Merge branch 'develop' into acs-flp-safe

CHANGELOG.md

@@ -16,6 +16,38 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- PAPB busy polling now implemented properly with an upper bound of how often the PAPB is allowed
+  to be busy before returning the BUSY returnvalue. Also propagate and check for that case properly.
+  Ideally, this will never be an issue and the PAPB VC interface should never block for a longer
+  period.
+
+## Added
+
+- The persistent TM stores now have low priorities and behave like background threads now. This
+  should prevent them from blocking or slowing down the system even during dumps
+  (at least in theory).
+- STR: Fix weird issues on datalink layer data reception which sometimes occur.
+- Syrlinks FDIR: Fully allow FDIR to do more recoveries. Assembly should take care of preventing
+  the switch to go off.
+
+## Changed
+
+- Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time
+  scheduling.
+- Tweak scheduling priorities.
+- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
+  device handler.
+- STR: Is now scheduled twice in ACS PST.
+- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap
+  a separate UART COM interface anymore.
+- TCS: Local pool variables are members now.
+- Syrlinks: Create dedicated COM helper which uses a ring buffer to parse the Syrlinks datalinklayer
+  and should make communication more reliable even on high CPU loads.
+- Syrlinks: Two communication cycles per PST.
+- Fine-tuning of various task priorities.
+
 # [v1.39.1] 2023-03-22
 
 ## Fixed

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 279 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-24 02:13:12
  */
 #include "translateEvents.h"
 
@@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@@ -617,16 +617,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 169 translations.
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-24 02:13:12
  */
 #include "translateObjects.h"
 
@@ -50,7 +50,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@@ -86,6 +86,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
+const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -171,7 +172,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
 const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
 const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
 const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -267,7 +267,7 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
@@ -338,6 +338,8 @@ const char *translateObject(object_id_t object) {
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000001:
       return ARDUINO_COM_IF_STRING;
     case 0x49000002:
@@ -508,8 +510,6 @@ const char *translateObject(object_id_t object) {
       return CFDP_STORE_AND_TM_TASK_STRING;
     case 0x73040004:
       return DOWNLINK_RAM_STORE_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:
       return THERMAL_TEMP_INSERTER_STRING;
     case 0xCAFECAFE:

bsp_q7s/CMakeLists.txt

@@ -12,7 +12,6 @@ target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 add_subdirectory(boardtest)
 
 add_subdirectory(boardconfig)
-add_subdirectory(comIF)
 add_subdirectory(core)
 
 if(EIVE_Q7S_EM)

bsp_q7s/OBSWConfig.h.in

@@ -14,7 +14,6 @@
 /*******************************************************************/
 
 #define OBSW_ENABLE_PERIODIC_HK                     0
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 // This switch will cause the SW to command the EIVE system object to safe mode. This will
 // trigger a lot of events, so it can make sense to disable this for debugging purposes
 #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1

bsp_q7s/comIF/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(${OBSW_NAME} PRIVATE)

bsp_q7s/core/ObjectFactory.cpp

@@ -4,6 +4,8 @@
 #include <linux/devices/AcsBoardPolling.h>
 #include <linux/devices/ImtqPollingTask.h>
 #include <linux/devices/RwPollingTask.h>
+#include <linux/devices/SyrlinksComHandler.h>
+#include <linux/devices/startracker/StrComHandler.h>
 #include <mission/devices/GyrL3gCustomHandler.h>
 #include <mission/devices/MgmLis3CustomHandler.h>
 #include <mission/devices/MgmRm3100CustomHandler.h>
@@ -45,7 +47,6 @@
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
 #include "linux/ipcore/AxiPtmeConfig.h"
 #include "linux/ipcore/PapbVcInterface.h"
 #include "linux/ipcore/PdecHandler.h"
@@ -179,7 +180,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
   *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
 
   /* Communication interfaces */
-  new CspComIF(objects::CSP_COM_IF);
+  new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
@@ -592,16 +593,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
   auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
   syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
+                          syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
   syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1
@@ -623,8 +625,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
   gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
   auto mpsocCookie =
-      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
   auto* mpsocHandler = new PlocMPSoCHandler(
@@ -639,9 +641,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie =
-      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
+                                           q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
+                                           supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
   auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
   auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
@@ -934,10 +936,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   auto* strAssy = new StrAssembly(objects::STR_ASSY);
   strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   auto* starTrackerCookie =
-      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
                        startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
   starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
 
   const char* paramJsonFile = nullptr;
 #ifdef EGSE
@@ -954,8 +956,8 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   }
   auto strFdir = new StrFdir(objects::STAR_TRACKER);
   auto starTracker =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
-                             paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
+                             paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
   starTracker->setPowerSwitcher(pwrSwitcher);
   starTracker->connectModeTreeParent(*strAssy);
   starTracker->setCustomFdir(strFdir);

bsp_q7s/core/scheduling.cpp

@@ -72,8 +72,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
-  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
-      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* solarArrayDeplTask =
+      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
@@ -81,7 +82,7 @@ void scheduling::initTasks() {
 #endif
 
   PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
@@ -89,7 +90,7 @@ void scheduling::initTasks() {
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@@ -120,7 +121,7 @@ void scheduling::initTasks() {
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
@@ -128,7 +129,7 @@ void scheduling::initTasks() {
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
   PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
-      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@@ -136,8 +137,9 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
-      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  PeriodicTaskIF* genericSysTask =
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
@@ -171,7 +173,7 @@ void scheduling::initTasks() {
 
   // Runs in IRQ mode, frequency does not really matter
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
@@ -179,50 +181,54 @@ void scheduling::initTasks() {
 
 #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
   // All the TM store tasks run in permanent loops, frequency does not matter
-  PeriodicTaskIF* liveTmTask =
-      factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
   }
   PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
-      "LOG_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
   }
   PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
-      "HK_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
   }
   PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
-      "CFDP_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
   }
 
+  // TODO: Use user priorities for this task.
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
-      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* cfdpTask =
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+    scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
   }
 #endif
 
-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
-      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* gpsTask =
+      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 
 #if OBSW_ADD_ACS_BOARD == 1
-  PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
-      "ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsBrdPolling =
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
@@ -230,16 +236,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_RW == 1
-  PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
-      "RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
   }
 #endif
 #if OBSW_ADD_MGT == 1
-  PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
-      "IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = imtqPolling->addComponent(objects::IMTQ_POLLING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
@@ -247,16 +255,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
-  PeriodicTaskIF* susPolling = factory->createPeriodicTask(
-      "SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = susPolling->addComponent(objects::SUS_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
   }
 #endif
 
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
@@ -283,7 +293,7 @@ void scheduling::initTasks() {
   }
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
   scheduling::scheduleRtdSensors(tcsSystemTask);
   result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
   if (result != returnvalue::OK) {
@@ -306,27 +316,42 @@ void scheduling::initTasks() {
   }
 #endif
 
-#if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
+#if OBSW_ADD_SYRLINKS == 1
+  PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
+      "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
+  }
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  // Relatively high priority to make sure STR COM works well.
+  PeriodicTaskIF* strHelperTask =
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = strHelperTask->addComponent(objects::STR_COM_IF);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_MPSOC == 1
-  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* mpsocHelperTask =
+      factory->createPeriodicTask("PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
-  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  PeriodicTaskIF* supvHelperTask =
+      factory->createPeriodicTask("PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0,
+                                  missedDeadlineFunc);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@@ -334,7 +359,7 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
   plTask->addComponent(objects::CAM_SWITCHER);
   scheduling::addMpsocSupvHandlers(plTask);
   scheduling::scheduleScexDev(plTask);
@@ -401,6 +426,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_ACS_BOARD == 1
   acsBrdPolling->startTask();
 #endif
+#if OBSW_ADD_SYRLINKS == 1
+  syrlinksCom->startTask();
+#endif
 #if OBSW_ADD_MGT == 1
   imtqPolling->startTask();
 #endif
@@ -455,8 +483,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
   static constexpr float acsPstPeriod = 0.4;
 #endif
-  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  FixedTimeslotTaskIF* acsTcsPst =
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -471,7 +500,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask(
-      "SYRLINKS", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstSyrlinks(syrlinksPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -485,8 +514,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #endif
 
 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
+  FixedTimeslotTaskIF* i2cPst =
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstI2cProcessingSystem(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -499,8 +529,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* gomSpacePstTask =
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
+                                      0.5, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -514,8 +545,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* pusHighPrio =
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
@@ -526,16 +558,17 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
   result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   taskVec.push_back(pusHighPrio);
 
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  PeriodicTaskIF* pusMedPrio =
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);

common/config/devConf.h

@@ -63,7 +63,7 @@ static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR;
 
 }  // namespace spi
 
-namespace uart {
+namespace serial {
 
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
@@ -73,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
 
-}  // namespace uart
+}  // namespace serial
 
 #endif /* COMMON_CONFIG_DEVCONF_H_ */

common/config/eive/eventSubsystemIds.h

@@ -39,6 +39,7 @@ enum : uint8_t {
   TCS_CONTROLLER = 141,
   COM_SUBSYSTEM = 142,
   PERSISTENT_TM_STORE = 143,
+  SYRLINKS_COM = 144,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -62,7 +62,7 @@ enum commonObjects : uint32_t {
   RAD_SENSOR = 0x443200A5,
   PLOC_UPDATER = 0x44330000,
   PLOC_MEMORY_DUMPER = 0x44330001,
-  STR_HELPER = 0x44330002,
+  STR_COM_IF = 0x44330002,
   PLOC_MPSOC_HELPER = 0x44330003,
   AXI_PTME_CONFIG = 0x44330004,
   PTME_CONFIG = 0x44330005,
@@ -123,8 +123,7 @@ enum commonObjects : uint32_t {
   SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
   SYRLINKS_HANDLER = 0x445300A3,
-  // might be obsolete, was not used in Q7S FM SW
-  // CCSDS_IP_CORE_BRIDGE = 0x73500000,
+  SYRLINKS_COM_HANDLER = 0x445300A4,
 
   /* 0x49 ('I') for Communication Interfaces */
   ACS_BOARD_POLLING_TASK = 0x49060004,

fsfw

@@ -1 +1 @@
-Subproject commit 227524a21da755d125bcb1a5ff67bcbc452f8cf9
+Subproject commit b814e7198f720cad0fb063f54644d5dbc92c165c

generators/bsp_hosted_events.csv

@@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h
 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h
 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12511;0x30df;STR_COM_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h
+12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h
+12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h
+12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h
+12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
+12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
@@ -239,7 +239,6 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
 13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h

generators/bsp_hosted_objects.csv

@@ -42,7 +42,7 @@
 0x443200A5;RAD_SENSOR
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
-0x44330002;STR_HELPER
+0x44330002;STR_COM_IF
 0x44330003;PLOC_MPSOC_HELPER
 0x44330004;AXI_PTME_CONFIG
 0x44330005;PTME_CONFIG
@@ -78,6 +78,7 @@
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
 0x445300A3;SYRLINKS_HANDLER
+0x445300A4;SYRLINKS_COM_HANDLER
 0x49000001;ARDUINO_COM_IF
 0x49000002;DUMMY_COM_IF
 0x49010006;SCEX_UART_READER
@@ -163,7 +164,6 @@
 0x73040002;HK_STORE_AND_TM_TASK
 0x73040003;CFDP_STORE_AND_TM_TASK
 0x73040004;DOWNLINK_RAM_STORE
-0x73500000;CCSDS_IP_CORE_BRIDGE
 0x90000003;THERMAL_TEMP_INSERTER
 0xCAFECAFE;DUMMY_INTERFACE
 0xFFFFFFFF;NO_OBJECT

generators/bsp_hosted_returnvalues.csv

@@ -321,6 +321,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3404;DC_InvalidCookieType;No description;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3405;DC_NotActive;No description;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3406;DC_TooMuchData;No description;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3407;DC_Busy;No description;7;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3601;CFDP_InvalidTlvType;No description;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3602;CFDP_InvalidDirectiveField;No description;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3603;CFDP_InvalidPduDatafieldLen;No description;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h

generators/bsp_hosted_subsystems.csv

@@ -59,3 +59,4 @@
 141;TCS_CONTROLLER
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
+144;SYRLINKS_COM

generators/bsp_q7s_events.csv

@@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h
 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h
 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12511;0x30df;STR_COM_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h
+12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h
+12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h
+12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h
+12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
+12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
@@ -239,7 +239,6 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
 13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h

generators/bsp_q7s_objects.csv

@@ -41,7 +41,7 @@
 0x443200A5;RAD_SENSOR
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
-0x44330002;STR_HELPER
+0x44330002;STR_COM_IF
 0x44330003;PLOC_MPSOC_HELPER
 0x44330004;AXI_PTME_CONFIG
 0x44330005;PTME_CONFIG
@@ -77,6 +77,7 @@
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
 0x445300A3;SYRLINKS_HANDLER
+0x445300A4;SYRLINKS_COM_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
@@ -168,6 +169,5 @@
 0x73040002;HK_STORE_AND_TM_TASK
 0x73040003;CFDP_STORE_AND_TM_TASK
 0x73040004;DOWNLINK_RAM_STORE
-0x73500000;CCSDS_IP_CORE_BRIDGE
 0x90000003;THERMAL_TEMP_INSERTER
 0xFFFFFFFF;NO_OBJECT

generators/bsp_q7s_returnvalues.csv

@@ -321,6 +321,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3404;DC_InvalidCookieType;No description;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3405;DC_NotActive;No description;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3406;DC_TooMuchData;No description;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3407;DC_Busy;No description;7;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3601;CFDP_InvalidTlvType;No description;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3602;CFDP_InvalidDirectiveField;No description;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3603;CFDP_InvalidPduDatafieldLen;No description;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
@@ -474,6 +475,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x53b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
 0x53b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
 0x5400;DWLPWRON_NoReplyAvailable;No description;0;DWLPWRON_CMD;linux/devices/ImtqPollingTask.h
+0x5401;DWLPWRON_NoPacketFound;No description;1;DWLPWRON_CMD;linux/devices/SyrlinksComHandler.h
 0x5402;DWLPWRON_InvalidCrc;No description;2;DWLPWRON_CMD;linux/devices/ScexHelper.h
 0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
 0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
@@ -491,15 +493,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/LegacySusHandler.h
 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
-0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c02;STRHLP_FileNotExists;Specified file does not exist on filesystem;2;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c03;STRHLP_PathNotExists;Specified path does not exist;3;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c04;STRHLP_FileCreationFailed;Failed to create download image or read flash file;4;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c05;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;5;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c06;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;6;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c07;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;7;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c08;STRHLP_StatusError;Status field in reply signals error;8;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c09;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);9;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c0a;STRHLP_ReceptionTimeout;No description;10;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c0b;STRHLP_DecodingError;No description;11;STR_HELPER;linux/devices/startracker/StrComHandler.h
 0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h

generators/bsp_q7s_subsystems.csv

@@ -59,3 +59,4 @@
 141;TCS_CONTROLLER
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
+144;SYRLINKS_COM

