i forgot to push..

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

CHANGELOG.md

@@ -28,9 +28,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
 - `PusTmZcWriter` now exposes API to set message counter field.
+- Relative timeshift in the PUS time service.
 
 ## Changed
 
+- The PUS time service now dumps the time before setting a new time and after having set the
+  time.
 - HK generation is now countdown based.
 - Bump ETL version to 20.35.14
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
@@ -41,6 +44,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Assert that `FixedArrayList` is larger than 0 at compile time.
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
 - Health functions are virtual now.
+- PUS Service Base request queue depth and maximum number of handled packets per cycle is now
+  configurable.
 
 # [v6.0.0] 2023-02-10
 

src/fsfw/cfdp/definitions.h

@@ -17,7 +17,7 @@ static constexpr char CFDP_VERSION_2_NAME[] = "CCSDS 727.0-B-5";
 static constexpr uint8_t CFDP_VERSION_2 = 0b001;
 static constexpr uint8_t VERSION_BITS = CFDP_VERSION_2 << 5;
 
-static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
+static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP_BASE;
 
 static constexpr ReturnValue_t INVALID_TLV_TYPE = returnvalue::makeCode(CFDP_CLASS_ID, 1);
 static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELD = returnvalue::makeCode(CFDP_CLASS_ID, 2);

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -146,7 +146,7 @@ ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
     return handleMetadataParseError(result, constAccessorPair.second.data(),
                                     constAccessorPair.second.size());
   }
-  return startTransaction(reader, metadataInfo);
+  return startTransaction(reader);
 }
 
 ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
@@ -274,8 +274,7 @@ ReturnValue_t cfdp::DestHandler::handleMetadataParseError(ReturnValue_t result,
   return returnvalue::FAILED;
 }
 
-ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader,
-                                                  MetadataGenericInfo& info) {
+ReturnValue_t cfdp::DestHandler::startTransaction(const MetadataPduReader& reader) {
   if (fsmRes.state != CfdpState::IDLE) {
     // According to standard, discard metadata PDU if we are busy
     return OK;
@@ -283,25 +282,31 @@ ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader,
   ReturnValue_t result = OK;
   size_t sourceNameSize = 0;
 
-  const uint8_t* sourceNamePtr = reader.getSourceFileName().getValue(&sourceNameSize);
-  if (sourceNameSize + 1 > transactionParams.sourceName.size()) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "source filename too large");
-    return FAILED;
+  if (not reader.getSourceFileName().isEmpty()) {
+    const uint8_t* sourceNamePtr = reader.getSourceFileName().getValue(&sourceNameSize);
+    if (sourceNameSize + 1 > transactionParams.sourceName.size()) {
+      fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "source filename too large");
+      return FAILED;
+    }
+    std::memcpy(transactionParams.sourceName.data(), sourceNamePtr, sourceNameSize);
+    transactionParams.sourceName[sourceNameSize] = '\0';
   }
-  std::memcpy(transactionParams.sourceName.data(), sourceNamePtr, sourceNameSize);
-  transactionParams.sourceName[sourceNameSize] = '\0';
   size_t destNameSize = 0;
-  const uint8_t* destNamePtr = reader.getDestFileName().getValue(&destNameSize);
-  if (destNameSize + 1 > transactionParams.destName.size()) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "dest filename too large");
-    return FAILED;
+  if (not reader.getDestFileName().isEmpty()) {
+    const uint8_t* destNamePtr = reader.getDestFileName().getValue(&destNameSize);
+    if (destNameSize + 1 > transactionParams.destName.size()) {
+      fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "dest filename too large");
+      return FAILED;
+    }
+    std::memcpy(transactionParams.destName.data(), destNamePtr, destNameSize);
+    transactionParams.destName[destNameSize] = '\0';
   }
-  std::memcpy(transactionParams.destName.data(), destNamePtr, destNameSize);
-  transactionParams.destName[destNameSize] = '\0';
 
+  transactionParams.metadataOnly = true;
   // If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
   // so there is no need to create a file or truncate an existing file
   if (destNameSize > 0 and sourceNameSize > 0) {
+    transactionParams.metadataOnly = false;
     FilesystemParams fparams(transactionParams.destName.data());
     // handling to allow only specifying target directory. Example:
     // Source path /test/hello.txt, dest path /tmp -> dest path /tmp/hello.txt
@@ -338,12 +343,19 @@ ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader,
 #endif
     return FAILED;
   }
-  fsmRes.step = TransactionStep::TRANSACTION_START;
   if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
     fsmRes.state = CfdpState::BUSY_CLASS_1_NACKED;
   } else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
     fsmRes.state = CfdpState::BUSY_CLASS_2_ACKED;
   }
+  if (transactionParams.metadataOnly) {
+    fsmRes.step = TransactionStep::TRANSFER_COMPLETION;
+  } else {
+    // Kind of ugly, make FSM working on packet per packet basis..
+    fsmRes.step = TransactionStep::TRANSACTION_START;
+    fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
+  }
+  auto& info = reader.getGenericInfo();
   transactionParams.checksumType = info.getChecksumType();
   transactionParams.closureRequested = info.isClosureRequested();
   reader.fillConfig(transactionParams.pduConf);
@@ -351,20 +363,19 @@ ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader,
   transactionParams.transactionId.entityId = transactionParams.pduConf.sourceId;
   transactionParams.transactionId.seqNum = transactionParams.pduConf.seqNum;
   transactionParams.fileSize = info.getFileSize();
-  fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
   MetadataRecvdParams params(transactionParams.transactionId, transactionParams.pduConf.sourceId,
                              transactionParams.fileSize);
   params.destFileName = transactionParams.destName.data();
   params.sourceFileName = transactionParams.sourceName.data();
-  unsigned tlvIdx = 0;
+  params.numberOfMsgsToUser = 0;
   for (const auto& opt : tlvVec) {
     if (opt.getType() == TlvType::MSG_TO_USER) {
-      msgToUserVec[tlvIdx] = MessageToUserTlv(opt.getValue(), opt.getLengthField());
-      tlvIdx++;
+      msgToUserVec[params.numberOfMsgsToUser] =
+          MessageToUserTlv(opt.getValue(), opt.getLengthField());
+      params.numberOfMsgsToUser++;
     }
   }
   params.msgsToUserArray = msgToUserVec.data();
-  params.msgsToUserLen = tlvIdx;
   destParams.user.metadataRecvdIndication(params);
   return result;
 }

src/fsfw/cfdp/handler/DestHandler.h

@@ -125,11 +125,13 @@ class DestHandler {
       crc = 0;
       progress = 0;
       remoteCfg = nullptr;
+      metadataOnly = false;
       closureRequested = false;
       vfsErrorCount = 0;
       checksumType = ChecksumType::NULL_CHECKSUM;
     }
 
+    bool metadataOnly = false;
     ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
     bool closureRequested = false;
     uint16_t vfsErrorCount = 0;
@@ -153,7 +155,7 @@ class DestHandler {
   cfdp::FsfwParams fsfwParams;
   FsmResult fsmRes;
 
