Merge pull request 'merge upstream development' (#110) from mohr/merge-upstream into develop

Reviewed-on: #110
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CMakeLists.txt

@@ -80,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
     CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
     CACHE STRING "Catch2 library exact version requirement")
 
 # Keep this off by default for now. See PR:
@@ -360,7 +360,8 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
+    )
     message(
       WARNING
         "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")

README.md

@@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using
 
 ```sh
-cmake --build . -j
+cmake --build . -- Sphinx -j
 ```
 
 You can find the generated documentation inside the `docs/sphinx` folder inside the build

automation/Dockerfile

@@ -5,16 +5,21 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
+
+RUN python3 -m pip install sphinx breathe
 
 RUN git clone https://github.com/catchorg/Catch2.git && \
-	cd Catch2 && \
+        cd Catch2 && \
-	git checkout v3.0.0-preview5 && \
+        git checkout v3.1.0 && \
-	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-	cmake --build build/ --target install
+        cmake --build build/ --target install
 
 RUN git clone https://github.com/ETLCPP/etl.git && \
-	cd etl && \
+        cd etl && \
-	git checkout 20.28.0 && \
+        git checkout 20.28.0 && \
-	cmake -B build . && \
+        cmake -B build . && \
-	cmake --install build/
+        cmake --install build/
+
+#ssh needs a valid user to work
+RUN adduser --uid 114 jenkins

automation/Jenkinsfile

@@ -1,9 +1,13 @@
 pipeline {
     environment {
         BUILDDIR = 'cmake-build-tests'
+        DOCDDIR = 'cmake-build-documentation'
     }
     agent {
-        docker { image 'fsfw-ci:d3'}
+        docker { 
+            image 'fsfw-ci:d5'
+            args '--network host'
+        }
     }
     stages {
         stage('Clean') {
@@ -39,5 +43,47 @@ pipeline {
                 }
             }
         }
+        stage('Documentation') {
+            when {
+                branch 'development'
+            }
+            steps {
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
+                    }
+                }
+            }
+        }
+        stage('Master Documentation') {
+            when {
+                branch 'master'
+            }
+            steps {
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
+                    }
+                }
+            }
+        }
     }
 }

misc/defaultcfg/fsfwconfig/FSFWConfig.h

@@ -4,6 +4,10 @@
 #include <cstddef>
 #include <cstdint>
 
+// It is assumed the user has a subsystem and class ID list in some user header files.
+// #include "events/subsystemIdRanges.h"
+// #include "returnvalues/classIds.h"
+
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively

src/fsfw/cfdp/tlv/Lv.cpp

@@ -21,7 +21,7 @@ cfdp::Lv& cfdp::Lv::operator=(const Lv& other) {
   if (value == nullptr or otherSize == 0) {
     this->zeroLen = true;
   }
-  this->value.setBuffer(value, otherSize);
+  this->value.setConstBuffer(value, otherSize);
   return *this;
 }
 
@@ -70,7 +70,7 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setBuffer(const_cast<uint8_t*>(*buffer + 1), lengthField);
+  value.setConstBuffer(*buffer + 1, lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;

src/fsfw/cfdp/tlv/Tlv.cpp

@@ -75,7 +75,7 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setBuffer(const_cast<uint8_t *>(*buffer + 1), lengthField);
+  value.setConstBuffer(*buffer + 1, lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;
@@ -96,7 +96,7 @@ void cfdp::Tlv::setValue(uint8_t *value, size_t len) {
   if (len > 0) {
     zeroLen = false;
   }
-  this->value.setBuffer(value, len);
+  this->value.setConstBuffer(value, len);
 }
 
 uint8_t cfdp::Tlv::getLengthField() const { return this->value.getSerializedSize() - 1; }

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1337,7 +1337,6 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
   } else if (iter->second.isExecuting) {
     result = COMMAND_ALREADY_SENT;
   } else {
-    prevRecipient = iter->second.sendReplyTo;
     iter->second.sendReplyTo = commandedBy;
     result = buildCommandFromCommand(actionId, data, size);
   }
@@ -1345,8 +1344,6 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
     iter->second.isExecuting = true;
     cookieInfo.pendingCommand = iter;
     cookieInfo.state = COOKIE_WRITE_READY;
-  } else {
-    iter->second.sendReplyTo = prevRecipient;
   }
   return result;
 }

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -1070,8 +1070,23 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   bool isAwaitingReply();
 
+  /**
+   * Wrapper function for @handleDeviceTm which wraps the raw buffer with @SerialBufferAdapter.
+   * For interpreted data, prefer the other function.
+   * @param rawData
+   * @param rawDataLen
+   * @param replyId
+   * @param forceDirectTm
+   */
   void handleDeviceTm(const uint8_t *rawData, size_t rawDataLen, DeviceCommandId_t replyId,
                       bool forceDirectTm = false);
+  /**
+   * Can be used to handle Service 8 data replies. This will also generate the TM wiretapping
+   * packets accordingly.
+   * @param dataSet
+   * @param replyId
+   * @param forceDirectTm
+   */
   void handleDeviceTm(const SerializeIF &dataSet, DeviceCommandId_t replyId,
                       bool forceDirectTm = false);
 

src/fsfw/events/Event.h

@@ -4,8 +4,6 @@
 #include <stdint.h>
 
 #include "fwSubsystemIdRanges.h"
-// could be moved to more suitable location
-#include <events/subsystemIdRanges.h>
 
 using EventId_t = uint16_t;
 using EventSeverity_t = uint8_t;

