CFDP bugfix

.gitignore

@@ -1,5 +1,5 @@
 # PyCharm and CLion
-.idea/*
+/.idea/*
 !/.idea/runConfigurations
 !/.idea/cmake.xml
 !/.idea/codeStyles

.idea/cmake.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeSharedSettings">
-    <configurations>
-      <configuration PROFILE_NAME="Debug Test" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON" NO_GENERATOR="true" />
-    </configurations>
-  </component>
-</project>

CHANGELOG.md

@@ -10,8 +10,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
-- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
-  data with a size limited only by the size of `size_t`.
 - Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
   number fields stored the actual length of the field instead of the length minus 1 like specified
   in the CFDP standard.
@@ -27,14 +25,8 @@ 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
 - Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
@@ -43,9 +35,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
 - 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
 
@@ -121,8 +110,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
-- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
 - Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
 - `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.

docs/conf.py

@@ -51,10 +51,7 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 html_theme = "alabaster"
 
 html_theme_options = {
-    "extra_nav_links": {
-        "Impressum": "https://www.uni-stuttgart.de/impressum",
-        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
-    }
+    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
 }
 
 

src/fsfw/CMakeLists.txt

@@ -32,7 +32,6 @@ add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
 add_subdirectory(tmtcservices)
 add_subdirectory(filesystem)
-add_subdirectory(util)
 
 # Optional
 

src/fsfw/action/ActionHelper.cpp

@@ -59,24 +59,17 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
-  bool hasAdditionalData = false;
   const uint8_t* dataPtr = nullptr;
   size_t size = 0;
-  ReturnValue_t result;
-  if (dataAddress != store_address_t::invalid()) {
-    hasAdditionalData = true;
-    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-    if (result != returnvalue::OK) {
-      CommandMessage reply;
-      ActionMessage::setStepReply(&reply, actionId, 0, result);
-      queueToUse->sendMessage(commandedBy, &reply);
-      return;
-    }
+  ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+  if (result != returnvalue::OK) {
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, result);
+    queueToUse->sendMessage(commandedBy, &reply);
+    return;
   }
   result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-  if (hasAdditionalData) {
-    ipcStore->deleteData(dataAddress);
-  }
+  ipcStore->deleteData(dataAddress);
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
     ActionMessage::setCompletionReply(&reply, actionId, true, result);

src/fsfw/action/CommandActionHelper.h

@@ -16,8 +16,8 @@ class CommandActionHelper {
  public:
   explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
-                              const uint8_t* data = nullptr, uint32_t size = 0);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
+                              uint32_t size);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);

src/fsfw/cfdp.h

@@ -2,9 +2,7 @@
 #define FSFW_CFDP_H
 
 #include "cfdp/definitions.h"
-#include "cfdp/handler/DestHandler.h"
 #include "cfdp/handler/FaultHandlerBase.h"
-#include "cfdp/helpers.h"
 #include "cfdp/tlv/Lv.h"
 #include "cfdp/tlv/StringLv.h"
 #include "cfdp/tlv/Tlv.h"

src/fsfw/cfdp/CfdpMessage.cpp

@@ -4,9 +4,8 @@ CfdpMessage::CfdpMessage() = default;
 
 CfdpMessage::~CfdpMessage() = default;
 
-void CfdpMessage::setPutRequest(CommandMessage *message, store_address_t putRequest) {
-  message->setCommand(PUT_REQUEST);
-  message->setParameter(putRequest.raw);
+void CfdpMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
+  message->setParameter(cfdpPacket.raw);
 }
 
 store_address_t CfdpMessage::getStoreId(const CommandMessage *message) {

src/fsfw/cfdp/CfdpMessage.h

@@ -11,11 +11,9 @@ class CfdpMessage {
 
  public:
   static const uint8_t MESSAGE_ID = messagetypes::CFDP;
-  static const Command_t PUT_REQUEST = MAKE_COMMAND_ID(1);
-  static const Command_t CANCEL_REQUEST = MAKE_COMMAND_ID(1);
 
   virtual ~CfdpMessage();
-  static void setPutRequest(CommandMessage* message, store_address_t putRequest);
+  static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
 
   static store_address_t getStoreId(const CommandMessage* message);
 

src/fsfw/cfdp/FileSize.h

@@ -8,14 +8,11 @@
 
 namespace cfdp {
 
-/**
- * Helper type for the CFDP File Size Sensitive (FSS) fields.
- */
-struct Fss : public SerializeIF {
+struct FileSize : public SerializeIF {
  public:
-  Fss() = default;
+  FileSize() = default;
 
-  explicit Fss(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
+  explicit FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
 
   [[nodiscard]] uint64_t value() const { return fileSize; }
 

src/fsfw/cfdp/VarLenFields.cpp

@@ -3,8 +3,8 @@
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
 
-cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, uint64_t value) : VarLenField() {
-  ReturnValue_t result = this->setValueAndWidth(width, value);
+cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
+  ReturnValue_t result = this->setValue(width, value);
   if (result != returnvalue::OK) {
 #if FSFW_DISABLE_PRINTOUT == 0
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -20,8 +20,8 @@ cfdp::VarLenField::VarLenField() : width(cfdp::WidthInBytes::ONE_BYTE) { value.o
 
 cfdp::WidthInBytes cfdp::VarLenField::getWidth() const { return width; }
 
-ReturnValue_t cfdp::VarLenField::setValueAndWidth(cfdp::WidthInBytes width_, uint64_t value_) {
-  switch (width_) {
+ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value_) {
+  switch (widthInBytes) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       if (value_ > UINT8_MAX) {
         return returnvalue::FAILED;
@@ -43,18 +43,15 @@ ReturnValue_t cfdp::VarLenField::setValueAndWidth(cfdp::WidthInBytes width_, uin
       this->value.fourBytes = value_;
       break;
     }
-    case (cfdp::WidthInBytes::EIGHT_BYTES): {
-      this->value.eightBytes = value_;
-    }
     default: {
       break;
     }
   }
-  this->width = width_;
+  this->width = widthInBytes;
   return returnvalue::OK;
 }
 
-uint64_t cfdp::VarLenField::getValue() const {
+size_t cfdp::VarLenField::getValue() const {
   switch (width) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       return value.oneByte;
@@ -65,9 +62,6 @@ uint64_t cfdp::VarLenField::getValue() const {
     case (cfdp::WidthInBytes::FOUR_BYTES): {
       return value.fourBytes;
     }
-    case (cfdp::WidthInBytes::EIGHT_BYTES): {
-      return value.eightBytes;
-    }
   }
   return 0;
 }
@@ -90,10 +84,6 @@ ReturnValue_t cfdp::VarLenField::serialize(uint8_t **buffer, size_t *size, size_
     case (cfdp::WidthInBytes::FOUR_BYTES): {
       return SerializeAdapter::serialize(&value.fourBytes, buffer, size, maxSize, streamEndianness);
     }
-    case (cfdp::WidthInBytes::EIGHT_BYTES): {
-      return SerializeAdapter::serialize(&value.eightBytes, buffer, size, maxSize,
-                                         streamEndianness);
-    }
     default: {
       return returnvalue::FAILED;
     }
@@ -108,16 +98,11 @@ ReturnValue_t cfdp::VarLenField::deSerialize(cfdp::WidthInBytes width_, const ui
   return deSerialize(buffer, size, streamEndianness);
 }
 
-ReturnValue_t cfdp::VarLenField::setValue(uint64_t value_) {
-  return setValueAndWidth(getWidth(), value_);
-}
-
 ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *size,
                                              Endianness streamEndianness) {
   switch (width) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       value.oneByte = **buffer;
-      *buffer += 1;
       *size += 1;
       return returnvalue::OK;
     }
@@ -127,9 +112,6 @@ ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *siz
     case (cfdp::WidthInBytes::FOUR_BYTES): {
       return SerializeAdapter::deSerialize(&value.fourBytes, buffer, size, streamEndianness);
     }
-    case (cfdp::WidthInBytes::EIGHT_BYTES): {
-      return SerializeAdapter::deSerialize(&value.eightBytes, buffer, size, streamEndianness);
-    }
     default: {
       return returnvalue::FAILED;
     }
@@ -153,5 +135,3 @@ bool cfdp::VarLenField::operator==(const cfdp::VarLenField &other) const {
 bool cfdp::VarLenField::operator!=(const cfdp::VarLenField &other) const {
   return not(*this == other);
 }
-
-void cfdp::VarLenField::setWidth(cfdp::WidthInBytes width_) { this->width = width_; }

src/fsfw/cfdp/VarLenFields.h

@@ -25,15 +25,13 @@ class VarLenField : public SerializeIF {
   template <typename T>
   explicit VarLenField(UnsignedByteField<T> byteField);
 
-  VarLenField(cfdp::WidthInBytes width, uint64_t value);
+  VarLenField(cfdp::WidthInBytes width, size_t value);
 
   bool operator==(const VarLenField &other) const;
   bool operator!=(const VarLenField &other) const;
   bool operator<(const VarLenField &other) const;
 
-  ReturnValue_t setValueAndWidth(cfdp::WidthInBytes width, uint64_t value);
-  void setWidth(cfdp::WidthInBytes width);
-  ReturnValue_t setValue(uint64_t value);
+  ReturnValue_t setValue(cfdp::WidthInBytes, size_t value);
 
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override;
@@ -44,7 +42,7 @@ class VarLenField : public SerializeIF {
                             Endianness streamEndianness);
 
   [[nodiscard]] cfdp::WidthInBytes getWidth() const;
-  [[nodiscard]] uint64_t getValue() const;
+  [[nodiscard]] size_t getValue() const;
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   friend std::ostream &operator<<(std::ostream &os, const VarLenField &id) {
@@ -66,7 +64,7 @@ template <typename T>
 cfdp::VarLenField::VarLenField(UnsignedByteField<T> byteField)
     : width(static_cast<cfdp::WidthInBytes>(sizeof(T))) {
   static_assert((sizeof(T) % 2) == 0);
-  setValueAndWidth(width, byteField.getValue());
+  setValue(width, byteField.getValue());
 }
 
 struct EntityId : public VarLenField {
@@ -75,32 +73,6 @@ struct EntityId : public VarLenField {
   template <typename T>
   explicit EntityId(UnsignedByteField<T> byteField) : VarLenField(byteField) {}
   EntityId(cfdp::WidthInBytes width, size_t entityId) : VarLenField(width, entityId) {}
-
-  ReturnValue_t serializeAsLv(uint8_t **buffer, size_t *size, size_t maxSize) const {
-    if (buffer == nullptr or size == nullptr) {
-      return returnvalue::FAILED;
-    }
-    if (*size + 1 + getWidth() > maxSize) {
-      return SerializeIF::BUFFER_TOO_SHORT;
-    }
-    **buffer = getWidth();
-    *buffer += 1;
-    *size += 1;
-    return serialize(buffer, size, maxSize, SerializeIF::Endianness::NETWORK);
-  }
-
-  ReturnValue_t deSerializeFromLv(const uint8_t **buffer, size_t *deserLen) {
-    if (buffer == nullptr or deserLen == nullptr) {
-      return returnvalue::FAILED;
-    }
-    if (*deserLen < 2) {
-      return SerializeIF::STREAM_TOO_SHORT;
-    }
-    auto width = static_cast<WidthInBytes>(**buffer);
-    *buffer += 1;
-    *deserLen -= 1;
-    return VarLenField::deSerialize(width, buffer, deserLen, SerializeIF::Endianness::NETWORK);
-  }
 };
 
 struct TransactionSeqNum : public VarLenField {

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_BASE;
+static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
 
 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);
@@ -68,7 +68,6 @@ enum WidthInBytes : uint8_t {
   ONE_BYTE = 1,
   TWO_BYTES = 2,
   FOUR_BYTES = 4,
-  EIGHT_BYTES = 8
 };
 
 enum FileDirective : uint8_t {
@@ -143,20 +142,6 @@ enum RecordContinuationState {
   CONTAINS_START_AND_END = 0b11
 };
 
-enum class ProxyOpMessageType : uint8_t {
-  PUT_REQUEST = 0x00,
-  MSG_TO_USR = 0x01,
-  FS_REQUEST = 0x02,
-  FAULT_HANDLER_OVERRIDE = 0x03,
-  TRANSMISSION_MODE = 0x04,
-  FLOW_LABEL = 0x05,
-  SEG_CTRL = 0x06,
-  PUT_RESPONSE = 0x07,
-  FS_RESPONSE = 0x08,
-  PUT_CANCEL = 0x09,
-  CLOSURE = 0x0b
-};
-
 }  // namespace cfdp
 
 #endif /* FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_ */

src/fsfw/cfdp/handler/CMakeLists.txt

@@ -1,4 +1 @@
-target_sources(
-  ${LIB_FSFW_NAME}
-  PRIVATE SourceHandler.cpp DestHandler.cpp PutRequest.cpp
-          ReservedMessageParser.cpp FaultHandlerBase.cpp UserBase.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE FaultHandlerBase.cpp UserBase.cpp)