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 279 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-24 02:13:12
  */
 #include "translateEvents.h"
 
@@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@@ -617,16 +617,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 173 translations.
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-24 02:13:12
  */
 #include "translateObjects.h"
 
@@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@@ -85,6 +85,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
+const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -176,7 +177,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
 const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
 const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
 const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
@@ -340,6 +340,8 @@ const char *translateObject(object_id_t object) {
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -522,8 +524,6 @@ const char *translateObject(object_id_t object) {
       return CFDP_STORE_AND_TM_TASK_STRING;
     case 0x73040004:
       return DOWNLINK_RAM_STORE_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:
       return THERMAL_TEMP_INSERTER_STRING;
     case 0xFFFFFFFF:

linux/ObjectFactory.cpp

@@ -314,7 +314,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
                                          SdCardMountedIF& mountedIF, bool onImmediately,
                                          std::optional<power::Switch_t> switchId) {
-  auto* cookie = new SerialCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096);
+  auto* cookie = new SerialCookie(objects::SCEX, uartDev, serial::SCEX_BAUD, 4096);
   cookie->setTwoStopBits();
   // cookie->setParityEven();
   auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER);

linux/csp/CspComIF.cpp

@@ -14,7 +14,10 @@
 
 using namespace GOMSPACE;
 
-CspComIF::CspComIF(object_id_t objectId) : SystemObject(objectId) {}
+CspComIF::CspComIF(object_id_t objectId, const char* routeTaskName, uint32_t routerRealTimePriority)
+    : SystemObject(objectId),
+      routerRealTimePriority(routerRealTimePriority),
+      routerTaskName(routeTaskName) {}
 
 CspComIF::~CspComIF() {}
 
@@ -57,10 +60,8 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) {
     }
 
     /* Start the route task */
-    unsigned int task_stack_size = 500;
-    unsigned int priority = 0;
-    result = csp_route_start_task(task_stack_size, priority);
-    if (result != CSP_ERR_NONE) {
+    result = startRouterTask();
+    if (result != returnvalue::OK) {
       sif::error << "Failed to start csp route task" << std::endl;
       return returnvalue::FAILED;
     }
@@ -343,3 +344,49 @@ void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize) {
   memcpy(replyBuffer, &replyTime, sizeof(replyTime));
   iter->second.replyLen = sizeof(replyTime);
 }
+
+ReturnValue_t CspComIF::startRouterTask() {
+  pthread_attr_t attr;
+  int res = pthread_attr_init(&attr);
+  if (res) {
+    return returnvalue::FAILED;
+  }
+
+  pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
+
+  // Set scheduling policy to SCHED_RR
+  res = pthread_attr_setschedpolicy(&attr, SCHED_RR);
+  if (res) {
+    pthread_attr_destroy(&attr);
+    return returnvalue::FAILED;
+  }
+
+  struct sched_param sched_param;
+  sched_param.sched_priority = routerRealTimePriority;
+  res = pthread_attr_setschedparam(&attr, &sched_param);
+  if (res) {
+    pthread_attr_destroy(&attr);
+    return returnvalue::FAILED;
+  }
+
+  res = pthread_setname_np(pthread_self(), routerTaskName);
+  if (res) {
+    pthread_attr_destroy(&attr);
+    return returnvalue::FAILED;
+  }
+
+  res = pthread_create(&routerTaskHandle, &attr, routerWorkWrapper, NULL);
+  pthread_attr_destroy(&attr);
+  if (res) {
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+void* CspComIF::routerWorkWrapper(void* args) {
+  /* Here there be routing */
+  while (1) {
+    csp_route_work(FIFO_TIMEOUT);
+  }
+  return nullptr;
+}

linux/csp/CspComIF.h

@@ -2,9 +2,11 @@
 #define LINUX_CSP_CSPCOMIF_H_
 
 #include <csp/csp.h>
+#include <csp/csp_autoconfig.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/returnvalues/returnvalue.h>
+#include <pthread.h>
 
 #include <unordered_map>
 #include <vector>
@@ -17,7 +19,7 @@
  */
 class CspComIF : public DeviceCommunicationIF, public SystemObject {
  public:
-  CspComIF(object_id_t objectId);
+  CspComIF(object_id_t objectId, const char *routeTaskName, uint32_t routerRealTimePriority);
   virtual ~CspComIF();
 
   ReturnValue_t initializeInterface(CookieIF *cookie) override;
@@ -27,6 +29,13 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
   ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **readData, size_t *readLen) override;
 
  private:
+#ifdef CSP_USE_RDP
+  //! If RDP is enabled, the router needs to awake some times to check timeouts
+  static constexpr uint32_t FIFO_TIMEOUT = 100;
+#else
+  //! If no RDP, the router can sleep untill data arrives
+  static constexpr uint32_t FIFO_TIMEOUT = CSP_MAX_DELAY;
+#endif
   /**
    * @brief	This function initiates the CSP transfer.
    *
@@ -56,6 +65,10 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
   /* This is the CSP address of the OBC. */
   node_t cspOwnAddress = 1;
 
+  pthread_t routerTaskHandle{};
+  uint32_t routerRealTimePriority = 0;
+  const char *routerTaskName;
+
   /* Interface struct for csp protocol stack */
   csp_iface_t csp_if;
   char canInterface[5] = "can0";
@@ -72,6 +85,9 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
    * @brief	This function initiates the ping request.
    */
   void initiatePingRequest(uint8_t cspAddress, uint16_t querySize);
+
+  ReturnValue_t startRouterTask();
+  static void *routerWorkWrapper(void *args);
 };
 
 #endif /* LINUX_CSP_CSPCOMIF_H_ */

linux/devices/AcsBoardPolling.cpp

@@ -221,7 +221,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       }
     }
     if (state == InternalState::IDLE) {
-      state = InternalState::BUSY;
+      state = InternalState::IS_BUSY;
     }
   }
   semaphore->release();

linux/devices/AcsBoardPolling.h

@@ -20,7 +20,7 @@ class AcsBoardPolling : public SystemObject,
   ReturnValue_t initialize() override;
 
  private:
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
   MutexIF* ipcLock;
   static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t LOCK_TIMEOUT = 20;

linux/devices/CMakeLists.txt

@@ -11,7 +11,8 @@ target_sources(
           ScexDleParser.cpp
           ScexHelper.cpp
           RwPollingTask.cpp
-          AcsBoardPolling.cpp)
+          AcsBoardPolling.cpp
+          SyrlinksComHandler.cpp)
 
 add_subdirectory(ploc)
 

linux/devices/ImtqPollingTask.cpp

@@ -245,7 +245,7 @@ ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* send
     if (state != InternalState::IDLE) {
       return returnvalue::FAILED;
     }
-    state = InternalState::BUSY;
+    state = InternalState::IS_BUSY;
   }
   semaphore->release();
 

linux/devices/ImtqPollingTask.h

@@ -23,7 +23,7 @@ class ImtqPollingTask : public SystemObject,
  private:
   static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
 
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
   imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
 
   SemaphoreIF* semaphore;

linux/devices/RwPollingTask.cpp

@@ -147,7 +147,7 @@ ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendDa
     rwCookie->currentRampTime = rampTime;
     rwCookie->specialRequest = specialRequest;
     if (state == InternalState::IDLE) {
-      state = InternalState::BUSY;
+      state = InternalState::IS_BUSY;
       semaphore->release();
     }
   }

linux/devices/RwPollingTask.h

@@ -41,7 +41,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   ReturnValue_t initialize() override;
 
  private:
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
   SemaphoreIF* semaphore;
   bool debugMode = false;
   bool modeAndSpeedWasSet = false;

linux/devices/ScexUartReader.cpp

@@ -98,11 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   }
   // Setting up UART parameters
   tty.c_cflag &= ~PARENB;  // Clear parity bit
-  uart::setStopbits(tty, uartCookie->getStopBits());
-  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  serial::setStopbits(tty, uartCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
   tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  uart::enableRead(tty);
-  uart::ignoreCtrlLines(tty);
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
 
   // Use non-canonical mode and clear echo flag
   tty.c_lflag &= ~(ICANON | ECHO);
@@ -111,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   tty.c_cc[VTIME] = 0;
   tty.c_cc[VMIN] = 0;
 
-  uart::setBaudrate(tty, uartCookie->getBaudrate());
+  serial::setBaudrate(tty, uartCookie->getBaudrate());
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
                  << errno << ", " << strerror(errno) << std::endl;
@@ -148,8 +148,7 @@ ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendD
   }
   size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen);
   if (bytesWritten != encodedLen) {
-    sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed"
-                 << std::endl;
+    sif::warning << "ScexUartReader::sendMessage: Sending command failed" << std::endl;
     return FAILED;
   }
 

linux/devices/SusPolling.cpp

@@ -77,7 +77,7 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
     susDevs[susIdx].mode = susReq->mode;
   }
   if (state == InternalState::IDLE) {
-    state = InternalState::BUSY;
+    state = InternalState::IS_BUSY;
     semaphore->release();
   }
   return OK;

linux/devices/SusPolling.h

@@ -18,7 +18,7 @@ class SusPolling : public SystemObject, public ExecutableObjectIF, public Device
   ReturnValue_t initialize() override;
 
  private:
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
 
   struct SusDev {
     SpiCookie* cookie = nullptr;

linux/devices/SyrlinksComHandler.cpp

@@ -0,0 +1,209 @@
+#include "SyrlinksComHandler.h"
+
+#include <fcntl.h>
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+#include <fsfw_hal/linux/serial/helper.h>
+#include <unistd.h>
+
+using namespace returnvalue;
+
+SyrlinksComHandler::SyrlinksComHandler(object_id_t objectId)
+    : SystemObject(objectId), ringBuf(2048, true) {
+  lock = MutexFactory::instance()->createMutex();
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+}
+
+ReturnValue_t SyrlinksComHandler::performOperation(uint8_t opCode) {
+  while (true) {
+    lock->lockMutex();
+    state = State::SLEEPING;
+    lock->unlockMutex();
+    semaphore->acquire();
+    // Stopwatch watch;
+    readOneReply();
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::initializeInterface(CookieIF *cookie) {
+  if (cookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  SerialCookie *serCookie = dynamic_cast<SerialCookie *>(cookie);
+  if (serCookie == nullptr) {
+    return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
+  }
+  // comCookie = serCookie;
+  std::string devname = serCookie->getDeviceFile();
+  /* Get file descriptor */
+  serialPort = open(devname.c_str(), O_RDWR);
+  if (serialPort < 0) {
+    sif::warning << "SyrlinksComHandler: open call failed with error [" << errno << ", "
+                 << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Setting up UART parameters
+  serial::setStopbits(tty, serCookie->getStopBits());
+  serial::setParity(tty, serCookie->getParity());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
+
+  // Use non-canonical mode and clear echo flag
+  tty.c_lflag &= ~(ICANON | ECHO);
+
+  // Non-blocking mode, use polling
+  tty.c_cc[VTIME] = 0;
+  tty.c_cc[VMIN] = 0;
+
+  serial::setBaudrate(tty, serCookie->getBaudrate());
+  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+    sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
+                 << errno << ", " << strerror(errno) << std::endl;
+  }
+  // Flush received and unread data
+  tcflush(serialPort, TCIOFLUSH);
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                              size_t sendLen) {
+  {
+    MutexGuard mg(lock);
+    if (state != State::SLEEPING) {
+      return BUSY;
+    }
+  }
+  serial::flushRxBuf(serialPort);
+
+  ssize_t writtenBytes = write(serialPort, sendData, sendLen);
+  if (writtenBytes != static_cast<ssize_t>(sendLen)) {
+    sif::warning << "StrComHandler: Sending packet failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  {
+    MutexGuard mg(lock);
+    state = State::ACTIVE;
+  }
+  semaphore->release();
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t SyrlinksComHandler::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::handleSerialReception() {
+  ssize_t bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
+                           static_cast<unsigned int>(recBuf.size()));
+  if (bytesRead == 0) {
+    return NO_SERIAL_DATA_READ;
+  } else if (bytesRead < 0) {
+    sif::warning << "SyrlinksComHandler: read call failed with error [" << errno << ", "
+                 << strerror(errno) << "]" << std::endl;
+    return FAILED;
+  } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+    sif::error << "SyrlinksComHandler: Receive buffer too small for " << bytesRead << " bytes"
+               << std::endl;
+    return FAILED;
+  } else if (bytesRead > 0) {
+    // sif::debug << "Received " << bytesRead << " bytes from the Syrlinks" << std::endl;
+    // arrayprinter::print(recBuf.data(), bytesRead);
+    ringBuf.writeData(recBuf.data(), bytesRead);
+  }
+  return OK;
+}
+
+ReturnValue_t SyrlinksComHandler::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                      size_t *size) {
+  MutexGuard mg(lock);
+  if (replyResult != returnvalue::OK) {
+    ReturnValue_t tmp = replyResult;
+    replyResult = returnvalue::OK;
+    return tmp;
+  }
+  if (replyLen == 0) {
+    *size = 0;
+    return returnvalue::OK;
+  }
+  *buffer = ipcBuf.data();
+  *size = replyLen;
+  replyLen = 0;
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::readOneReply() {
+  ReturnValue_t result;
+  uint32_t nextDelayMs = 1;
+  replyTimeout.resetTimer();
+  while (true) {
+    handleSerialReception();
+    result = tryReadingOneSyrlinksReply();
+    if (result == returnvalue::OK) {
+      return returnvalue::OK;
+    }
+    if (replyTimeout.hasTimedOut()) {
+      {
+        MutexGuard mg(lock);
+        replyResult = DeviceCommunicationIF::NO_REPLY_RECEIVED;
+      }
+      return returnvalue::FAILED;
+    }
+    TaskFactory::delayTask(nextDelayMs);
+    if (nextDelayMs < 32) {
+      nextDelayMs *= 2;
+    }
+  }
+}
+ReturnValue_t SyrlinksComHandler::tryReadingOneSyrlinksReply() {
+  size_t bytesToRead = ringBuf.getAvailableReadData();
+  if (bytesToRead == 0) {
+    return NO_PACKET_FOUND;
+  }
+  bool startMarkerFound = false;
+  size_t startIdx = 0;
+  ringBuf.readData(recBuf.data(), bytesToRead);
+  for (size_t idx = 0; idx < bytesToRead; idx++) {
+    if (recBuf[idx] == START_MARKER) {
+      if (startMarkerFound) {
+        // Probably lost a packet. Discard broken packet.
+        sif::warning << "SyrlinksComHandler: Detected 2 consecutive start markers" << std::endl;
+        ringBuf.deleteData(idx);
+      } else {
+        startMarkerFound = true;
+        startIdx = idx;
+      }
+    }
+    if (recBuf[idx] == END_MARKER) {
+      if (startMarkerFound) {
+        {
+          MutexGuard mg(lock);
+          replyLen = idx - startIdx + 1;
+        }
+        // Copy detected packet to IPC buffer so it can be passed back to the device handler.
+        if (replyLen > ipcBuf.size()) {
+          sif::error << "SyrlinksComHandler: Detected reply too large" << std::endl;
+          ringBuf.deleteData(idx);
+          return returnvalue::FAILED;
+        }
+        // sif::debug << "Detected Syrlinks reply with length " << replyLen << std::endl;
+        std::memcpy(ipcBuf.data(), recBuf.data() + startIdx, replyLen);
+        ringBuf.deleteData(idx + 1);
+        return returnvalue::OK;
+      } else {
+        // Probably lost a packet. Discard broken packet.
+        sif::warning << "SyrlinksComHandler: Detected 2 consecutive end markers" << std::endl;
+        ringBuf.deleteData(idx + 1);
+      }
+    }
+  }
+  return NO_PACKET_FOUND;
+}