-  ReturnValue_t startTransaction(MetadataPduReader& reader, MetadataGenericInfo& info);
+  ReturnValue_t startTransaction(const MetadataPduReader& reader);
   ReturnValue_t handleMetadataPdu(const PacketInfo& info);
   ReturnValue_t handleFileDataPdu(const PacketInfo& info);
   ReturnValue_t handleEofPdu(const PacketInfo& info);

src/fsfw/cfdp/handler/RemoteConfigTableIF.h

@@ -16,7 +16,7 @@ class RemoteConfigTableIF {
  */
 class OneRemoteConfigProvider : public RemoteConfigTableIF {
  public:
-  explicit OneRemoteConfigProvider(RemoteEntityCfg cfg) : cfg(std::move(cfg)) {}
+  explicit OneRemoteConfigProvider(RemoteEntityCfg& cfg) : cfg(cfg) {}
 
   bool getRemoteCfg(const EntityId& remoteId, cfdp::RemoteEntityCfg** cfg_) override {
     if (remoteId != cfg.remoteId) {
@@ -27,7 +27,7 @@ class OneRemoteConfigProvider : public RemoteConfigTableIF {
   }
 
  private:
-  RemoteEntityCfg cfg;
+  RemoteEntityCfg& cfg;
 };
 
 }  // namespace cfdp

src/fsfw/cfdp/handler/ReservedMessageParser.cpp

@@ -13,27 +13,24 @@ cfdp::ReservedMessageParser::ReservedMessageParser(StorageManagerIF& ipcStore,
                                                    MessageQueueId_t userDestination)
     : msgQueue(msgQueue), ipcStore(ipcStore), userDestination(userDestination) {}
 
-ReturnValue_t cfdp::ReservedMessageParser::parse(const uint8_t* msgsToUserPtr,
-                                                 size_t sizeOfMessages) {
-  ReturnValue_t result;
-  size_t currentIdx = 0;
-  const uint8_t* currentPtr = msgsToUserPtr;
-  MessageToUserTlv tlv;
-  size_t deserSize = sizeOfMessages;
+ReturnValue_t cfdp::ReservedMessageParser::parse(const MessageToUserTlv* msgsToUserArray,
+                                                 size_t numMsgToUser) {
+  ReturnValue_t result = returnvalue::OK;
   cfdp::StringLv sourceFileName;
   cfdp::StringLv destFileName;
   PutRequest putRequest;
+  const uint8_t* currentPtr = nullptr;
+  size_t deserSize = 0;
   bool needToSendPutRequest = false;
-  while (currentIdx < sizeOfMessages) {
-    result = tlv.deSerialize(&currentPtr, &deserSize, SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
+  for (size_t idx = 0; idx < numMsgToUser; idx++) {
+    if (&msgsToUserArray[idx] == nullptr) {
+      continue;
     }
     uint8_t messageType = 0;
-    if (tlv.isReservedCfdpMessage(messageType, &currentPtr, deserSize)) {
+    if (msgsToUserArray[idx].isReservedCfdpMessage(messageType, &currentPtr, deserSize)) {
       if (messageType == static_cast<uint8_t>(ProxyOpMessageType::PUT_REQUEST)) {
         EntityId entityIdLv;
-        entityIdLv.deSerializeFromLv(&currentPtr, &deserSize);
+        result = entityIdLv.deSerializeFromLv(&currentPtr, &deserSize);
         if (result != returnvalue::OK) {
           return result;
         }
@@ -52,7 +49,6 @@ ReturnValue_t cfdp::ReservedMessageParser::parse(const uint8_t* msgsToUserPtr,
         needToSendPutRequest = true;
       }
     }
-    currentIdx += tlv.getSerializedSize();
   }
   if (needToSendPutRequest) {
     store_address_t storeId;

src/fsfw/cfdp/handler/ReservedMessageParser.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "fsfw/cfdp/tlv/MessageToUserTlv.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
@@ -15,7 +16,7 @@ class ReservedMessageParser {
   ReservedMessageParser(StorageManagerIF& ipcStore, MessageQueueIF& msgQueue,
                         MessageQueueId_t userDestination);
 
-  ReturnValue_t parse(const uint8_t* msgsToUserPtr, size_t sizeOfMessages);
+  ReturnValue_t parse(const MessageToUserTlv* msgsToUserArray, size_t numMsgsToUser);
 
  private:
   MessageQueueIF& msgQueue;

src/fsfw/cfdp/handler/SourceHandler.cpp

@@ -11,6 +11,7 @@
 #include "fsfw/globalfunctions/arrayprinter.h"
 #include "fsfw/objectmanager.h"
 #include "fsfw/serviceinterface.h"
+#include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
 using namespace returnvalue;
@@ -49,19 +50,16 @@ cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::fsmNacked() {
   }
   if (step == TransactionStep::TRANSACTION_START) {
     sourceParams.user.transactionIndication(transactionParams.id);
-    step = TransactionStep::CRC_PROCEDURE;
-  }
-  if (step == TransactionStep::CRC_PROCEDURE) {
     result = checksumGeneration();
     if (result != OK) {
-      // TODO: Some error handling
+      addError(result);
     }
     step = TransactionStep::SENDING_METADATA;
   }
   if (step == TransactionStep::SENDING_METADATA) {
     result = prepareAndSendMetadataPdu();
     if (result != OK) {
-      // TODO: Error handling
+      addError(result);
     }
     fsmResult.callStatus = CallStatus::CALL_AGAIN;
     return fsmResult;
@@ -69,10 +67,7 @@ cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::fsmNacked() {
   if (step == TransactionStep::SENDING_FILE_DATA) {
     bool noFdPdu = false;
     result = prepareAndSendNextFileDataPdu(noFdPdu);
-    if (result != OK) {
-      // TODO: Error handling
-    }
-    if (!noFdPdu) {
+    if (result == OK and !noFdPdu) {
       fsmResult.callStatus = CallStatus::CALL_AGAIN;
       return fsmResult;
     }
@@ -80,7 +75,7 @@ cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::fsmNacked() {
   if (step == TransactionStep::SENDING_EOF) {
     result = prepareAndSendEofPdu();
     if (result != OK) {
-      // TODO: Error handling
+      addError(result);
     }
     if (sourceParams.cfg.indicCfg.eofSentIndicRequired) {
       sourceParams.user.eofSentIndication(transactionParams.id);
@@ -141,8 +136,7 @@ ReturnValue_t cfdp::SourceHandler::checksumGeneration() {
       params.size = readLen;
       auto result = sourceParams.user.vfs.readFromFile(params, buf.data(), buf.size());
       if (result != OK) {
-        // TODO: I think this is a case for a filestore rejection, but it might sense to print
-        //       a warning or trigger an event because this should generally not happen
+        addError(result);
         return FAILED;
       }
       crcCalc.add(buf.begin(), buf.begin() + readLen);
@@ -171,6 +165,10 @@ ReturnValue_t cfdp::SourceHandler::transactionStart(PutRequest& putRequest, Remo
   const char* destNamePtr = putRequest.getDestName().getCString(transactionParams.destNameSize);
   std::strncpy(transactionParams.sourceName.data(), srcNamePtr, transactionParams.sourceNameSize);
   std::strncpy(transactionParams.destName.data(), destNamePtr, transactionParams.destNameSize);
+  // Add 0 termination. The source and dest name size can not be larger than UINT8_MAX, so this
+  // operation is safe.
+  transactionParams.sourceName[transactionParams.sourceNameSize] = '\0';
+  transactionParams.destName[transactionParams.destNameSize] = '\0';
   FilesystemParams params(transactionParams.sourceName.data());
   if (!sourceParams.user.vfs.fileExists(params)) {
     return FILE_DOES_NOT_EXIST;
@@ -322,6 +320,10 @@ ReturnValue_t cfdp::SourceHandler::sendGenericPdu(const SerializeIF& pdu) {
       fsfwParams.tmStore->getFreeElement(&storeId, pdu.getSerializedSize(), &dataPtr);
   if (result != OK) {
     addError(result);
+    fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
+    if (result == StorageManagerIF::DATA_STORAGE_FULL) {
+      return TM_STORE_FULL;
+    }
     return result;
   }
   size_t serializedLen = 0;
@@ -333,7 +335,12 @@ ReturnValue_t cfdp::SourceHandler::sendGenericPdu(const SerializeIF& pdu) {
   TmTcMessage tmMsg(storeId);
   result =
       fsfwParams.msgQueue->sendMessage(fsfwParams.packetDest.getReportReceptionQueue(), &tmMsg);
-  if (result == OK) {
+  if (result != OK) {
+    fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
+  }
+  if (result == MessageQueueIF::FULL) {
+    return TARGET_MSG_QUEUE_FULL;
+  } else if (result == OK) {
     fsmResult.packetsSent += 1;
   }
   return result;
@@ -364,5 +371,6 @@ void cfdp::SourceHandler::addError(ReturnValue_t error) {
   if (fsmResult.errors < fsmResult.errorCodes.size()) {
     fsmResult.errorCodes[fsmResult.errors] = error;
     fsmResult.errors++;
+    fsmResult.result = error;
   }
 }