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -1,574 +0,0 @@
-#include "DestHandler.h"
-
-#include <etl/crc32.h>
-
-#include <utility>
-
-#include "fsfw/FSFW.h"
-#include "fsfw/cfdp/pdu/EofPduReader.h"
-#include "fsfw/cfdp/pdu/FileDataReader.h"
-#include "fsfw/cfdp/pdu/FinishedPduCreator.h"
-#include "fsfw/cfdp/pdu/PduHeaderReader.h"
-#include "fsfw/objectmanager.h"
-#include "fsfw/tmtcservices/TmTcMessage.h"
-
-using namespace returnvalue;
-
-cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
-    : tlvVec(params.maxTlvsInOnePdu),
-      msgToUserVec(params.maxTlvsInOnePdu),
-      transactionParams(params.maxFilenameLen),
-      destParams(std::move(params)),
-      fsfwParams(fsfwParams) {
-  transactionParams.pduConf.direction = cfdp::Direction::TOWARDS_SENDER;
-}
-
-const cfdp::DestHandler::FsmResult& cfdp::DestHandler::stateMachine() {
-  ReturnValue_t result;
-  uint8_t errorIdx = 0;
-  fsmRes.resetOfIteration();
-  if (fsmRes.step == TransactionStep::IDLE) {
-    for (auto infoIter = destParams.packetListRef.begin();
-         infoIter != destParams.packetListRef.end();) {
-      if (infoIter->pduType == PduType::FILE_DIRECTIVE and
-          infoIter->directiveType == FileDirective::METADATA) {
-        result = handleMetadataPdu(*infoIter);
-        checkAndHandleError(result, errorIdx);
-        // Store data was deleted in PDU handler because a store guard is used
-        destParams.packetListRef.erase(infoIter++);
-      } else {
-        infoIter++;
-      }
-    }
-    if (fsmRes.step == TransactionStep::IDLE) {
-      // To decrease the already high complexity of the software, all packets arriving before
-      // a metadata PDU are deleted.
-      for (auto infoIter = destParams.packetListRef.begin();
-           infoIter != destParams.packetListRef.end();) {
-        fsfwParams.tcStore->deleteData(infoIter->storeId);
-        infoIter++;
-      }
-      destParams.packetListRef.clear();
-    }
-
-    if (fsmRes.step != TransactionStep::IDLE) {
-      fsmRes.callStatus = CallStatus::CALL_AGAIN;
-    }
-    return updateFsmRes(errorIdx);
-  }
-  if (fsmRes.state == CfdpState::BUSY_CLASS_1_NACKED) {
-    if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
-      for (auto infoIter = destParams.packetListRef.begin();
-           infoIter != destParams.packetListRef.end();) {
-        if (infoIter->pduType == PduType::FILE_DATA) {
-          result = handleFileDataPdu(*infoIter);
-          checkAndHandleError(result, errorIdx);
-          // Store data was deleted in PDU handler because a store guard is used
-          destParams.packetListRef.erase(infoIter++);
-        } else if (infoIter->pduType == PduType::FILE_DIRECTIVE and
-                   infoIter->directiveType == FileDirective::EOF_DIRECTIVE) {
-          // TODO: Support for check timer missing
-          result = handleEofPdu(*infoIter);
-          checkAndHandleError(result, errorIdx);
-          // Store data was deleted in PDU handler because a store guard is used
-          destParams.packetListRef.erase(infoIter++);
-        } else {
-          infoIter++;
-        }
-      }
-    }
-    if (fsmRes.step == TransactionStep::TRANSFER_COMPLETION) {
-      result = handleTransferCompletion();
-      checkAndHandleError(result, errorIdx);
-    }
-    if (fsmRes.step == TransactionStep::SENDING_FINISHED_PDU) {
-      result = sendFinishedPdu();
-      checkAndHandleError(result, errorIdx);
-      finish();
-    }
-    return updateFsmRes(errorIdx);
-  }
-  if (fsmRes.state == CfdpState::BUSY_CLASS_2_ACKED) {
-    // TODO: Will be implemented at a later stage
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "CFDP state machine for acknowledged mode not implemented yet" << std::endl;
-#endif
-  }
-  return updateFsmRes(errorIdx);
-}
-
-ReturnValue_t cfdp::DestHandler::passPacket(PacketInfo packet) {
-  if (destParams.packetListRef.full()) {
-    return FAILED;
-  }
-  destParams.packetListRef.push_back(packet);
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::initialize() {
-  if (fsfwParams.tmStore == nullptr) {
-    fsfwParams.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-    if (fsfwParams.tmStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.tcStore == nullptr) {
-    fsfwParams.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-    if (fsfwParams.tcStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.msgQueue == nullptr) {
-    return FAILED;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
-  // Process metadata PDU
-  auto constAccessorPair = fsfwParams.tcStore->getData(info.storeId);
-  if (constAccessorPair.first != OK) {
-    // TODO: This is not a CFDP error. Event and/or warning?
-    return constAccessorPair.first;
-  }
-  cfdp::StringLv sourceFileName;
-  cfdp::StringLv destFileName;
-  MetadataGenericInfo metadataInfo(transactionParams.fileSize);
-  MetadataPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(),
-                           metadataInfo, tlvVec.data(), tlvVec.size());
-  ReturnValue_t result = reader.parseData();
-  // TODO: The standard does not really specify what happens if this kind of error happens
-  //       I think it might be a good idea to cache some sort of error code, which
-  //       is translated into a warning and/or event by an upper layer
-  if (result != OK) {
-    return handleMetadataParseError(result, constAccessorPair.second.data(),
-                                    constAccessorPair.second.size());
-  }
-  return startTransaction(reader);
-}
-
-ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
-  // Process file data PDU
-  auto constAccessorPair = fsfwParams.tcStore->getData(info.storeId);
-  if (constAccessorPair.first != OK) {
-    // TODO: This is not a CFDP error. Event and/or warning?
-    return constAccessorPair.first;
-  }
-  FileDataInfo fdInfo;
-  FileDataReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), fdInfo);
-  ReturnValue_t result = reader.parseData();
-  if (result != OK) {
-    return result;
-  }
-  size_t fileSegmentLen = 0;
-  const uint8_t* fileData = fdInfo.getFileData(&fileSegmentLen);
-  FileOpParams fileOpParams(transactionParams.destName.data(), fileSegmentLen);
-  fileOpParams.offset = fdInfo.getOffset().value();
-  if (destParams.cfg.indicCfg.fileSegmentRecvIndicRequired) {
-    FileSegmentRecvdParams segParams;
-    segParams.offset = fdInfo.getOffset().value();
-    segParams.id = transactionParams.transactionId;
-    segParams.length = fileSegmentLen;
-    segParams.recContState = fdInfo.getRecordContinuationState();
-    size_t segmentMetadatLen = 0;
-    auto* segMetadata = fdInfo.getSegmentMetadata(&segmentMetadatLen);
-    segParams.segmentMetadata = {segMetadata, segmentMetadatLen};
-    destParams.user.fileSegmentRecvdIndication(segParams);
-  }
-  result = destParams.user.vfs.writeToFile(fileOpParams, fileData);
-  if (result != returnvalue::OK) {
-    // TODO: Proper Error handling
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "cfdp::DestHandler: VFS file write error with code 0x" << std::hex << std::setw(2)
-               << result << std::endl;
-#endif
-    transactionParams.vfsErrorCount++;
-    if (transactionParams.vfsErrorCount < 3) {
-      // TODO: Provide execution step as parameter
-      fsfwParams.eventReporter->forwardEvent(events::FILESTORE_ERROR,
-                                             static_cast<uint8_t>(fsmRes.step), result);
-    }
-    return result;
-  } else {
-    transactionParams.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
-    transactionParams.vfsErrorCount = 0;
-  }
-  if (fdInfo.getOffset().value() + fileSegmentLen > transactionParams.progress) {
-    transactionParams.progress = fdInfo.getOffset().value() + fileSegmentLen;
-  }
-  return result;
-}
-
-ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PacketInfo& info) {
-  // Process EOF PDU
-  auto constAccessorPair = fsfwParams.tcStore->getData(info.storeId);
-  if (constAccessorPair.first != OK) {
-    // TODO: This is not a CFDP error. Event and/or warning?
-    return constAccessorPair.first;
-  }
-  EofInfo eofInfo(nullptr);
-  EofPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), eofInfo);
-  ReturnValue_t result = reader.parseData();
-  if (result != OK) {
-    return result;
-  }
-  // TODO: Error handling
-  if (eofInfo.getConditionCode() == ConditionCode::NO_ERROR) {
-    transactionParams.crc = eofInfo.getChecksum();
-    uint64_t fileSizeFromEof = eofInfo.getFileSize().value();
-    // CFDP 4.6.1.2.9: Declare file size error if progress exceeds file size
-    if (fileSizeFromEof > transactionParams.progress) {
-      // TODO: File size error
-    }
-    transactionParams.fileSize.setFileSize(fileSizeFromEof, std::nullopt);
-  }
-  if (destParams.cfg.indicCfg.eofRecvIndicRequired) {
-    destParams.user.eofRecvIndication(getTransactionId());
-  }
-  if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
-    if (fsmRes.state == CfdpState::BUSY_CLASS_1_NACKED) {
-      fsmRes.step = TransactionStep::TRANSFER_COMPLETION;
-    } else if (fsmRes.state == CfdpState::BUSY_CLASS_2_ACKED) {
-      fsmRes.step = TransactionStep::SENDING_ACK_PDU;
-    }
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t cfdp::DestHandler::handleMetadataParseError(ReturnValue_t result,
-                                                          const uint8_t* rawData, size_t maxSize) {
-  // TODO: try to extract destination ID for error
-  // TODO: Invalid metadata PDU.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Parsing Metadata PDU failed with code " << result << std::endl;
-#else
-#endif
-  PduHeaderReader headerReader(rawData, maxSize);
-  result = headerReader.parseData();
-  if (result != OK) {
-    // TODO: Now this really should not happen. Warning or error,
-    //       yield or cache appropriate returnvalue
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "Parsing Header failed" << std::endl;
-#else
-#endif
-    // TODO: Trigger appropriate event
-    return result;
-  }
-  cfdp::EntityId destId;
-  headerReader.getDestId(destId);
-  RemoteEntityCfg* remoteCfg;
-  if (not destParams.remoteCfgTable.getRemoteCfg(destId, &remoteCfg)) {
-// TODO: No remote config for dest ID. I consider this a configuration error, which is not
-//       covered by the standard.
-//       Warning or error, yield or cache appropriate returnvalue
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "No remote config exists for destination ID" << std::endl;
-#else
-#endif
-    // TODO: Trigger appropriate event
-  }
-  // TODO: Appropriate returnvalue?
-  return returnvalue::FAILED;
-}
-
-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;
-  }
-  ReturnValue_t result = OK;
-  size_t sourceNameSize = 0;
-
-  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';
-  }
-  size_t destNameSize = 0;
-  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';
-  }
-
-  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
-    if (destParams.user.vfs.isDirectory(transactionParams.destName.data())) {
-      result = tryBuildingAbsoluteDestName(destNameSize);
-      if (result != OK) {
-        return result;
-      }
-    }
-    if (destParams.user.vfs.fileExists(fparams)) {
-      result = destParams.user.vfs.truncateFile(fparams);
-      if (result != returnvalue::OK) {
-        fileErrorHandler(events::FILESTORE_ERROR, result, "file truncation error");
-        return FAILED;
-        // TODO: Relevant for filestore rejection error?
-      }
-    } else {
-      result = destParams.user.vfs.createFile(fparams);
-      if (result != OK) {
-        fileErrorHandler(events::FILESTORE_ERROR, result, "file creation error");
-        return FAILED;
-        // TODO: Relevant for filestore rejection error?
-      }
-    }
-  }
-  EntityId sourceId;
-  reader.getSourceId(sourceId);
-  if (not destParams.remoteCfgTable.getRemoteCfg(sourceId, &transactionParams.remoteCfg)) {
-    // TODO: Warning, event etc.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler" << __func__
-                 << ": No remote configuration found for destination ID "
-                 << transactionParams.pduConf.sourceId.getValue() << std::endl;
-#endif
-    return FAILED;
-  }
-  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);
-  transactionParams.pduConf.direction = Direction::TOWARDS_SENDER;
-  transactionParams.transactionId.entityId = transactionParams.pduConf.sourceId;
-  transactionParams.transactionId.seqNum = transactionParams.pduConf.seqNum;
-  transactionParams.fileSize = info.getFileSize();
-  MetadataRecvdParams params(transactionParams.transactionId, transactionParams.pduConf.sourceId,
-                             transactionParams.fileSize);
-  params.destFileName = transactionParams.destName.data();
-  params.sourceFileName = transactionParams.sourceName.data();
-  params.numberOfMsgsToUser = 0;
-  for (const auto& opt : tlvVec) {
-    if (opt.getType() == TlvType::MSG_TO_USER) {
-      msgToUserVec[params.numberOfMsgsToUser] =
-          MessageToUserTlv(opt.getValue(), opt.getLengthField());
-      params.numberOfMsgsToUser++;
-    }
-  }
-  params.msgsToUserArray = msgToUserVec.data();
-  destParams.user.metadataRecvdIndication(params);
-  return result;
-}
-
-cfdp::CfdpState cfdp::DestHandler::getCfdpState() const { return fsmRes.state; }
-
-ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
-  ReturnValue_t result;
-  if (transactionParams.checksumType != ChecksumType::NULL_CHECKSUM) {
-    result = checksumVerification();
-    if (result != OK) {
-      // TODO: Warning / error handling?
-    }
-  } else {
-    transactionParams.conditionCode = ConditionCode::NO_ERROR;
-  }
-  result = noticeOfCompletion();
-  if (result != OK) {
-  }
-  if (fsmRes.state == CfdpState::BUSY_CLASS_1_NACKED) {
-    if (transactionParams.closureRequested) {
-      fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
-    } else {
-      finish();
-    }
-  } else if (fsmRes.state == CfdpState::BUSY_CLASS_2_ACKED) {
-    fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::tryBuildingAbsoluteDestName(size_t destNameSize) {
-  // A path may only have a maximum of 256 characters in CFDP, so this buffer should be sufficient
-  // for all use-cases.
-  char baseNameBuf[512]{};
-  FilesystemParams fparamsSrc(transactionParams.sourceName.data());
-  size_t baseNameLen = 0;
-  ReturnValue_t result = destParams.user.vfs.getBaseFilename(fparamsSrc, baseNameBuf,
-                                                             sizeof(baseNameBuf), baseNameLen);
-  if (result != returnvalue::OK or baseNameLen == 0) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "error retrieving source base name");
-    return FAILED;
-  }
-  // Destination name + slash + base name + null termination
-  if (destNameSize + 1 + baseNameLen + 1 > transactionParams.destName.size()) {
-    fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0,
-                     "dest filename too large after adding source base name");
-    return FAILED;
-  }
-  transactionParams.destName[destNameSize++] = '/';
-  std::memcpy(transactionParams.destName.data() + destNameSize, baseNameBuf, baseNameLen);
-  destNameSize += baseNameLen;
-  transactionParams.destName[destNameSize++] = '\0';
-  return OK;
-}
-
-void cfdp::DestHandler::fileErrorHandler(Event event, ReturnValue_t result,
-                                         const char* info) const {
-  fsfwParams.eventReporter->forwardEvent(event, static_cast<uint8_t>(fsmRes.step), result);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "cfdp::DestHandler: " << info << std::endl;
-#endif
-}
-
-void cfdp::DestHandler::finish() {
-  transactionParams.reset();
-  destParams.packetListRef.clear();
-  fsmRes.state = CfdpState::IDLE;
-  fsmRes.step = TransactionStep::IDLE;
-}
-
-ReturnValue_t cfdp::DestHandler::checksumVerification() {
-  std::array<uint8_t, 1024> buf{};
-  etl::crc32 crcCalc;
-  uint64_t currentOffset = 0;
-  FileOpParams params(transactionParams.destName.data(), transactionParams.fileSize.value());
-  while (currentOffset < transactionParams.fileSize.value()) {
-    uint64_t readLen;
-    if (currentOffset + buf.size() > transactionParams.fileSize.value()) {
-      readLen = transactionParams.fileSize.value() - currentOffset;
-    } else {
-      readLen = buf.size();
-    }
-    if (readLen > 0) {
-      params.offset = currentOffset;
-      params.size = readLen;
-      auto result = destParams.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
-        return FAILED;
-      }
-      crcCalc.add(buf.begin(), buf.begin() + readLen);
-    }
-    currentOffset += readLen;
-  }
-
-  uint32_t value = crcCalc.value();
-  if (value == transactionParams.crc) {
-    transactionParams.conditionCode = ConditionCode::NO_ERROR;
-    transactionParams.deliveryCode = FileDeliveryCode::DATA_COMPLETE;
-  } else {
-    // TODO: Proper error handling
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "CRC check for file " << transactionParams.destName.data() << " failed"
-                 << std::endl;
-#endif
-    transactionParams.conditionCode = ConditionCode::FILE_CHECKSUM_FAILURE;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::noticeOfCompletion() {
-  if (destParams.cfg.indicCfg.transactionFinishedIndicRequired) {
-    TransactionFinishedParams params(
-        transactionParams.transactionId, transactionParams.conditionCode,
-        transactionParams.deliveryCode, transactionParams.deliveryStatus);
-    destParams.user.transactionFinishedIndication(params);
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
-  FinishedInfo info(transactionParams.conditionCode, transactionParams.deliveryCode,
-                    transactionParams.deliveryStatus);
-  FinishPduCreator finishedPdu(transactionParams.pduConf, info);
-  store_address_t storeId;
-  uint8_t* dataPtr = nullptr;
-  ReturnValue_t result =
-      fsfwParams.tmStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
-  if (result != OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler:sendFinishedPdu: Getting store slot failed" << std::endl;
-#endif
-    fsfwParams.eventReporter->forwardEvent(events::STORE_ERROR, result, 0);
-    return result;
-  }
-  size_t serLen = 0;
-  result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
-  if (result != OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Serializing Finished PDU failed"
-                 << std::endl;
-#endif
-    fsfwParams.eventReporter->forwardEvent(events::SERIALIZATION_ERROR, result, 0);
-    return result;
-  }
-  TmTcMessage msg(storeId);
-  result = fsfwParams.msgQueue->sendMessage(fsfwParams.packetDest.getReportReceptionQueue(), &msg);
-  if (result != OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Sending PDU failed" << std::endl;
-#endif
-    fsfwParams.eventReporter->forwardEvent(events::MSG_QUEUE_ERROR, result, 0);
-    return result;
-  }
-  fsmRes.packetsSent++;
-  return OK;
-}
-
-cfdp::DestHandler::TransactionStep cfdp::DestHandler::getTransactionStep() const {
-  return fsmRes.step;
-}
-
-const cfdp::DestHandler::FsmResult& cfdp::DestHandler::updateFsmRes(uint8_t errors) {
-  fsmRes.errors = errors;
-  fsmRes.result = OK;
-  if (fsmRes.errors > 0) {
-    fsmRes.result = FAILED;
-  }
-  return fsmRes;
-}
-
-const cfdp::TransactionId& cfdp::DestHandler::getTransactionId() const {
-  return transactionParams.transactionId;
-}
-
-void cfdp::DestHandler::checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx) {
-  if (result != OK and errorIdx < 3) {
-    fsmRes.errorCodes[errorIdx] = result;
-    errorIdx++;
-  }
-}
-
-void cfdp::DestHandler::setMsgQueue(MessageQueueIF& queue) { fsfwParams.msgQueue = &queue; }
-
-void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
-  fsfwParams.eventReporter = &reporter;
-}
-
-const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const {
-  return destParams;
-}
-
-StorageManagerIF* cfdp::DestHandler::getTmStore() const { return fsfwParams.tmStore; }
-StorageManagerIF* cfdp::DestHandler::getTcStore() const { return fsfwParams.tcStore; }

