16 @@ int serial::readCountersAndErrors(int serialPort, serial_icounter_struct& icount
 }
 
 void serial::setStopbits(struct termios& options, StopBits bits) {
+  // Regular case: One stop bit.
+  options.c_cflag &= ~CSTOPB;
   if (bits == StopBits::TWO_STOP_BITS) {
     // Use two stop bits
     options.c_cflag |= CSTOPB;
-  } else {
-    // Clear stop field, only one stop bit used in communication
-    options.c_cflag &= ~CSTOPB;
   }
 }
 
 void serial::flushRxBuf(int fd) { tcflush(fd, TCIFLUSH); }
 
+void serial::flushTxBuf(int fd) { tcflush(fd, TCOFLUSH); }
+
 void serial::flushTxRxBuf(int fd) { tcflush(fd, TCIOFLUSH); }

src/fsfw_hal/linux/serial/helper.h

@@ -65,6 +65,7 @@ void setParity(struct termios& options, Parity parity);
 void ignoreCtrlLines(struct termios& options);
 
 void flushRxBuf(int fd);
+void flushTxBuf(int fd);
 void flushTxRxBuf(int fd);
 
 int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);

src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -197,9 +197,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
       if (result == MutexIF::MUTEX_TIMEOUT) {
         sif::error << "SpiComIF::sendMessage: Lock timeout" << std::endl;
       } else {
-        sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                   << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                   << std::endl;
+        sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code " << "0x" << std::hex
+                   << std::setfill('0') << std::setw(4) << result << std::dec << std::endl;
       }
 #else
       sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
@@ -307,9 +306,8 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     if (result != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                 << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code " << "0x" << std::hex
+                 << std::setfill('0') << std::setw(4) << result << std::dec << std::endl;
 #else
       sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
 #endif

src/fsfw_hal/stm32h7/definitions.h

@@ -12,10 +12,10 @@ namespace stm32h7 {
  * and the second entry is the pin number
  */
 struct GpioCfg {
-  GpioCfg() : port(nullptr), pin(0), altFnc(0){};
+  GpioCfg() : port(nullptr), pin(0), altFnc(0) {};
 
   GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
-      : port(port), pin(pin), altFnc(altFnc){};
+      : port(port), pin(pin), altFnc(altFnc) {};
   GPIO_TypeDef* port;
   uint16_t pin;
   uint8_t altFnc;

src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -37,7 +37,7 @@ struct MspCfgBase {
 };
 
 struct MspPollingConfigStruct : public MspCfgBase {
-  MspPollingConfigStruct() : MspCfgBase(){};
+  MspPollingConfigStruct() : MspCfgBase() {};
   MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
                          mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
       : MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
@@ -46,7 +46,7 @@ struct MspPollingConfigStruct : public MspCfgBase {
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
 struct MspIrqConfigStruct : public MspPollingConfigStruct {
-  MspIrqConfigStruct() : MspPollingConfigStruct(){};
+  MspIrqConfigStruct() : MspPollingConfigStruct() {};
   MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
                      mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
       : MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
@@ -64,7 +64,7 @@ struct MspIrqConfigStruct : public MspPollingConfigStruct {
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
 struct MspDmaConfigStruct : public MspIrqConfigStruct {
-  MspDmaConfigStruct() : MspIrqConfigStruct(){};
+  MspDmaConfigStruct() : MspIrqConfigStruct() {};
   MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
                      mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
       : MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}

unittests/cfdp/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(
-  ${FSFW_TEST_TGT} PRIVATE testCfdp.cpp testOtherTlvs.cpp
-                           testReservedMsgCreator.cpp testTlv.cpp testLvs.cpp)
+  ${FSFW_TEST_TGT}
+  PRIVATE testCfdp.cpp testOtherTlvs.cpp testReservedMsgCreator.cpp testTlv.cpp
+          testLvs.cpp PduSenderMock.cpp)
 
 add_subdirectory(handler)
 add_subdirectory(pdu)

unittests/cfdp/PduSenderMock.cpp

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