src/fsfw/cfdp/handler/SourceHandler.h

@@ -30,7 +30,6 @@ class SourceHandler {
   enum class TransactionStep : uint8_t {
     IDLE = 0,
     TRANSACTION_START = 1,
-    CRC_PROCEDURE = 2,
     SENDING_METADATA = 3,
     SENDING_FILE_DATA = 4,
     SENDING_EOF = 5,

src/fsfw/cfdp/handler/UserBase.h

@@ -35,7 +35,7 @@ struct MetadataRecvdParams {
   Fss fileSize{};
   const char* sourceFileName = "";
   const char* destFileName = "";
-  size_t msgsToUserLen = 0;
+  size_t numberOfMsgsToUser = 0;
   const MessageToUserTlv* msgsToUserArray = nullptr;
 };
 

src/fsfw/cfdp/handler/defs.h

@@ -12,7 +12,7 @@ namespace cfdp {
 enum class CfdpState { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
 
 static constexpr uint8_t SSID = SUBSYSTEM_ID::CFDP;
-static constexpr uint8_t CID = CLASS_ID::CFDP;
+static constexpr uint8_t CID = CLASS_ID::CFDP_HANDLER;
 
 struct PacketInfo {
   PacketInfo(PduType type, store_address_t storeId,
@@ -58,6 +58,8 @@ static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity:
 static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
 //! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
 static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
+//! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
+static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW);
 
 }  // namespace events
 
@@ -67,6 +69,8 @@ static constexpr ReturnValue_t FILE_SEGMENT_LEN_INVALID = returnvalue::makeCode(
 static constexpr ReturnValue_t SOURCE_NAME_EMPTY = returnvalue::makeCode(CID, 3);
 static constexpr ReturnValue_t DEST_NAME_EMPTY = returnvalue::makeCode(CID, 4);
 static constexpr ReturnValue_t WRONG_REMOTE_CFG_ENTITY_ID = returnvalue::makeCode(CID, 5);
+static constexpr ReturnValue_t TARGET_MSG_QUEUE_FULL = returnvalue::makeCode(CID, 6);
+static constexpr ReturnValue_t TM_STORE_FULL = returnvalue::makeCode(CID, 7);
 
 }  // namespace cfdp
 #endif  // FSFW_CFDP_HANDLER_DEFS_H

src/fsfw/cfdp/handler/mib.h

@@ -30,7 +30,7 @@ struct RemoteEntityCfg {
   RemoteEntityCfg() = default;
   explicit RemoteEntityCfg(EntityId id) : remoteId(std::move(id)) {}
   EntityId remoteId;
-  size_t maxFileSegmentLen = 2048;
+  size_t maxFileSegmentLen = 1024;
   bool closureRequested = false;
   bool crcOnTransmission = false;
   TransmissionMode defaultTransmissionMode = TransmissionMode::UNACKNOWLEDGED;

src/fsfw/cfdp/pdu/MetadataGenericInfo.cpp

@@ -21,7 +21,7 @@ void MetadataGenericInfo::setClosureRequested(bool closureRequested_) {
   closureRequested = closureRequested_;
 }
 
-cfdp::Fss& MetadataGenericInfo::getFileSize() { return fileSize; }
+const cfdp::Fss& MetadataGenericInfo::getFileSize() const { return fileSize; }
 
 size_t MetadataGenericInfo::getSerializedSize(bool fssLarge) {
   // 1 byte + minimal FSS 4 bytes
@@ -31,3 +31,5 @@ size_t MetadataGenericInfo::getSerializedSize(bool fssLarge) {
   }
   return size;
 }
+
+cfdp::Fss& MetadataGenericInfo::getMutFileSize() { return fileSize; }

src/fsfw/cfdp/pdu/MetadataGenericInfo.h

@@ -22,7 +22,9 @@ class MetadataGenericInfo {
   [[nodiscard]] bool isClosureRequested() const;
   void setClosureRequested(bool closureRequested = false);
 
-  cfdp::Fss& getFileSize();
+  [[nodiscard]] const cfdp::Fss& getFileSize() const;
+
+  cfdp::Fss& getMutFileSize();
 
  private:
   bool closureRequested = false;

src/fsfw/cfdp/pdu/MetadataPduReader.cpp

@@ -25,7 +25,7 @@ ReturnValue_t MetadataPduReader::parseData() {
   remSize -= 1;
   buf += 1;
   auto endianness = getEndianness();
-  result = info.getFileSize().deSerialize(&buf, &remSize, endianness);
+  result = info.getMutFileSize().deSerialize(&buf, &remSize, endianness);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -63,3 +63,5 @@ size_t MetadataPduReader::getNumberOfParsedOptions() const { return parsedOption
 const cfdp::StringLv& MetadataPduReader::getSourceFileName() const { return srcFileName; }
 
 const cfdp::StringLv& MetadataPduReader::getDestFileName() const { return destFileName; }
+
+const MetadataGenericInfo& MetadataPduReader::getGenericInfo() const { return info; }

src/fsfw/cfdp/pdu/MetadataPduReader.h

@@ -11,6 +11,7 @@ class MetadataPduReader : public FileDirectiveReader {
 
   ReturnValue_t parseData() override;
 