src/fsfw/cfdp/handler/DestHandler.h

@@ -1,177 +0,0 @@
-#ifndef FSFW_CFDP_CFDPDESTHANDLER_H
-#define FSFW_CFDP_CFDPDESTHANDLER_H
-
-#include <etl/list.h>
-#include <etl/set.h>
-
-#include <optional>
-#include <utility>
-
-#include "RemoteConfigTableIF.h"
-#include "UserBase.h"
-#include "defs.h"
-#include "fsfw/cfdp/handler/mib.h"
-#include "fsfw/cfdp/pdu/MetadataPduReader.h"
-#include "fsfw/cfdp/pdu/PduConfig.h"
-#include "fsfw/cfdp/tlv/MessageToUserTlv.h"
-#include "fsfw/container/DynamicFIFO.h"
-#include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/storagemanager/storeAddress.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-
-namespace cfdp {
-
-template <size_t SIZE>
-using LostSegmentsList = etl::set<etl::pair<uint64_t, uint64_t>, SIZE>;
-using LostSegmentsListBase = etl::iset<etl::pair<uint64_t, uint64_t>>;
-
-struct DestHandlerParams {
-  DestHandlerParams(LocalEntityCfg cfg, UserBase& user, RemoteConfigTableIF& remoteCfgTable,
-                    PacketInfoListBase& packetList,
-                    // TODO: This container can potentially take tons of space. For a better
-                    //       memory efficient implementation, an additional abstraction could be
-                    //       be used so users can use uint32_t as the pair type
-                    // TODO: Actually, we can provide a better abstraction via interface, which
-                    //       allows using something like a bounded map. This simplifies
-                    //       the implementation significantly.
-                    LostSegmentsListBase& lostSegmentsContainer)
-      : cfg(std::move(cfg)),
-        user(user),
-        remoteCfgTable(remoteCfgTable),
-        packetListRef(packetList),
-        lostSegmentsContainer(lostSegmentsContainer) {}
-
-  LocalEntityCfg cfg;
-  UserBase& user;
-  RemoteConfigTableIF& remoteCfgTable;
-
-  PacketInfoListBase& packetListRef;
-  LostSegmentsListBase& lostSegmentsContainer;
-  uint8_t maxTlvsInOnePdu = 20;
-  size_t maxFilenameLen = 255;
-};
-
-class DestHandler {
- public:
-  enum class TransactionStep : uint8_t {
-    IDLE = 0,
-    TRANSACTION_START = 1,
-    RECEIVING_FILE_DATA_PDUS = 2,
-    SENDING_ACK_PDU = 3,
-    TRANSFER_COMPLETION = 4,
-    SENDING_FINISHED_PDU = 5
-  };
-
-  struct FsmResult {
-   public:
-    ReturnValue_t result = returnvalue::OK;
-    CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
-    TransactionStep step = TransactionStep::IDLE;
-    CfdpState state = CfdpState::IDLE;
-    uint32_t packetsSent = 0;
-    uint8_t errors = 0;
-    std::array<ReturnValue_t, 3> errorCodes = {};
-    void resetOfIteration() {
-      result = returnvalue::OK;
-      callStatus = CallStatus::CALL_AFTER_DELAY;
-      packetsSent = 0;
-      errors = 0;
-      errorCodes.fill(returnvalue::OK);
-    }
-  };
-  /**
-   * Will be returned if it is advisable to call the state machine operation call again
-   */
-  ReturnValue_t PARTIAL_SUCCESS = returnvalue::makeCode(0, 2);
-  ReturnValue_t FAILURE = returnvalue::makeCode(0, 3);
-  explicit DestHandler(DestHandlerParams handlerParams, FsfwParams fsfwParams);
-
-  /**
-   *
-   * @return
-   *  - @c returnvalue::OK  State machine OK for this execution cycle
-   *  - @c CALL_FSM_AGAIN   State machine should be called again.
-   */
-  const FsmResult& stateMachine();
-  void setMsgQueue(MessageQueueIF& queue);
-  void setEventReporter(EventReportingProxyIF& reporter);
-
-  ReturnValue_t passPacket(PacketInfo packet);
-
-  ReturnValue_t initialize();
-
-  [[nodiscard]] CfdpState getCfdpState() const;
-  [[nodiscard]] TransactionStep getTransactionStep() const;
-  [[nodiscard]] const TransactionId& getTransactionId() const;
-  [[nodiscard]] const DestHandlerParams& getDestHandlerParams() const;
-  [[nodiscard]] StorageManagerIF* getTcStore() const;
-  [[nodiscard]] StorageManagerIF* getTmStore() const;
-
- private:
-  struct TransactionParams {
-    // Initialize char vectors with length + 1 for 0 termination
-    explicit TransactionParams(size_t maxFileNameLen)
-        : sourceName(maxFileNameLen + 1), destName(maxFileNameLen + 1) {}
-
-    void reset() {
-      pduConf = PduConfig();
-      transactionId = TransactionId();
-      std::fill(sourceName.begin(), sourceName.end(), '\0');
-      std::fill(destName.begin(), destName.end(), '\0');
-      fileSize.setFileSize(0, false);
-      conditionCode = ConditionCode::NO_ERROR;
-      deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
-      deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
-      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;
-    std::vector<char> sourceName;
-    std::vector<char> destName;
-    cfdp::Fss fileSize;
-    TransactionId transactionId;
-    PduConfig pduConf;
-    ConditionCode conditionCode = ConditionCode::NO_ERROR;
-    FileDeliveryCode deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
-    FileDeliveryStatus deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
-    uint32_t crc = 0;
-    uint64_t progress = 0;
-    RemoteEntityCfg* remoteCfg = nullptr;
-  };
-
-  std::vector<cfdp::Tlv> tlvVec;
-  std::vector<MessageToUserTlv> msgToUserVec;
-  TransactionParams transactionParams;
-  DestHandlerParams destParams;
-  cfdp::FsfwParams fsfwParams;
-  FsmResult fsmRes;
-
-  ReturnValue_t startTransaction(const MetadataPduReader& reader);
-  ReturnValue_t handleMetadataPdu(const PacketInfo& info);
-  ReturnValue_t handleFileDataPdu(const PacketInfo& info);
-  ReturnValue_t handleEofPdu(const PacketInfo& info);
-  ReturnValue_t handleMetadataParseError(ReturnValue_t result, const uint8_t* rawData,
-                                         size_t maxSize);
-  ReturnValue_t handleTransferCompletion();
-  ReturnValue_t tryBuildingAbsoluteDestName(size_t destNameSize);
-  ReturnValue_t sendFinishedPdu();
-  ReturnValue_t noticeOfCompletion();
-  ReturnValue_t checksumVerification();
-  void fileErrorHandler(Event event, ReturnValue_t result, const char* info) const;
-  const FsmResult& updateFsmRes(uint8_t errors);
-  void checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx);
-  void finish();
-};
-
-}  // namespace cfdp
-
-#endif  // FSFW_CFDP_CFDPDESTHANDLER_H