linux/devices/SyrlinksComHandler.h

@@ -0,0 +1,52 @@
+#ifndef LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
+#define LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
+
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/SemaphoreIF.h>
+#include <termios.h>
+
+class SyrlinksComHandler : public DeviceCommunicationIF,
+                           public ExecutableObjectIF,
+                           public SystemObject {
+ public:
+  SyrlinksComHandler(object_id_t objectId);
+
+ private:
+  static constexpr char START_MARKER = '<';
+  static constexpr char END_MARKER = '>';
+
+  //! [EXPORT] : [SKIP]
+  static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0);
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1);
+
+  enum class State { SLEEPING, ACTIVE } state = State::SLEEPING;
+
+  MutexIF *lock;
+  SemaphoreIF *semaphore;
+  int serialPort = 0;
+  struct termios tty {};
+  Countdown replyTimeout = Countdown(2000);
+  std::array<uint8_t, 2048> recBuf{};
+  SimpleRingBuffer ringBuf;
+  std::array<uint8_t, 1024> ipcBuf{};
+  size_t replyLen = 0;
+  ReturnValue_t replyResult = returnvalue::OK;
+
+  ReturnValue_t handleSerialReception();
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+
+  ReturnValue_t readOneReply();
+  ReturnValue_t tryReadingOneSyrlinksReply();
+};
+
+#endif /* LINUX_DEVICES_SYRLINKSCOMHANDLER_H_ */

linux/devices/ploc/PlocSupvUartMan.cpp

@@ -58,12 +58,12 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) {
   }
   // Setting up UART parameters
   tty.c_cflag &= ~PARENB;  // Clear parity bit
-  uart::setParity(tty, uartCookie->getParity());
-  uart::setStopbits(tty, uartCookie->getStopBits());
-  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  serial::setParity(tty, uartCookie->getParity());
+  serial::setStopbits(tty, uartCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
   tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  uart::enableRead(tty);
-  uart::ignoreCtrlLines(tty);
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
 
   // Use non-canonical mode and clear echo flag
   tty.c_lflag &= ~(ICANON | ECHO);
@@ -72,7 +72,7 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) {
   tty.c_cc[VTIME] = 2;
   tty.c_cc[VMIN] = 0;
 
-  uart::setBaudrate(tty, uartCookie->getBaudrate());
+  serial::setBaudrate(tty, uartCookie->getBaudrate());
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "PlocSupvUartManager::initializeInterface: tcsetattr call failed with error ["
                  << errno << ", " << strerror(errno) << std::endl;

linux/devices/ploc/PlocSupvUartMan.h

@@ -246,9 +246,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   std::array<uint8_t, 2048> recBuf = {};
   std::array<uint8_t, 2048> encodedBuf = {};
   std::array<uint8_t, 1200> decodedBuf = {};
-  std::array<uint8_t, 1200> ipcBuffer = {};
   SimpleRingBuffer decodedRingBuf;
   FIFO<size_t, MAX_STORED_DECODED_PACKETS> decodedQueue;
+  std::array<uint8_t, 1200> ipcBuffer = {};
   SimpleRingBuffer ipcRingBuf;
   FIFO<size_t, MAX_STORED_DECODED_PACKETS> ipcQueue;
 

linux/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -1,39 +1,39 @@
 #include "ArcsecDatalinkLayer.h"
 
-ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
+ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
 
 ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
 
-void ArcsecDatalinkLayer::slipInit() {
-  slipInfo.buffer = rxBuffer;
-  slipInfo.maxlength = startracker::MAX_FRAME_SIZE;
-  slipInfo.length = 0;
-  slipInfo.unescape_next = 0;
-  slipInfo.prev_state = SLIP_COMPLETE;
-}
-
-ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
-                                               size_t* bytesLeft) {
-  size_t bytePos = 0;
-  for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
+ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
+                                                        size_t& frameLen) {
+  size_t currentLen = decodeRingBuf.getAvailableReadData();
+  if (currentLen == 0) {
+    return DEC_IN_PROGRESS;
+  }
+  decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
+  for (size_t idx = 0; idx < currentLen; idx++) {
     enum arc_dec_result decResult =
-        arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
-    *bytesLeft = rawDataSize - bytePos - 1;
+        arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
     switch (decResult) {
       case ARC_DEC_INPROGRESS: {
-        if (bytePos == rawDataSize - 1) {
-          return DEC_IN_PROGRESS;
-        }
-        continue;
+        break;
       }
-      case ARC_DEC_ERROR_FRAME_SHORT:
+      case ARC_DEC_ERROR_FRAME_SHORT: {
+        decodeRingBuf.deleteData(idx);
         return REPLY_TOO_SHORT;
+      }
       case ARC_DEC_ERROR_CHECKSUM:
+        decodeRingBuf.deleteData(idx);
         return CRC_FAILURE;
       case ARC_DEC_ASYNC:
       case ARC_DEC_SYNC: {
         // Reset length of SLIP struct for next frame
         slipInfo.length = 0;
+        if (decodedFrame != nullptr) {
+          *decodedFrame = decodedRxFrame;
+        }
+        frameLen = rxFrameSize;
+        decodeRingBuf.deleteData(idx);
         return returnvalue::OK;
       }
       default:
@@ -42,21 +42,32 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
         return returnvalue::FAILED;
     }
   }
-  return returnvalue::FAILED;
+  decodeRingBuf.deleteData(currentLen);
+  return DEC_IN_PROGRESS;
 }
 
-uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
-
-const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
-
-void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
-  arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
+ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDataLen) {
+  if (rawDataLen > 4096) {
+    sif::error << "ArcsecDatalinklayer: Can not write more than 4096 bytes to ring buffer"
+               << std::endl;
+    return returnvalue::FAILED;
+  }
+  return decodeRingBuf.writeData(rawData, rawDataLen);
 }
 
-uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
+void ArcsecDatalinkLayer::reset() {
+  slipInit();
+  decodeRingBuf.clear();
+}
 
-uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
+void ArcsecDatalinkLayer::slipInit() {
+  slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
+}
 
-uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
-
-uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }
+void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
+                                      size_t& size) {
+  arc_transport_encode_body(data, length, txEncoded, &size);
+  if (txFrame != nullptr) {
+    *txFrame = txEncoded;
+  }
+}

linux/devices/startracker/ArcsecDatalinkLayer.h

@@ -1,14 +1,14 @@
 #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/devicehandlers/CookieIF.h>
+
+#include "arcsec/common/misc.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
-extern "C" {
-#include "common/misc.h"
-}
-
 /**
  * @brief   Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
  */
@@ -25,17 +25,30 @@ class ArcsecDatalinkLayer {
 
   static const uint8_t STATUS_OK = 0;
 
+  static constexpr size_t BUFFER_LENGTHS = 4096;
+
   ArcsecDatalinkLayer();
   virtual ~ArcsecDatalinkLayer();
 
   /**
-   * @brief   Applies decoding to data referenced by rawData pointer
-   *
-   * @param rawData          Pointer to raw data received from star tracker
-   * @param rawDataSize      Size of raw data stream
-   * @param remainingBytes   Number of bytes left
+   * Feed received data to the internal ring buffer.
+   * @param rawData
+   * @param rawDataLen
+   * @return
    */
-  ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
+  ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
+
+  /**
+   * Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding
+   * frames in the process.
+   * @param decodedFrame
+   * @param frameLen
+   * @return
+   *   - returnvalue::OK if a frame was found
+   *   - DEC_IN_PROGRESS if frame decoding is in progress
+   *   - Anything else is a decoding error
+   */
+  ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
 
   /**
    * @brief   SLIP encodes data pointed to by data pointer.
@@ -43,53 +56,31 @@ class ArcsecDatalinkLayer {
    * @param data   Pointer to data to encode
    * @param length Length of buffer to encode
    */
-  void encodeFrame(const uint8_t* data, uint32_t length);
+  void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen);
 
-  /**
-   * @brief    Returns the frame type field of a decoded frame.
-   */
-  uint8_t getReplyFrameType();
-
-  /**
-   * @brief   Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
-   */
-  const uint8_t* getReply();
-
-  /**
-   * @brief   Returns size of encoded frame
-   */
-  uint32_t getEncodedLength();
-
-  /**
-   * @brief   Returns pointer to encoded frame
-   */
-  uint8_t* getEncodedFrame();
-
-  /**
-   * @brief   Returns status of reply
-   */
-  uint8_t getStatusField();
-
-  /**
-   * @brief   Returns ID of reply
-   */
-  uint8_t getId();
+  void reset();
 
  private:
   static const uint8_t ID_OFFSET = 1;
   static const uint8_t STATUS_OFFSET = 2;
 
-  // Used by arcsec slip decoding function process received data
-  uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
+  // User to buffer and analyse data and allow feeding and checking for frames asychronously.
+  SimpleRingBuffer decodeRingBuf;
+  uint8_t rxAnalysisBuffer[BUFFER_LENGTHS];
+
+  // Used by arcsec slip decoding function to process received data. This should only be written
+  // to or read from by arcsec functions!
+  uint8_t rxBufferArc[startracker::MAX_FRAME_SIZE];
   // Decoded frame will be copied to this buffer
-  uint8_t decodedFrame[startracker::MAX_FRAME_SIZE];
+  uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
+  // Size of decoded frame
+  uint32_t rxFrameSize = 0;
+
   // Buffer where encoded frames will be stored. First byte of encoded frame represents type of
   // reply
-  uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2];
-  // Size of decoded frame
-  uint32_t decFrameSize = 0;
+  uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2];
   // Size of encoded frame
-  uint32_t encFrameSize = 0;
+  uint32_t txFrameSize = 0;
 
   slip_decode_state slipInfo;
 

linux/devices/startracker/ArcsecJsonParamBase.cpp

@@ -1,17 +1,10 @@
 #include "ArcsecJsonParamBase.h"
 
-#include "ArcsecJsonKeys.h"
+#include "arcsecJsonKeys.h"
 
 ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
 
-ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
-  // ReturnValue_t result = returnvalue::OK;
-  //  result = init(fullname);
-  //  if (result != returnvalue::OK) {
-  //    sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
-  //                 << setName << std::endl;
-  //    return result;
-  //  }
+ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) {
   ReturnValue_t result = createCommand(buffer);
   if (result != returnvalue::OK) {
     sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set "

linux/devices/startracker/ArcsecJsonParamBase.h

@@ -5,15 +5,12 @@
 #include <fstream>
 #include <nlohmann/json.hpp>
 
+#include "arcsec/common/generated/tmtcstructs.h"
+#include "arcsec/common/genericstructs.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
-extern "C" {
-#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
-#include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
-}
-
 using json = nlohmann::json;
 
 /**
@@ -59,7 +56,7 @@ class ArcsecJsonParamBase {
    *                  parameter set.
    * @param buffer    Pointer to the buffer the command will be written to
    */
-  ReturnValue_t create(std::string fullname, uint8_t* buffer);
+  ReturnValue_t create(uint8_t* buffer);
 
   /**
    * @brief   Returns the size of the parameter command.

linux/devices/startracker/CMakeLists.txt

@@ -1,4 +1,4 @@
 target_sources(
   ${OBSW_NAME}
-  PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp
-          ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp)
+  PRIVATE StarTrackerHandler.cpp strJsonCommands.cpp ArcsecDatalinkLayer.cpp
+          ArcsecJsonParamBase.cpp StrComHandler.cpp helpers.cpp)

linux/devices/startracker/StarTrackerHandler.cpp

@@ -1,5 +1,8 @@
 #include "StarTrackerHandler.h"
 
+#include <arcsec/client/generated/actionreq.h>
+#include <arcsec/client/generated/parameter.h>
+#include <arcsec/client/generated/telemetry.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
@@ -8,19 +11,14 @@
 #include <thread>
 
 #include "OBSWConfig.h"
-#include "StarTrackerJsonCommands.h"
-extern "C" {
-#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
-#include <thirdparty/arcsec_star_tracker/client/generated/parameter.h>
-#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
-
-#include "common/misc.h"
-}
+#include "arcsec/common/misc.h"
+#include "helpers.h"
+#include "strJsonCommands.h"
 
 std::atomic_bool JCFG_DONE(false);
 
 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                       const char* jsonFileStr, StrHelper* strHelper,
+                                       const char* jsonFileStr, StrComHandler* strHelper,
                                        power::Switch_t powerSwitch)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       temperatureSet(this),
@@ -84,8 +82,8 @@ ReturnValue_t StarTrackerHandler::initialize() {
     return result;
   }
   result = manager->subscribeToEventRange(eventQueue->getId(),
-                                          event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED),
-                                          event::getEventId(StrHelper::FIRMWARE_UPDATE_FAILED));
+                                          event::getEventId(StrComHandler::IMAGE_UPLOAD_FAILED),
+                                          event::getEventId(StrComHandler::FIRMWARE_UPDATE_FAILED));
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from "
@@ -95,11 +93,6 @@ ReturnValue_t StarTrackerHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  result = strHelper->setComIF(communicationInterface);
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  strHelper->setComCookie(comCookie);
   return returnvalue::OK;
 }
 
@@ -828,41 +821,36 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
   ReturnValue_t result = returnvalue::OK;
   size_t bytesLeft = 0;
 
-  result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft);
-  switch (result) {
-    case ArcsecDatalinkLayer::DEC_IN_PROGRESS: {
-      remainingSize = bytesLeft;
-      // Need a second doSendRead pass to reaa in whole packet
-      return IGNORE_REPLY_DATA;
-    }
-    case returnvalue::OK: {
-      break;
-    }
-    default:
-      remainingSize = bytesLeft;
-      return result;
+  if (remainingSize == 0) {
+    *foundLen = remainingSize;
+    return returnvalue::OK;
+  }
+  if (remainingSize < 3) {
+    sif::error << "StarTrackerHandler: Reply packet with length less than 3 is invalid"
+               << std::endl;
+    return returnvalue::FAILED;
   }
 