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -8,7 +8,7 @@
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../serialize/SerializeElement.h"
 #include "../serviceinterface/ServiceInterface.h"
-#include "../timemanager/TimeStamperIF.h"
+#include "../timemanager/TimeWriterIF.h"
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
 #include "monitoringConf.h"
@@ -34,9 +34,9 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   SerializeElement<T> limitValue;
   SerializeElement<ReturnValue_t> oldState;
   SerializeElement<ReturnValue_t> newState;
-  uint8_t rawTimestamp[TimeStamperIF::MAXIMUM_TIMESTAMP_LEN] = {};
+  uint8_t rawTimestamp[TimeWriterIF::MAXIMUM_TIMESTAMP_LEN] = {};
   SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
-  TimeStamperIF* timeStamper;
+  TimeWriterIF* timeStamper;
   MonitoringReportContent()
       : SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
         monitorId(0),
@@ -79,7 +79,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   }
   bool checkAndSetStamper() {
     if (timeStamper == nullptr) {
-      timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
+      timeStamper = ObjectManager::instance()->get<TimeWriterIF>(timeStamperId);
       if (timeStamper == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "MonitoringReportContent::checkAndSetStamper: "

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -568,11 +568,13 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
         return INVALID_TIME_WINDOW;
       }
       itBegin = telecommandMap.begin();
-      itEnd = telecommandMap.begin();
 
       while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
         itBegin++;
       }
+
+      // start looking for end beginning at begin
+      itEnd = itBegin;
       while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
         itEnd++;
       }

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -11,7 +11,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
                                                                  uint16_t apid, uint8_t serviceId,
                                                                  object_id_t targetDestination,
                                                                  uint16_t messageQueueDepth,
-                                                                 TimeStamperIF* timeStamper)
+                                                                 TimeWriterIF* timeStamper)
     : SystemObject(objectId),
       apid(apid),
       serviceId(serviceId),
@@ -134,7 +134,7 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
     storeHelper.setTmStore(*tmStore);
   }
   if (timeStamper == nullptr) {
-    timeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
+    timeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
     if (timeStamper == nullptr) {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }

src/fsfw/pus/Service1TelecommandVerification.h

@@ -47,7 +47,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
 
   Service1TelecommandVerification(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                                   object_id_t targetDestination, uint16_t messageQueueDepth,
-                                  TimeStamperIF* timeStamper = nullptr);
+                                  TimeWriterIF* timeStamper = nullptr);
   ~Service1TelecommandVerification() override;
 
   /**
@@ -87,7 +87,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
   TmStoreHelper storeHelper;
   TmStoreAndSendWrapper tmHelper;
   InternalErrorReporterIF* errReporter = nullptr;
-  TimeStamperIF* timeStamper = nullptr;
+  TimeWriterIF* timeStamper = nullptr;
   StorageManagerIF* tmStore = nullptr;
   MessageQueueIF* tmQueue = nullptr;
 

src/fsfw/returnvalues/returnvalue.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_RETURNVALUES_RETURNVALUE_H_
 #define FSFW_RETURNVALUES_RETURNVALUE_H_
 
-#include <returnvalues/classIds.h>
-
 #include <cstdint>
 
 #include "FwClassIds.h"

src/fsfw/serialize/SerialBufferAdapter.cpp

@@ -21,7 +21,7 @@ SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer, count_t buffe
       bufferLength(bufferLength) {}
 
 template <typename count_t>
-SerialBufferAdapter<count_t>::~SerialBufferAdapter() {}
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() = default;
 
 template <typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer, size_t* size,
@@ -119,10 +119,10 @@ const uint8_t* SerialBufferAdapter<count_t>::getConstBuffer() const {
 }
 
 template <typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer, count_t bufferLength) {
+void SerialBufferAdapter<count_t>::setConstBuffer(const uint8_t* buf, count_t bufLen) {
-  this->buffer = buffer;
+  this->buffer = nullptr;
-  this->constBuffer = buffer;
+  this->bufferLength = bufLen;
-  this->bufferLength = bufferLength;
+  this->constBuffer = buf;
 }
 
 // forward Template declaration for linker

src/fsfw/serialize/SerialBufferAdapter.h

@@ -21,6 +21,7 @@
 template <typename count_t>
 class SerialBufferAdapter : public SerializeIF {
  public:
+  SerialBufferAdapter() = default;
   /**
    * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
    * Type of length can be supplied as template type.
@@ -40,12 +41,12 @@ class SerialBufferAdapter : public SerializeIF {
    */
   SerialBufferAdapter(uint8_t* buffer, count_t bufferLength, bool serializeLength = false);
 
-  virtual ~SerialBufferAdapter();
+  ~SerialBufferAdapter() override;
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const override;
+                          Endianness streamEndianness) const override;
 
-  virtual size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;
 
   /**
    * @brief This function deserializes a buffer into the member buffer.
@@ -59,12 +60,12 @@ class SerialBufferAdapter : public SerializeIF {
    * @param bigEndian
    * @return
    */
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    Endianness streamEndianness) override;
+                            Endianness streamEndianness) override;
 
   uint8_t* getBuffer();
-  const uint8_t* getConstBuffer() const;
+  [[nodiscard]] const uint8_t* getConstBuffer() const;
-  void setBuffer(uint8_t* buffer, count_t bufferLength);
+  void setConstBuffer(const uint8_t* buf, count_t bufLen);
 
  private:
   bool serializeLength = false;

src/fsfw/serviceinterface/ServiceInterfaceBuffer.cpp

@@ -1,8 +1,8 @@
-#include "fsfw/serviceinterface/ServiceInterfaceBuffer.h"
+#include "ServiceInterfaceBuffer.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
-#include <inttypes.h>
+#include <cinttypes>
 
 #include <cstring>
 
@@ -16,8 +16,6 @@
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);
 
-#ifndef UT699
-
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
                                                bool buffered, bool errStream, uint16_t port)
     : isActive(true),
@@ -58,6 +56,9 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addC
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+  if (not isActive) {
+    return;
+  }
   char array[BUF_SIZE];
   uint32_t length = end - begin;
   if (length > sizeof(array)) {
@@ -74,8 +75,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
   }
 }
 
-#endif
-
 int ServiceInterfaceBuffer::overflow(int c) {
   if (not buffered and this->isActive) {
     if (c != Traits::eof()) {
@@ -169,89 +168,4 @@ void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
 }
 #endif
 