src/fsfw/cfdp/handler/PutRequest.cpp

@@ -1,201 +0,0 @@
-#include "PutRequest.h"
-
-using namespace returnvalue;
-
-cfdp::PutRequest::PutRequest(cfdp::EntityId destId, const uint8_t *msgsToUser,
-                             size_t msgsToUserTotalSize, const uint8_t *fsRequests,
-                             size_t fsRequestsSize)
-    : destId(std::move(destId)),
-      metadataOnly(true),
-      msgsToUsersTotalSize(msgsToUserTotalSize),
-      msgsToUserStartPtr(msgsToUser),
-      fsRequestsTotalSize(fsRequestsSize),
-      fsRequestStartPtr(fsRequests) {}
-
-cfdp::PutRequest::PutRequest(cfdp::EntityId destId, cfdp::StringLv &sourceName,
-                             cfdp::StringLv &destName)
-    : destId(std::move(destId)), sourceName(std::move(sourceName)), destName(std::move(destName)) {}
-
-[[nodiscard]] bool cfdp::PutRequest::isMetadataOnly() const { return metadataOnly; }
-
-ReturnValue_t cfdp::PutRequest::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                          SerializeIF::Endianness streamEndianness) const {
-  if (buffer == nullptr or size == nullptr) {
-    return FAILED;
-  }
-  if (*size + getSerializedSize() > maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  ReturnValue_t result = destId.serializeAsLv(buffer, size, maxSize);
-  if (result != OK) {
-    return result;
-  }
-  result = SerializeAdapter::serialize(&metadataOnly, buffer, size, maxSize, streamEndianness);
-  if (result != OK) {
-    return result;
-  }
-  if (!metadataOnly) {
-    result = sourceName.serialize(buffer, size, maxSize, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result = destName.serialize(buffer, size, maxSize, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result =
-        SerializeAdapter::serialize(&hasTransmissionMode, buffer, size, maxSize, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result =
-        SerializeAdapter::serialize(&transmissionMode, buffer, size, maxSize, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result =
-        SerializeAdapter::serialize(&hasClosureRequested, buffer, size, maxSize, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result =
-        SerializeAdapter::serialize(&closureRequested, buffer, size, maxSize, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-  }
-  result =
-      SerializeAdapter::serialize(&msgsToUsersTotalSize, buffer, size, maxSize, streamEndianness);
-  if (result != OK) {
-    return result;
-  }
-  std::memcpy(*buffer, msgsToUserStartPtr, msgsToUsersTotalSize);
-  *buffer += msgsToUsersTotalSize;
-  *size += msgsToUsersTotalSize;
-
-  result =
-      SerializeAdapter::serialize(&fsRequestsTotalSize, buffer, size, maxSize, streamEndianness);
-  if (result != OK) {
-    return result;
-  }
-  std::memcpy(*buffer, fsRequestStartPtr, fsRequestsTotalSize);
-  *buffer += fsRequestsTotalSize;
-  *size += fsRequestsTotalSize;
-  return OK;
-}
-
-ReturnValue_t cfdp::PutRequest::deSerialize(const uint8_t **buffer, size_t *size,
-                                            SerializeIF::Endianness streamEndianness) {
-  if (buffer == nullptr or size == nullptr) {
-    return FAILED;
-  }
-  ReturnValue_t result = destId.deSerializeFromLv(buffer, size);
-  if (result != OK) {
-    return result;
-  }
-  result = SerializeAdapter::deSerialize(&metadataOnly, buffer, size, streamEndianness);
-  if (result != OK) {
-    return result;
-  }
-  if (!metadataOnly) {
-    result = sourceName.deSerialize(buffer, size, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result = destName.deSerialize(buffer, size, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result = SerializeAdapter::deSerialize(&hasTransmissionMode, buffer, size, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result = SerializeAdapter::deSerialize(&transmissionMode, buffer, size, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result = SerializeAdapter::deSerialize(&hasClosureRequested, buffer, size, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-    result = SerializeAdapter::deSerialize(&closureRequested, buffer, size, streamEndianness);
-    if (result != OK) {
-      return result;
-    }
-  }
-  result = SerializeAdapter::deSerialize(&msgsToUsersTotalSize, buffer, size, streamEndianness);
-  if (result != OK) {
-    return result;
-  }
-  msgsToUserStartPtr = *buffer;
-  *buffer += msgsToUsersTotalSize;
-  *size += msgsToUsersTotalSize;
-
-  result = SerializeAdapter::deSerialize(&fsRequestsTotalSize, buffer, size, streamEndianness);
-  if (result != OK) {
-    return result;
-  }
-  fsRequestStartPtr = *buffer;
-  *buffer += fsRequestsTotalSize;
-  *size += fsRequestsTotalSize;
-  return OK;
-}
-
-size_t cfdp::PutRequest::getSerializedSize() const {
-  // Entity ID LV (1 leading size byte) and the metadata only flag.
-  size_t baseSize = 1 + destId.getSerializedSize() + 1;
-  if (!metadataOnly) {
-    baseSize += sourceName.getSerializedSize() + destName.getSerializedSize() + 4;
-  }
-  baseSize += sizeof(msgsToUsersTotalSize) + msgsToUsersTotalSize + sizeof(fsRequestsTotalSize) +
-              fsRequestsTotalSize;
-  return baseSize;
-}
-
-void cfdp::PutRequest::setSourceAndDestName(cfdp::StringLv &sourceName_,
-                                            cfdp::StringLv &destName_) {
-  metadataOnly = false;
-  this->sourceName = std::move(sourceName_);
-  this->destName = std::move(destName_);
-}
-
-const cfdp::StringLv &cfdp::PutRequest::getSourceName() const { return sourceName; }
-
-const cfdp::StringLv &cfdp::PutRequest::getDestName() const { return destName; }
-
-const cfdp::EntityId &cfdp::PutRequest::getDestId() const { return destId; }
-
-void cfdp::PutRequest::setDestId(cfdp::EntityId id) { destId = std::move(id); }
-
-void cfdp::PutRequest::setTransmissionMode(cfdp::TransmissionMode transmissionMode_) {
-  this->transmissionMode = transmissionMode_;
-  hasTransmissionMode = true;
-}
-
-void cfdp::PutRequest::clearTransmissionMode() { hasTransmissionMode = false; }
-
-void cfdp::PutRequest::clearClosureRequest() { hasClosureRequested = false; }
-
-void cfdp::PutRequest::setClosureRequest(bool closureRequested_) {
-  this->closureRequested = closureRequested_;
-  hasClosureRequested = true;
-}
-
-const uint8_t *cfdp::PutRequest::getMessagesToUser(size_t &totalSize) {
-  totalSize = this->msgsToUsersTotalSize;
-  return msgsToUserStartPtr;
-}
-
-bool cfdp::PutRequest::getClosureRequested(bool &closureRequested_) const {
-  if (hasClosureRequested) {
-    closureRequested_ = this->closureRequested;
-  }
-  return hasClosureRequested;
-}
-
-bool cfdp::PutRequest::getTransmissionMode(cfdp::TransmissionMode &mode) const {
-  if (hasTransmissionMode) {
-    mode = static_cast<cfdp::TransmissionMode>(this->transmissionMode);
-  }
-  return hasTransmissionMode;
-}

src/fsfw/cfdp/handler/PutRequest.h

@@ -1,82 +0,0 @@
-#pragma once
-
-#include <optional>
-#include <vector>
-
-#include "fsfw/cfdp/VarLenFields.h"
-#include "fsfw/cfdp/tlv/FilestoreRequestTlv.h"
-#include "fsfw/cfdp/tlv/MessageToUserTlv.h"
-
-namespace cfdp {
-
-class PutRequest : public SerializeIF {
- public:
-  /**
-   * Metadata only constructor.
-   * @param destId
-   * @param msgsToUser
-   * @param msgsToUserTotalSize
-   * @param fsRequests
-   * @param fsRequestsSize
-   */
-  PutRequest(EntityId destId, const uint8_t* msgsToUser, size_t msgsToUserTotalSize,
-             const uint8_t* fsRequests, size_t fsRequestsSize);
-  /**
-   * Put request to initiate file transfers. By default, the transmission mode and closure requested
-   * parameter are not present, thereby being derived from the remote configuration for a
-   * particular destination ID.
-   * @param destId
-   * @param sourceName
-   * @param destName
-   */
-  PutRequest(EntityId destId, cfdp::StringLv& sourceName, cfdp::StringLv& destName);
-
-  /**
-   * Default constructor for deserialization.
-   */
-  PutRequest() = default;
-
-  [[nodiscard]] ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                        Endianness streamEndianness) const override;
-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            Endianness streamEndianness) override;
-  [[nodiscard]] size_t getSerializedSize() const override;
-  void setSourceAndDestName(cfdp::StringLv& sourceName, cfdp::StringLv& destName);
-
-  [[nodiscard]] const cfdp::StringLv& getSourceName() const;
-  [[nodiscard]] const cfdp::StringLv& getDestName() const;
-
-  void setTransmissionMode(cfdp::TransmissionMode transmissionMode);
-  void clearTransmissionMode();
-  void setClosureRequest(bool closureRequested);
-  void clearClosureRequest();
-
-  const uint8_t* getMessagesToUser(size_t& msgSize);
-
-  [[nodiscard]] bool isMetadataOnly() const;
-
-  bool getTransmissionMode(TransmissionMode& mode) const;
-  bool getClosureRequested(bool& closureRequested) const;
-
-  [[nodiscard]] const EntityId& getDestId() const;
-  void setDestId(EntityId id);
-
- private:
-  EntityId destId;
-  uint8_t metadataOnly = true;
-  // Transaction parameters. Omitted if the put request is metadata only.
-  cfdp::StringLv sourceName;
-
-  cfdp::StringLv destName;
-  bool hasTransmissionMode = false;
-  uint8_t transmissionMode = TransmissionMode::UNACKNOWLEDGED;
-  bool hasClosureRequested = false;
-  uint8_t closureRequested = false;
-  // Metadata
-  size_t msgsToUsersTotalSize = 0;
-  const uint8_t* msgsToUserStartPtr = nullptr;
-  size_t fsRequestsTotalSize = 0;
-  const uint8_t* fsRequestStartPtr = nullptr;
-};
-
-}  // namespace cfdp

src/fsfw/cfdp/handler/RemoteConfigTableIF.h

@@ -16,7 +16,7 @@ class RemoteConfigTableIF {
  */
 class OneRemoteConfigProvider : public RemoteConfigTableIF {
  public:
-  explicit OneRemoteConfigProvider(RemoteEntityCfg& cfg) : cfg(cfg) {}
+  explicit OneRemoteConfigProvider(RemoteEntityCfg cfg) : cfg(std::move(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

@@ -1,74 +0,0 @@
-#include "ReservedMessageParser.h"
-
-#include "fsfw/cfdp/CfdpMessage.h"
-#include "fsfw/cfdp/handler/PutRequest.h"
-#include "fsfw/cfdp/tlv/MessageToUserTlv.h"
-#include "fsfw/ipc/CommandMessage.h"
-#include "fsfw/ipc/QueueFactory.h"
-
-using namespace returnvalue;
-
-cfdp::ReservedMessageParser::ReservedMessageParser(StorageManagerIF& ipcStore,
-                                                   MessageQueueIF& msgQueue,
-                                                   MessageQueueId_t userDestination)
-    : msgQueue(msgQueue), ipcStore(ipcStore), userDestination(userDestination) {}
-
-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;
-  for (size_t idx = 0; idx < numMsgToUser; idx++) {
-    if (&msgsToUserArray[idx] == nullptr) {
-      continue;
-    }
-    uint8_t messageType = 0;
-    if (msgsToUserArray[idx].isReservedCfdpMessage(messageType, &currentPtr, deserSize)) {
-      if (messageType == static_cast<uint8_t>(ProxyOpMessageType::PUT_REQUEST)) {
-        EntityId entityIdLv;
-        result = entityIdLv.deSerializeFromLv(&currentPtr, &deserSize);
-        if (result != returnvalue::OK) {
-          return result;
-        }
-        putRequest.setDestId(entityIdLv);
-        result =
-            sourceFileName.deSerialize(&currentPtr, &deserSize, SerializeIF::Endianness::NETWORK);
-        if (result != OK) {
-          return result;
-        }
-        result =
-            destFileName.deSerialize(&currentPtr, &deserSize, SerializeIF::Endianness::NETWORK);
-        if (result != OK) {
-          return result;
-        }
-        putRequest.setSourceAndDestName(sourceFileName, destFileName);
-        needToSendPutRequest = true;
-      }
-    }
-  }
-  if (needToSendPutRequest) {
-    store_address_t storeId;
-    uint8_t* dataPtr;
-    result = ipcStore.getFreeElement(&storeId, putRequest.getSerializedSize(), &dataPtr);
-    if (result != OK) {
-      return result;
-    }
-    size_t serLen = 0;
-    result = putRequest.serialize(&dataPtr, &serLen, putRequest.getSerializedSize(),
-                                  SerializeIF::Endianness::MACHINE);
-    if (result != OK) {
-      return result;
-    }
-    CommandMessage msg;
-    CfdpMessage::setPutRequest(&msg, storeId);
-    result = msgQueue.sendMessage(userDestination, &msg);
-    if (result != OK) {
-      return result;
-    }
-  }
-  return OK;
-}

src/fsfw/cfdp/handler/ReservedMessageParser.h

@@ -1,27 +0,0 @@
-#pragma once
-
-#include "fsfw/cfdp/tlv/MessageToUserTlv.h"
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/storagemanager/StorageManagerIF.h"
-
-namespace cfdp {
-
-/**
- * This class parses messages to user for special CFDP messages and converts them to appropriate
- * CFDP requests sent via the IPC store where applicable. It also provides an API to retrieve
- * custom messages which are not special CFDP messages from a provided bytestream.
- */
-class ReservedMessageParser {
- public:
-  ReservedMessageParser(StorageManagerIF& ipcStore, MessageQueueIF& msgQueue,
-                        MessageQueueId_t userDestination);
-
-  ReturnValue_t parse(const MessageToUserTlv* msgsToUserArray, size_t numMsgsToUser);
-
- private:
-  MessageQueueIF& msgQueue;
-  StorageManagerIF& ipcStore;
-  MessageQueueId_t userDestination;
-};
-
-}  // namespace cfdp