-  switch (dataLinkLayer.getReplyFrameType()) {
+  switch (str::getReplyFrameType(start)) {
     case TMTC_ACTIONREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForActionReply(foundId);
+      result = scanForActionReply(str::getId(start), foundId);
       break;
     }
     case TMTC_SETPARAMREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForSetParameterReply(foundId);
+      result = scanForSetParameterReply(str::getId(start), foundId);
       break;
     }
     case TMTC_PARAMREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForGetParameterReply(foundId);
+      result = scanForGetParameterReply(str::getId(start), foundId);
       break;
     }
     case TMTC_TELEMETRYREPLYA:
     case TMTC_TELEMETRYREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForTmReply(foundId);
+      result = scanForTmReply(str::getId(start), foundId);
       break;
     }
     default: {
@@ -882,22 +870,22 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
 
   switch (id) {
     case (startracker::REQ_TIME): {
-      result = handleTm(timeSet, startracker::TimeSet::SIZE);
+      result = handleTm(packet, timeSet, startracker::TimeSet::SIZE);
       break;
     }
     case (startracker::PING_REQUEST): {
-      result = handlePingReply();
+      result = handlePingReply(packet);
       break;
     }
     case (startracker::BOOT):
     case (startracker::TAKE_IMAGE):
       break;
     case (startracker::CHECKSUM): {
-      result = handleChecksumReply();
+      result = handleChecksumReply(packet);
       break;
     }
     case (startracker::REQ_VERSION): {
-      result = handleTm(versionSet, startracker::VersionSet::SIZE);
+      result = handleTm(packet, versionSet, startracker::VersionSet::SIZE);
       if (result != returnvalue::OK) {
         return result;
       }
@@ -908,23 +896,23 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (startracker::REQ_INTERFACE): {
-      result = handleTm(interfaceSet, startracker::InterfaceSet::SIZE);
+      result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE);
       break;
     }
     case (startracker::REQ_POWER): {
-      result = handleTm(powerSet, startracker::PowerSet::SIZE);
+      result = handleTm(packet, powerSet, startracker::PowerSet::SIZE);
       break;
     }
     case (startracker::REQ_SOLUTION): {
-      result = handleTm(solutionSet, startracker::SolutionSet::SIZE);
+      result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE);
       break;
     }
     case (startracker::REQ_TEMPERATURE): {
-      result = handleTm(temperatureSet, startracker::TemperatureSet::SIZE);
+      result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE);
       break;
     }
     case (startracker::REQ_HISTOGRAM): {
-      result = handleTm(histogramSet, startracker::HistogramSet::SIZE);
+      result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE);
       break;
     }
     case (startracker::SUBSCRIPTION):
@@ -941,63 +929,63 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
     case (startracker::VALIDATION):
     case (startracker::IMAGE_PROCESSOR):
     case (startracker::ALGO): {
-      result = handleSetParamReply();
+      result = handleSetParamReply(packet);
       break;
     }
     case (startracker::REQ_CAMERA): {
-      handleParamRequest(cameraSet, startracker::CameraSet::SIZE);
+      handleParamRequest(packet, cameraSet, startracker::CameraSet::SIZE);
       break;
     }
     case (startracker::REQ_LIMITS): {
-      handleParamRequest(limitsSet, startracker::LimitsSet::SIZE);
+      handleParamRequest(packet, limitsSet, startracker::LimitsSet::SIZE);
       break;
     }
     case (startracker::REQ_LOG_LEVEL): {
-      handleParamRequest(loglevelSet, startracker::LogLevelSet::SIZE);
+      handleParamRequest(packet, loglevelSet, startracker::LogLevelSet::SIZE);
       break;
     }
     case (startracker::REQ_MOUNTING): {
-      handleParamRequest(mountingSet, startracker::MountingSet::SIZE);
+      handleParamRequest(packet, mountingSet, startracker::MountingSet::SIZE);
       break;
     }
     case (startracker::REQ_IMAGE_PROCESSOR): {
-      handleParamRequest(imageProcessorSet, startracker::ImageProcessorSet::SIZE);
+      handleParamRequest(packet, imageProcessorSet, startracker::ImageProcessorSet::SIZE);
       break;
     }
     case (startracker::REQ_CENTROIDING): {
-      handleParamRequest(centroidingSet, startracker::CentroidingSet::SIZE);
+      handleParamRequest(packet, centroidingSet, startracker::CentroidingSet::SIZE);
       break;
     }
     case (startracker::REQ_LISA): {
-      handleParamRequest(lisaSet, startracker::LisaSet::SIZE);
+      handleParamRequest(packet, lisaSet, startracker::LisaSet::SIZE);
       break;
     }
     case (startracker::REQ_MATCHING): {
-      handleParamRequest(matchingSet, startracker::MatchingSet::SIZE);
+      handleParamRequest(packet, matchingSet, startracker::MatchingSet::SIZE);
       break;
     }
     case (startracker::REQ_TRACKING): {
-      handleParamRequest(trackingSet, startracker::TrackingSet::SIZE);
+      handleParamRequest(packet, trackingSet, startracker::TrackingSet::SIZE);
       break;
     }
     case (startracker::REQ_VALIDATION): {
-      handleParamRequest(validationSet, startracker::ValidationSet::SIZE);
+      handleParamRequest(packet, validationSet, startracker::ValidationSet::SIZE);
       break;
     }
     case (startracker::REQ_ALGO): {
-      handleParamRequest(algoSet, startracker::AlgoSet::SIZE);
+      handleParamRequest(packet, algoSet, startracker::AlgoSet::SIZE);
       break;
     }
     case (startracker::REQ_SUBSCRIPTION): {
-      handleParamRequest(subscriptionSet, startracker::SubscriptionSet::SIZE);
+      handleParamRequest(packet, subscriptionSet, startracker::SubscriptionSet::SIZE);
       break;
     }
     case (startracker::REQ_LOG_SUBSCRIPTION): {
-      handleParamRequest(logSubscriptionSet, startracker::LogSubscriptionSet::SIZE);
+      handleParamRequest(packet, logSubscriptionSet, startracker::LogSubscriptionSet::SIZE);
       break;
     }
     case (startracker::REQ_DEBUG_CAMERA): {
-      handleParamRequest(debugCameraSet, startracker::DebugCameraSet::SIZE);
+      handleParamRequest(packet, debugCameraSet, startracker::DebugCameraSet::SIZE);
       break;
     }
     default: {
@@ -1328,9 +1316,8 @@ ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId) {
+  switch (replyId) {
     case (startracker::ID::PING): {
       *foundId = startracker::PING_REQUEST;
       break;
@@ -1359,9 +1346,9 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId)
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForSetParameterReply(uint8_t replyId,
+                                                           DeviceCommandId_t* foundId) {
+  switch (replyId) {
     case (startracker::ID::SUBSCRIPTION): {
       *foundId = startracker::SUBSCRIPTION;
       break;
@@ -1426,9 +1413,9 @@ ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* fo
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForGetParameterReply(uint8_t replyId,
+                                                           DeviceCommandId_t* foundId) {
+  switch (replyId) {
     case (startracker::ID::CAMERA): {
       *foundId = startracker::REQ_CAMERA;
       break;
@@ -1494,9 +1481,8 @@ ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* fo
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId) {
+  switch (replyId) {
     case (startracker::ID::VERSION): {
       *foundId = startracker::REQ_VERSION;
       break;
@@ -1527,7 +1513,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
     }
     default: {
       sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id: "
-                 << static_cast<unsigned int>(*reply) << std::endl;
+                 << static_cast<unsigned int>(replyId) << std::endl;
       return returnvalue::FAILED;
       break;
     }
@@ -1538,7 +1524,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
 void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
   object_id_t objectId = eventMessage->getReporter();
   switch (objectId) {
-    case objects::STR_HELPER: {
+    case objects::STR_COM_IF: {
       // All events from image loader signal either that the operation was successful or that it
       // failed
       strHelperHandlingSpecialRequest = false;
@@ -1586,9 +1572,8 @@ void StarTrackerHandler::prepareBootCommand() {
   uint32_t length = 0;
   struct BootActionRequest bootRequest = {BOOT_REGION_ID};
   arc_pack_boot_action_req(&bootRequest, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData,
@@ -1620,9 +1605,8 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
   }
   uint32_t rawCmdLength = 0;
   arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength);
-  dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = rawCmdLength;
   checksumCmd.rememberRegion = req.region;
   checksumCmd.rememberAddress = req.address;
   checksumCmd.rememberLength = req.length;
@@ -1632,51 +1616,45 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
 void StarTrackerHandler::prepareTimeRequest() {
   uint32_t length = 0;
   arc_tm_pack_time_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::preparePingRequest() {
   uint32_t length = 0;
   struct PingActionRequest pingRequest = {PING_ID};
   arc_pack_ping_action_req(&pingRequest, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::prepareVersionRequest() {
   uint32_t length = 0;
   arc_tm_pack_version_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::prepareInterfaceRequest() {
   uint32_t length = 0;
   arc_tm_pack_interface_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::preparePowerRequest() {
   uint32_t length = 0;
   arc_tm_pack_power_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::prepareSwitchToBootloaderCmd() {
   uint32_t length = 0;
   struct RebootActionRequest rebootReq {};
   arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
@@ -1684,33 +1662,29 @@ void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
   struct CameraActionRequest camReq;
   camReq.actionid = *commandData;
   arc_pack_camera_action_req(&camReq, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::prepareSolutionRequest() {
   uint32_t length = 0;
   arc_tm_pack_solution_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::prepareTemperatureRequest() {
   uint32_t length = 0;
   arc_tm_pack_temperature_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 void StarTrackerHandler::prepareHistogramRequest() {
   uint32_t length = 0;
   arc_tm_pack_histogram_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }
 
 ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
@@ -1721,182 +1695,164 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData
   if (commandDataLen > MAX_PATH_SIZE) {
     return FILE_PATH_TOO_LONG;
   }
-  std::string fullName(reinterpret_cast<const char*>(commandData), commandDataLen);
 
-  result = paramSet.create(fullName, commandBuffer);
+  result = paramSet.create(commandBuffer);
   if (result != returnvalue::OK) {
     return result;
   }
-  dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = paramSet.getSize();
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() {
   uint32_t length = 0;
   arc_pack_camera_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() {
   uint32_t length = 0;
   arc_pack_limits_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestLogLevelParams() {
   uint32_t length = 0;
   arc_pack_loglevel_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestMountingParams() {
   uint32_t length = 0;
   arc_pack_mounting_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestImageProcessorParams() {
   uint32_t length = 0;
   arc_pack_imageprocessor_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestCentroidingParams() {
   uint32_t length = 0;
   arc_pack_centroiding_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestLisaParams() {
   uint32_t length = 0;
   arc_pack_lisa_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestMatchingParams() {
   uint32_t length = 0;
   arc_pack_matching_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestTrackingParams() {
   uint32_t length = 0;
   arc_pack_tracking_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestValidationParams() {
   uint32_t length = 0;
   arc_pack_validation_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestAlgoParams() {
   uint32_t length = 0;
   arc_pack_algo_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestSubscriptionParams() {
   uint32_t length = 0;
   arc_pack_subscription_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestLogSubscriptionParams() {
   uint32_t length = 0;
   arc_pack_logsubscription_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::prepareRequestDebugCameraParams() {
   uint32_t length = 0;
   arc_pack_debugcamera_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::handleSetParamReply() {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  uint8_t status = *(reply + STATUS_OFFSET);
+ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) {
+  uint8_t status = str::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
                     " command with parameter ID"
-                 << static_cast<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl;
+                 << static_cast<unsigned int>(*(rawFrame + PARAMETER_ID_OFFSET)) << std::endl;
     if (internalState != InternalState::IDLE) {
       internalState = InternalState::IDLE;
     }
     return SET_PARAM_FAILED;
   }
   if (internalState != InternalState::IDLE) {
-    handleStartup(reply + PARAMETER_ID_OFFSET);
+    handleStartup(*(rawFrame + PARAMETER_ID_OFFSET));
   }
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::handleActionReply() {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  uint8_t status = *(reply + STATUS_OFFSET);
+ReturnValue_t StarTrackerHandler::handleActionReply(const uint8_t* rawFrame) {
+  uint8_t status = str::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
                  << "command with action ID "
-                 << static_cast<unsigned int>(*(reply + ACTION_ID_OFFSET)) << " and status "
+                 << static_cast<unsigned int>(*(rawFrame + ACTION_ID_OFFSET)) << " and status "
                  << static_cast<unsigned int>(status) << std::endl;
     return ACTION_FAILED;
   }
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::handleChecksumReply() {
+ReturnValue_t StarTrackerHandler::handleChecksumReply(const uint8_t* rawFrame) {
   ReturnValue_t result = returnvalue::OK;
-  result = handleActionReply();
+  result = handleActionReply(rawFrame);
   if (result != returnvalue::OK) {
     return result;
   }
-  const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
+  const uint8_t* replyData = rawFrame + ACTION_DATA_OFFSET;
   startracker::ChecksumReply checksumReply(replyData);
   if (checksumReply.getRegion() != checksumCmd.rememberRegion) {
     sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl;
@@ -1919,13 +1875,14 @@ ReturnValue_t StarTrackerHandler::handleChecksumReply() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& dataset, size_t size) {
+ReturnValue_t StarTrackerHandler::handleParamRequest(const uint8_t* rawFrame,
+                                                     LocalPoolDataSetBase& dataset, size_t size) {
   ReturnValue_t result = returnvalue::OK;
   result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
   if (result != returnvalue::OK) {
     return result;
   }
-  const uint8_t* reply = dataLinkLayer.getReply() + PARAMS_OFFSET;
+  const uint8_t* reply = rawFrame + PARAMS_OFFSET;
   dataset.setValidityBufferGeneration(false);
   result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
   if (result != returnvalue::OK) {
@@ -1943,25 +1900,20 @@ ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& datas
   return result;
 }
 
-ReturnValue_t StarTrackerHandler::handlePingReply() {
+ReturnValue_t StarTrackerHandler::handlePingReply(const uint8_t* rawFrame) {
   ReturnValue_t result = returnvalue::OK;
   uint32_t pingId = 0;
-  const uint8_t* reply = dataLinkLayer.getReply();
-  uint8_t status = dataLinkLayer.getStatusField();
-  const uint8_t* buffer = reply + ACTION_DATA_OFFSET;
+  uint8_t status = str::getStatusField(rawFrame);
+  const uint8_t* buffer = rawFrame + ACTION_DATA_OFFSET;
   size_t size = sizeof(pingId);
   SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
   sif::info << "StarTracker: Ping status: " << static_cast<unsigned int>(status) << std::endl;
-  sif::info << "Ping id: 0x" << std::hex << pingId << std::endl;
-#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
+  sif::info << "Ping ID: 0x" << std::hex << pingId << std::endl;
   if (status != startracker::STATUS_OK || pingId != PING_ID) {
-    sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl;
+    sif::warning << "STR: Ping failed" << std::endl;
     result = PING_FAILED;
   } else {
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
-    sif::info << "StarTracker: Ping successful" << std::endl;
-#endif
+    sif::info << "STR: Ping OK" << std::endl;
   }
   return result;
 }
@@ -2001,9 +1953,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) {
+ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                           size_t size) {
   ReturnValue_t result = returnvalue::OK;
-  uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
+  uint8_t status = str::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleTm: Reply error: "
                  << static_cast<unsigned int>(status) << std::endl;
@@ -2013,7 +1966,7 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t
   if (result != returnvalue::OK) {
     return result;
   }
-  const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET;
+  const uint8_t* reply = rawFrame + TICKS_OFFSET;
   dataset.setValidityBufferGeneration(false);
   result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
   if (result != returnvalue::OK) {
@@ -2031,9 +1984,10 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t
   return result;
 }
 
-ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) {
+ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
+                                                       LocalPoolDataSetBase& dataset, size_t size) {
   ReturnValue_t result = returnvalue::OK;
-  uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
+  uint8_t status = str::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: "
                  << static_cast<unsigned int>(status) << std::endl;
@@ -2043,7 +1997,7 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
   if (result != returnvalue::OK) {
     return result;
   }
-  const uint8_t* reply = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
+  const uint8_t* reply = rawFrame + ACTION_DATA_OFFSET;
   dataset.setValidityBufferGeneration(false);
   result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
   if (result != returnvalue::OK) {
@@ -2061,8 +2015,8 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
   return result;
 }
 
-void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
-  switch (*parameterId) {
+void StarTrackerHandler::handleStartup(uint8_t parameterId) {
+  switch (parameterId) {
     case (startracker::ID::LOG_LEVEL): {
       bootState = FwBootState::LIMITS;
       break;
@@ -2117,8 +2071,8 @@ void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
       break;
     }
     default: {
-      sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
-                 << " parameter ID" << std::endl;
+      sif::warning << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
+                   << " parameter ID " << (int)parameterId << std::endl;
       break;
     }
   }

linux/devices/startracker/StarTrackerHandler.h

@@ -2,20 +2,19 @@
 #define MISSION_DEVICES_STARTRACKERHANDLER_H_
 
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <linux/devices/startracker/StarTrackerJsonCommands.h>
 
 #include <thread>
 
-#include "ArcsecDatalinkLayer.h"
 #include "ArcsecJsonParamBase.h"
 #include "OBSWConfig.h"
-#include "StrHelper.h"
+#include "StrComHandler.h"
+#include "arcsec/common/SLIP.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
-#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
+#include "strJsonCommands.h"
 
 /**
  * @brief	This is the device handler for the star tracker from arcsec.
@@ -38,7 +37,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch);
+                     const char* jsonFileStr, StrComHandler* strHelper,
+                     power::Switch_t powerSwitch);
   virtual ~StarTrackerHandler();
 
   ReturnValue_t initialize() override;
@@ -147,14 +147,14 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const size_t MAX_PATH_SIZE = 50;
   static const size_t MAX_FILE_NAME = 30;
 
-  static const uint8_t STATUS_OFFSET = 1;
-  static const uint8_t PARAMS_OFFSET = 1;
-  static const uint8_t TICKS_OFFSET = 2;
-  static const uint8_t TIME_OFFSET = 6;
-  static const uint8_t TM_DATA_FIELD_OFFSET = 14;
-  static const uint8_t PARAMETER_ID_OFFSET = 0;
-  static const uint8_t ACTION_ID_OFFSET = 0;
-  static const uint8_t ACTION_DATA_OFFSET = 2;
+  static const uint8_t STATUS_OFFSET = 2;
+  static const uint8_t PARAMS_OFFSET = 2;
+  static const uint8_t TICKS_OFFSET = 3;
+  static const uint8_t TIME_OFFSET = 7;
+  static const uint8_t PARAMETER_ID_OFFSET = 1;
+  static const uint8_t ACTION_ID_OFFSET = 1;
+  static const uint8_t ACTION_DATA_OFFSET = 3;
+
   // Ping request will reply ping with this ID (data field)
   static const uint32_t PING_ID = 0x55;
   static const uint32_t BOOT_REGION_ID = 1;
@@ -182,8 +182,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   MessageQueueIF* eventQueue = nullptr;
 
-  ArcsecDatalinkLayer dataLinkLayer;
-
   startracker::TemperatureSet temperatureSet;
   startracker::VersionSet versionSet;
   startracker::PowerSet powerSet;
@@ -208,7 +206,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   startracker::DebugCameraSet debugCameraSet;
 
   // Pointer to object responsible for uploading and downloading images to/from the star tracker
-  StrHelper* strHelper = nullptr;
+  StrComHandler* strHelper = nullptr;
 
   uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
 
@@ -310,10 +308,10 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   void slipInit();
 
-  ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForSetParameterReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForGetParameterReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);
+  ReturnValue_t scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForSetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForGetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId);
 
   /**
    * @brief   Fills command buffer with data to ping the star tracker
@@ -435,12 +433,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles action replies with datasets.
    */
-  ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleActionReplySet(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                     size_t size);
 
   /**
    * @brief   Default function to handle action replies
    */
-  ReturnValue_t handleActionReply();
+  ReturnValue_t handleActionReply(const uint8_t* rawFrame);
 
   /**
    * @brief   Handles reply to upload centroid command
@@ -450,16 +449,17 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles reply to checksum command
    */
-  ReturnValue_t handleChecksumReply();
+  ReturnValue_t handleChecksumReply(const uint8_t* rawFrame);
 
   /**
    * @brief   Handles all set parameter replies
    */
-  ReturnValue_t handleSetParamReply();
+  ReturnValue_t handleSetParamReply(const uint8_t* rawFrame);
 
-  ReturnValue_t handlePingReply();
+  ReturnValue_t handlePingReply(const uint8_t* rawFrame);
 
-  ReturnValue_t handleParamRequest(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleParamRequest(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                   size_t size);
 
   /**
    * @brief   Checks the loaded program by means of the version set
@@ -469,7 +469,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles the startup state machine
    */
-  void handleStartup(const uint8_t* parameterId);
+  void handleStartup(uint8_t parameterId);
 
   /**
    * @brief   Handles telemtry replies and fills the appropriate dataset
@@ -479,7 +479,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    *
    * @return  returnvalue::OK if successful, otherwise error return value
    */
-  ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size);
 
   /**
    * @brief Checks if star tracker is in valid mode for executing the received command.

linux/devices/startracker/StrComHandler.cpp

@@ -1,6 +1,9 @@
-#include "StrHelper.h"
-
+#include <fcntl.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <linux/devices/startracker/StrComHandler.h>
+#include <unistd.h>
 
 #include <filesystem>
 #include <fstream>
@@ -8,16 +11,22 @@
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
 #include "fsfw/timemanager/Countdown.h"
+#include "helpers.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
 
-StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
+using namespace returnvalue;
 
-StrHelper::~StrHelper() {}
+StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
+  lock = MutexFactory::instance()->createMutex();
+  semaphore.acquire();
+}
 
-ReturnValue_t StrHelper::initialize() {
+StrComHandler::~StrComHandler() {}
+
+ReturnValue_t StrComHandler::initialize() {
 #ifdef XIPHOS_Q7S
   sdcMan = SdCardManager::instance();
   if (sdcMan == nullptr) {
@@ -28,53 +37,63 @@ ReturnValue_t StrHelper::initialize() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
+ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
   ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
   while (true) {
-    switch (internalState) {
-      case InternalState::IDLE: {
-        semaphore.acquire();
+    lock->lockMutex();
+    state = InternalState::SLEEPING;
+    datalinkLayer.reset();
+    lock->unlockMutex();
+    semaphore.acquire();
+    switch (state) {
+      case InternalState::POLL_ONE_REPLY: {
+        // Stopwatch watch;
+        replyTimeout.setTimeout(200);
+        replyResult = readOneReply(static_cast<uint32_t>(state));
+        {
+          MutexGuard mg(lock);
+          replyWasReceived = true;
+        }
         break;
       }
       case InternalState::UPLOAD_IMAGE: {
+        replyTimeout.setTimeout(200);
         result = performImageUpload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
         } else {
           triggerEvent(IMAGE_UPLOAD_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       case InternalState::DOWNLOAD_IMAGE: {
+        replyTimeout.setTimeout(200);
         result = performImageDownload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
         } else {
           triggerEvent(IMAGE_DOWNLOAD_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       case InternalState::FLASH_READ: {
+        replyTimeout.setTimeout(200);
         result = performFlashRead();
         if (result == returnvalue::OK) {
           triggerEvent(FLASH_READ_SUCCESSFUL);
         } else {
           triggerEvent(FLASH_READ_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       case InternalState::FIRMWARE_UPDATE: {
+        replyTimeout.setTimeout(200);
         result = performFirmwareUpdate();
         if (result == returnvalue::OK) {
           triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
         } else {
           triggerEvent(FIRMWARE_UPDATE_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       default:
@@ -84,18 +103,13 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
   }
 }
 
-ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
-  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
-  if (uartComIF == nullptr) {
-    sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
+ReturnValue_t StrComHandler::startImageUpload(std::string fullname) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
   }
-  return returnvalue::OK;
-}
-
-void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(fullname);
   if (result != returnvalue::OK) {
@@ -106,13 +120,22 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
   if (not std::filesystem::exists(fullname)) {
     return FILE_NOT_EXISTS;
   }
-  internalState = InternalState::UPLOAD_IMAGE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::UPLOAD_IMAGE;
+  }
   semaphore.release();
   terminate = false;
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::startImageDownload(std::string path) {
+ReturnValue_t StrComHandler::startImageDownload(std::string path) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(path);
   if (result != returnvalue::OK) {
@@ -123,19 +146,30 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) {
     return PATH_NOT_EXISTS;
   }
   downloadImage.path = path;
-  internalState = InternalState::DOWNLOAD_IMAGE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::DOWNLOAD_IMAGE;
+  }
   terminate = false;
   semaphore.release();
   return returnvalue::OK;
 }
 
-void StrHelper::stopProcess() { terminate = true; }
+void StrComHandler::stopProcess() { terminate = true; }
 
-void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; }
+void StrComHandler::setDownloadImageName(std::string filename) {
+  downloadImage.filename = filename;
+}
 
-void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
+void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
 
-ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) {
+ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(fullname);
   if (result != returnvalue::OK) {
@@ -148,13 +182,23 @@ ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) {
   }
   flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST);
   flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST);
-  internalState = InternalState::FIRMWARE_UPDATE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::FIRMWARE_UPDATE;
+  }
   semaphore.release();
   terminate = false;
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, uint32_t length) {
+ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion,
+                                            uint32_t length) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(path);
   if (result != returnvalue::OK) {
@@ -167,17 +211,20 @@ ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, u
   }
   flashRead.startRegion = startRegion;
   flashRead.size = length;
-  internalState = InternalState::FLASH_READ;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::FLASH_READ;
+  }
   semaphore.release();
   terminate = false;
   return returnvalue::OK;
 }
 
-void StrHelper::disableTimestamping() { timestamping = false; }
+void StrComHandler::disableTimestamping() { timestamping = false; }
 
-void StrHelper::enableTimestamping() { timestamping = true; }
+void StrComHandler::enableTimestamping() { timestamping = true; }
 
-ReturnValue_t StrHelper::performImageDownload() {
+ReturnValue_t StrComHandler::performImageDownload() {
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -190,6 +237,7 @@ ReturnValue_t StrHelper::performImageDownload() {
   struct DownloadActionRequest downloadReq;
   uint32_t size = 0;
   uint32_t retries = 0;
+  size_t replySize = 0;
   std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path,
                                                            downloadImage.filename, timestamping);
   std::ofstream file(image, std::ios_base::out);
@@ -202,21 +250,21 @@ ReturnValue_t StrHelper::performImageDownload() {
       file.close();
       return returnvalue::OK;
     }
-    arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
+    arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, downloadReq.position);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    result = checkActionReply();
+    result = checkActionReply(replySize);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
@@ -226,15 +274,14 @@ ReturnValue_t StrHelper::performImageDownload() {
     result = checkReplyPosition(downloadReq.position);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
-               CHUNK_SIZE);
+    file.write(reinterpret_cast<const char*>(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE);
 #if OBSW_DEBUG_STARTRACKER == 1
     progressPrinter.print(downloadReq.position);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
@@ -245,7 +292,7 @@ ReturnValue_t StrHelper::performImageDownload() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performImageUpload() {
+ReturnValue_t StrComHandler::performImageUpload() {
   ReturnValue_t result = returnvalue::OK;
   uint32_t size = 0;
   uint32_t imageSize = 0;
@@ -258,8 +305,7 @@ ReturnValue_t StrHelper::performImageUpload() {
 #endif
   std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
   if (not std::filesystem::exists(uploadImage.uploadFile)) {
-    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
-    internalState = InternalState::IDLE;
+    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
     return returnvalue::FAILED;
   }
   std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
@@ -276,26 +322,29 @@ ReturnValue_t StrHelper::performImageUpload() {
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
   while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
     if (terminate) {
-      file.close();
       return returnvalue::OK;
     }
     file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
     file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
-    arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+    arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, uploadReq.position);
     if (result != returnvalue::OK) {
-      file.close();
       return returnvalue::FAILED;
     }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
-      file.close();
       return result;
     }
 #if OBSW_DEBUG_STARTRACKER == 1
     progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
     uploadReq.position++;
+
+    // This does a bit of delaying roughly every second
+    if (uploadReq.position % 50 == 0) {
+      // Some grace time for other tasks
+      TaskFactory::delayTask(2);
+    }
   }
   std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
   uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
@@ -303,12 +352,12 @@ ReturnValue_t StrHelper::performImageUpload() {
   file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
   file.close();
   uploadReq.position++;
-  arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+  arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
   result = sendAndRead(size, uploadReq.position);
   if (result != returnvalue::OK) {
     return returnvalue::FAILED;
   }
-  result = checkActionReply();
+  result = checkActionReply(replyLen);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -318,7 +367,7 @@ ReturnValue_t StrHelper::performImageUpload() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performFirmwareUpdate() {
+ReturnValue_t StrComHandler::performFirmwareUpdate() {
   using namespace startracker;
   ReturnValue_t result = returnvalue::OK;
   result = unlockAndEraseRegions(static_cast<uint32_t>(startracker::FirmwareRegions::FIRST),
@@ -330,7 +379,7 @@ ReturnValue_t StrHelper::performFirmwareUpdate() {
   return result;
 }
 