-#ifdef UT699
+#endif
-#include "../osal/rtems/Interrupt.h"
-
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
-  this->log_message = set_message;
-  this->isActive = true;
-  setp(buf, buf + BUF_SIZE);
-}
-
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-  char array[BUF_SIZE];
-  uint32_t length = end - begin;
-  if (length > sizeof(array)) {
-    length = sizeof(array);
-  }
-  memcpy(array, begin, length);
-
-  if (!Interrupt::isInterruptInProgress()) {
-    std::cout << array;
-  } else {
-    // Uncomment the following line if you need ISR debug output.
-    //		printk(array);
-  }
-}
-#endif  // UT699
-
-#ifdef ML505
-#include <bsp_flp/network/networkconfig.h>
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port)
-    : isActive(true),
-      log_message(set_message),
-      udpSocket(0),
-      remoteAddressLength(sizeof(remoteAddress)) {
-  setp(buf, buf + BUF_SIZE);
-  memset((uint8_t*)&remoteAddress, 0, sizeof(remoteAddress));
-  remoteAddress.sin_family = AF_INET;
-  remoteAddress.sin_port = htons(port);
-  remoteAddress.sin_addr.s_addr = htonl(inet_addr("192.168.250.100"));
-}
-
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-  char array[BUF_SIZE];
-  uint32_t length = end - begin;
-  if (length > sizeof(array)) {
-    length = sizeof(array);
-  }
-  memcpy(array, begin, length);
-
-  if (udpSocket <= 0) {
-    initSocket();
-  }
-
-  if (udpSocket > 0) {
-    sendto(udpSocket, array, length, 0, (sockaddr*)&remoteAddress, sizeof(remoteAddress));
-  }
-}
-
-void ServiceInterfaceBuffer::initSocket() {
-  sockaddr_in address;
-  memset((uint8_t*)&address, 0, sizeof(address));
-  address.sin_family = AF_INET;
-  address.sin_port = htons(0);
-  address.sin_addr.s_addr = htonl(INADDR_ANY);
-
-  udpSocket = socket(PF_INET, SOCK_DGRAM, 0);
-  if (socket < 0) {
-    printf("Error opening socket!\n");
-    return;
-  }
-  timeval timeout = {0, 20};
-  if (setsockopt(udpSocket, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)) < 0) {
-    printf("Error setting SO_RCVTIMEO socket options!\n");
-    return;
-  }
-  if (setsockopt(udpSocket, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout)) < 0) {
-    printf("Error setting SO_SNDTIMEO socket options!\n");
-    return;
-  }
-  if (bind(udpSocket, (sockaddr*)&address, sizeof(address)) < 0) {
-    printf("Error binding socket!\n");
-  }
-}
-
-#endif  // ML505
-
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */

src/fsfw/serviceinterface/ServiceInterfaceBuffer.h

@@ -1,9 +1,8 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
-#include <FSFWConfig.h>
+#include "fsfw/FSFW.h"
-
+#include "fsfw/returnvalues/returnvalue.h"
-#include "../returnvalues/returnvalue.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
@@ -11,8 +10,6 @@
 #include <iostream>
 #include <sstream>
 
-#ifndef UT699
-
 /**
  * @brief 	This is the underlying stream buffer which implements the
  * 			streambuf class and overloads the overflow() and sync() methods
@@ -77,85 +74,6 @@ class ServiceInterfaceBuffer : public std::streambuf {
   bool crAdditionEnabled() const;
 };
 
-#endif
-
-#ifdef UT699
-class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
-  friend class ServiceInterfaceStream;
-
- public:
-  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
-
- protected:
-  bool isActive;
-  // This is called when buffer becomes full. If
-  // buffer is not used, then this is called every
-  // time when characters are put to stream.
-  virtual int overflow(int c = Traits::eof());
-
-  // This function is called when stream is flushed,
-  // for example when std::endl is put to stream.
-  virtual int sync(void);
-
- private:
-  // For additional message information
-  std::string log_message;
-  // For EOF detection
-  typedef std::char_traits<char> Traits;
-
-  // Work in buffer mode. It is also possible to work without buffer.
-  static size_t const BUF_SIZE = 128;
-  char buf[BUF_SIZE];
-
-  // In this function, the characters are parsed.
-  void putChars(char const* begin, char const* end);
-};
-#endif  // UT699
-
-#ifdef ML505
-#include <arpa/inet.h>
-#include <netinet/in.h>
-#include <netinet/udp.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-
-class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
-  friend class ServiceInterfaceStream;
-
- public:
-  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
-
- protected:
-  bool isActive;
-  // This is called when buffer becomes full. If
-  // buffer is not used, then this is called every
-  // time when characters are put to stream.
-  virtual int overflow(int c = Traits::eof());
-
-  // This function is called when stream is flushed,
-  // for example when std::endl is put to stream.
-  virtual int sync(void);
-
- private:
-  // For additional message information
-  std::string log_message;
-  // For EOF detection
-  typedef std::char_traits<char> Traits;
-
-  // Work in buffer mode. It is also possible to work without buffer.
-  static size_t const BUF_SIZE = 128;
-  char buf[BUF_SIZE];
-
-  // In this function, the characters are parsed.
-  void putChars(char const* begin, char const* end);
-
-  int udpSocket;
-  sockaddr_in remoteAddress;
-  socklen_t remoteAddressLength;
-  void initSocket();
-};
-#endif  // ML505
-
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */

src/fsfw/timemanager/CdsShortTimeStamper.cpp

@@ -6,11 +6,6 @@
 
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
 
-ReturnValue_t CdsShortTimeStamper::addTimeStamp(uint8_t *buffer, const uint8_t maxSize) {
-  size_t serLen = 0;
-  return serialize(&buffer, &serLen, maxSize, SerializeIF::Endianness::NETWORK);
-}
-
 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                              SerializeIF::Endianness streamEndianness) const {
   if (*size + getSerializedSize() > maxSize) {
@@ -33,15 +28,22 @@ size_t CdsShortTimeStamper::getSerializedSize() const { return getTimestampSize(
 