src/fsfw/cfdp/handler/SourceHandler.cpp

@@ -1,376 +0,0 @@
-#include "SourceHandler.h"
-
-#include <etl/crc32.h>
-
-#include <array>
-
-#include "fsfw/cfdp/pdu/EofPduCreator.h"
-#include "fsfw/cfdp/pdu/FileDataCreator.h"
-#include "fsfw/cfdp/pdu/MetadataPduCreator.h"
-#include "fsfw/filesystem/HasFileSystemIF.h"
-#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;
-
-cfdp::SourceHandler::SourceHandler(SourceHandlerParams params, FsfwParams fsfwParams)
-    : sourceParams(std::move(params)), fsfwParams(fsfwParams) {
-  // The entity ID portion of the transaction ID will always remain fixed.
-  transactionParams.id.entityId = sourceParams.cfg.localId;
-  transactionParams.pduConf.sourceId = sourceParams.cfg.localId;
-  if (sourceParams.seqCountProvider.bitWidth() == 8) {
-    transactionParams.pduConf.seqNum.setWidth(cfdp::WidthInBytes::ONE_BYTE);
-  } else if (sourceParams.seqCountProvider.bitWidth() == 16) {
-    transactionParams.pduConf.seqNum.setWidth(cfdp::WidthInBytes::TWO_BYTES);
-  } else if (sourceParams.seqCountProvider.bitWidth() == 32) {
-    transactionParams.pduConf.seqNum.setWidth(cfdp::WidthInBytes::FOUR_BYTES);
-  } else if (sourceParams.seqCountProvider.bitWidth() == 64) {
-    transactionParams.pduConf.seqNum.setWidth(cfdp::WidthInBytes::EIGHT_BYTES);
-  } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "cfdp::SourceHandler: Seq count provider bit width "
-               << sourceParams.seqCountProvider.bitWidth() << " not allowed" << std::endl;
-#else
-    sif::printError("cfdp::SourceHandler: Seq count provider bit width %d not allowed\n",
-                    sourceParams.seqCountProvider.bitWidth());
-#endif
-    // Yeah, what am I supposed to do here? Can't throw an exception in the FSFW..
-    transactionParams.pduConf.seqNum.setWidth(cfdp::WidthInBytes::ONE_BYTE);
-  }
-  transactionParams.pduConf.seqNum.setValue(0);
-}
-
-cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::fsmNacked() {
-  ReturnValue_t result;
-  if (step == TransactionStep::IDLE) {
-    step = TransactionStep::TRANSACTION_START;
-  }
-  if (step == TransactionStep::TRANSACTION_START) {
-    sourceParams.user.transactionIndication(transactionParams.id);
-    result = checksumGeneration();
-    if (result != OK) {
-      addError(result);
-    }
-    step = TransactionStep::SENDING_METADATA;
-  }
-  if (step == TransactionStep::SENDING_METADATA) {
-    result = prepareAndSendMetadataPdu();
-    if (result != OK) {
-      addError(result);
-    }
-    fsmResult.callStatus = CallStatus::CALL_AGAIN;
-    return fsmResult;
-  }
-  if (step == TransactionStep::SENDING_FILE_DATA) {
-    bool noFdPdu = false;
-    result = prepareAndSendNextFileDataPdu(noFdPdu);
-    if (result == OK and !noFdPdu) {
-      fsmResult.callStatus = CallStatus::CALL_AGAIN;
-      return fsmResult;
-    }
-  }
-  if (step == TransactionStep::SENDING_EOF) {
-    result = prepareAndSendEofPdu();
-    if (result != OK) {
-      addError(result);
-    }
-    if (sourceParams.cfg.indicCfg.eofSentIndicRequired) {
-      sourceParams.user.eofSentIndication(transactionParams.id);
-    }
-    if (transactionParams.closureRequested) {
-      step = TransactionStep::WAIT_FOR_FINISH;
-      fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
-    } else {
-      step = TransactionStep::NOTICE_OF_COMPLETION;
-      fsmResult.callStatus = CallStatus::CALL_AGAIN;
-    }
-    return fsmResult;
-  }
-  if (step == TransactionStep::WAIT_FOR_FINISH) {
-    // TODO: In case this is a request with closure, wait for finish.
-    // Done, issue notice of completion
-    step = TransactionStep::NOTICE_OF_COMPLETION;
-  }
-  if (step == TransactionStep::NOTICE_OF_COMPLETION) {
-    noticeOfCompletion();
-    reset();
-  }
-  return fsmResult;
-}
-
-const cfdp::SourceHandler::FsmResult& cfdp::SourceHandler::stateMachine() {
-  fsmResult.packetsSent = 0;
-  fsmResult.errors = 0;
-  fsmResult.callStatus = CallStatus::DONE;
-  if (state == cfdp::CfdpState::IDLE) {
-    return fsmResult;
-  }
-  if (state == cfdp::CfdpState::BUSY_CLASS_1_NACKED) {
-    return fsmNacked();
-  }
-  return fsmResult;
-}
-
-ReturnValue_t cfdp::SourceHandler::checksumGeneration() {
-  if (transactionParams.fileSize.value() == 0) {
-    // NULL checksum for empty file.
-    transactionParams.crc = 0;
-    return OK;
-  }
-  std::array<uint8_t, 1024> buf{};
-  etl::crc32 crcCalc;
-  uint64_t currentOffset = 0;
-  FileOpParams params(transactionParams.sourceName.data(), transactionParams.fileSize.value());
-  while (currentOffset < transactionParams.fileSize.value()) {
-    uint64_t readLen;
-    if (currentOffset + buf.size() > transactionParams.fileSize.value()) {
-      readLen = transactionParams.fileSize.value() - currentOffset;
-    } else {
-      readLen = buf.size();
-    }
-    if (readLen > 0) {
-      params.offset = currentOffset;
-      params.size = readLen;
-      auto result = sourceParams.user.vfs.readFromFile(params, buf.data(), buf.size());
-      if (result != OK) {
-        addError(result);
-        return FAILED;
-      }
-      crcCalc.add(buf.begin(), buf.begin() + readLen);
-    }
-    currentOffset += readLen;
-  }
-
-  transactionParams.crc = crcCalc.value();
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::transactionStart(PutRequest& putRequest, RemoteEntityCfg& cfg) {
-  if (state != CfdpState::IDLE) {
-    return SOURCE_TRANSACTION_PENDING;
-  }
-  if (cfg.remoteId != putRequest.getDestId()) {
-    return WRONG_REMOTE_CFG_ENTITY_ID;
-  }
-  if (putRequest.getSourceName().getValueLen() == 0) {
-    return SOURCE_NAME_EMPTY;
-  }
-  if (putRequest.getDestName().getValueLen() == 0) {
-    return DEST_NAME_EMPTY;
-  }
-  const char* srcNamePtr = putRequest.getSourceName().getCString(transactionParams.sourceNameSize);
-  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;
-  }
-  if (cfg.maxFileSegmentLen > fileBuf.size() or cfg.maxFileSegmentLen == 0) {
-    return FILE_SEGMENT_LEN_INVALID;
-  }
-  // If transmission mode is not set, use default transmission mode for the remote entity.
-  if (not putRequest.getTransmissionMode(transactionParams.pduConf.mode)) {
-    transactionParams.pduConf.mode = cfg.defaultTransmissionMode;
-  }
-  // If closure request field is not set, use default option for the remote entity.
-  if (not putRequest.getClosureRequested(transactionParams.closureRequested)) {
-    transactionParams.closureRequested = cfg.closureRequested;
-  }
-  const EntityId& destId = putRequest.getDestId();
-  // The width of the source and destination ID must be the same. Use the larger ID value to
-  // ensure the width is large enough for both IDs
-  if (destId.getWidth() > transactionParams.pduConf.sourceId.getWidth()) {
-    transactionParams.pduConf.destId = destId;
-    transactionParams.pduConf.sourceId.setWidth(destId.getWidth());
-  } else {
-    transactionParams.pduConf.destId.setValueAndWidth(transactionParams.pduConf.sourceId.getWidth(),
-                                                      destId.getValue());
-  }
-  // Only used for PDU forwarding, file is sent to file receiver regularly here.
-  transactionParams.pduConf.direction = Direction::TOWARDS_RECEIVER;
-  transactionParams.pduConf.seqNum.setValue(sourceParams.seqCountProvider.getAndIncrement());
-  transactionParams.id.seqNum = transactionParams.pduConf.seqNum;
-
-  if (transactionParams.pduConf.mode == TransmissionMode::ACKNOWLEDGED) {
-    state = cfdp::CfdpState::BUSY_CLASS_2_ACKED;
-  } else if (transactionParams.pduConf.mode == TransmissionMode::UNACKNOWLEDGED) {
-    state = cfdp::CfdpState::BUSY_CLASS_1_NACKED;
-  }
-  step = TransactionStep::IDLE;
-  uint64_t fileSize = 0;
-  sourceParams.user.vfs.getFileSize(params, fileSize);
-  transactionParams.pduConf.largeFile = false;
-  if (fileSize > UINT32_MAX) {
-    transactionParams.pduConf.largeFile = true;
-  }
-  if (fileSize == 0) {
-    transactionParams.checksumType = ChecksumType::NULL_CHECKSUM;
-  } else {
-    transactionParams.checksumType = ChecksumType::CRC_32;
-  }
-  transactionParams.fileSize.setFileSize(fileSize, transactionParams.pduConf.largeFile);
-  transactionParams.progress = 0;
-  transactionParams.remoteCfg = cfg;
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::prepareAndSendMetadataPdu() {
-  cfdp::StringLv sourceName(transactionParams.sourceName.data(), transactionParams.sourceNameSize);
-  cfdp::StringLv destName(transactionParams.destName.data(), transactionParams.destNameSize);
-  auto metadataInfo =
-      MetadataGenericInfo(transactionParams.closureRequested, transactionParams.checksumType,
-                          transactionParams.fileSize);
-  auto metadataPdu =
-      MetadataPduCreator(transactionParams.pduConf, metadataInfo, sourceName, destName, nullptr, 0);
-  ReturnValue_t result = sendGenericPdu(metadataPdu);
-  if (result != OK) {
-    return result;
-  }
-  // Advance FSM if everything works
-  step = TransactionStep::SENDING_FILE_DATA;
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::prepareAndSendNextFileDataPdu(bool& noFileDataPdu) {
-  cfdp::Fss offset(transactionParams.progress);
-  uint64_t readLen;
-  uint64_t fileSize = transactionParams.fileSize.value();
-  noFileDataPdu = false;
-  if (fileSize == 0) {
-    // We are done, no need to send file data PDUs for an empty file.
-    step = TransactionStep::SENDING_EOF;
-    noFileDataPdu = true;
-    return OK;
-  }
-  if (fileSize < transactionParams.remoteCfg.maxFileSegmentLen) {
-    readLen = transactionParams.fileSize.value();
-  } else {
-    if (transactionParams.progress + transactionParams.remoteCfg.maxFileSegmentLen > fileSize) {
-      readLen = fileSize - transactionParams.progress;
-    } else {
-      readLen = transactionParams.remoteCfg.maxFileSegmentLen;
-    }
-  }
-  FileOpParams fileParams(transactionParams.sourceName.data(), readLen);
-  fileParams.offset = transactionParams.progress;
-  ReturnValue_t result =
-      sourceParams.user.vfs.readFromFile(fileParams, fileBuf.data(), fileBuf.size());
-  if (result != returnvalue::OK) {
-    addError(result);
-    return result;
-  }
-  auto fileDataInfo = FileDataInfo(offset, fileBuf.data(), readLen);
-  auto fileDataPdu = FileDataCreator(transactionParams.pduConf, fileDataInfo);
-  result = sendGenericPdu(fileDataPdu);
-  if (result != OK) {
-    return result;
-  }
-  transactionParams.progress += readLen;
-  if (transactionParams.progress >= fileSize) {
-    // Advance FSM after all file data PDUs were sent.
-    step = TransactionStep::SENDING_EOF;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::prepareAndSendEofPdu() {
-  auto eofInfo =
-      EofInfo(ConditionCode::NO_ERROR, transactionParams.crc, transactionParams.fileSize);
-  auto eofPdu = EofPduCreator(transactionParams.pduConf, eofInfo);
-  ReturnValue_t result = sendGenericPdu(eofPdu);
-  if (result != OK) {
-    return result;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::initialize() {
-  if (fsfwParams.tmStore == nullptr) {
-    fsfwParams.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-    if (fsfwParams.tmStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.tcStore == nullptr) {
-    fsfwParams.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-    if (fsfwParams.tcStore == nullptr) {
-      return FAILED;
-    }
-  }
-
-  if (fsfwParams.msgQueue == nullptr) {
-    return FAILED;
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::sendGenericPdu(const SerializeIF& pdu) {
-  uint8_t* dataPtr;
-  store_address_t storeId;
-  ReturnValue_t result =
-      fsfwParams.tmStore->getFreeElement(&storeId, pdu.getSerializedSize(), &dataPtr);
-  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;
-  result = pdu.serializeBe(dataPtr, serializedLen, pdu.getSerializedSize());
-  if (result != OK) {
-    addError(result);
-    return result;
-  }
-  TmTcMessage tmMsg(storeId);
-  result =
-      fsfwParams.msgQueue->sendMessage(fsfwParams.packetDest.getReportReceptionQueue(), &tmMsg);
-  if (result != OK) {
-    fsmResult.callStatus = CallStatus::CALL_AFTER_DELAY;
-  }
-  if (result == MessageQueueIF::FULL) {
-    return TARGET_MSG_QUEUE_FULL;
-  } else if (result == OK) {
-    fsmResult.packetsSent += 1;
-  }
-  return result;
-}
-
-ReturnValue_t cfdp::SourceHandler::noticeOfCompletion() {
-  if (sourceParams.cfg.indicCfg.transactionFinishedIndicRequired) {
-    cfdp::TransactionFinishedParams params(transactionParams.id, ConditionCode::NO_ERROR,
-                                           FileDeliveryCode::DATA_COMPLETE,
-                                           FileDeliveryStatus::RETAINED_IN_FILESTORE);
-    sourceParams.user.transactionFinishedIndication(params);
-  }
-  return OK;
-}
-
-ReturnValue_t cfdp::SourceHandler::reset() {
-  step = TransactionStep::IDLE;
-  state = cfdp::CfdpState::IDLE;
-  fsmResult.callStatus = CallStatus::DONE;
-  transactionParams.reset();
-  return OK;
-}
-cfdp::CfdpState cfdp::SourceHandler::getState() const { return state; }
-
-cfdp::SourceHandler::TransactionStep cfdp::SourceHandler::getStep() const { return step; }
-
-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

@@ -1,110 +0,0 @@
-#ifndef FSFW_CFDP_CFDPSOURCEHANDLER_H
-#define FSFW_CFDP_CFDPSOURCEHANDLER_H
-
-#include <cstdint>
-#include <vector>
-
-#include "UserBase.h"
-#include "defs.h"
-#include "fsfw/cfdp/Fss.h"
-#include "fsfw/cfdp/handler/PutRequest.h"
-#include "fsfw/cfdp/handler/mib.h"
-#include "fsfw/events/EventReportingProxyIF.h"
-#include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-#include "fsfw/util/ProvidesSeqCountIF.h"
-
-namespace cfdp {
-
-struct SourceHandlerParams {
-  SourceHandlerParams(LocalEntityCfg cfg, UserBase& user, ProvidesSeqCountIF& seqCountProvider)
-      : cfg(std::move(cfg)), user(user), seqCountProvider(seqCountProvider) {}
-
-  LocalEntityCfg cfg;
-  UserBase& user;
-  ProvidesSeqCountIF& seqCountProvider;
-};
-
-class SourceHandler {
- public:
-  enum class TransactionStep : uint8_t {
-    IDLE = 0,
-    TRANSACTION_START = 1,
-    SENDING_METADATA = 3,
-    SENDING_FILE_DATA = 4,
-    SENDING_EOF = 5,
-    WAIT_FOR_ACK = 6,
-    WAIT_FOR_FINISH = 7,
-    NOTICE_OF_COMPLETION = 8
-  };
-  struct FsmResult {
-   public:
-    ReturnValue_t result = returnvalue::OK;
-    CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
-    CfdpState state = CfdpState::IDLE;
-    uint32_t packetsSent = 0;
-    uint8_t errors = 0;
-    std::array<ReturnValue_t, 3> errorCodes = {};
-  };
-
-  SourceHandler(SourceHandlerParams params, FsfwParams fsfwParams);
-
-  [[nodiscard]] CfdpState getState() const;
-  [[nodiscard]] TransactionStep getStep() const;
-
-  /**
-   * Pass a put request to the source handler, which might initiate a CFDP transaction and start
-   * the state machine
-   * @return
-   */
-  ReturnValue_t transactionStart(PutRequest& putRequest, RemoteEntityCfg& cfg);
-  const FsmResult& stateMachine();
-
-  ReturnValue_t initialize();
-
- private:
-  struct TransactionParams {
-    uint32_t crc{};
-    std::array<char, UINT8_MAX + 1> sourceName{};
-    size_t sourceNameSize = 0;
-    std::array<char, UINT8_MAX + 1> destName{};
-    size_t destNameSize = 0;
-    cfdp::Fss fileSize;
-    size_t progress = 0;
-    bool closureRequested = false;
-    ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
-    RemoteEntityCfg remoteCfg;
-    PduConfig pduConf;
-    cfdp::TransactionId id{};
-
-    void reset() {
-      sourceNameSize = 0;
-      destNameSize = 0;
-      fileSize.setFileSize(0, false);
-      progress = 0;
-      closureRequested = false;
-    }
-  } transactionParams;
-
-  cfdp::CfdpState state = cfdp::CfdpState::IDLE;
-  TransactionStep step = TransactionStep::IDLE;
-  std::array<uint8_t, 4096> fileBuf{};
-  SourceHandlerParams sourceParams;
-  cfdp::FsfwParams fsfwParams;
-  FsmResult fsmResult;
-
-  FsmResult& fsmNacked();
-  ReturnValue_t checksumGeneration();
-  ReturnValue_t prepareAndSendMetadataPdu();
-  ReturnValue_t prepareAndSendNextFileDataPdu(bool& noFileDataPdu);
-  ReturnValue_t prepareAndSendEofPdu();
-  ReturnValue_t noticeOfCompletion();
-  ReturnValue_t reset();
-
-  [[nodiscard]] ReturnValue_t sendGenericPdu(const SerializeIF& pdu);
-  void addError(ReturnValue_t error);
-};
-
-}  // namespace cfdp
-
-#endif  // FSFW_CFDP_CFDPSOURCEHANDLER_H