-ReturnValue_t StrHelper::performFlashWrite() {
+ReturnValue_t StrComHandler::performFlashWrite() {
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -340,13 +389,16 @@ ReturnValue_t StrHelper::performFlashWrite() {
   uint32_t size = 0;
   uint32_t bytesWritten = 0;
   uint32_t fileSize = 0;
+
   struct WriteActionRequest req;
   if (not std::filesystem::exists(flashWrite.fullname)) {
-    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
-    internalState = InternalState::IDLE;
+    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
     return returnvalue::FAILED;
   }
   std::ifstream file(flashWrite.fullname, std::ifstream::binary);
+  if (file.bad()) {
+    return returnvalue::FAILED;
+  }
   file.seekg(0, file.end);
   fileSize = file.tellg();
   if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) {
@@ -362,7 +414,6 @@ ReturnValue_t StrHelper::performFlashWrite() {
   req.length = CHUNK_SIZE;
   for (uint32_t idx = 0; idx < fileChunks; idx++) {
     if (terminate) {
-      file.close();
       return returnvalue::OK;
     }
     file.seekg(idx * CHUNK_SIZE, file.beg);
@@ -372,21 +423,23 @@ ReturnValue_t StrHelper::performFlashWrite() {
       bytesWritten = 0;
     }
     req.address = bytesWritten;
-    arc_pack_write_action_req(&req, commandBuffer, &size);
+    arc_pack_write_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
-      file.close();
       return result;
     }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
-      file.close();
       return result;
     }
     bytesWritten += CHUNK_SIZE;
 #if OBSW_DEBUG_STARTRACKER == 1
     progressPrinter.print(idx * CHUNK_SIZE);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
+    if (idx % 50 == 0) {
+      // Some grace time for other tasks
+      TaskFactory::delayTask(2);
+    }
   }
   uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
   file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg);
@@ -399,12 +452,12 @@ ReturnValue_t StrHelper::performFlashWrite() {
   req.address = bytesWritten;
   req.length = remainingBytes;
   bytesWritten += remainingBytes;
-  arc_pack_write_action_req(&req, commandBuffer, &size);
+  arc_pack_write_action_req(&req, cmdBuf.data(), &size);
   result = sendAndRead(size, req.address);
   if (result != returnvalue::OK) {
     return result;
   }
-  result = checkActionReply();
+  result = checkActionReply(replyLen);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -414,7 +467,7 @@ ReturnValue_t StrHelper::performFlashWrite() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performFlashRead() {
+ReturnValue_t StrComHandler::performFlashRead() {
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -446,29 +499,28 @@ ReturnValue_t StrHelper::performFlashRead() {
     } else {
       req.length = CHUNK_SIZE;
     }
-    arc_pack_read_action_req(&req, commandBuffer, &size);
+    arc_pack_read_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
-               req.length);
+    file.write(reinterpret_cast<const char*>(replyPtr + FLASH_READ_DATA_OFFSET), req.length);
     bytesRead += req.length;
     req.address += req.length;
     if (req.address >= FLASH_REGION_SIZE) {
@@ -484,70 +536,29 @@ ReturnValue_t StrHelper::performFlashRead() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) {
+ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) {
   ReturnValue_t result = returnvalue::OK;
-  ReturnValue_t decResult = returnvalue::OK;
-  size_t receivedDataLen = 0;
-  uint8_t* receivedData = nullptr;
-  size_t bytesLeft = 0;
-  uint32_t missedReplies = 0;
-  datalinkLayer.encodeFrame(commandBuffer, size);
-  result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
-                                  datalinkLayer.getEncodedLength());
-  if (result != returnvalue::OK) {
+
+  const uint8_t* sendData;
+  size_t txFrameLen = 0;
+  datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen);
+  int writeResult = write(serialPort, sendData, txFrameLen);
+  if (writeResult < 0) {
     sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
-    triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
+    triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter);
     return returnvalue::FAILED;
   }
-  decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
-  while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
-    Countdown delay(delayMs);
-    delay.resetTimer();
-    while (delay.isBusy()) {
-    }
-    result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2);
-    if (result != returnvalue::OK) {
-      sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
-      triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
-      return returnvalue::FAILED;
-    }
-    result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
-    if (result != returnvalue::OK) {
-      sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
-      triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
-      return returnvalue::FAILED;
-    }
-    if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
-      missedReplies++;
-      continue;
-    } else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
-      triggerEvent(STR_HELPER_NO_REPLY, parameter);
-      return returnvalue::FAILED;
-    } else {
-      missedReplies = 0;
-    }
-    decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
-    if (bytesLeft != 0) {
-      // This should never happen
-      sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
-      triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
-      return returnvalue::FAILED;
-    }
-  }
-  if (decResult != returnvalue::OK) {
-    triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
+
+  return readOneReply(failParameter);
 }
 
-ReturnValue_t StrHelper::checkActionReply() {
-  uint8_t type = datalinkLayer.getReplyFrameType();
+ReturnValue_t StrComHandler::checkActionReply(size_t replySize) {
+  uint8_t type = str::getReplyFrameType(replyPtr);
   if (type != TMTC_ACTIONREPLY) {
     sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
     return INVALID_TYPE_ID;
   }
-  uint8_t status = datalinkLayer.getStatusField();
+  uint8_t status = str::getStatusField(replyPtr);
   if (status != ArcsecDatalinkLayer::STATUS_OK) {
     sif::warning << "StrHelper::checkActionReply: Status failure: "
                  << static_cast<unsigned int>(status) << std::endl;
@@ -556,9 +567,9 @@ ReturnValue_t StrHelper::checkActionReply() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
+ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) {
   uint32_t receivedPosition = 0;
-  std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
+  std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition));
   if (receivedPosition != expectedPosition) {
     triggerEvent(POSITION_MISMATCH, receivedPosition);
     return returnvalue::FAILED;
@@ -567,7 +578,7 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
 }
 
 #ifdef XIPHOS_Q7S
-ReturnValue_t StrHelper::checkPath(std::string name) {
+ReturnValue_t StrComHandler::checkPath(std::string name) {
   if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
     if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
@@ -584,7 +595,112 @@ ReturnValue_t StrHelper::checkPath(std::string name) {
 }
 #endif
 
-ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
+ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) {
+  if (cookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  SerialCookie* serCookie = dynamic_cast<SerialCookie*>(cookie);
+  if (serCookie == nullptr) {
+    return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
+  }
+  // comCookie = serCookie;
+  std::string devname = serCookie->getDeviceFile();
+  /* Get file descriptor */
+  serialPort = open(devname.c_str(), O_RDWR);
+  if (serialPort < 0) {
+    sif::warning << "StrComHandler: open call failed with error [" << errno << ", "
+                 << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Setting up UART parameters
+  tty.c_cflag &= ~PARENB;  // Clear parity bit
+  serial::setStopbits(tty, serCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
+
+  // Use non-canonical mode and clear echo flag
+  tty.c_lflag &= ~(ICANON | ECHO);
+
+  // Non-blocking mode, use polling
+  tty.c_cc[VTIME] = 0;
+  tty.c_cc[VMIN] = 0;
+
+  serial::setBaudrate(tty, serCookie->getBaudrate());
+  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+    sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
+                 << errno << ", " << strerror(errno) << std::endl;
+  }
+  // Flush received and unread data
+  tcflush(serialPort, TCIOFLUSH);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                         size_t sendLen) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
+  serial::flushRxBuf(serialPort);
+
+  const uint8_t* txFrame;
+  size_t frameLen;
+  datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
+  ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
+  if (bytesWritten != static_cast<ssize_t>(frameLen)) {
+    sif::warning << "StrComHandler: Sending packet failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Hacky, but the alternatives look bleak. The raw data contains the information we need
+  // and there are not too many special cases.
+  if (sendData[0] == TMTC_ACTIONREQ) {
+    // 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected.
+    if (sendData[1] == 7 or sendData[1] == 1) {
+      return returnvalue::OK;
+    }
+  }
+  {
+    MutexGuard mg(lock);
+    state = InternalState::POLL_ONE_REPLY;
+  }
+  // Unlock task to perform reply reading.
+  semaphore.release();
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+
+ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  // Consider it a configuration error if the task is not done with a command -> reply cycle
+  // in time.
+  bool replyWasReceived = false;
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+    replyWasReceived = this->replyWasReceived;
+  }
+  if (not replyWasReceived) {
+    *size = 0;
+    return returnvalue::OK;
+  }
+  if (replyResult == returnvalue::OK) {
+    *buffer = const_cast<uint8_t*>(replyPtr);
+    *size = replyLen;
+  }
+  return replyResult;
+}
+
+ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   ReturnValue_t result = returnvalue::OK;
 #if OBSW_DEBUG_STARTRACKER == 1
   ProgressPrinter progressPrinter("Unlock and erase", to - from);
@@ -595,17 +711,20 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   for (uint32_t idx = from; idx <= to; idx++) {
     unlockReq.region = idx;
     unlockReq.code = startracker::region_secrets::secret[idx];
-    arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size);
-    sendAndRead(size, unlockReq.region);
-    result = checkActionReply();
+    arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, unlockReq.region);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
       sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
                    << static_cast<unsigned int>(unlockReq.region) << std::endl;
       return result;
     }
     eraseReq.region = idx;
-    arc_pack_erase_action_req(&eraseReq, commandBuffer, &size);
-    result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY);
+    arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, eraseReq.region);
     if (result != returnvalue::OK) {
       sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
                    << static_cast<unsigned int>(eraseReq.region) << std::endl;
@@ -617,3 +736,48 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   }
   return result;
 }
+
+ReturnValue_t StrComHandler::handleSerialReception() {
+  ssize_t bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
+                           static_cast<unsigned int>(recBuf.size()));
+  if (bytesRead == 0) {
+    return NO_SERIAL_DATA_READ;
+  } else if (bytesRead < 0) {
+    sif::warning << "StrComHandler: read call failed with error [" << errno << ", "
+                 << strerror(errno) << "]" << std::endl;
+    return FAILED;
+  } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+    sif::error << "StrComHandler: Receive buffer too small for " << bytesRead << " bytes"
+               << std::endl;
+    return FAILED;
+  } else if (bytesRead > 0) {
+    // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
+    // arrayprinter::print(recBuf.data(), bytesRead);
+    datalinkLayer.feedData(recBuf.data(), bytesRead);
+  }
+  return OK;
+}
+
+ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
+  ReturnValue_t result;
+  uint32_t nextDelayMs = 1;
+  replyTimeout.resetTimer();
+  while (true) {
+    handleSerialReception();
+    result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
+    if (result == returnvalue::OK) {
+      return returnvalue::OK;
+    } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
+      triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);
+      return DECODING_ERROR;
+    }
+    if (replyTimeout.hasTimedOut()) {
+      triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs());
+      return RECEPTION_TIMEOUT;
+    }
+    TaskFactory::delayTask(nextDelayMs);
+    if (nextDelayMs < 32) {
+      nextDelayMs *= 2;
+    }
+  }
+}

linux/devices/startracker/StrComHandler.h

@@ -10,6 +10,8 @@
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif
 
+#include "arcsec/client/generated/actionreq.h"
+#include "arcsec/common/generated/tmtcstructs.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@@ -17,18 +19,36 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 
-extern "C" {
-#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
-#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
-}
-
 /**
  * @brief   Helper class for the star tracker handler to accelerate large data transfers.
  *
  * @author  J. Meier
  */
-class StrHelper : public SystemObject, public ExecutableObjectIF {
+class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF {
  public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
+
+  //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
+  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1);
+  //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
+  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2);
+  //! [EXPORT] : [COMMENT] Specified path does not exist
+  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3);
+  //! [EXPORT] : [COMMENT] Failed to create download image or read flash file
+  static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4);
+  //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
+  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5);
+  //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
+  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6);
+  //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
+  static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7);
+  //! [EXPORT] : [COMMENT] Status field in reply signals error
+  static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8);
+  //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
+  static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9);
+  static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10);
+  static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11);
+
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
 
   //! [EXPORT] : [COMMENT] Image upload failed
@@ -57,39 +77,36 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   //! P1: Return code of failed communication interface read call
   //! P1: Upload/download position for which the read call failed
   static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW);
-  //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
-  //! P1: Position of upload or download packet for which no reply was sent
-  static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(11, severity::LOW);
+  //! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout.
+  //! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout
+  static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW);
   //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
-  // P1: Return value of decoding function
-  // P2: Position of upload/download packet, or address of flash write/read request
-  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(12, severity::LOW);
+  //! P1: Return value of decoding function
+  //! P2: Position of upload/download packet, or address of flash write/read request
+  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
   //! [EXPORT] : [COMMENT] Position mismatch
   //! P1: The expected position and thus the position for which the image upload/download failed
-  static const Event POSITION_MISMATCH = MAKE_EVENT(13, severity::LOW);
+  static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
   //! [EXPORT] : [COMMENT] Specified file does not exist
   //! P1: Internal state of str helper
-  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(14, severity::LOW);
+  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
   //! [EXPORT] : [COMMENT] Sending packet to star tracker failed
   //! P1: Return code of communication interface sendMessage function
   //! P2: Position of upload/download packet, or address of flash write/read request for which
   //! sending failed
-  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(15, severity::LOW);
+  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
   //! [EXPORT] : [COMMENT] Communication interface requesting reply failed
   //! P1: Return code of failed request
   //! P1: Upload/download position, or address of flash write/read request for which transmission
   //! failed
-  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(16, severity::LOW);
+  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);
 
-  StrHelper(object_id_t objectId);
-  virtual ~StrHelper();
+  StrComHandler(object_id_t objectId);
+  virtual ~StrComHandler();
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
-  void setComCookie(CookieIF* comCookie_);
-
   /**
    * @brief   Starts sequence to upload image to star tracker
    *
@@ -148,26 +165,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   void enableTimestamping();
 
  private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
-
-  //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
-  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
-  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Specified path does not exist
-  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Failed to create download image or read flash file
-  static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
-  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
-  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
-  static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Status field in reply signals error
-  static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
-  static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [SKIP]
+  static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128);
 
   // Size of one image part which can be sent per action request
   static const size_t SIZE_IMAGE_PART = 1024;
@@ -179,25 +178,34 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
 
   static const uint32_t MAX_POLLS = 10000;
 
-  static const uint8_t ACTION_DATA_OFFSET = 2;
-  static const uint8_t POS_OFFSET = 2;
-  static const uint8_t IMAGE_DATA_OFFSET = 5;
-  static const uint8_t FLASH_READ_DATA_OFFSET = 8;
-  static const uint8_t REGION_OFFSET = 2;
-  static const uint8_t ADDRESS_OFFSET = 3;
-  static const uint8_t LENGTH_OFFSET = 7;
+  static const uint8_t ACTION_DATA_OFFSET = 3;
+  static const uint8_t POS_OFFSET = 3;
+  static const uint8_t IMAGE_DATA_OFFSET = 6;
+  static const uint8_t FLASH_READ_DATA_OFFSET = 9;
+  static const uint8_t REGION_OFFSET = 3;
+  static const uint8_t ADDRESS_OFFSET = 4;
   static const size_t CHUNK_SIZE = 1024;
   static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
   static const uint32_t FLASH_ERASE_DELAY = 500;
 
-  enum class InternalState { IDLE, UPLOAD_IMAGE, DOWNLOAD_IMAGE, FLASH_READ, FIRMWARE_UPDATE };
+  enum class InternalState {
+    SLEEPING,
+    POLL_ONE_REPLY,
+    UPLOAD_IMAGE,
+    DOWNLOAD_IMAGE,
+    FLASH_READ,
+    FIRMWARE_UPDATE
+  };
 