+  [[nodiscard]] const MetadataGenericInfo& getGenericInfo() const;
   [[nodiscard]] const cfdp::StringLv& getSourceFileName() const;
   [[nodiscard]] const cfdp::StringLv& getDestFileName() const;
 

src/fsfw/cfdp/tlv/Lv.cpp

@@ -95,3 +95,5 @@ cfdp::Lv& cfdp::Lv::operator=(cfdp::Lv&& other) noexcept {
 }
 
 size_t cfdp::Lv::getValueLen() const { return getSerializedSize() - 1; }
+
+bool cfdp::Lv::isEmpty() const { return zeroLen; }

src/fsfw/cfdp/tlv/Lv.h

@@ -50,6 +50,8 @@ class Lv : public SerializeIF {
    */
   const uint8_t* getValue(size_t* size) const;
 
+  bool isEmpty() const;
+
  private:
   bool zeroLen = true;
   SerialBufferAdapter<uint8_t> value;

src/fsfw/cfdp/tlv/MessageToUserTlv.cpp

@@ -16,7 +16,7 @@ bool MessageToUserTlv::isReservedCfdpMessage(uint8_t& messageType, const uint8_t
   if (cfdp::Tlv::getLengthField() < 5) {
     return false;
   }
-  if (std::strcmp(reinterpret_cast<const char*>(getValue()), "cfdp") == 0) {
+  if (std::strncmp(reinterpret_cast<const char*>(getValue()), "cfdp", 4) == 0) {
     messageType = getValue()[4];
     if (msgDataStart != nullptr) {
       *msgDataStart = getValue() + 5;

src/fsfw/cfdp/tlv/Tlv.cpp

@@ -54,6 +54,7 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
     return STREAM_TOO_SHORT;
   }
 
+  rawData = *buffer;
   uint8_t rawType = **buffer;
   if (not checkType(rawType)) {
     return INVALID_TLV_TYPE;
@@ -102,3 +103,5 @@ void cfdp::Tlv::setValue(uint8_t *value, size_t len) {
 uint8_t cfdp::Tlv::getLengthField() const { return this->value.getSerializedSize() - 1; }
 
 void cfdp::Tlv::setType(TlvType type) { this->type = type; }
+
+const uint8_t *cfdp::Tlv::getRawData() const { return rawData; }

src/fsfw/cfdp/tlv/Tlv.h

@@ -47,6 +47,7 @@ class Tlv : public TlvIF {
   void setValue(uint8_t *value, size_t len);
 
   [[nodiscard]] const uint8_t *getValue() const;
+  [[nodiscard]] const uint8_t *getRawData() const;
   void setType(TlvType type);
   [[nodiscard]] TlvType getType() const override;
   [[nodiscard]] uint8_t getLengthField() const override;
@@ -55,6 +56,7 @@ class Tlv : public TlvIF {
   bool checkType(uint8_t rawType);
 
   bool zeroLen = true;
+  const uint8_t *rawData = nullptr;
   TlvType type = TlvType::INVALID_TLV;
   SerialBufferAdapter<uint8_t> value;
 };

src/fsfw/controller/ControllerBase.cpp

@@ -72,18 +72,17 @@ void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
   *submode_ = this->submode;
 }
 
-void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
-
 void ControllerBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
 
+void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
+
+void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
+
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
   handleQueue();
   performControlOperation();
   return returnvalue::OK;
 }
-
-void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
-
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
     case HEALTHY:

src/fsfw/coordinates/CoordinateTransformations.cpp

@@ -6,6 +6,8 @@
 #include "fsfw/globalfunctions/constants.h"
 #include "fsfw/globalfunctions/math/MatrixOperations.h"
 #include "fsfw/globalfunctions/math/VectorOperations.h"
+#include "fsfw/globalfunctions/sign.h"
+#include "fsfw/serviceinterface.h"
 
 void CoordinateTransformations::positionEcfToEci(const double* ecfPosition, double* eciPosition,
                                                  timeval* timeUTC) {
@@ -97,7 +99,14 @@ void CoordinateTransformations::ecfToEci(const double* ecfCoordinates, double* e
 
 double CoordinateTransformations::getJuleanCenturiesTT(timeval timeUTC) {
   timeval timeTT;
-  Clock::convertUTCToTT(timeUTC, &timeTT);
+  ReturnValue_t result = Clock::convertUTCToTT(timeUTC, &timeTT);
+  if (result != returnvalue::OK) {
+    // i think it is better to continue here than to abort
+    timeTT = timeUTC;
+    sif::error << "CoordinateTransformations::Conversion from UTC to TT failed. Continuing "
+                  "calculations with UTC."
+               << std::endl;
+  }
   double jD2000TT;
   Clock::convertTimevalToJD2000(timeTT, &jD2000TT);
 
@@ -207,3 +216,61 @@ void CoordinateTransformations::getTransMatrixECITOECF(timeval timeUTC, double T
 
   MatrixOperations<double>::multiply(mTheta[0], Ttemp[0], Tfi[0], 3, 3, 3);
 };
+
+void CoordinateTransformations::cartesianFromLatLongAlt(const double lat, const double longi,
+                                                        const double alt, double* cartesianOutput) {
+  /* @brief:  cartesianFromLatLongAlt() - calculates cartesian coordinates in ECEF from latitude,
+   * 								longitude and altitude
+   * @param:  lat   				geodetic latitude [rad]
+   * 			longi 				longitude [rad]
+   * 			alt					altitude [m]
+   * 			cartesianOutput 	Cartesian Coordinates in ECEF (3x1)
+   * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.34ff
+   * 			Landis Markley and John L. Crassidis*/
+  double radiusPolar = 6356752.314;
+  double radiusEqua = 6378137;
+
+  double eccentricity = sqrt(1 - pow(radiusPolar, 2) / pow(radiusEqua, 2));
+  double auxRadius = radiusEqua / sqrt(1 - pow(eccentricity, 2) * pow(sin(lat), 2));
+
+  cartesianOutput[0] = (auxRadius + alt) * cos(lat) * cos(longi);
+  cartesianOutput[1] = (auxRadius + alt) * cos(lat) * sin(longi);
+  cartesianOutput[2] = ((1 - pow(eccentricity, 2)) * auxRadius + alt) * sin(lat);
+};
+
+void CoordinateTransformations::latLongAltFromCartesian(const double* vector, double& latitude,
+                                                        double& longitude, double& altitude) {
+  /* @brief:  latLongAltFromCartesian() - calculates latitude, longitude and altitude from
+   * cartesian coordinates in ECEF
+   * @param:  x   			x-value of position vector [m]
+   * 			y 				y-value of position vector [m]
+   * 			z				z-value of position vector [m]
+   * 			latitude 		geodetic latitude [rad]
+   * 			longitude		longitude [rad]
+   * 			altitude		altitude [m]
+   * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.35 f
+   * 			Landis Markley and John L. Crassidis*/
+  // From World Geodetic System the Earth Radii
+  double a = 6378137.0;     // semimajor axis [m]
+  double b = 6356752.3142;  // semiminor axis [m]
+
+  // Calculation
+  double e2 = 1 - pow(b, 2) / pow(a, 2);
+  double epsilon2 = pow(a, 2) / pow(b, 2) - 1;
+  double rho = sqrt(pow(vector[0], 2) + pow(vector[1], 2));
+  double p = std::abs(vector[2]) / epsilon2;
+  double s = pow(rho, 2) / (e2 * epsilon2);
+  double q = pow(p, 2) - pow(b, 2) + s;
+  double u = p / sqrt(q);
+  double v = pow(b, 2) * pow(u, 2) / q;
+  double P = 27 * v * s / q;
+  double Q = pow(sqrt(P + 1) + sqrt(P), 2. / 3.);
+  double t = (1 + Q + 1 / Q) / 6;
+  double c = sqrt(pow(u, 2) - 1 + 2 * t);
+  double w = (c - u) / 2;
+  double d = sign(vector[2]) * sqrt(q) * (w + sqrt(sqrt(pow(t, 2) + v) - u * w - t / 2 - 1. / 4.));
+  double N = a * sqrt(1 + epsilon2 * pow(d, 2) / pow(b, 2));
+  latitude = asin((epsilon2 + 1) * d / N);
+  altitude = rho * cos(latitude) + vector[2] * sin(latitude) - pow(a, 2) / N;
+  longitude = atan2(vector[1], vector[0]);
+}