 ReturnValue_t CdsShortTimeStamper::deSerialize(const uint8_t **buffer, size_t *size,
                                                SerializeIF::Endianness streamEndianness) {
-  return returnvalue::FAILED;
+  if (size == nullptr or buffer == nullptr) {
-}
+    return returnvalue::FAILED;
-
+  }
-ReturnValue_t CdsShortTimeStamper::readTimeStamp(const uint8_t *buffer, size_t maxSize) {
+  if (*size < getTimestampSize()) {
-  if (maxSize < getTimestampSize()) {
     return SerializeIF::STREAM_TOO_SHORT;
   }
   size_t foundLen = 0;
-  return CCSDSTime::convertFromCcsds(&readTime, buffer, &foundLen, maxSize);
+  if (((**buffer >> 4) & 0b111) != CCSDSTime::TimeCodeIdentification::CDS) {
+    return BAD_TIMESTAMP;
+  }
+  auto res = CCSDSTime::convertFromCcsds(&readTime, *buffer, &foundLen, *size);
+  if (res == returnvalue::OK) {
+    *size -= getSerializedSize();
+    *buffer += getSerializedSize();
+  }
+  return res;
 }
 
 timeval &CdsShortTimeStamper::getTime() { return readTime; }

src/fsfw/timemanager/CdsShortTimeStamper.h

@@ -3,7 +3,7 @@
 
 #include "CCSDSTime.h"
 #include "TimeReaderIF.h"
-#include "TimeStamperIF.h"
+#include "TimeWriterIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
 /**
@@ -15,7 +15,7 @@
  * overriding the #addTimeStamp function.
  * @ingroup utility
  */
-class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public SystemObject {
+class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
  public:
   static constexpr size_t TIMESTAMP_LEN = 7;
   /**
@@ -25,20 +25,11 @@ class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public Sy
    */
   explicit CdsShortTimeStamper(object_id_t objectId);
 
-  /**
-   * Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
-   * This function can be overriden to use a custom timestamp.
-   * @param buffer
-   * @param maxSize
-   * @return
-   */
-  ReturnValue_t addTimeStamp(uint8_t *buffer, uint8_t maxSize) override;
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override;
   [[nodiscard]] size_t getSerializedSize() const override;
   ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                             Endianness streamEndianness) override;
-  ReturnValue_t readTimeStamp(const uint8_t *buffer, size_t maxSize) override;
   timeval &getTime() override;
   [[nodiscard]] size_t getTimestampSize() const override;
 

src/fsfw/timemanager/TimeReaderIF.h

@@ -5,12 +5,28 @@
 
 #include "TimeStampIF.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serialize/SerializeIF.h"
 
-class TimeReaderIF : public TimeStampIF {
+class TimeReaderIF : public SerializeIF, public TimeStampIF {
  public:
   ~TimeReaderIF() override = default;
-  virtual ReturnValue_t readTimeStamp(const uint8_t* buffer, size_t maxSize) = 0;
   virtual timeval& getTime() = 0;
+
+  [[nodiscard]] size_t getSerializedSize() const override { return getTimestampSize(); }
+
+  ReturnValue_t readTimeStamp(const uint8_t* buf, size_t maxSize) {
+    size_t dummy = 0;
+    return deSerialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
+  }
+
+ private:
+  /**
+   *   Forbidden, use dedicated IF @TimeWriterIF
+   */
+  [[nodiscard]] ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                        Endianness streamEndianness) const override {
+    return returnvalue::FAILED;
+  }
 };
 
 #endif  // FSFW_TIMEMANAGER_TIMEREADERIF_H

src/fsfw/timemanager/TimeStamperIF.h

@@ -1,23 +0,0 @@
-#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
-#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
-
-#include "TimeStampIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw/serialize/SerializeIF.h"
-
-/**
- * A class implementing this IF provides facilities to add a time stamp to the
- * buffer provided.
- * Implementors need to ensure that calling the method is thread-safe, i.e.
- * addTimeStamp may be called in parallel from a different context.
- */
-class TimeStamperIF : public SerializeIF, public TimeStampIF {
- public:
-  virtual ReturnValue_t addTimeStamp(uint8_t* buffer, uint8_t maxSize) = 0;
-  ~TimeStamperIF() override = default;
-  size_t getTimestampSize() const override { return getSerializedSize(); }
-
- protected:
-};
-
-#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

src/fsfw/timemanager/TimeWriterIF.h

@@ -0,0 +1,34 @@
+#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
+#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
+
+#include "TimeStampIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serialize/SerializeIF.h"
+
+/**
+ * A class implementing this IF provides facilities to add a time stamp to the
+ * buffer provided.
+ * Implementors need to ensure that calling the method is thread-safe, i.e.
+ * addTimeStamp may be called in parallel from a different context.
+ */
+class TimeWriterIF : public SerializeIF, public TimeStampIF {
+ public:
+  ~TimeWriterIF() override = default;
+  [[nodiscard]] size_t getTimestampSize() const override { return getSerializedSize(); }
+
+  ReturnValue_t addTimeStamp(uint8_t *buf, size_t maxSize) {
+    size_t dummy = 0;
+    return serialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
+  }
+
+ private:
+  /**
+   *   Forbidden, use dedicated IF @TimeReaderIF
+   */
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override {
+    return returnvalue::FAILED;
+  }
+};
+
+#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

src/fsfw/tmstorage/TmStorePackets.h

@@ -7,7 +7,7 @@
 #include "fsfw/serialize/SerialLinkedListAdapter.h"
 #include "fsfw/serialize/SerializeElement.h"
 #include "fsfw/timemanager/CCSDSTime.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 #include "fsfw/tmtcpacket/pus/tm/PusTmMinimal.h"
 #include "tmStorageConf.h"
 

src/fsfw/tmtcpacket/pus/CustomUserDataIF.h

@@ -7,6 +7,6 @@ class CustomUserDataIF {
  public:
   virtual ~CustomUserDataIF() = default;
   virtual ReturnValue_t setRawUserData(const uint8_t* data, size_t len) = 0;
-  virtual ReturnValue_t setSerializableUserData(SerializeIF& serializable) = 0;
+  virtual ReturnValue_t setSerializableUserData(const SerializeIF& serializable) = 0;
 };
 #endif  // FSFW_TMTCPACKET_CREATORDATAIF_H