-  InternalState internalState = InternalState::IDLE;
+  InternalState state = InternalState::SLEEPING;
 
   ArcsecDatalinkLayer datalinkLayer;
 
+  MutexIF *lock;
   BinarySemaphore semaphore;
 
+  Countdown replyTimeout = Countdown(20);
+
   struct UploadImage {
     // Name including absolute path of image to upload
     std::string uploadFile;
@@ -238,10 +246,16 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   FlashRead flashRead;
 
 #ifdef XIPHOS_Q7S
-  SdCardManager* sdcMan = nullptr;
+  SdCardManager *sdcMan = nullptr;
 #endif
 
-  uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
+  std::array<uint8_t, startracker::MAX_FRAME_SIZE> cmdBuf{};
+  std::array<uint8_t, 4096> recBuf{};
+
+  bool replyWasReceived = false;
+  const uint8_t *replyPtr = nullptr;
+  size_t replyLen = 0;
+  ReturnValue_t replyResult = returnvalue::OK;
 
   bool terminate = false;
 
@@ -251,17 +265,20 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   bool timestamping = true;
 #endif
 
-  /**
-   * UART communication object responsible for low level access of star tracker
-   * Must be set by star tracker handler
-   */
-  SerialComIF* uartComIF = nullptr;
-  // Communication cookie. Must be set by the star tracker handler
-  CookieIF* comCookie = nullptr;
+  int serialPort = 0;
+  struct termios tty = {};
 
   // Queue id of raw data receiver
   MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
 
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+
+  ReturnValue_t handleSerialReception();
+
   /**
    * @brief   Performs image uploading
    */
@@ -302,21 +319,23 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   /**
    * @brief   Sends packet to the star tracker and reads reply by using the communication
    *          interface
-   *
+   * @details
+   * The reply frame is stored in the data link layer helper. A pointer to the start of the frame
+   * is assigned to the @replyPtr member of this class. The frame length will be assigned to
+   * the @replyLen member.
    * @param size        Size of data beforehand written to the commandBuffer
    * @param parameter   Parameter 2 of trigger event function
-   * @param delayMs     Delay in milliseconds between send and receive call
    *
    * @return  returnvalue::OK if successful, otherwise returnvalue::FAILED
    */
-  ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0);
+  ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
 
   /**
    * @brief   Checks the header (type id and status fields) of the action reply
    *
    * @return  returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
    */
-  ReturnValue_t checkActionReply();
+  ReturnValue_t checkActionReply(size_t replySize);
 
   /**
    * @brief   Checks the position field in a star tracker upload/download reply.
@@ -345,6 +364,15 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
    *
    */
   ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
+
+  /**
+   * The reply frame is stored in the data link layer helper. A pointer to the start of the frame
+   * is assigned to the @replyPtr member of this class. The frame length will be assigned to
+   * the @replyLen member.
+   * @param failParameter
+   * @return
+   */
+  ReturnValue_t readOneReply(uint32_t failParameter);
 };
 
 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

linux/devices/startracker/helpers.cpp

@@ -0,0 +1,7 @@
+#include "helpers.h"
+
+uint8_t str::getReplyFrameType(const uint8_t* rawFrame) { return rawFrame[0]; }
+
+uint8_t str::getId(const uint8_t* rawFrame) { return rawFrame[1]; }
+
+uint8_t str::getStatusField(const uint8_t* rawFrame) { return rawFrame[2]; }

linux/devices/startracker/helpers.h

@@ -0,0 +1,17 @@
+#ifndef LINUX_DEVICES_STARTRACKER_HELPERS_H_
+#define LINUX_DEVICES_STARTRACKER_HELPERS_H_
+
+#include "arcsec/common/genericstructs.h"
+
+namespace str {
+
+/**
+ * @brief    Returns the frame type field of a decoded frame.
+ */
+uint8_t getReplyFrameType(const uint8_t* rawFrame);
+uint8_t getId(const uint8_t* rawFrame);
+uint8_t getStatusField(const uint8_t* rawFrame);
+
+}  // namespace str
+
+#endif /* LINUX_DEVICES_STARTRACKER_HELPERS_H_ */

linux/devices/startracker/strJsonCommands.cpp

@@ -1,6 +1,6 @@
-#include "StarTrackerJsonCommands.h"
+#include "strJsonCommands.h"
 
-#include "ArcsecJsonKeys.h"
+#include "arcsecJsonKeys.h"
 
 Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 279 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-24 02:13:12
  */
 #include "translateEvents.h"
 
@@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@@ -617,16 +617,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 173 translations.
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-24 02:13:12
  */
 #include "translateObjects.h"
 
@@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@@ -85,6 +85,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
+const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -176,7 +177,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
 const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
 const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
 const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
@@ -340,6 +340,8 @@ const char *translateObject(object_id_t object) {
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -522,8 +524,6 @@ const char *translateObject(object_id_t object) {
       return CFDP_STORE_AND_TM_TASK_STRING;
     case 0x73040004:
       return DOWNLINK_RAM_STORE_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:
       return THERMAL_TEMP_INSERTER_STRING;
     case 0xFFFFFFFF:

linux/ipcore/PapbVcInterface.cpp

@@ -1,5 +1,6 @@
 #include <fsfw_hal/linux/uio/UioMapper.h>
 #include <linux/ipcore/PapbVcInterface.h>
+#include <unistd.h>
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -15,47 +16,67 @@ PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
-  return uioMapper.getMappedAdress(&vcBaseReg, UioMapper::Permissions::WRITE_ONLY);
+  uint32_t* baseReg;
+  ReturnValue_t result = uioMapper.getMappedAdress(&baseReg, UioMapper::Permissions::WRITE_ONLY);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  vcBaseReg = baseReg;
+  return returnvalue::OK;
 }
 
 ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
-  if (pollPapbBusySignal() == returnvalue::OK) {
+  if (pollPapbBusySignal(0, 0) == returnvalue::OK) {
     startPacketTransfer();
+  } else {
+    return DirectTmSinkIF::IS_BUSY;
   }
   for (size_t idx = 0; idx < size; idx++) {
-    if (pollPapbBusySignal() == returnvalue::OK) {
-      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
+    if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
+      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
     } else {
-      sif::warning << "PapbVcInterface::write: Only written " << idx << " of " << size << " data"
-                   << std::endl;
+      abortPacketTransfer();
       return returnvalue::FAILED;
     }
   }
-  if (pollPapbBusySignal() == returnvalue::OK) {
-    endPacketTransfer();
+  if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
+    completePacketTransfer();
+  } else {
+    abortPacketTransfer();
+    return returnvalue::FAILED;
   }
   return returnvalue::OK;
 }
 
 void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
 
-void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; }
+void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-ReturnValue_t PapbVcInterface::pollPapbBusySignal() const {
+ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries,
+                                                  uint32_t retryDelayUs) const {
   gpio::Levels papbBusyState = gpio::Levels::LOW;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result;
+  uint32_t busyIdx = 0;
 
-  /** Check if PAPB interface is ready to receive data */
-  result = gpioComIF->readGpio(papbBusyId, papbBusyState);
-  if (result != returnvalue::OK) {
-    sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-  if (papbBusyState == gpio::Levels::LOW) {
-    return PAPB_BUSY;
-  }
+  while (true) {
+    /** Check if PAPB interface is ready to receive data */
+    result = gpioComIF->readGpio(papbBusyId, papbBusyState);
+    if (result != returnvalue::OK) {
+      sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
+                   << std::endl;
+      return returnvalue::FAILED;
+    }
+    if (papbBusyState == gpio::Levels::HIGH) {
+      return returnvalue::OK;
+    }
 
+    busyIdx++;
+    if (busyIdx >= maxPollRetries) {
+      return PAPB_BUSY;
+    }
+
+    usleep(retryDelayUs);
+  }
   return returnvalue::OK;
 }
 
@@ -79,7 +100,9 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
   return;
 }
 
-bool PapbVcInterface::isBusy() const { return pollPapbBusySignal() == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0, 0) == PAPB_BUSY; }
+
+void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 
 ReturnValue_t PapbVcInterface::sendTestFrame() {
   /** Size of one complete transfer frame data field amounts to 1105 bytes */
@@ -97,3 +120,5 @@ ReturnValue_t PapbVcInterface::sendTestFrame() {
 
   return returnvalue::OK;
 }
+
+void PapbVcInterface::abortPacketTransfer() { *vcBaseReg = CONFIG_ABORT; }

linux/ipcore/PapbVcInterface.h

@@ -41,6 +41,8 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   ReturnValue_t write(const uint8_t* data, size_t size) override;
 
+  void cancelTransfer() override;
+
   ReturnValue_t initialize() override;
 
  private:
@@ -51,16 +53,21 @@ class PapbVcInterface : public VirtualChannelIF {
   /**
    * Configuration bits:
    * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
-   * bit[2]: Set this bit to 1 to abort a transfered packet
+   * bit[2]: Set this bit to 1 to abort a transferred packet
    * bit[3]: Signals to VcInterface the start of a new telemetry packet
    */
-  static const uint32_t CONFIG_START = 0x8;
+  static constexpr uint32_t CONFIG_START = 0b00001000;
+
+  /**
+   * Abort a transferred packet.
+   */
+  static constexpr uint32_t CONFIG_ABORT = 0b00000100;
 
   /**
    * Writing this word to the VcInterface base address signals to the virtual channel interface
    * that a complete tm packet has been transferred.
    */
-  static const uint32_t CONFIG_END = 0x0;
+  static constexpr uint32_t CONFIG_END = 0x0;
 
   /**
    * Writing to this offset within the memory space of a virtual channel will insert data for
@@ -79,7 +86,7 @@ class PapbVcInterface : public VirtualChannelIF {
   std::string uioFile;
   int mapNum = 0;
 
-  uint32_t* vcBaseReg = nullptr;
+  volatile uint32_t* vcBaseReg = nullptr;
 
   uint32_t vcOffset = 0;
 
@@ -89,11 +96,13 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   void startPacketTransfer();
 
+  void abortPacketTransfer();
+
   /**
    * @brief   This function sends the config byte to the virtual channel interface of the PTME
    *          IP Core to signal the end of a  packet transfer.
    */
-  void endPacketTransfer();
+  void completePacketTransfer();
 
   /**
    * @brief   This function reads the papb busy signal indicating whether the virtual channel
@@ -102,7 +111,7 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  ReturnValue_t pollPapbBusySignal() const;
+  ReturnValue_t pollPapbBusySignal(uint32_t maxPollRetries, uint32_t retryDelayUs) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in

linux/ipcore/Ptme.cpp

@@ -20,7 +20,6 @@ ReturnValue_t Ptme::initialize() {
 }
 
 ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
-  ReturnValue_t result = returnvalue::OK;
   VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
   if (vcInterfaceMapIter == vcInterfaceMap.end()) {
     sif::warning << "Ptme::writeToVc: No virtual channel interface found for the virtual "
@@ -28,8 +27,7 @@ ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
                  << static_cast<unsigned int>(vcId) << std::endl;
     return UNKNOWN_VC_ID;
   }
-  result = vcInterfaceMapIter->second->write(data, size);
-  return result;
+  return vcInterfaceMapIter->second->write(data, size);
 }
 
 void Ptme::addVcInterface(VcId_t vcId, VirtualChannelIF* vc) {
@@ -62,3 +60,11 @@ bool Ptme::isBusy(uint8_t vcId) const {
   }
   return vcInterfaceMapIter->second->isBusy();
 }
+
+void Ptme::cancelTransfer(uint8_t vcId) {
+  VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
+  if (vcInterfaceMapIter == vcInterfaceMap.end()) {
+    return;
+  }
+  return vcInterfaceMapIter->second->cancelTransfer();
+}

linux/ipcore/Ptme.h

@@ -36,6 +36,7 @@ class Ptme : public PtmeIF, public SystemObject {
   ReturnValue_t initialize() override;
   ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) override;
   bool isBusy(uint8_t vcId) const override;
+  void cancelTransfer(uint8_t vcId) override;
 
   /**
    * @brief   This function adds the reference to a virtual channel interface to the vcInterface

linux/ipcore/PtmeIF.h

@@ -23,6 +23,7 @@ class PtmeIF {
    */
   virtual ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) = 0;
   virtual bool isBusy(uint8_t vcId) const = 0;
+  virtual void cancelTransfer(uint8_t vcId) = 0;
 };
 
 #endif /* LINUX_OBC_PTMEIF_H_ */

linux/ipcore/VirtualChannelIF.h

@@ -18,6 +18,7 @@ class VirtualChannelIF : public DirectTmSinkIF {
   virtual ~VirtualChannelIF(){};
 
   virtual ReturnValue_t initialize() = 0;
+  virtual void cancelTransfer() = 0;
 };
 
 #endif /* LINUX_OBC_VCINTERFACEIF_H_ */

linux/scheduling.cpp

@@ -8,6 +8,9 @@
 #include "ObjectFactory.h"
 #include "eive/objects.h"
 