src/fsfw/coordinates/CoordinateTransformations.h

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

src/fsfw/coordinates/Sgp4Propagator.cpp

@@ -166,9 +166,9 @@ ReturnValue_t Sgp4Propagator::propagate(double* position, double* velocity, time
   timeval timeSinceEpoch = time - epoch;
   double minutesSinceEpoch = timeSinceEpoch.tv_sec / 60. + timeSinceEpoch.tv_usec / 60000000.;
 
-  double monthsSinceEpoch = minutesSinceEpoch / 60 / 24 / 30;
+  double daysSinceEpoch = minutesSinceEpoch / 60 / 24;
 
-  if ((monthsSinceEpoch > 1) || (monthsSinceEpoch < -1)) {
+  if ((daysSinceEpoch > 7) || (daysSinceEpoch < -7)) {
     return TLE_TOO_OLD;
   }
 

src/fsfw/devicehandlers/CMakeLists.txt

@@ -7,4 +7,5 @@ target_sources(
           DeviceHandlerFailureIsolation.cpp
           DeviceHandlerMessage.cpp
           DeviceTmReportingWrapper.cpp
+          FreshDeviceHandlerBase.cpp
           HealthDevice.cpp)

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

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

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.h

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

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -85,6 +85,7 @@ class DeviceHandlerIF {
   static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
   static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
   static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
+  static const ReturnValue_t NON_OP_STATE_OF_CHARGE = MAKE_RETURN_CODE(0xAB);
 
   // Standard codes used in scanForReply
   static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -0,0 +1,201 @@
+#include "FreshDeviceHandlerBase.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerFailureIsolation.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/subsystem/helper.h"
+
+FreshDeviceHandlerBase::FreshDeviceHandlerBase(DhbConfig config)
+    : SystemObject(config.objectId),
+      actionHelper(this, nullptr),
+      modeHelper(this),
+      healthHelper(this, getObjectId()),
+      paramHelper(this),
+      poolManager(this, nullptr),
+      defaultFdirParent(config.defaultFdirParent) {
+  auto mqArgs = MqArgs(config.objectId, static_cast<void*>(this));
+  messageQueue = QueueFactory::instance()->createMessageQueue(
+      config.msgQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
+FreshDeviceHandlerBase::~FreshDeviceHandlerBase() {
+  QueueFactory::instance()->deleteMessageQueue(messageQueue);
+  if (not hasCustomFdir) {
+    delete fdirInstance;
+  }
+}
+
+[[nodiscard]] object_id_t FreshDeviceHandlerBase::getObjectId() const {
+  return SystemObject::getObjectId();
+}
+
+ReturnValue_t FreshDeviceHandlerBase::performOperation(uint8_t opCode) {
+  performDeviceOperationPreQueueHandling(opCode);
+  handleQueue();
+  performDeviceOperation(opCode);
+  poolManager.performHkOperation();
+  return returnvalue::OK;
+}
+
+ReturnValue_t FreshDeviceHandlerBase::performDeviceOperationPreQueueHandling(uint8_t opCode) {
+  return returnvalue::OK;
+}
+
+void FreshDeviceHandlerBase::startTransition(Mode_t mode_, Submode_t submode_) {
+  triggerEvent(CHANGING_MODE, mode_, submode_);
+  // Complete mode transition immediately by default.
+  setMode(mode_, submode_);
+}
+
+void FreshDeviceHandlerBase::setMode(Mode_t newMode, Submode_t newSubmode) {
+  mode = newMode;
+  submode = newSubmode;
+  modeHelper.modeChanged(mode, submode);
+  modeChanged(mode, submode);
+  announceMode(false);
+}
+
+void FreshDeviceHandlerBase::setMode(Mode_t newMode) { setMode(newMode, submode); }
+
+void FreshDeviceHandlerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
+  *mode_ = this->mode;
+  *submode_ = this->submode;
+}
+
+void FreshDeviceHandlerBase::announceMode(bool recursive) {
+  triggerEvent(MODE_INFO, mode, submode);
+}
+
+void FreshDeviceHandlerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
+
+[[nodiscard]] MessageQueueId_t FreshDeviceHandlerBase::getCommandQueue() const {
+  return messageQueue->getId();
+}
+
+ReturnValue_t FreshDeviceHandlerBase::handleQueue() {
+  CommandMessage command;
+  ReturnValue_t result;
+  for (result = messageQueue->receiveMessage(&command); result == returnvalue::OK;
+       result = messageQueue->receiveMessage(&command)) {
+    result = actionHelper.handleActionMessage(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+
+    result = modeHelper.handleModeCommand(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+
+    result = healthHelper.handleHealthCommand(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+
+    result = paramHelper.handleParameterMessage(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+
+    result = poolManager.handleHousekeepingMessage(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+
+    result = handleCommandMessage(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+    command.setToUnknownCommand();
+    messageQueue->reply(&command);
+  }
+  return result;
+}
+
+HasHealthIF::HealthState FreshDeviceHandlerBase::getHealth() { return healthHelper.getHealth(); }
+
+const HasHealthIF* FreshDeviceHandlerBase::getOptHealthIF() const { return this; }
+
+const HasModesIF& FreshDeviceHandlerBase::getModeIF() const { return *this; }
+
+ModeTreeChildIF& FreshDeviceHandlerBase::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t FreshDeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+}
+
+// Executable Overrides.
+void FreshDeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
+
+// Pool Manager overrides.
+LocalDataPoolManager* FreshDeviceHandlerBase::getHkManagerHandle() { return &poolManager; }
+
+[[nodiscard]] uint32_t FreshDeviceHandlerBase::getPeriodicOperationFrequency() const {
+  return this->executingTask->getPeriodMs();
+}
+
+ReturnValue_t FreshDeviceHandlerBase::initializeAfterTaskCreation() {
+  return poolManager.initializeAfterTaskCreation();
+}
+
+ReturnValue_t FreshDeviceHandlerBase::setHealth(HasHealthIF::HealthState health) {
+  // Assembly should handle commanding to OFF.
+  healthHelper.setHealth(health);
+  return returnvalue::OK;
+}
+
+void FreshDeviceHandlerBase::triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
+  fdirInstance->triggerEvent(event, parameter1, parameter2);
+}
+
+void FreshDeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1,
+                                          uint32_t parameter2) const {
+  fdirInstance->triggerEvent(event, parameter1, parameter2);
+}
+
+void FreshDeviceHandlerBase::setToExternalControl() { setHealth(HealthState::EXTERNAL_CONTROL); }
+
+// System Object overrides.
+ReturnValue_t FreshDeviceHandlerBase::initialize() {
+  ReturnValue_t result = modeHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = healthHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = actionHelper.initialize(messageQueue);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = paramHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  result = poolManager.initialize(messageQueue);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (fdirInstance == nullptr) {
+    hasCustomFdir = false;
+    fdirInstance = new DeviceHandlerFailureIsolation(getObjectId(), defaultFdirParent);
+  }
+
+  result = fdirInstance->initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return SystemObject::initialize();
+}
+
+ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId,
+                                                   ParameterWrapper* parameterWrapper,
+                                                   const ParameterWrapper* newValues,
+                                                   uint16_t startAtIndex) {
+  ReturnValue_t result =
+      fdirInstance->getParameter(domainId, uniqueId, parameterWrapper, newValues, startAtIndex);
+  if (result != INVALID_DOMAIN_ID) {
+    return result;
+  }
+  return INVALID_DOMAIN_ID;
+}