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

@@ -14,7 +14,6 @@ PusTcCreator::PusTcCreator(SpacePacketParams spParams, PusTcParams pusParams)
 ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                       SerializeIF::Endianness streamEndianness) const {
   const uint8_t *start = *buffer;
-  size_t userDataLen = pusParams.dataWrapper.getLength();
   if (*size + getSerializedSize() > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
   }
@@ -37,17 +36,8 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
   if (result != returnvalue::OK) {
     return result;
   }
-  if (pusParams.dataWrapper.type == util::DataTypes::RAW) {
+  if (pusParams.appData != nullptr) {
-    const uint8_t *data = pusParams.dataWrapper.dataUnion.raw.data;
+    result = pusParams.appData->serialize(buffer, size, maxSize, streamEndianness);
-    if (data != nullptr and userDataLen > 0) {
-      std::memcpy(*buffer, data, userDataLen);
-      *buffer += userDataLen;
-      *size += userDataLen;
-    }
-  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
-             pusParams.dataWrapper.dataUnion.serializable != nullptr) {
-    result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
-                                                                     streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -58,8 +48,11 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
 }
 
 void PusTcCreator::updateSpLengthField() {
-  spCreator.setDataLen(ecss::PusTcDataFieldHeader::MIN_SIZE + pusParams.dataWrapper.getLength() +
+  size_t len = ecss::PusTcDataFieldHeader::MIN_SIZE + 1;
-                       1);
+  if (pusParams.appData != nullptr) {
+    len += pusParams.appData->getSerializedSize();
+  }
+  spCreator.setDataLen(len);
 }
 
 size_t PusTcCreator::getSerializedSize() const { return spCreator.getFullPacketLen(); }
@@ -91,14 +84,15 @@ SpacePacketParams &PusTcCreator::getSpParams() { return spCreator.getParams(); }
 
 ReturnValue_t PusTcCreator::setRawUserData(const uint8_t *data, size_t len) {
   // TODO: Check length field?
-  pusParams.dataWrapper.setRawData({data, len});
+  pusParams.bufAdapter.setConstBuffer(data, len);
+  pusParams.appData = &pusParams.bufAdapter;
   updateSpLengthField();
   return returnvalue::OK;
 }
 
-ReturnValue_t PusTcCreator::setSerializableUserData(SerializeIF &serializable) {
+ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializable) {
   // TODO: Check length field?
-  pusParams.dataWrapper.setSerializable(serializable);
+  pusParams.appData = &serializable;
   updateSpLengthField();
   return returnvalue::OK;
 }

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

@@ -1,22 +1,30 @@
 #ifndef FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
 #define FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
 
+#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/tmtcpacket/RedirectableDataPointerIF.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
 #include "fsfw/tmtcpacket/pus/defs.h"
 #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 struct PusTcParams {
   PusTcParams(uint8_t service_, uint8_t subservice_) : service(service_), subservice(subservice_) {}
 
+  void setRawAppData(const uint8_t *data, size_t len) {
+    bufAdapter.setConstBuffer(data, len);
+    appData = &bufAdapter;
+  }
+
+  void setSerializableAppData(const SerializeIF &serializable) { appData = &serializable; }
+
   uint8_t service;
   uint8_t subservice;
   uint8_t ackFlags = ecss::ACK_ALL;
   uint16_t sourceId = 0;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> bufAdapter;
+  const SerializeIF *appData = nullptr;
   uint8_t pusVersion = ecss::PusVersion::PUS_C;
 };
 
@@ -52,7 +60,7 @@ class PusTcCreator : public PusTcIF, public SerializeIF, public CustomUserDataIF
   [[nodiscard]] uint8_t getSubService() const override;
   [[nodiscard]] uint16_t getSourceId() const override;
   ReturnValue_t setRawUserData(const uint8_t *data, size_t len) override;
-  ReturnValue_t setSerializableUserData(SerializeIF &serializable) override;
+  ReturnValue_t setSerializableUserData(const SerializeIF &serializable) override;
 
   // Load all big endian helpers into the class namespace
   using SerializeIF::serializeBe;

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

@@ -3,7 +3,7 @@
 #include <utility>
 
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 
 PusTmCreator::PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams)
     : pusParams(initPusParams), spCreator(std::move(initSpParams)) {
@@ -30,7 +30,7 @@ uint8_t PusTmCreator::getSubService() const { return pusParams.secHeader.subserv
 
 PusTmParams& PusTmCreator::getParams() { return pusParams; }
 
-void PusTmCreator::setTimeStamper(TimeStamperIF& timeStamper_) {
+void PusTmCreator::setTimeStamper(TimeWriterIF& timeStamper_) {
   pusParams.secHeader.timeStamper = &timeStamper_;
   updateSpLengthField();
 }
@@ -51,7 +51,6 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
   if (result != returnvalue::OK) {
     return result;
   }
-  size_t userDataLen = pusParams.dataWrapper.getLength();
   **buffer =
       ((pusParams.secHeader.pusVersion << 4) & 0xF0) | (pusParams.secHeader.scTimeRefStatus & 0x0F);
   *buffer += 1;
@@ -77,15 +76,8 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
     }
   }
 
-  if (pusParams.dataWrapper.type == util::DataTypes::RAW and
+  if (pusParams.sourceData != nullptr) {
-      pusParams.dataWrapper.dataUnion.raw.data != nullptr) {
+    result = pusParams.sourceData->serialize(buffer, size, maxSize, streamEndianness);
-    std::memcpy(*buffer, pusParams.dataWrapper.dataUnion.raw.data, userDataLen);
-    *buffer += userDataLen;
-    *size += userDataLen;
-  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
-             pusParams.dataWrapper.dataUnion.serializable != nullptr) {
-    result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
-                                                                     streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -106,13 +98,15 @@ ReturnValue_t PusTmCreator::deSerialize(const uint8_t** buffer, size_t* size,
   return returnvalue::FAILED;
 }
 
-TimeStamperIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
+TimeWriterIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
 
 SpacePacketParams& PusTmCreator::getSpParams() { return spCreator.getParams(); }
 
 void PusTmCreator::updateSpLengthField() {
-  size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + pusParams.dataWrapper.getLength() +
+  size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + sizeof(ecss::PusChecksumT) - 1;
-                     sizeof(ecss::PusChecksumT) - 1;
+  if (pusParams.sourceData != nullptr) {
+    headerLen += pusParams.sourceData->getSerializedSize();
+  }
   if (pusParams.secHeader.timeStamper != nullptr) {
     headerLen += pusParams.secHeader.timeStamper->getSerializedSize();
   }
@@ -134,12 +128,17 @@ void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {
 void PusTmCreator::setDestId(uint16_t destId) { pusParams.secHeader.destId = destId; }
 
 ReturnValue_t PusTmCreator::setRawUserData(const uint8_t* data, size_t len) {
-  pusParams.dataWrapper.setRawData({data, len});
+  if (data == nullptr or len == 0) {
+    pusParams.sourceData = nullptr;
+  } else {
+    pusParams.adapter.setConstBuffer(data, len);
+    pusParams.sourceData = &pusParams.adapter;
+  }
   updateSpLengthField();
   return returnvalue::OK;
 }
-ReturnValue_t PusTmCreator::setSerializableUserData(SerializeIF& serializable) {
+ReturnValue_t PusTmCreator::setSerializableUserData(const SerializeIF& serializable) {
-  pusParams.dataWrapper.setSerializable(serializable);
+  pusParams.sourceData = &serializable;
   updateSpLengthField();
   return returnvalue::OK;
 }

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

@@ -2,18 +2,18 @@
 #define FSFW_TMTCPACKET_TMPACKETCREATOR_H
 
 #include "PusTmIF.h"
+#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 struct PusTmSecHeader {
   PusTmSecHeader() = default;
-  PusTmSecHeader(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
+  PusTmSecHeader(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
       : service(service), subservice(subservice), timeStamper(timeStamper) {}
 
   uint8_t service = 0;
   uint8_t subservice = 0;
-  TimeStamperIF* timeStamper = nullptr;
+  TimeWriterIF* timeStamper = nullptr;
   uint8_t pusVersion = ecss::PusVersion::PUS_C;
   uint8_t scTimeRefStatus = 0;
   uint16_t messageTypeCounter = 0;
@@ -23,22 +23,28 @@ struct PusTmSecHeader {
 struct PusTmParams {
   PusTmParams() = default;
   explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader){};
-  PusTmParams(PusTmSecHeader secHeader, util::DataWrapper dataWrapper)
+  PusTmParams(PusTmSecHeader secHeader, const SerializeIF& data)
-      : secHeader(secHeader), dataWrapper(dataWrapper) {}
+      : secHeader(secHeader), sourceData(&data) {}
-
+  PusTmParams(PusTmSecHeader secHeader, const uint8_t* data, size_t dataLen)
-  PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
+      : secHeader(secHeader), adapter(data, dataLen), sourceData(&adapter) {}
+  PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
       : secHeader(service, subservice, timeStamper) {}
 
-  PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper,
+  PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper,
-              util::DataWrapper dataWrapper_)
+              const SerializeIF& data_)
       : PusTmParams(service, subservice, timeStamper) {
-    dataWrapper = dataWrapper_;
+    sourceData = &data_;
   }
+
+  PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper, const uint8_t* data,
+              size_t dataLen)
+      : secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
   PusTmSecHeader secHeader;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> adapter;
+  const SerializeIF* sourceData = nullptr;
 };
 
-class TimeStamperIF;
+class TimeWriterIF;
 
 /**
  * This class provides a high-level interface to create PUS TM packets and then @serialize
@@ -56,7 +62,7 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
   PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams);
   ~PusTmCreator() override = default;
 
-  void setTimeStamper(TimeStamperIF& timeStamper);
+  void setTimeStamper(TimeWriterIF& timeStamper);
   /**
    * This function disables the CRC16 calculation on serialization. This is useful to avoid
    * duplicate calculation if some lower level component needs to update fields like the sequence
@@ -86,9 +92,9 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
   [[nodiscard]] size_t getSerializedSize() const override;
-  [[nodiscard]] TimeStamperIF* getTimestamper() const;
+  [[nodiscard]] TimeWriterIF* getTimestamper() const;
   ReturnValue_t setRawUserData(const uint8_t* data, size_t len) override;
-  ReturnValue_t setSerializableUserData(SerializeIF& serializable) override;
+  ReturnValue_t setSerializableUserData(const SerializeIF& serializable) override;
 
   // Load all big endian (network endian) helpers into scope
   using SerializeIF::serializeBe;

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

@@ -4,7 +4,7 @@
 #include <cstddef>
 #include <cstdint>
 
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 #include "fsfw/tmtcpacket/pus/PusIF.h"
 #include "fsfw/tmtcpacket/pus/defs.h"
 

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -106,7 +106,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
   // This avoids duplicate calculation of the CRC16
   tmStoreHelper.disableCrcCalculation();
   if (tmTimeStamper == nullptr) {
-    tmTimeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
+    tmTimeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
     if (tmTimeStamper == nullptr) {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }

src/fsfw/tmtcservices/CommandingServiceBase.h

@@ -272,7 +272,7 @@ class CommandingServiceBase : public SystemObject,
   MessageQueueIF* commandQueue = nullptr;
   MessageQueueIF* requestQueue = nullptr;
 
-  TimeStamperIF* tmTimeStamper = nullptr;
+  TimeWriterIF* tmTimeStamper = nullptr;
   VerificationReporterIF* verificationReporter;
 