+PosixThreadArgs scheduling::RR_SCHEDULING = {.policy = SchedulingPolicy::RR};
+PosixThreadArgs scheduling::NORMAL_SCHEDULING;
+
 void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
   using namespace scheduling;
   ReturnValue_t result = returnvalue::OK;
@@ -18,8 +21,9 @@ void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexR
 #endif
 
   result = returnvalue::OK;
-  scexReaderTask = factory.createPeriodicTask(
-      "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  scexReaderTask =
+      factory.createPeriodicTask("SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                 missedDeadlineFunc, &NORMAL_SCHEDULING);
   result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
   if (result != returnvalue::OK) {
     printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);

linux/scheduling.h

@@ -1,8 +1,13 @@
 #pragma once
 
+#include <fsfw/osal/linux/PosixThread.h>
 #include <fsfw/tasks/TaskFactory.h>
 
 namespace scheduling {
+
+extern PosixThreadArgs RR_SCHEDULING;
+extern PosixThreadArgs NORMAL_SCHEDULING;
+
 void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
 void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);

mission/controller/ThermalController.cpp

@@ -605,7 +605,6 @@ void ThermalController::copySus() {
 }
 
 void ThermalController::copyDevices() {
-  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
   {
     PoolReadGuard pg(&tempQ7s, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -618,8 +617,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp1 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
     PoolReadGuard pg(&battTemp1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 1" << std::endl;
@@ -632,8 +629,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp2 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
     PoolReadGuard pg(&battTemp2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 2" << std::endl;
@@ -646,8 +641,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp3 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
     PoolReadGuard pg(&battTemp3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 3" << std::endl;
@@ -660,8 +653,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp4 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
     PoolReadGuard pg(&battTemp4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 4" << std::endl;
@@ -674,7 +665,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@@ -687,7 +677,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@@ -700,7 +689,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@@ -713,7 +701,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
@@ -726,8 +713,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempStartracker =
-        lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
     PoolReadGuard pg(&tempStartracker, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read startracker temperature" << std::endl;
@@ -740,8 +725,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempSyrlinksPowerAmplifier =
-        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
     PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@@ -755,8 +738,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempSyrlinksBasebandBoard =
-        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
     PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
@@ -770,7 +751,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
     PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;
@@ -783,8 +763,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_vec_t<float, 3> tempAcu =
-        lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
     PoolReadGuard pg(&tempAcu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl;
@@ -799,7 +777,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
     PoolReadGuard pg(&tempPdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl;
@@ -812,7 +789,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
     PoolReadGuard pg(&tempPdu2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl;
@@ -825,8 +801,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> temp1P60dock =
-        lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
     PoolReadGuard pg(&temp1P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl;
@@ -839,8 +813,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> temp2P60dock =
-        lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
     PoolReadGuard pg(&temp2P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl;
@@ -853,8 +825,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro0 =
-        lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
     PoolReadGuard pg(&tempGyro0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl;
@@ -867,7 +837,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
     PoolReadGuard pg(&tempGyro1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl;
@@ -880,8 +849,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro2 =
-        lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
     PoolReadGuard pg(&tempGyro2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl;
@@ -894,7 +861,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
     PoolReadGuard pg(&tempGyro3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl;
@@ -907,8 +873,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempMgm0 =
-        lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
     PoolReadGuard pg(&tempMgm0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl;
@@ -921,8 +885,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempMgm2 =
-        lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
     PoolReadGuard pg(&tempMgm2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl;
@@ -935,7 +897,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
     PoolReadGuard pg(&tempAdcPayloadPcdu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read payload PCDU ADC temperature" << std::endl;

mission/controller/ThermalController.h

@@ -1,12 +1,22 @@
 #ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
+#include <bsp_q7s/core/CoreDefinitions.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
+#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
+#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
 #include <mission/devices/devicedefinitions/Max31865Definitions.h>
+#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
 #include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
+#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
+#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <mission/devices/devicedefinitions/susMax1227Helpers.h>
 
 #include <list>
@@ -125,6 +135,44 @@ class ThermalController : public ExtendedControllerBase {
   susMax1227::SusDataset susSet10;
   susMax1227::SusDataset susSet11;
 
+  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
+  lp_var_t<int16_t> battTemp1 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
+  lp_var_t<int16_t> battTemp2 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
+  lp_var_t<int16_t> battTemp3 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
+  lp_var_t<int16_t> battTemp4 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
+  lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
+  lp_var_t<float> tempStartracker =
+      lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
+  lp_var_t<float> tempSyrlinksPowerAmplifier =
+      lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
+  lp_var_t<float> tempSyrlinksBasebandBoard =
+      lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+  lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
+  lp_vec_t<float, 3> tempAcu =
+      lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
+  lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
+  lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
+  lp_var_t<float> temp1P60dock =
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
+  lp_var_t<float> temp2P60dock =
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
+  lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
+  lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
+  lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
+  lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
+  lp_var_t<float> tempMgm0 =
+      lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
+  lp_var_t<float> tempMgm2 =
+      lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
+  lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
+
   // TempLimits
   TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
   TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);

mission/core/pollingSeqTables.cpp

@@ -21,13 +21,15 @@
 ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
 
-#if OBSW_ADD_SYRLINKS == 1
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::GET_READ);
 
   static_cast<void>(length);
 
@@ -318,11 +320,23 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   }
 
   if (cfg.scheduleStr) {
+    // 2 COM cycles for full PST for STR. The STR requests 2 packets types in NORMAL mode, this
+    // ensures we always get an updated STR dataset for a regular normal mode cycle.
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                          DeviceHandlerIF::GET_READ);
   }
 
   bool enableAside = true;

mission/devices/devicedefinitions/SyrlinksDefinitions.h

@@ -10,7 +10,6 @@ enum class ParameterId : uint8_t { DATARATE = 0 };
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;
 
-static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] Transmitter is on now. P1: Submode, P2: Current default datarate.
 static constexpr Event TX_ON = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 //! [EXPORT] : [COMMENT] Transmitter is off now.

mission/system/fdir/SyrlinksFdir.cpp

@@ -23,8 +23,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
     case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
-      // handleRecovery(event->getEvent());
-      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      handleRecovery(event->getEvent());
       break;
     case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
     case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
@@ -33,8 +32,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
     case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
       // These faults all mean that there were stupid replies from a device.
       if (strangeReplyCount.incrementAndCheck()) {
-        // handleRecovery(event->getEvent());
-        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+        handleRecovery(event->getEvent());
       }
       break;
     case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
@@ -48,7 +46,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
       // else
       if (missedReplyCount.incrementAndCheck()) {
         handleRecovery(event->getEvent());
-        // triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       }
       break;
     case StorageManagerIF::GET_DATA_FAILED:
@@ -81,7 +78,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
     case Fuse::POWER_BELOW_LOW_LIMIT:
       // Device might got stuck during boot, retry.
       handleRecovery(event->getEvent());
-      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       break;
       //****Thermal*****
     case ThermalComponentIF::COMPONENT_TEMP_LOW:
@@ -113,14 +109,12 @@ void SyrlinksFdir::eventConfirmed(EventMessage* event) {
     case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
     case DeviceHandlerIF::DEVICE_MISSED_REPLY:
       if (missedReplyCount.incrementAndCheck()) {
-        // handleRecovery(event->getEvent());
-        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+        handleRecovery(event->getEvent());
       }
       break;
     case PowerSwitchIF::SWITCH_WENT_OFF:
       // This means the switch went off only for one device.
-      // handleRecovery(event->getEvent());
-      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      handleRecovery(event->getEvent());
       break;
     default:
       break;

mission/tmtc/CcsdsIpCoreHandler.cpp

@@ -39,7 +39,6 @@ ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t CcsdsIpCoreHandler::initialize() {
-
   AcceptsTelecommandsIF* tcDistributor =
       ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
   if (tcDistributor == nullptr) {
@@ -207,6 +206,8 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
 void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
 
 void CcsdsIpCoreHandler::enableTransmit() {
+  // Reset PTME on each transmit enable.
+  updateBatPriorityFromParam();
 #ifndef TE0720_1CFA
   gpioIF->pullHigh(ptmeGpios.enableTxClock);
   gpioIF->pullHigh(ptmeGpios.enableTxData);

mission/tmtc/CcsdsIpCoreHandler.h

@@ -153,7 +153,7 @@ class CcsdsIpCoreHandler : public SystemObject,
   PtmeConfig& ptmeConfig;
   PtmeGpios ptmeGpios;
   // BAT priority bit on by default to enable priority selection mode for the PTME.
-  uint8_t batPriorityParam = 1;
+  uint8_t batPriorityParam = 0;
   bool updateBatPriorityOnTxOff = false;
 
   GpioIF* gpioIF = nullptr;

mission/tmtc/LiveTmTask.cpp

@@ -11,6 +11,9 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
   while (true) {
     // The funnel tasks are scheduled here directly as well.
     ReturnValue_t result = channel.sendNextTm();
+    if (result == DirectTmSinkIF::IS_BUSY) {
+      sif::error << "Lost live TM, PAPB busy" << std::endl;
+    }
     if (result == MessageQueueIF::EMPTY) {
       if (tmFunnelCd.hasTimedOut()) {
         pusFunnel.performOperation(0);

mission/tmtc/PersistentLogTmStoreTask.cpp

@@ -13,26 +13,32 @@ PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, Storage
       miscStoreContext(persTmStore::DUMP_MISC_STORE_DONE) {}
 
 ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
+  bool someonesBusy = false;
+  auto stateHandlingForStore = [&](bool storeIsBusy) {
+    if (storeIsBusy) {
+      someonesBusy = true;
+    }
+    if (fileHasSwapped) {
+      someFileWasSwapped = fileHasSwapped;
+    }
+  };
   while (true) {
     if (not cyclicStoreCheck()) {
       continue;
     }
-    bool someonesBusy = false;
-    bool busy = false;
-    busy = handleOneStore(stores.okStore, okStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
-    busy = handleOneStore(stores.notOkStore, notOkStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
-    busy = handleOneStore(stores.miscStore, miscStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
+    someonesBusy = false;
+    someFileWasSwapped = false;
+    stateHandlingForStore(handleOneStore(stores.okStore, okStoreContext));
+    stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext));
+    stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext));
     if (not someonesBusy) {
-      TaskFactory::delayTask(40);
+      TaskFactory::delayTask(100);
+    } else /* and graceDelayDuringDumping.hasTimedOut()*/ {
+      if (someFileWasSwapped) {
+        TaskFactory::delayTask(20);
+      }
+      //      TaskFactory::delayTask(2);
+      //      graceDelayDuringDumping.resetTimer();
     }
   }
 }

mission/tmtc/PersistentLogTmStoreTask.h

@@ -32,6 +32,8 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject
   DumpContext notOkStoreContext;
   DumpContext miscStoreContext;
   Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(200);
+  bool someFileWasSwapped = false;
 
   bool initStoresIfPossible();
 };

mission/tmtc/PersistentSingleTmStoreTask.cpp

@@ -17,7 +17,15 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     }
     bool busy = handleOneStore(storeWithQueue, dumpContext);
     if (not busy) {
-      TaskFactory::delayTask(40);
+      TaskFactory::delayTask(100);
+    } else {
+      if (fileHasSwapped) {
+        TaskFactory::delayTask(20);
+      }
+      //      if (fileHasSwapped and graceDelayDuringDumping.hasTimedOut()) {
+      //        TaskFactory::delayTask(2);
+      //        graceDelayDuringDumping.resetTimer();
+      //      }
     }
   }
 }

mission/tmtc/PersistentSingleTmStoreTask.h

@@ -19,6 +19,7 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
   PersistentTmStoreWithTmQueue& storeWithQueue;
   DumpContext dumpContext;
   Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(100);
 
   bool initStoresIfPossible();
 };

mission/tmtc/PersistentTmStore.cpp

@@ -195,11 +195,7 @@ ReturnValue_t PersistentTmStore::startDumpFromUpTo(uint32_t fromUnixSeconds,
   dumpParams.fromUnixTime = fromUnixSeconds;
   dumpParams.untilUnixTime = upToUnixSeconds;
   state = State::DUMPING;
-  if (loadNextDumpFile() == DUMP_DONE) {
-    // State will be set inside the function loading the next file.
-    return DUMP_DONE;
-  }
-  return returnvalue::OK;
+  return loadNextDumpFile();
 }
 
 ReturnValue_t PersistentTmStore::loadNextDumpFile() {
@@ -218,7 +214,7 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
     }
     sif::debug << "Path: " << dumpParams.dirEntry.path() << std::endl;
 
-    // Can't even read CCSDS header.
+    // File empty or can't even read CCSDS header.
     if (dumpParams.fileSize <= 6) {
       continue;
     }
@@ -247,14 +243,12 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
                  static_cast<std::streamsize>(dumpParams.fileSize));
       // Increment iterator for next cycle.
       dumpParams.dirIter++;
-      break;
+      return returnvalue::OK;
     }
   }
-  if (dumpParams.dirIter == directory_iterator()) {
-    state = State::IDLE;
-    return DUMP_DONE;
-  }
-  return returnvalue::OK;
+  // Directory iterator was consumed and we are done.
+  state = State::IDLE;
+  return DUMP_DONE;
 }
 
 ReturnValue_t PersistentTmStore::dumpNextPacket(DirectTmSinkIF& tmSink, size_t& dumpedLen,

mission/tmtc/TmStoreTaskBase.cpp

@@ -25,10 +25,12 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
   // Dump TMs when applicable
   if (store.getState() == PersistentTmStore::State::DUMPING) {
     size_t dumpedLen = 0;
-    bool fileHasSwapped;
     if (not channel.isBusy()) {
       tmSinkBusyCd.resetTimer();
       result = store.dumpNextPacket(channel, dumpedLen, fileHasSwapped);
+      if (result == DirectTmSinkIF::IS_BUSY) {
+        sif::warning << "Unexpected PAPB busy" << std::endl;
+      }
       if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK) and dumpedLen > 0) {
         dumpContext.dumpedBytes += dumpedLen;
         dumpContext.numberOfDumpedPackets += 1;
@@ -43,6 +45,13 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
       } else if (result == returnvalue::OK) {
         dumpsPerformed = true;
       }
+    } else {
+      dumpContext.ptmeBusyCounter++;
+      if (dumpContext.ptmeBusyCounter == 50) {
+        sif::warning << "PTME busy for longer period. Dumped length so far: "
+                     << dumpContext.dumpedBytes << std::endl;
+        dumpContext.ptmeBusyCounter = 0;
+      }
     }
     if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
       triggerEvent(persTmStore::DUMP_WAS_CANCELLED, store.getObjectId());

mission/tmtc/TmStoreTaskBase.h

@@ -16,6 +16,7 @@ class TmStoreTaskBase : public SystemObject {
     const Event eventIfDone;
     uint32_t numberOfDumpedPackets = 0;
     uint32_t dumpedBytes = 0;
+    uint32_t ptmeBusyCounter = 0;
   };
 
   TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
@@ -45,6 +46,7 @@ class TmStoreTaskBase : public SystemObject {
   Countdown tmSinkBusyCd = Countdown(60 * 1000);
   VirtualChannel& channel;
   bool storesInitialized = false;
+  bool fileHasSwapped = false;
   SdCardMountedIF& sdcMan;
 };
 

mission/tmtc/VirtualChannel.cpp

@@ -25,4 +25,12 @@ uint8_t VirtualChannel::getVcid() const { return vcId; }
 
 const char* VirtualChannel::getName() const { return vcName.c_str(); }
 
-bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
+bool VirtualChannel::isBusy() const {
+  // Data is discarded, so channel is not busy.
+  if (linkStateProvider.load()) {
+    return false;
+  }
+  return ptme.isBusy(vcId);
+}
+
+void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }

mission/tmtc/VirtualChannel.h

@@ -28,6 +28,7 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF {
   ReturnValue_t sendNextTm(const uint8_t* data, size_t size);
   bool isBusy() const override;
   ReturnValue_t write(const uint8_t* data, size_t size) override;
+  void cancelTransfer() override;
   uint8_t getVcid() const;
 
   const char* getName() const;

mission/tmtc/VirtualChannelWithQueue.cpp

@@ -36,7 +36,10 @@ ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
     return result;
   }
 
-  write(data, size);
+  result = write(data, size);
+  if (result != returnvalue::OK) {
+    return result;
+  }
   tmStore.deleteData(storeId);
   if (result != returnvalue::OK) {
     return result;

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit 42907c36c58e7133d3d3cbefbf96c1a8e35b60b7
+Subproject commit cbb3b24dc1993b727735fd63576088401ba351ec

tmtc

@@ -1 +1 @@
-Subproject commit c171654d2b18547249ee03ace3a4016e8837cf4a
+Subproject commit 9f17661f529e045e92714817bdc52572f976da2d