src/fsfw/devicehandlers/FreshDeviceHandlerBase.h

@@ -0,0 +1,167 @@
+#pragma once
+
+#include "fsfw/action.h"
+#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/fdir/FailureIsolationBase.h"
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthHelper.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager.h"
+#include "fsfw/parameters/ParameterHelper.h"
+#include "fsfw/parameters/ReceivesParameterMessagesIF.h"
+#include "fsfw/retval.h"
+#include "fsfw/subsystem/ModeTreeChildIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
+
+struct DhbConfig {
+  explicit DhbConfig(object_id_t objectId) : objectId(objectId) {}
+  object_id_t objectId;
+  FailureIsolationBase* fdirInstance = nullptr;
+  object_id_t defaultFdirParent = objects::NO_OBJECT;
+  uint32_t msgQueueDepth = 10;
+};
+
+class FreshDeviceHandlerBase : public SystemObject,
+                               public DeviceHandlerIF,
+                               public HasModesIF,
+                               public HasHealthIF,
+                               public ExecutableObjectIF,
+                               public ModeTreeChildIF,
+                               public ModeTreeConnectionIF,
+                               public HasActionsIF,
+                               public ReceivesParameterMessagesIF,
+                               public HasLocalDataPoolIF {
+ public:
+  explicit FreshDeviceHandlerBase(DhbConfig config);
+  ~FreshDeviceHandlerBase() override;
+
+  /**
+   * Periodic helper executed function, implemented by child class.
+   */
+  virtual void performDeviceOperation(uint8_t opCode) = 0;
+
+  [[nodiscard]] object_id_t getObjectId() const override;
+
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+
+  HasHealthIF::HealthState getHealth() override;
+
+  // Mode Tree Overrides.
+  [[nodiscard]] const HasHealthIF* getOptHealthIF() const override;
+  [[nodiscard]] const HasModesIF& getModeIF() const override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
+
+  [[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
+
+ protected:
+  // Pool Manager overrides.
+  LocalDataPoolManager* getHkManagerHandle() override;
+  ActionHelper actionHelper;
+  ModeHelper modeHelper;
+  HealthHelper healthHelper;
+  ParameterHelper paramHelper;
+  LocalDataPoolManager poolManager;
+
+  bool hasCustomFdir = false;
+  FailureIsolationBase* fdirInstance;
+  object_id_t defaultFdirParent;
+
+  /**
+   * Pointer to the task which executes this component,
+   * is invalid before setTaskIF was called.
+   */
+  PeriodicTaskIF* executingTask = nullptr;
+
+  Mode_t mode = HasModesIF::MODE_UNDEFINED;
+  Submode_t submode = 0;
+
+  MessageQueueIF* messageQueue;
+
+  /**
+   * The default queue handler will process all messages for the interfaces implemented
+   * by this class. If there are special requirements, for example that action commands are
+   * received on a different queue, the user can override this function for those special
+   * requirements.
+   */
+  virtual ReturnValue_t handleQueue();
+
+  // Mode Helpers.
+  virtual void modeChanged(Mode_t mode, Submode_t submode);
+  /**
+   * The default implementation sets the new mode immediately. If this is not applicable for
+   * certain modes, the user should provide a custom implementation, which performs rougly
+   * the same functionality of this function, when all the steps have been taken to reach the
+   * new mode.
+   */
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  virtual void setMode(Mode_t newMode, Submode_t newSubmode);
+  virtual void setMode(Mode_t newMode);
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+  void setToExternalControl() override;
+  void announceMode(bool recursive) override;
+  // System Object overrides.
+  ReturnValue_t initialize() override;
+
+  /**
+   * Implemented by child class. Handle all command messages which are
+   * not health, mode, action or housekeeping messages.
+   * @param message
+   * @return
+   */
+  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
+
+  // HK manager abstract functions.
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override = 0;
+
+  // Mode abstract functions
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override = 0;
+  // Health Overrides.
+  ReturnValue_t setHealth(HealthState health) override;
+  // Action override. Forward to user.
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override = 0;
+  // Executable overrides.
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initializeAfterTaskCreation() override;
+
+  /**
+   * This calls the FDIR instance event trigger function.
+   * @param event
+   * @param parameter1
+   * @param parameter2
+   */
+  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
+  /**
+   * This calls the FDIR instance event forward function.
+   * @param event
+   * @param parameter1
+   * @param parameter2
+   */
+  void forwardEvent(Event event, uint32_t parameter1, uint32_t parameter2) const override;
+  /**
+   * This implementation handles the FDIR parameters. The user can override this to handle
+   * custom parameters.
+   * @param domainId
+   * @param uniqueId
+   * @param parameterWrapper
+   * @param newValues
+   * @param startAtIndex
+   * @return
+   */
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
+
+  virtual ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode);
+
+ private:
+  // Executable Overrides.
+  void setTaskIF(PeriodicTaskIF* task) override;
+};

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -148,25 +148,16 @@ void FailureIsolationBase::doConfirmFault(EventMessage* event) {
 ReturnValue_t FailureIsolationBase::confirmFault(EventMessage* event) { return YOUR_FAULT; }
 
 void FailureIsolationBase::triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
-  // With this mechanism, all events are disabled for a certain device.
-  // That's not so good for visibility.
-  if (isFdirDisabledForSeverity(event::getSeverity(event))) {
-    return;
-  }
+  // By default, we trigger all events and also call the handler function to handle FDIR reactions
+  // which might occur due to these events. This makes all events visible. If the handling of
+  // FDIR reaction should be disabled, this should be done through dedicated logic inside the
+  // eventReceived function.
   EventMessage message(event, ownerId, parameter1, parameter2);
   EventManagerIF::triggerEvent(&message, eventQueue->getId());
   eventReceived(&message);
 }
 
-bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) {
-  if ((owner != NULL) && (severity != severity::INFO)) {
-    if (owner->getHealth() == HasHealthIF::EXTERNAL_CONTROL) {
-      // External control disables handling of fault messages.
-      return true;
-    }
-  }
-  return false;
-}
+bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) { return false; }
 
 void FailureIsolationBase::throwFdirEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
   EventMessage message(event, ownerId, parameter1, parameter2);

src/fsfw/fdir/FailureIsolationBase.h

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

src/fsfw/globalfunctions/math/MatrixOperations.h

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

src/fsfw/globalfunctions/math/QuaternionOperations.cpp

@@ -39,6 +39,48 @@ void QuaternionOperations::inverse(const double* quaternion, double* inverseQuat
   VectorOperations<double>::mulScalar(inverseQuaternion, -1, inverseQuaternion, 3);
 }
 
+void QuaternionOperations::slerp(const double q1[4], const double q2[4], const double weight,
+                                 double q[4]) {
+  double q1s[4] = {0, 0, 0, 0}, q2I[4] = {0, 0, 0, 0}, qD[4] = {0, 0, 0, 0}, left[4] = {0, 0, 0, 0},
+         right[4] = {0, 0, 0, 0}, angle = 0;
+
+  // we need to be able to invert this quaternion
+  std::memcpy(q1s, q1, 4 * sizeof(double));
+  // calculate angle between orientations
+  inverse(q2, q2I);
+  multiply(q1s, q2I, qD);
+  angle = std::acos(qD[3]);
+
+  if (std::cos(angle) < 0.0) {
+    // we need to invert one quaternion
+    VectorOperations<double>::mulScalar(q1s, -1, q1s, 4);
+    multiply(q1s, q2I, qD);
+    angle = std::acos(qD[3]);
+  }
+
+  if (std::sin(angle) == 0.0) {
+    // nothing to calculate here
+    std::memcpy(q, q1s, 4 * sizeof(double));
+    return;
+  }
+
+  VectorOperations<double>::mulScalar(q1s, std::sin((1 - weight) * angle) / std::sin(angle), left,
+                                      4);
+  VectorOperations<double>::mulScalar(q2, std::sin(weight * angle) / std::sin(angle), right, 4);
+  VectorOperations<double>::add(left, right, q, 4);
+
+  normalize(q);
+}
+
+void QuaternionOperations::preventSignJump(double qNew[4], const double qOld[4]) {
+  double qDiff[4] = {0, 0, 0, 0}, qSum[4] = {0, 0, 0, 0};
+  VectorOperations<double>::subtract(qOld, qNew, qDiff, 4);
+  VectorOperations<double>::add(qOld, qNew, qSum, 4);
+  if (VectorOperations<double>::norm(qDiff, 4) > VectorOperations<double>::norm(qSum, 4)) {
+    VectorOperations<double>::mulScalar(qNew, -1, qNew, 4);
+  }
+}
+
 QuaternionOperations::QuaternionOperations() {}
 
 void QuaternionOperations::normalize(const double* quaternion, double* unitQuaternion) {
@@ -120,3 +162,25 @@ double QuaternionOperations::getAngle(const double* quaternion, bool abs) {
     }
   }
 }
+
+void QuaternionOperations::rotationFromQuaternions(const double qNew[4], const double qOld[4],
+                                                   const double timeDelta, double rotRate[3]) {
+  double qOldInv[4] = {0, 0, 0, 0};
+  double qDelta[4] = {0, 0, 0, 0};
+
+  inverse(qOld, qOldInv);
+  multiply(qNew, qOldInv, qDelta);
+  if (VectorOperations<double>::norm(qDelta, 4) != 0.0) {
+    normalize(qDelta);
+  }
+  if (VectorOperations<double>::norm(qDelta, 3) == 0.0) {
+    rotRate[0] = 0.0;
+    rotRate[1] = 0.0;
+    rotRate[2] = 0.0;
+    return;
+  }
+  double rotVec[3] = {0, 0, 0};
+  double angle = getAngle(qDelta);
+  VectorOperations<double>::normalize(qDelta, rotVec, 3);
+  VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotRate, 3);
+}

src/fsfw/globalfunctions/math/QuaternionOperations.h

@@ -23,6 +23,13 @@ class QuaternionOperations {
 
   static void inverse(const double *quaternion, double *inverseQuaternion);
 
+  static void slerp(const double q1[4], const double q2[4], const double weight, double q[4]);
+
+  static void rotationFromQuaternions(const double qNew[4], const double qOld[4],
+                                      const double timeDelta, double rotRate[3]);
+
+  static void preventSignJump(double qNew[4], const double qOld[4]);
+
   /**
    * returns angle in ]-Pi;Pi] or [0;Pi] if abs == true
    */

src/fsfw/globalfunctions/math/VectorOperations.h

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

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -21,7 +21,7 @@ TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
     : TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, msgQueueDepth, tmStoreId, tcStoreId) {
   mutex = MutexFactory::instance()->createMutex();
   // Connection is always up, TM is requested by connecting to server and receiving packets
-  registerCommConnect();
+  TmTcBridge::registerCommConnect();
 }
 
 ReturnValue_t TcpTmTcBridge::initialize() {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -123,6 +123,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   StorageManagerIF* tmStore = nullptr;
 
  private:
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t CONN_BROKEN = returnvalue::makeCode(1, 0);
   //! TMTC bridge is cached.
   object_id_t tmtcBridgeId = objects::NO_OBJECT;

src/fsfw/power/PowerSwitcherComponent.h

@@ -38,6 +38,8 @@ class PowerSwitcherComponent : public SystemObject,
 
  protected:
   PowerSwitcher switcher;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t *msToReachTheMode) override;
 
  private:
   MessageQueueIF *queue = nullptr;
@@ -56,8 +58,6 @@ class PowerSwitcherComponent : public SystemObject,
 
   [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
   void getMode(Mode_t *mode, Submode_t *submode) override;
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t *msToReachTheMode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   virtual void performFaultyOperation();
   void setToExternalControl() override;

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -43,6 +43,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
   static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5);
   static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6);
+  static constexpr ReturnValue_t MAP_IS_FULL = returnvalue::makeCode(CLASS_ID, 7);
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
 

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -150,6 +150,9 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleResetCom
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
     const uint8_t *data, size_t size) {
+  if (telecommandMap.full()) {
+    return MAP_IS_FULL;
+  }
   uint32_t timestamp = 0;
   ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
   if (result != returnvalue::OK) {

src/fsfw/pus/Service9TimeManagement.cpp

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

src/fsfw/pus/Service9TimeManagement.h

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

src/fsfw/returnvalues/FwClassIds.h

@@ -61,7 +61,8 @@ enum : uint8_t {
   HAS_ACTIONS_IF,                 // HF
   DEVICE_COMMUNICATION_IF,        // DC
   BSP,                            // BSP
-  CFDP,                           // CFDP
+  CFDP_BASE,                      // CFDP
+  CFDP_HANDLER,                   // CFDP
   TIME_STAMPER_IF,                // TSI
   SGP4PROPAGATOR_CLASS,           // SGP4
   MUTEX_IF,                       // MUX