   InternalErrorReporterIF* errReporter = nullptr;

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -178,7 +178,7 @@ ReturnValue_t PusServiceBase::initializeTmStoreHelper(TmStoreHelper& tmStoreHelp
   }
 
   if (psbParams.timeStamper == nullptr) {
-    auto timerStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
+    auto timerStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
     if (timerStamper != nullptr) {
       tmStoreHelper.setTimeStamper(*timerStamper);
     }

src/fsfw/tmtcservices/PusServiceBase.h

@@ -65,7 +65,7 @@ struct PsbParams {
    * register itself at that object.
    */
   PUSDistributorIF* pusDistributor = nullptr;
-  TimeStamperIF* timeStamper = nullptr;
+  TimeWriterIF* timeStamper = nullptr;
 };
 
 namespace Factory {

src/fsfw/tmtcservices/TmStoreHelper.cpp

@@ -11,7 +11,7 @@ TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore) :
 }
 
 TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore,
-                             TimeStamperIF& timeStamper)
+                             TimeWriterIF& timeStamper)
     : tmStore(&tmStore) {
   creator.setApid(defaultApid);
   creator.setTimeStamper(timeStamper);
@@ -59,7 +59,7 @@ ReturnValue_t TmStoreHelper::addPacketToStore() {
                            SerializeIF::Endianness::NETWORK);
 }
 
-void TmStoreHelper::setTimeStamper(TimeStamperIF& timeStamper_) {
+void TmStoreHelper::setTimeStamper(TimeWriterIF& timeStamper_) {
   creator.setTimeStamper(timeStamper_);
 }
 
@@ -67,7 +67,7 @@ void TmStoreHelper::setApid(uint16_t apid) { creator.setApid(apid); }
 
 PusTmCreator& TmStoreHelper::getCreatorRef() { return creator; }
 
-TimeStamperIF* TmStoreHelper::getTimeStamper() const { return creator.getTimestamper(); }
+TimeWriterIF* TmStoreHelper::getTimeStamper() const { return creator.getTimestamper(); }
 
 uint16_t TmStoreHelper::getApid() const { return creator.getApid(); }
 

src/fsfw/tmtcservices/TmStoreHelper.h

@@ -4,14 +4,14 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueMessageIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 #include "fsfw/tmtcpacket/pus/tm/PusTmCreator.h"
 
 class TmStoreHelper {
  public:
   explicit TmStoreHelper(uint16_t defaultApid);
   TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore);
-  TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore, TimeStamperIF& timeStamper);
+  TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore, TimeWriterIF& timeStamper);
 
   void disableCrcCalculation();
   [[nodiscard]] bool crcCalculationEnabled() const;
@@ -20,8 +20,8 @@ class TmStoreHelper {
 
   PusTmCreator& getCreatorRef();
 
-  void setTimeStamper(TimeStamperIF& timeStamper);
+  void setTimeStamper(TimeWriterIF& timeStamper);
-  [[nodiscard]] TimeStamperIF* getTimeStamper() const;
+  [[nodiscard]] TimeWriterIF* getTimeStamper() const;
 
   [[nodiscard]] StorageManagerIF* getTmStore() const;
   void setTmStore(StorageManagerIF& store);

src/fsfw/tmtcservices/tmHelpers.h

@@ -10,48 +10,33 @@ namespace telemetry {
 class DataWithObjectIdPrefix : public SerializeIF {
  public:
   DataWithObjectIdPrefix(object_id_t objectId, const uint8_t* srcData, size_t srcDataLen)
-      : objectId(objectId) {
+      : objectId(objectId), bufAdapter(srcData, srcDataLen), userData(&bufAdapter) {}
-    dataWrapper.type = util::DataTypes::RAW;
-    dataWrapper.dataUnion.raw.data = srcData;
-    dataWrapper.dataUnion.raw.len = srcDataLen;
-  }
 
-  DataWithObjectIdPrefix(object_id_t objectId, SerializeIF& serializable) : objectId(objectId) {
+  DataWithObjectIdPrefix(object_id_t objectId, const SerializeIF& serializable)
-    dataWrapper.type = util::DataTypes::SERIALIZABLE;
+      : objectId(objectId), userData(&serializable) {}
-    dataWrapper.dataUnion.serializable = &serializable;
-  }
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override {
     if (*size + getSerializedSize() > maxSize) {
       return SerializeIF::BUFFER_TOO_SHORT;
     }
-    if (dataWrapper.type != util::DataTypes::RAW) {
-      if ((dataWrapper.dataUnion.raw.data == nullptr) and (dataWrapper.dataUnion.raw.len > 0)) {
-        return returnvalue::FAILED;
-      }
-    } else if (dataWrapper.type == util::DataTypes::SERIALIZABLE) {
-      if (dataWrapper.dataUnion.serializable == nullptr) {
-        return returnvalue::FAILED;
-      }
-    }
     ReturnValue_t result =
         SerializeAdapter::serialize(&objectId, buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
-    if (dataWrapper.type != util::DataTypes::RAW) {
+    if (userData != nullptr) {
-      std::memcpy(*buffer, dataWrapper.dataUnion.raw.data, dataWrapper.dataUnion.raw.len);
+      return userData->serialize(buffer, size, maxSize, streamEndianness);
-      *buffer += dataWrapper.dataUnion.raw.len;
-      *size += dataWrapper.dataUnion.raw.len;
-    } else {
-      return dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize, streamEndianness);
     }
     return returnvalue::OK;
   }
 
   [[nodiscard]] size_t getSerializedSize() const override {
-    return sizeof(objectId) + dataWrapper.getLength();
+    size_t len = 0;
+    if (userData != nullptr) {
+      len += userData->getSerializedSize();
+    }
+    return len;
   }
 
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
@@ -63,7 +48,8 @@ class DataWithObjectIdPrefix : public SerializeIF {
 
  private:
   object_id_t objectId;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> bufAdapter;
+  const SerializeIF* userData = nullptr;
 };
 