src/fsfw/cfdp/handler/UserBase.h

@@ -6,7 +6,6 @@
 #include <vector>
 
 #include "StatusReportIF.h"
-#include "fsfw/cfdp/Fss.h"
 #include "fsfw/cfdp/VarLenFields.h"
 #include "fsfw/cfdp/tlv/FilestoreResponseTlv.h"
 #include "fsfw/cfdp/tlv/MessageToUserTlv.h"
@@ -28,14 +27,14 @@ struct TransactionFinishedParams {
 };
 
 struct MetadataRecvdParams {
-  MetadataRecvdParams(const TransactionId& id, const EntityId& sourceId, Fss fileSize)
-      : id(id), sourceId(sourceId), fileSize(std::move(fileSize)) {}
+  MetadataRecvdParams(const TransactionId& id, const EntityId& sourceId)
+      : id(id), sourceId(sourceId) {}
   const TransactionId& id;
   const EntityId& sourceId;
-  Fss fileSize{};
+  uint64_t fileSize = 0;
   const char* sourceFileName = "";
   const char* destFileName = "";
-  size_t numberOfMsgsToUser = 0;
+  size_t msgsToUserLen = 0;
   const MessageToUserTlv* msgsToUserArray = nullptr;
 };
 
@@ -66,7 +65,6 @@ struct FileSegmentRecvdParams {
  */
 class UserBase {
   friend class DestHandler;
-  friend class SourceHandler;
 
  public:
   explicit UserBase(HasFileSystemIF& vfs);

src/fsfw/cfdp/handler/defs.h

@@ -1,76 +1,9 @@
 #ifndef FSFW_CFDP_HANDLER_DEFS_H
 #define FSFW_CFDP_HANDLER_DEFS_H
 
-#include <etl/list.h>
-
-#include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/storagemanager/storeAddress.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-
 namespace cfdp {
 
-enum class CfdpState { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
+enum class CfdpStates { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
 
-static constexpr uint8_t SSID = SUBSYSTEM_ID::CFDP;
-static constexpr uint8_t CID = CLASS_ID::CFDP_HANDLER;
-
-struct PacketInfo {
-  PacketInfo(PduType type, store_address_t storeId,
-             std::optional<FileDirective> directive = std::nullopt)
-      : pduType(type), directiveType(directive), storeId(storeId) {}
-
-  PduType pduType = PduType::FILE_DATA;
-  std::optional<FileDirective> directiveType = FileDirective::INVALID_DIRECTIVE;
-  store_address_t storeId = store_address_t::invalid();
-  PacketInfo() = default;
-};
-
-struct FsfwParams {
-  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
-             EventReportingProxyIF* eventReporter, StorageManagerIF& tcStore,
-             StorageManagerIF& tmStore)
-      : FsfwParams(packetDest, msgQueue, eventReporter) {
-    this->tcStore = &tcStore;
-    this->tmStore = &tmStore;
-  }
-
-  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
-             EventReportingProxyIF* eventReporter)
-      : packetDest(packetDest), msgQueue(msgQueue), eventReporter(eventReporter) {}
-  AcceptsTelemetryIF& packetDest;
-  MessageQueueIF* msgQueue;
-  EventReportingProxyIF* eventReporter = nullptr;
-  StorageManagerIF* tcStore = nullptr;
-  StorageManagerIF* tmStore = nullptr;
-};
-
-template <size_t SIZE>
-using PacketInfoList = etl::list<PacketInfo, SIZE>;
-using PacketInfoListBase = etl::ilist<PacketInfo>;
-
-enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
-
-namespace events {
-
-static constexpr Event STORE_ERROR = event::makeEvent(SSID, 0, severity::LOW);
-static constexpr Event MSG_QUEUE_ERROR = event::makeEvent(SSID, 1, severity::LOW);
-static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
-static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
-//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
-static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
-//! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
-static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW);
-
-}  // namespace events
-
-static constexpr ReturnValue_t SOURCE_TRANSACTION_PENDING = returnvalue::makeCode(CID, 0);
-static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = returnvalue::makeCode(CID, 1);
-static constexpr ReturnValue_t FILE_SEGMENT_LEN_INVALID = returnvalue::makeCode(CID, 2);
-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

@@ -27,15 +27,14 @@ struct LocalEntityCfg {
 };
 
 struct RemoteEntityCfg {
-  RemoteEntityCfg() = default;
   explicit RemoteEntityCfg(EntityId id) : remoteId(std::move(id)) {}
   EntityId remoteId;
-  size_t maxFileSegmentLen = 1024;
+  size_t maxFileSegmentLen = 2048;
   bool closureRequested = false;
   bool crcOnTransmission = false;
   TransmissionMode defaultTransmissionMode = TransmissionMode::UNACKNOWLEDGED;
   ChecksumType defaultChecksum = ChecksumType::NULL_CHECKSUM;
-  uint8_t version = CFDP_VERSION_2;
+  const uint8_t version = CFDP_VERSION_2;
 };
 
 }  // namespace cfdp

src/fsfw/cfdp/pdu/CMakeLists.txt

@@ -17,7 +17,7 @@ target_sources(
           FinishedInfo.cpp
           FinishedPduCreator.cpp
           FinishedPduReader.cpp
-          MetadataGenericInfo.cpp
+          MetadataInfo.cpp
           MetadataPduCreator.cpp
           MetadataPduReader.cpp
           KeepAlivePduCreator.cpp

src/fsfw/cfdp/pdu/EofInfo.cpp

@@ -1,13 +1,8 @@
 #include "EofInfo.h"
 
-#include <utility>
-
-EofInfo::EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::Fss fileSize,
+EofInfo::EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
                  EntityIdTlv* faultLoc)
-    : conditionCode(conditionCode),
-      checksum(checksum),
-      fileSize(std::move(fileSize)),
-      faultLoc(faultLoc) {}
+    : conditionCode(conditionCode), checksum(checksum), fileSize(fileSize), faultLoc(faultLoc) {}
 
 EofInfo::EofInfo(EntityIdTlv* faultLoc)
     : conditionCode(cfdp::ConditionCode::NO_CONDITION_FIELD),
@@ -21,15 +16,15 @@ cfdp::ConditionCode EofInfo::getConditionCode() const { return conditionCode; }
 
 EntityIdTlv* EofInfo::getFaultLoc() const { return faultLoc; }
 
-cfdp::Fss& EofInfo::getFileSize() { return fileSize; }
+cfdp::FileSize& EofInfo::getFileSize() { return fileSize; }
 
-void EofInfo::setChecksum(uint32_t checksum_) { this->checksum = checksum_; }
+void EofInfo::setChecksum(uint32_t checksum) { this->checksum = checksum; }
 
-void EofInfo::setConditionCode(cfdp::ConditionCode conditionCode_) {
-  this->conditionCode = conditionCode_;
+void EofInfo::setConditionCode(cfdp::ConditionCode conditionCode) {
+  this->conditionCode = conditionCode;
 }
 
-void EofInfo::setFaultLoc(EntityIdTlv* faultLoc_) { this->faultLoc = faultLoc_; }
+void EofInfo::setFaultLoc(EntityIdTlv* faultLoc) { this->faultLoc = faultLoc; }
 
 size_t EofInfo::getSerializedSize(bool fssLarge) {
   // Condition code + spare + 4 byte checksum
@@ -47,6 +42,6 @@ size_t EofInfo::getSerializedSize(bool fssLarge) {
   return size;
 }
 
-ReturnValue_t EofInfo::setFileSize(size_t fileSize_, bool isLarge) {
-  return this->fileSize.setFileSize(fileSize_, isLarge);
+ReturnValue_t EofInfo::setFileSize(size_t fileSize, bool isLarge) {
+  return this->fileSize.setFileSize(fileSize, isLarge);
 }

src/fsfw/cfdp/pdu/EofInfo.h

@@ -1,14 +1,14 @@
 #ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFINFO_H_
 #define FSFW_SRC_FSFW_CFDP_PDU_EOFINFO_H_
 
-#include "../Fss.h"
+#include "../FileSize.h"
 #include "../definitions.h"
 #include "fsfw/cfdp/tlv/EntityIdTlv.h"
 
 struct EofInfo {
  public:
   explicit EofInfo(EntityIdTlv* faultLoc = nullptr);
-  EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::Fss fileSize,
+  EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
           EntityIdTlv* faultLoc = nullptr);
 
   size_t getSerializedSize(bool fssLarge = false);
@@ -17,7 +17,7 @@ struct EofInfo {
   [[nodiscard]] cfdp::ConditionCode getConditionCode() const;
 
   [[nodiscard]] EntityIdTlv* getFaultLoc() const;
-  cfdp::Fss& getFileSize();
+  cfdp::FileSize& getFileSize();
   void setChecksum(uint32_t checksum);
   void setConditionCode(cfdp::ConditionCode conditionCode);
   void setFaultLoc(EntityIdTlv* faultLoc);
@@ -26,7 +26,7 @@ struct EofInfo {
  private:
   cfdp::ConditionCode conditionCode;
   uint32_t checksum;
-  cfdp::Fss fileSize;
+  cfdp::FileSize fileSize;
   EntityIdTlv* faultLoc = nullptr;
 };
 

src/fsfw/cfdp/pdu/FileDataCreator.cpp

@@ -37,7 +37,7 @@ ReturnValue_t FileDataCreator::serialize(uint8_t** buffer, size_t* size, size_t
     *buffer += segmentMetadataLen;
     *size += segmentMetadataLen;
   }
-  cfdp::Fss& offset = info.getOffset();
+  cfdp::FileSize& offset = info.getOffset();
   result = offset.serialize(this->getLargeFileFlag(), buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;

src/fsfw/cfdp/pdu/FileDataInfo.cpp

@@ -1,9 +1,9 @@
 #include "FileDataInfo.h"
 
-#include <utility>
+FileDataInfo::FileDataInfo(cfdp::FileSize &offset, const uint8_t *fileData, size_t fileSize)
+    : offset(offset), fileData(fileData), fileSize(fileSize) {}
 
-FileDataInfo::FileDataInfo(cfdp::Fss offset, const uint8_t *fileData, size_t fileSize)
-    : offset(std::move(offset)), fileData(fileData), fileSize(fileSize) {}
+FileDataInfo::FileDataInfo(cfdp::FileSize &offset) : offset(offset) {}
 
 void FileDataInfo::setSegmentMetadataFlag(bool enable) {
   if (enable) {
@@ -71,7 +71,7 @@ const uint8_t *FileDataInfo::getSegmentMetadata(size_t *segmentMetadataLen_) {
   return segmentMetadata;
 }
 
-cfdp::Fss &FileDataInfo::getOffset() { return offset; }
+cfdp::FileSize &FileDataInfo::getOffset() { return offset; }
 
 void FileDataInfo::setRecordContinuationState(cfdp::RecordContinuationState recContState) {
   this->recContState = recContState;

src/fsfw/cfdp/pdu/FileDataInfo.h

@@ -1,17 +1,17 @@
 #ifndef FSFW_SRC_FSFW_CFDP_PDU_FILEDATAINFO_H_
 #define FSFW_SRC_FSFW_CFDP_PDU_FILEDATAINFO_H_
 
-#include <fsfw/cfdp/Fss.h>
+#include <fsfw/cfdp/FileSize.h>
 #include <fsfw/cfdp/definitions.h>
 
 class FileDataInfo {
  public:
-  FileDataInfo() = default;
-  FileDataInfo(cfdp::Fss offset, const uint8_t* fileData, size_t fileSize);
+  explicit FileDataInfo(cfdp::FileSize& offset);
+  FileDataInfo(cfdp::FileSize& offset, const uint8_t* fileData, size_t fileSize);
 
   [[nodiscard]] size_t getSerializedSize(bool largeFile = false) const;
 
-  cfdp::Fss& getOffset();
+  cfdp::FileSize& getOffset();
   const uint8_t* getFileData(size_t* fileSize = nullptr) const;
   void setFileData(const uint8_t* fileData, size_t fileSize);
 