src/fsfw/serialize/SerialBufferAdapter.cpp

@@ -107,14 +107,6 @@ uint8_t* SerialBufferAdapter<count_t>::getBuffer() {
 
 template <typename count_t>
 const uint8_t* SerialBufferAdapter<count_t>::getConstBuffer() const {
-  if (constBuffer == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "SerialBufferAdapter::getConstBuffer:"
-                  " Buffers are unitialized!"
-               << std::endl;
-#endif
-    return nullptr;
-  }
   return constBuffer;
 }
 

src/fsfw/serialize/SerialBufferAdapter.h

@@ -63,7 +63,17 @@ class SerialBufferAdapter : public SerializeIF {
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 
+  /**
+   * Please note that this function can also return a nullpointer in case the length field contains
+   * 0.
+   * @return
+   */
   uint8_t* getBuffer();
+  /**
+   * Please note that this function can also return a nullpointer in case the length field contains
+   * 0.
+   * @return
+   */
   [[nodiscard]] const uint8_t* getConstBuffer() const;
   void setConstBuffer(const uint8_t* buf, count_t bufLen);
 

src/fsfw/storagemanager/LocalPool.cpp

@@ -89,7 +89,7 @@ ReturnValue_t LocalPool::deleteData(store_address_t storeId) {
   ReturnValue_t status = returnvalue::OK;
   size_type pageSize = getSubpoolElementSize(storeId.poolIndex);
   if ((pageSize != 0) and (storeId.packetIndex < numberOfElements[storeId.poolIndex])) {
-    uint16_t packetPosition = getRawPosition(storeId);
+    size_type packetPosition = getRawPosition(storeId);
     uint8_t* ptr = &store[storeId.poolIndex][packetPosition];
     std::memset(ptr, 0, pageSize);
     // Set free list

src/fsfw/tmtcservices/PusServiceBase.cpp

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

src/fsfw/tmtcservices/PusServiceBase.h

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

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -23,18 +23,8 @@ TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDes
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
 
-ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle) {
-  if (sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
-    this->sentPacketsPerCycle = sentPacketsPerCycle;
-    return returnvalue::OK;
-  } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
-                 << "packets sent per cycle exceeds limits. "
-                 << "Keeping default value." << std::endl;
-#endif
-    return returnvalue::FAILED;
-  }
+void TmTcBridge::setNumberOfSentPacketsPerCycle(uint32_t sentPacketsPerCycle_) {
+  this->sentPacketsPerCycle = sentPacketsPerCycle_;
 }
 
 ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) {
@@ -144,8 +134,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 3 */
 
-    if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) {
-      ReturnValue_t result = storeDownlinkData(&message);
+    if (!communicationLinkUp or packetSentCounter >= sentPacketsPerCycle) {
+      result = storeDownlinkData(&message);
       if (result != returnvalue::OK) {
         tmStore->deleteData(message.getStorageId());
       }

src/fsfw/tmtcservices/TmTcBridge.h

@@ -15,10 +15,9 @@ class TmTcBridge : public AcceptsTelemetryIF,
                    public ExecutableObjectIF,
                    public SystemObject {
  public:
-  static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
   static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500;
 
-  static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
+  static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 20;
   static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
 
   TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
@@ -32,7 +31,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    * @return -@c returnvalue::OK if value was set successfully
    *         -@c returnvalue::FAILED otherwise, stored value stays the same
    */
-  ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
+  void setNumberOfSentPacketsPerCycle(uint32_t sentPacketsPerCycle);
 
   /**
    * Set number of packets sent per performOperation().Please note that this
@@ -151,7 +150,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    * This FIFO can be used to store downlink data which can not be sent at the moment.
    */
   DynamicFIFO<store_address_t>* tmFifo = nullptr;
-  uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
+  uint32_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
   unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 

src/fsfw_hal/linux/serial/helper.cpp

@@ -1,6 +1,8 @@
 #include <fsfw_hal/linux/serial/helper.h>
 #include <sys/ioctl.h>
+#include <termios.h>
 
+#include "FSFWConfig.h"
 #include "fsfw/serviceinterface.h"
 
 void serial::setMode(struct termios& options, UartModes mode) {
@@ -108,7 +110,7 @@ void serial::setBaudrate(struct termios& options, UartBaudRate baud) {
 #endif  // ! __APPLE__
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+      sif::warning << "serial::configureBaudrate: Baudrate not supported" << std::endl;
 #endif
       break;
   }
@@ -153,15 +155,17 @@ int serial::readCountersAndErrors(int serialPort, serial_icounter_struct& icount
 }
 
 void serial::setStopbits(struct termios& options, StopBits bits) {
+  // Regular case: One stop bit.
+  options.c_cflag &= ~CSTOPB;
   if (bits == StopBits::TWO_STOP_BITS) {
     // Use two stop bits
     options.c_cflag |= CSTOPB;
-  } else {
-    // Clear stop field, only one stop bit used in communication
-    options.c_cflag &= ~CSTOPB;
   }
 }
 
 void serial::flushRxBuf(int fd) { tcflush(fd, TCIFLUSH); }
 
+void serial::flushTxBuf(int fd) { tcflush(fd, TCOFLUSH); }
+
 void serial::flushTxRxBuf(int fd) { tcflush(fd, TCIOFLUSH); }
+

src/fsfw_hal/linux/serial/helper.h

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

src/fsfw_hal/stm32h7/spi/SpiComIF.cpp

@@ -282,7 +282,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
 #endif
 #endif
       spiCookie.setTransferState(spi::TransferStates::FAILURE);
-      return spi::HAL_TIMEOUT_RETVAL;
+      return spi::TIMEOUT;
     }
     case (HAL_ERROR):
     default: {
@@ -296,7 +296,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
 #endif
 #endif
       spiCookie.setTransferState(spi::TransferStates::FAILURE);
-      return spi::HAL_ERROR_RETVAL;
+      return spi::GENERIC_ERROR;
     }
   }
   return returnvalue::OK;

src/fsfw_hal/stm32h7/spi/spiDefinitions.h

@@ -9,11 +9,6 @@
 
 namespace spi {
 
-static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI;
-static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL = returnvalue::makeCode(HAL_SPI_ID, 0);
-static constexpr ReturnValue_t HAL_BUSY_RETVAL = returnvalue::makeCode(HAL_SPI_ID, 1);
-static constexpr ReturnValue_t HAL_ERROR_RETVAL = returnvalue::makeCode(HAL_SPI_ID, 2);
-
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
 
 enum SpiBus { SPI_1, SPI_2 };

unittests/cfdp/handler/testReservedMsgParser.cpp

@@ -40,10 +40,10 @@ TEST_CASE("Reserved Message Parser", "[cfdp]") {
   serLen = 0;
   ReturnValue_t result = creator.serializeBe(buffer.data(), serLen, buffer.size());
   CHECK(result == returnvalue::OK);
-  arrayprinter::print(buffer.data(), serLen);
-
+  MessageToUserTlv msgToUser;
+  CHECK(msgToUser.deSerializeBe(buffer.data(), serLen, buffer.size()) == OK);
   ReservedMessageParser parser(ipcStore, msgQueue, destQueueId);
-  REQUIRE(parser.parse(buffer.data(), serLen) == OK);
+  REQUIRE(parser.parse(&msgToUser, 1) == OK);
   CommandMessage msg;
   CHECK(msgQueue.wasMessageSent());
   CHECK(msgQueue.numberOfSentMessages() == 1);