 }  // namespace telemetry

src/fsfw_hal/common/CMakeLists.txt

@@ -1 +1,3 @@
 add_subdirectory(gpio)
+
+target_sources(${LIB_FSFW_NAME} PRIVATE printChar.c)

src/fsfw_hal/common/printChar.c

@@ -0,0 +1,10 @@
+#include <stdio.h>
+#include <stdbool.h>
+
+void __attribute__((weak)) printChar(const char* character, bool errStream) {
+  if (errStream) {
+    fprintf(stderr, "%c", *character);
+  } else {
+    printf("%c", *character);
+  }
+}

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -2,7 +2,6 @@
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
-#include "events/subsystemIdRanges.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 

unittests/CMakeLists.txt

@@ -18,6 +18,7 @@ add_subdirectory(power)
 add_subdirectory(util)
 add_subdirectory(container)
 add_subdirectory(osal)
+add_subdirectory(pus)
 add_subdirectory(serialize)
 add_subdirectory(datapoollocal)
 add_subdirectory(storagemanager)

unittests/mocks/CdsShortTimestamperMock.h

@@ -4,9 +4,9 @@
 #include <array>
 
 #include "fsfw/timemanager/TimeReaderIF.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 
-class CdsShortTimestamperMock : public TimeStamperIF, public TimeReaderIF {
+class CdsShortTimestamperMock : public TimeWriterIF, public TimeReaderIF {
  public:
   unsigned int serializeCallCount = 0;
   unsigned int deserializeCallCount = 0;
@@ -61,7 +61,6 @@ class CdsShortTimestamperMock : public TimeStamperIF, public TimeReaderIF {
   }
 
   [[nodiscard]] size_t getTimestampSize() const override { return getSerializedSize(); }
-  ReturnValue_t addTimeStamp(uint8_t *buffer, uint8_t maxSize) override { return 0; }
 
   void reset() {
     serializeCallCount = 0;
@@ -75,9 +74,6 @@ class CdsShortTimestamperMock : public TimeStamperIF, public TimeReaderIF {
     serFailRetval = returnvalue::FAILED;
   }
 
-  ReturnValue_t readTimeStamp(const uint8_t *buffer, size_t maxSize) override {
-    return deSerialize(&buffer, &maxSize, SerializeIF::Endianness::NETWORK);
-  }
   timeval &getTime() override { return dummyTime; }
 
  private:

unittests/pus/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+    testService11.cpp
+)

unittests/pus/testService11.cpp

@@ -0,0 +1,14 @@
+#include <fsfw/pus/Service11TelecommandScheduling.h>
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "objects/systemObjectList.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
+
+TEST_CASE("PUS Service 11", "[pus-srvc11]") {
+  Service11TelecommandScheduling<13> pusService11(
+      {objects::PUS_SERVICE_11_TC_SCHEDULER, apid::DEFAULT_APID, pus::PUS_SERVICE_11}, nullptr);
+
+  // TODO test something...
+}

unittests/serialize/testSerialBufferAdapter.cpp

@@ -64,7 +64,8 @@ TEST_CASE("Serial Buffer Adapter", "[single-file]") {
   SECTION("Test set buffer function") {
     SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter_loc =
         SerialBufferAdapter<uint8_t>((uint8_t*)nullptr, 0, true);
-    tv_serial_buffer_adapter_loc.setBuffer(test_serial_buffer.data(), test_serial_buffer.size());
+    tv_serial_buffer_adapter_loc.setConstBuffer(test_serial_buffer.data(),
+                                                test_serial_buffer.size());
     serialized_size = 0;
     arrayPtr = testArray.data();
     SerializeAdapter::serialize(&test_value_bool, &arrayPtr, &serialized_size, testArray.size(),

unittests/tmtcpacket/testPusTcCreator.cpp

@@ -71,7 +71,7 @@ TEST_CASE("PUS TC Creator", "[pus-tc-creator]") {
   SECTION("Test with Application Data Raw") {
     auto& params = creator.getPusParams();
     std::array<uint8_t, 3> data{1, 2, 3};
-    params.dataWrapper.setRawData({data.data(), data.size()});
+    params.setRawAppData(data.data(), data.size());
     // To get correct size information, the SP length field needs to be updated automatically
     REQUIRE(creator.getSerializedSize() == 13);
     creator.updateSpLengthField();

unittests/tmtcservices/testStoreAndSendHelper.cpp

@@ -44,9 +44,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(creator.getSubService() == 2);
     REQUIRE(creator.getService() == 17);
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
+    REQUIRE(params.sourceData == nullptr);
-    REQUIRE(params.dataWrapper.dataUnion.raw.data == nullptr);
-    REQUIRE(params.dataWrapper.dataUnion.raw.len == 0);
     REQUIRE(tmHelper.sendCounter == 0);
     REQUIRE(tmHelper.storeAndSendTmPacket() == returnvalue::OK);
     REQUIRE(tmHelper.sendCounter == 1);
@@ -65,9 +63,9 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, data.data(), data.size()) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
+    REQUIRE(params.sourceData != nullptr);
-    REQUIRE(params.dataWrapper.dataUnion.raw.data == data.data());
+    REQUIRE(params.sourceData->getSerializedSize() == data.size());
-    REQUIRE(params.dataWrapper.dataUnion.raw.len == data.size());
+    REQUIRE(params.adapter.getConstBuffer() == data.data());
   }
 
   SECTION("Serializable Helper") {
@@ -75,8 +73,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, simpleSer) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
+    REQUIRE(params.sourceData == &simpleSer);
-    REQUIRE(params.dataWrapper.dataUnion.serializable == &simpleSer);
   }
 
   SECTION("Object ID prefix Helper") {
@@ -86,8 +83,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, dataWithObjId) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
+    REQUIRE(params.sourceData == &dataWithObjId);
-    REQUIRE(params.dataWrapper.dataUnion.serializable == &dataWithObjId);
   }
 
   // TODO: Error handling