@@ -33,7 +33,7 @@ class FileDataInfo {
  private:
   cfdp::SegmentMetadataFlag segmentMetadataFlag = cfdp::SegmentMetadataFlag::NOT_PRESENT;
   cfdp::SegmentationControl segCtrl = cfdp::SegmentationControl::NO_RECORD_BOUNDARIES_PRESERVATION;
-  cfdp::Fss offset;
+  cfdp::FileSize& offset;
   const uint8_t* fileData = nullptr;
   size_t fileSize = 0;
   cfdp::RecordContinuationState recContState = cfdp::RecordContinuationState::NO_START_NO_END;

src/fsfw/cfdp/pdu/HeaderReader.cpp

@@ -103,11 +103,11 @@ void PduHeaderReader::getTransactionSeqNum(cfdp::TransactionSeqNum &seqNum) cons
 }
 
 void PduHeaderReader::assignVarLenField(cfdp::VarLenField *field, cfdp::WidthInBytes width,
-                                        void *sourcePtr) {
+                                        void *sourcePtr) const {
   switch (width) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
       auto *fieldTyped = static_cast<uint8_t *>(sourcePtr);
-      field->setValueAndWidth(width, *fieldTyped);
+      field->setValue(width, *fieldTyped);
       break;
     }
     case (cfdp::WidthInBytes::TWO_BYTES): {
@@ -115,7 +115,7 @@ void PduHeaderReader::assignVarLenField(cfdp::VarLenField *field, cfdp::WidthInB
       size_t deserSize = 0;
       SerializeAdapter::deSerialize(&fieldTyped, static_cast<uint8_t *>(sourcePtr), &deserSize,
                                     SerializeIF::Endianness::NETWORK);
-      field->setValueAndWidth(width, fieldTyped);
+      field->setValue(width, fieldTyped);
       break;
     }
     case (cfdp::WidthInBytes::FOUR_BYTES): {
@@ -123,15 +123,7 @@ void PduHeaderReader::assignVarLenField(cfdp::VarLenField *field, cfdp::WidthInB
       size_t deserSize = 0;
       SerializeAdapter::deSerialize(&fieldTyped, static_cast<uint8_t *>(sourcePtr), &deserSize,
                                     SerializeIF::Endianness::NETWORK);
-      field->setValueAndWidth(width, fieldTyped);
-      break;
-    }
-    case (cfdp::WidthInBytes::EIGHT_BYTES): {
-      uint64_t fieldTyped = 0;
-      size_t deserSize = 0;
-      SerializeAdapter::deSerialize(&fieldTyped, static_cast<uint8_t *>(sourcePtr), &deserSize,
-                                    SerializeIF::Endianness::NETWORK);
-      field->setValueAndWidth(width, fieldTyped);
+      field->setValue(width, fieldTyped);
       break;
     }
   }

src/fsfw/cfdp/pdu/KeepAlivePduCreator.cpp

@@ -1,6 +1,6 @@
 #include "KeepAlivePduCreator.h"
 
-KeepAlivePduCreator::KeepAlivePduCreator(PduConfig &conf, cfdp::Fss &progress)
+KeepAlivePduCreator::KeepAlivePduCreator(PduConfig &conf, cfdp::FileSize &progress)
     : FileDirectiveCreator(conf, cfdp::FileDirective::KEEP_ALIVE, 4), progress(progress) {
   updateDirectiveFieldLen();
 }

src/fsfw/cfdp/pdu/KeepAlivePduCreator.h

@@ -1,12 +1,12 @@
 #ifndef FSFW_CFDP_PDU_KEEPALIVEPDUSERIALIZER_H_
 #define FSFW_CFDP_PDU_KEEPALIVEPDUSERIALIZER_H_
 
-#include "fsfw/cfdp/Fss.h"
+#include "fsfw/cfdp/FileSize.h"
 #include "fsfw/cfdp/pdu/FileDirectiveCreator.h"
 
 class KeepAlivePduCreator : public FileDirectiveCreator {
  public:
-  KeepAlivePduCreator(PduConfig& conf, cfdp::Fss& progress);
+  KeepAlivePduCreator(PduConfig& conf, cfdp::FileSize& progress);
 
   void updateDirectiveFieldLen();
 
@@ -16,7 +16,7 @@ class KeepAlivePduCreator : public FileDirectiveCreator {
                           Endianness streamEndianness) const override;
 
  private:
-  cfdp::Fss& progress;
+  cfdp::FileSize& progress;
 };
 
 #endif /* FSFW_CFDP_PDU_KEEPALIVEPDUSERIALIZER_H_ */

src/fsfw/cfdp/pdu/KeepAlivePduReader.cpp

@@ -1,6 +1,7 @@
 #include "KeepAlivePduReader.h"
 
-KeepAlivePduReader::KeepAlivePduReader(const uint8_t* pduBuf, size_t maxSize, cfdp::Fss& progress)
+KeepAlivePduReader::KeepAlivePduReader(const uint8_t* pduBuf, size_t maxSize,
+                                       cfdp::FileSize& progress)
     : FileDirectiveReader(pduBuf, maxSize), progress(progress) {}
 
 ReturnValue_t KeepAlivePduReader::parseData() {
@@ -14,4 +15,4 @@ ReturnValue_t KeepAlivePduReader::parseData() {
   return progress.deSerialize(&buffer, &remLen, getEndianness());
 }
 
-cfdp::Fss& KeepAlivePduReader::getProgress() { return progress; }
+cfdp::FileSize& KeepAlivePduReader::getProgress() { return progress; }

src/fsfw/cfdp/pdu/KeepAlivePduReader.h

@@ -1,19 +1,19 @@
 #ifndef FSFW_CFDP_PDU_KEEPALIVEREADER_H_
 #define FSFW_CFDP_PDU_KEEPALIVEREADER_H_
 
-#include "fsfw/cfdp/Fss.h"
+#include "fsfw/cfdp/FileSize.h"
 #include "fsfw/cfdp/pdu/FileDirectiveReader.h"
 
 class KeepAlivePduReader : public FileDirectiveReader {
  public:
-  KeepAlivePduReader(const uint8_t* pduBuf, size_t maxSize, cfdp::Fss& progress);
+  KeepAlivePduReader(const uint8_t* pduBuf, size_t maxSize, cfdp::FileSize& progress);
 
   ReturnValue_t parseData() override;
 
-  cfdp::Fss& getProgress();
+  cfdp::FileSize& getProgress();
 
  private:
-  cfdp::Fss& progress;
+  cfdp::FileSize& progress;
 };
 
 #endif /* FSFW_CFDP_PDU_KEEPALIVEPDUREADER_H_ */

src/fsfw/cfdp/pdu/MetadataGenericInfo.cpp

@@ -1,35 +0,0 @@
-#include "MetadataGenericInfo.h"
-
-MetadataGenericInfo::MetadataGenericInfo(bool closureRequested, cfdp::ChecksumType checksumType,
-                                         cfdp::Fss fileSize)
-    : MetadataGenericInfo(std::move(fileSize)) {
-  this->closureRequested = closureRequested;
-  this->checksumType = checksumType;
-}
-
-MetadataGenericInfo::MetadataGenericInfo(cfdp::Fss fileSize) : fileSize(std::move(fileSize)) {}
-
-cfdp::ChecksumType MetadataGenericInfo::getChecksumType() const { return checksumType; }
-
-void MetadataGenericInfo::setChecksumType(cfdp::ChecksumType checksumType_) {
-  checksumType = checksumType_;
-}
-
-bool MetadataGenericInfo::isClosureRequested() const { return closureRequested; }
-
-void MetadataGenericInfo::setClosureRequested(bool closureRequested_) {
-  closureRequested = closureRequested_;
-}
-
-const cfdp::Fss& MetadataGenericInfo::getFileSize() const { return fileSize; }
-
-size_t MetadataGenericInfo::getSerializedSize(bool fssLarge) {
-  // 1 byte + minimal FSS 4 bytes
-  size_t size = 5;
-  if (fssLarge) {
-    size += 4;
-  }
-  return size;
-}
-
-cfdp::Fss& MetadataGenericInfo::getMutFileSize() { return fileSize; }

src/fsfw/cfdp/pdu/MetadataGenericInfo.h

@@ -1,35 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_METADATAINFO_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_METADATAINFO_H_
-
-#include <optional>
-
-#include "fsfw/cfdp/Fss.h"
-#include "fsfw/cfdp/definitions.h"
-#include "fsfw/cfdp/tlv/Lv.h"
-#include "fsfw/cfdp/tlv/StringLv.h"
-#include "fsfw/cfdp/tlv/Tlv.h"
-
-class MetadataGenericInfo {
- public:
-  MetadataGenericInfo() = default;
-  explicit MetadataGenericInfo(cfdp::Fss fileSize);
-  MetadataGenericInfo(bool closureRequested, cfdp::ChecksumType checksumType, cfdp::Fss fileSize);
-
-  static size_t getSerializedSize(bool fssLarge = false);
-
-  [[nodiscard]] cfdp::ChecksumType getChecksumType() const;
-  void setChecksumType(cfdp::ChecksumType checksumType);
-  [[nodiscard]] bool isClosureRequested() const;
-  void setClosureRequested(bool closureRequested = false);
-
-  [[nodiscard]] const cfdp::Fss& getFileSize() const;
-
-  cfdp::Fss& getMutFileSize();
-
- private:
-  bool closureRequested = false;
-  cfdp::ChecksumType checksumType = cfdp::ChecksumType::NULL_CHECKSUM;
-  cfdp::Fss fileSize;
-};
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_METADATAINFO_H_ */

src/fsfw/cfdp/pdu/MetadataInfo.cpp

@@ -0,0 +1,103 @@
+#include "MetadataInfo.h"
+
+MetadataInfo::MetadataInfo(bool closureRequested, cfdp::ChecksumType checksumType,
+                           cfdp::FileSize& fileSize, cfdp::StringLv& sourceFileName,
+                           cfdp::StringLv& destFileName)
+    : MetadataInfo(fileSize, sourceFileName, destFileName) {
+  this->closureRequested = closureRequested;
+  this->checksumType = checksumType;
+}
+
+MetadataInfo::MetadataInfo(cfdp::FileSize& fileSize, cfdp::StringLv& sourceFileName,
+                           cfdp::StringLv& destFileName)
+    : fileSize(fileSize), sourceFileName(sourceFileName), destFileName(destFileName) {}
+
+void MetadataInfo::setOptionsArray(cfdp::Tlv** optionsArray_, std::optional<size_t> optionsLen_,
+                                   std::optional<size_t> maxOptionsLen_) {
+  this->optionsArray = optionsArray_;
+  if (maxOptionsLen_) {
+    this->maxOptionsLen = maxOptionsLen_.value();
+  }
+  if (optionsLen_) {
+    this->optionsLen = optionsLen_.value();
+  }
+}
+
+cfdp::ChecksumType MetadataInfo::getChecksumType() const { return checksumType; }
+
+void MetadataInfo::setChecksumType(cfdp::ChecksumType checksumType_) {
+  checksumType = checksumType_;
+}
+
+bool MetadataInfo::isClosureRequested() const { return closureRequested; }
+
+void MetadataInfo::setClosureRequested(bool closureRequested_) {
+  closureRequested = closureRequested_;
+}
+
+cfdp::StringLv& MetadataInfo::getDestFileName() { return destFileName; }
+
+cfdp::FileSize& MetadataInfo::getFileSize() { return fileSize; }
+
+ReturnValue_t MetadataInfo::getOptions(cfdp::Tlv*** optionsArray_, size_t* optionsLen_,
+                                       size_t* maxOptsLen) {
+  if (optionsArray_ == nullptr or optionsArray == nullptr) {
+    return returnvalue::FAILED;
+  }
+  *optionsArray_ = optionsArray;
+  if (optionsLen_ != nullptr) {
+    *optionsLen_ = this->optionsLen;
+  }
+  if (maxOptsLen != nullptr) {
+    *maxOptsLen = this->maxOptionsLen;
+  }
+  return returnvalue::OK;
+}
+
+bool MetadataInfo::hasOptions() const {
+  if (optionsArray != nullptr and optionsLen > 0) {
+    return true;
+  }
+  return false;
+}
+
+bool MetadataInfo::canHoldOptions() const {
+  if (optionsArray != nullptr and maxOptionsLen > 0) {
+    return true;
+  }
+  return false;
+}
+
+size_t MetadataInfo::getSerializedSize(bool fssLarge) {
+  // 1 byte + minimal FSS 4 bytes
+  size_t size = 5;
+  if (fssLarge) {
+    size += 4;
+  }
+  size += sourceFileName.getSerializedSize();
+  size += destFileName.getSerializedSize();
+  if (hasOptions()) {
+    for (size_t idx = 0; idx < optionsLen; idx++) {
+      size += optionsArray[idx]->getSerializedSize();
+    }
+  }
+  return size;
+}
+
+void MetadataInfo::setDestFileName(cfdp::StringLv& destFileName_) {
+  this->destFileName = destFileName_;
+}
+
+void MetadataInfo::setSourceFileName(cfdp::StringLv& sourceFileName_) {
+  this->sourceFileName = sourceFileName_;
+}
+
+size_t MetadataInfo::getMaxOptionsLen() const { return maxOptionsLen; }
+
+void MetadataInfo::setMaxOptionsLen(size_t maxOptionsLen_) { this->maxOptionsLen = maxOptionsLen_; }
+
+size_t MetadataInfo::getOptionsLen() const { return optionsLen; }
+
+void MetadataInfo::setOptionsLen(size_t optionsLen_) { this->optionsLen = optionsLen_; }
+
+cfdp::StringLv& MetadataInfo::getSourceFileName() { return sourceFileName; }

src/fsfw/cfdp/pdu/MetadataInfo.h

@@ -0,0 +1,55 @@
+#ifndef FSFW_SRC_FSFW_CFDP_PDU_METADATAINFO_H_
+#define FSFW_SRC_FSFW_CFDP_PDU_METADATAINFO_H_
+
+#include <optional>
+
+#include "fsfw/cfdp/FileSize.h"
+#include "fsfw/cfdp/definitions.h"
+#include "fsfw/cfdp/tlv/Lv.h"
+#include "fsfw/cfdp/tlv/StringLv.h"
+#include "fsfw/cfdp/tlv/Tlv.h"
+
+class MetadataInfo {
+ public:
+  MetadataInfo(cfdp::FileSize& fileSize, cfdp::StringLv& sourceFileName,
+               cfdp::StringLv& destFileName);
+  MetadataInfo(bool closureRequested, cfdp::ChecksumType checksumType, cfdp::FileSize& fileSize,
+               cfdp::StringLv& sourceFileName, cfdp::StringLv& destFileName);
+
+  size_t getSerializedSize(bool fssLarge = false);
+
+  void setOptionsArray(cfdp::Tlv** optionsArray, std::optional<size_t> optionsLen,
+                       std::optional<size_t> maxOptionsLen);
+  [[nodiscard]] cfdp::ChecksumType getChecksumType() const;
+  void setChecksumType(cfdp::ChecksumType checksumType);
+  [[nodiscard]] bool isClosureRequested() const;
+  void setClosureRequested(bool closureRequested = false);
+
+  void setDestFileName(cfdp::StringLv& destFileName);
+  void setSourceFileName(cfdp::StringLv& sourceFileName);
+
+  cfdp::StringLv& getDestFileName();
+  cfdp::StringLv& getSourceFileName();
+  cfdp::FileSize& getFileSize();
+
+  [[nodiscard]] bool hasOptions() const;
+  [[nodiscard]] bool canHoldOptions() const;
+  ReturnValue_t getOptions(cfdp::Tlv*** optionsArray, size_t* optionsLen, size_t* maxOptsLen);
+  void setOptionsLen(size_t optionsLen);
+  [[nodiscard]] size_t getOptionsLen() const;
+  void setMaxOptionsLen(size_t maxOptionsLen);
+  [[nodiscard]] size_t getMaxOptionsLen() const;
+
+ private:
+  bool closureRequested = false;
+  cfdp::ChecksumType checksumType = cfdp::ChecksumType::NULL_CHECKSUM;
+  cfdp::FileSize& fileSize;
+  cfdp::StringLv& sourceFileName;
+  cfdp::StringLv& destFileName;
+
+  cfdp::Tlv** optionsArray = nullptr;
+  size_t optionsLen = 0;
+  size_t maxOptionsLen = 0;
+};
+
+#endif /* FSFW_SRC_FSFW_CFDP_PDU_METADATAINFO_H_ */

src/fsfw/cfdp/pdu/MetadataPduCreator.cpp

@@ -1,26 +1,12 @@
 #include "MetadataPduCreator.h"
 
