From a8bcb9c8cd3f5501dc5fc1c34b9d919a0bc84d67 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@pm.me>
Date: Tue, 14 Apr 2026 10:09:16 +0200
Subject: [PATCH] add keep alive PDU serializer

---
 scripts/auto-formatter.sh               |  4 ++--
 src/fsfw/cfdp/handler/DestHandler.cpp   | 19 ++++++++++++++++++-
 src/fsfw/cfdp/handler/DestHandler.h     |  2 ++
 src/fsfw/cfdp/pdu/KeepAlivePduCreator.h |  1 +
 src/fsfw/health/HealthTable.cpp         |  4 +---
 src/fsfw/subsystem/SubsystemBase.h      |  2 +-
 6 files changed, 25 insertions(+), 7 deletions(-)

diff --git a/scripts/auto-formatter.sh b/scripts/auto-formatter.sh
index f7507c55..ee4170f6 100755
--- a/scripts/auto-formatter.sh
+++ b/scripts/auto-formatter.sh
@@ -18,12 +18,12 @@ else
   echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi
 
-cpp_format="clang-format"
+cpp_format="clang-format-19"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
   for dir in ${folder_list[@]}; do
     echo "Auto-formatting ${dir} recursively"
-    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
+    find ${dir} ${file_selectors} | xargs ${cpp_format} --style=file -i
   done
 else
   echo "No ${cpp_format} tool found, not formatting C++/C files"
diff --git a/src/fsfw/cfdp/handler/DestHandler.cpp b/src/fsfw/cfdp/handler/DestHandler.cpp
index 4fdc10e4..974bc335 100644
--- a/src/fsfw/cfdp/handler/DestHandler.cpp
+++ b/src/fsfw/cfdp/handler/DestHandler.cpp
@@ -9,7 +9,9 @@
 #include "fsfw/cfdp/pdu/FileDataReader.h"
 #include "fsfw/cfdp/pdu/FinishedPduCreator.h"
 #include "fsfw/cfdp/pdu/HeaderReader.h"
+#include "fsfw/cfdp/pdu/KeepAlivePduCreator.h"
 #include "fsfw/objectmanager.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 using namespace returnvalue;
@@ -450,6 +452,19 @@ ReturnValue_t cfdp::DestHandler::noticeOfCompletion() {
   return OK;
 }
 
+ReturnValue_t cfdp::DestHandler::sendKeepAlivePdu() {
+  Fss progress(transactionParams.progress);
+  KeepAlivePduCreator keepAlivePdu(transactionParams.pduConf, progress);
+  size_t serLen = 0;
+  ReturnValue_t result =
+      keepAlivePdu.serialize(pduBuf.data(), serLen, keepAlivePdu.getSerializedSize());
+  if (result != OK) {
+    return result;
+  }
+  return pduSender.sendPdu(PduType::FILE_DIRECTIVE, FileDirective::KEEP_ALIVE, pduBuf.data(),
+                           serLen);
+}
+
 ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
   FinishedInfo info(transactionParams.conditionCode, transactionParams.deliveryCode,
                     transactionParams.deliveryStatus);
@@ -496,6 +511,8 @@ const cfdp::TransactionId& cfdp::DestHandler::getTransactionId() const {
   return transactionParams.transactionId;
 }
 
+uint64_t cfdp::DestHandler::getProgress() const { return transactionParams.progress; }
+
 void cfdp::DestHandler::checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx) {
   if (result != OK and errorIdx < 3) {
     fsmRes.errorCodes[errorIdx] = result;
@@ -509,4 +526,4 @@ void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
 
 const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const {
   return destParams;
-}
\ No newline at end of file
+}
diff --git a/src/fsfw/cfdp/handler/DestHandler.h b/src/fsfw/cfdp/handler/DestHandler.h
index 8e483df7..84a989c4 100644
--- a/src/fsfw/cfdp/handler/DestHandler.h
+++ b/src/fsfw/cfdp/handler/DestHandler.h
@@ -101,6 +101,8 @@ class DestHandler {
 
   [[nodiscard]] CfdpState getCfdpState() const;
   [[nodiscard]] TransactionStep getTransactionStep() const;
+  [[nodiscard]] uint64_t getProgress() const;
+  ReturnValue_t sendKeepAlivePdu();
   [[nodiscard]] const TransactionId& getTransactionId() const;
   [[nodiscard]] const DestHandlerParams& getDestHandlerParams() const;
 
diff --git a/src/fsfw/cfdp/pdu/KeepAlivePduCreator.h b/src/fsfw/cfdp/pdu/KeepAlivePduCreator.h
index 97ce6095..09d6efda 100644
--- a/src/fsfw/cfdp/pdu/KeepAlivePduCreator.h
+++ b/src/fsfw/cfdp/pdu/KeepAlivePduCreator.h
@@ -14,6 +14,7 @@ class KeepAlivePduCreator : public FileDirectiveCreator {
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
+  using FileDirectiveCreator::serialize;
 
  private:
   cfdp::Fss& progress;
diff --git a/src/fsfw/health/HealthTable.cpp b/src/fsfw/health/HealthTable.cpp
index 46544c4a..a7b9b542 100644
--- a/src/fsfw/health/HealthTable.cpp
+++ b/src/fsfw/health/HealthTable.cpp
@@ -113,6 +113,4 @@ ReturnValue_t HealthTable::iterate(HealthEntry* value, bool reset) {
   return result;
 }
 
-MutexIF* HealthTable::getMutex() {
-  return mutex;
-}
+MutexIF* HealthTable::getMutex() { return mutex; }
diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h
index e8a2f72d..8e574909 100644
--- a/src/fsfw/subsystem/SubsystemBase.h
+++ b/src/fsfw/subsystem/SubsystemBase.h
@@ -114,7 +114,7 @@ class SubsystemBase : public SystemObject,
    * Still, we have a default for all child implementations which do not use submode inheritance
    */
   virtual void executeTable(HybridIterator<ModeListEntry> tableIter,
-                    Submode_t targetSubmode = SUBMODE_NONE);
+                            Submode_t targetSubmode = SUBMODE_NONE);
 
   ReturnValue_t updateChildMode(MessageQueueId_t queue, Mode_t mode, Submode_t submode);
   ReturnValue_t updateChildModeByObjId(object_id_t objectId, Mode_t mode, Submode_t submode);
-- 
2.43.0