-MetadataPduCreator::MetadataPduCreator(PduConfig &conf, MetadataGenericInfo &info,
-                                       cfdp::StringLv &srcFileName, cfdp::StringLv &destFileName,
-                                       cfdp::Tlv **optionsArray, size_t optionsLen)
-    : FileDirectiveCreator(conf, cfdp::FileDirective::METADATA, 5),
-      info(info),
-      srcFileName(srcFileName),
-      destFileName(destFileName),
-      optionsArray(optionsArray),
-      optionsLen(optionsLen) {
+MetadataPduCreator::MetadataPduCreator(PduConfig &conf, MetadataInfo &info)
+    : FileDirectiveCreator(conf, cfdp::FileDirective::METADATA, 5), info(info) {
   updateDirectiveFieldLen();
 }
 
 void MetadataPduCreator::updateDirectiveFieldLen() {
-  size_t dirFieldLen = MetadataGenericInfo::getSerializedSize(HeaderCreator::getLargeFileFlag()) +
-                       srcFileName.getSerializedSize() + destFileName.getSerializedSize();
-  if (optionsLen > 0 and optionsArray != nullptr) {
-    for (size_t idx = 0; idx < optionsLen; idx++) {
-      dirFieldLen += optionsArray[idx]->getSerializedSize();
-    }
-  }
-  setDirectiveDataFieldLen(dirFieldLen);
+  setDirectiveDataFieldLen(info.getSerializedSize(getLargeFileFlag()));
 }
 
 size_t MetadataPduCreator::getSerializedSize() const {
@@ -43,18 +29,21 @@ ReturnValue_t MetadataPduCreator::serialize(uint8_t **buffer, size_t *size, size
   if (result != returnvalue::OK) {
     return result;
   }
-  result = srcFileName.serialize(buffer, size, maxSize, streamEndianness);
+  result = info.getSourceFileName().serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
   }
-  result = destFileName.serialize(buffer, size, maxSize, streamEndianness);
+  result = info.getDestFileName().serialize(buffer, size, maxSize, streamEndianness);
   if (result != returnvalue::OK) {
     return result;
   }
 
-  if (optionsLen > 0 and optionsArray != nullptr) {
-    for (size_t idx = 0; idx < optionsLen; idx++) {
-      result = optionsArray[idx]->serialize(buffer, size, maxSize, streamEndianness);
+  if (info.hasOptions()) {
+    cfdp::Tlv **optsArray = nullptr;
+    size_t optsLen = 0;
+    info.getOptions(&optsArray, &optsLen, nullptr);
+    for (size_t idx = 0; idx < optsLen; idx++) {
+      result = optsArray[idx]->serialize(buffer, size, maxSize, streamEndianness);
       if (result != returnvalue::OK) {
         return result;
       }
@@ -62,5 +51,3 @@ ReturnValue_t MetadataPduCreator::serialize(uint8_t **buffer, size_t *size, size
   }
   return result;
 }
-const cfdp::StringLv &MetadataPduCreator::getSourceFileName() const { return srcFileName; }
-const cfdp::StringLv &MetadataPduCreator::getDestFileName() const { return destFileName; }

src/fsfw/cfdp/pdu/MetadataPduCreator.h

@@ -2,30 +2,22 @@
 #define FSFW_CFDP_PDU_METADATAPDUCREATOR_H_
 
 #include "fsfw/cfdp/pdu/FileDirectiveCreator.h"
-#include "fsfw/cfdp/pdu/MetadataGenericInfo.h"
+#include "fsfw/cfdp/pdu/MetadataInfo.h"
 
 class MetadataPduCreator : public FileDirectiveCreator {
  public:
-  MetadataPduCreator(PduConfig& conf, MetadataGenericInfo& info, cfdp::StringLv& srcFileName,
-                     cfdp::StringLv& destFileName, cfdp::Tlv** optionsArray, size_t optionsLen);
+  MetadataPduCreator(PduConfig& conf, MetadataInfo& info);
 
   void updateDirectiveFieldLen();
 
   [[nodiscard]] size_t getSerializedSize() const override;
 
-  const cfdp::StringLv& getSourceFileName() const;
-  const cfdp::StringLv& getDestFileName() const;
-
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
   using FileDirectiveCreator::serialize;
 
  private:
-  MetadataGenericInfo& info;
-  cfdp::StringLv& srcFileName;
-  cfdp::StringLv& destFileName;
-  cfdp::Tlv** optionsArray;
-  size_t optionsLen;
+  MetadataInfo& info;
 };
 
 #endif /* FSFW_CFDP_PDU_METADATAPDUCREATOR_H_ */

src/fsfw/cfdp/pdu/MetadataPduReader.cpp

@@ -1,15 +1,9 @@
 #include "MetadataPduReader.h"
 
-MetadataPduReader::MetadataPduReader(const uint8_t* pduBuf, size_t maxSize,
-                                     MetadataGenericInfo& info, cfdp::Tlv* optionsArray,
-                                     size_t optArrayMaxSize)
-    : FileDirectiveReader(pduBuf, maxSize),
-      info(info),
-      optionArray(optionsArray),
-      optionArrayMaxSize(optArrayMaxSize) {}
+MetadataPduReader::MetadataPduReader(const uint8_t* pduBuf, size_t maxSize, MetadataInfo& info)
+    : FileDirectiveReader(pduBuf, maxSize), info(info) {}
 
 ReturnValue_t MetadataPduReader::parseData() {
-  parsedOptions = 0;
   ReturnValue_t result = FileDirectiveReader::parseData();
   if (result != returnvalue::OK) {
     return result;
@@ -25,43 +19,39 @@ ReturnValue_t MetadataPduReader::parseData() {
   remSize -= 1;
   buf += 1;
   auto endianness = getEndianness();
-  result = info.getMutFileSize().deSerialize(&buf, &remSize, endianness);
+  result = info.getFileSize().deSerialize(&buf, &remSize, endianness);
   if (result != returnvalue::OK) {
     return result;
   }
-  result = srcFileName.deSerialize(&buf, &remSize, endianness);
+  result = info.getSourceFileName().deSerialize(&buf, &remSize, endianness);
   if (result != returnvalue::OK) {
     return result;
   }
-  result = destFileName.deSerialize(&buf, &remSize, endianness);
+  result = info.getDestFileName().deSerialize(&buf, &remSize, endianness);
   if (result != returnvalue::OK) {
     return result;
   }
 
+  info.setOptionsLen(0);
   if (remSize > 0) {
-    if (optionArrayMaxSize == 0 or optionArray == nullptr) {
+    if (not info.canHoldOptions()) {
       return cfdp::METADATA_CANT_PARSE_OPTIONS;
     }
+    cfdp::Tlv** optionsArray = nullptr;
+    size_t optsMaxLen = 0;
     size_t optsIdx = 0;
+    info.getOptions(&optionsArray, nullptr, &optsMaxLen);
     while (remSize > 0) {
-      if (optsIdx > optionArrayMaxSize) {
+      if (optsIdx > optsMaxLen) {
         return cfdp::METADATA_CANT_PARSE_OPTIONS;
       }
-      result = optionArray[optsIdx].deSerialize(&buf, &remSize, endianness);
+      result = optionsArray[optsIdx]->deSerialize(&buf, &remSize, endianness);
       if (result != returnvalue::OK) {
         return result;
       }
       optsIdx++;
     }
-    parsedOptions = optsIdx;
+    info.setOptionsLen(optsIdx);
   }
   return result;
 }
-
-size_t MetadataPduReader::getNumberOfParsedOptions() const { return parsedOptions; }
-
-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

@@ -2,28 +2,16 @@
 #define FSFW_CFDP_PDU_METADATAPDUREADER_H_
 
 #include "fsfw/cfdp/pdu/FileDirectiveReader.h"
-#include "fsfw/cfdp/pdu/MetadataGenericInfo.h"
+#include "fsfw/cfdp/pdu/MetadataInfo.h"
 
 class MetadataPduReader : public FileDirectiveReader {
  public:
-  MetadataPduReader(const uint8_t* pduBuf, size_t maxSize, MetadataGenericInfo& info,
-                    cfdp::Tlv* optionsArray, size_t optArrayMaxSize);
+  MetadataPduReader(const uint8_t* pduBuf, size_t maxSize, MetadataInfo& info);
 
   ReturnValue_t parseData() override;
 
-  [[nodiscard]] const MetadataGenericInfo& getGenericInfo() const;
-  [[nodiscard]] const cfdp::StringLv& getSourceFileName() const;
-  [[nodiscard]] const cfdp::StringLv& getDestFileName() const;
-
-  [[nodiscard]] size_t getNumberOfParsedOptions() const;
-
  private:
-  cfdp::StringLv srcFileName;
-  cfdp::StringLv destFileName;
-  MetadataGenericInfo& info;
-  cfdp::Tlv* optionArray;
-  size_t optionArrayMaxSize;
-  size_t parsedOptions = 0;
+  MetadataInfo& info;
 };
 
 #endif /* FSFW_CFDP_PDU_METADATAPDUREADER_H_ */

src/fsfw/cfdp/pdu/NakInfo.cpp

@@ -1,6 +1,6 @@
 #include "NakInfo.h"
 
-NakInfo::NakInfo(cfdp::Fss startOfScope, cfdp::Fss endOfScope)
+NakInfo::NakInfo(cfdp::FileSize startOfScope, cfdp::FileSize endOfScope)
     : startOfScope(startOfScope), endOfScope(endOfScope) {}
 
 size_t NakInfo::getSerializedSize(bool fssLarge) {
@@ -57,9 +57,9 @@ void NakInfo::setSegmentRequests(SegmentRequest* segmentRequests, size_t* segmen
   }
 }
 
-cfdp::Fss& NakInfo::getStartOfScope() { return startOfScope; }
+cfdp::FileSize& NakInfo::getStartOfScope() { return startOfScope; }
 
-cfdp::Fss& NakInfo::getEndOfScope() { return endOfScope; }
+cfdp::FileSize& NakInfo::getEndOfScope() { return endOfScope; }
 
 size_t NakInfo::getSegmentRequestsLen() const { return segmentRequestsLen; }
 

src/fsfw/cfdp/pdu/NakInfo.h

@@ -3,21 +3,21 @@
 
 #include <utility>
 
-#include "fsfw/cfdp/Fss.h"
+#include "fsfw/cfdp/FileSize.h"
 
 class NakInfo {
  public:
-  using SegmentRequest = std::pair<cfdp::Fss, cfdp::Fss>;
+  using SegmentRequest = std::pair<cfdp::FileSize, cfdp::FileSize>;
 
-  NakInfo(cfdp::Fss startOfScope, cfdp::Fss endOfScope);
+  NakInfo(cfdp::FileSize startOfScope, cfdp::FileSize endOfScope);
 
   void setSegmentRequests(SegmentRequest* segmentRequests, size_t* segmentRequestLen,
                           size_t* maxSegmentRequestLen);
 
   size_t getSerializedSize(bool fssLarge = false);
 
-  cfdp::Fss& getStartOfScope();
-  cfdp::Fss& getEndOfScope();
+  cfdp::FileSize& getStartOfScope();
+  cfdp::FileSize& getEndOfScope();
 
   bool hasSegmentRequests() const;
   bool canHoldSegmentRequests() const;
@@ -31,8 +31,8 @@ class NakInfo {
   void setSegmentRequestLen(size_t readLen);
 
  private:
-  cfdp::Fss startOfScope;
-  cfdp::Fss endOfScope;
+  cfdp::FileSize startOfScope;
+  cfdp::FileSize endOfScope;
   SegmentRequest* segmentRequests = nullptr;
   size_t segmentRequestsLen = 0;
   size_t maxSegmentRequestsLen = 0;

src/fsfw/cfdp/pdu/NakPduCreator.h

@@ -4,7 +4,7 @@
 #include <vector>
 
 #include "NakInfo.h"
-#include "fsfw/cfdp/Fss.h"
+#include "fsfw/cfdp/FileSize.h"
 #include "fsfw/cfdp/definitions.h"
 #include "fsfw/cfdp/pdu/FileDirectiveCreator.h"
 

src/fsfw/cfdp/pdu/PduHeaderReader.h

@@ -105,8 +105,7 @@ class PduHeaderReader : public RedirectableDataPointerIF, public PduHeaderIF {
    * @return
    */
   ReturnValue_t setData(uint8_t* dataPtr, size_t maxSize, void* args) override;
-  static void assignVarLenField(cfdp::VarLenField* field, cfdp::WidthInBytes width,
-                                void* sourcePtr);
+  void assignVarLenField(cfdp::VarLenField* field, cfdp::WidthInBytes width, void* sourcePtr) const;
   void* sourceIdRaw = nullptr;
   void* seqNumRaw = nullptr;
   void* destIdRaw = nullptr;

src/fsfw/cfdp/tlv/CMakeLists.txt

@@ -8,5 +8,4 @@ target_sources(
           StringLv.cpp
           FlowLabelTlv.cpp
           MessageToUserTlv.cpp
-          FaultHandlerOverrideTlv.cpp
-          ReservedMessageCreator.cpp)
+          FaultHandlerOverrideTlv.cpp)

src/fsfw/cfdp/tlv/Lv.cpp

@@ -14,6 +14,23 @@ cfdp::Lv::Lv(const std::vector<uint8_t>& data) : value(data.data(), data.size(),
 
 cfdp::Lv::Lv() : value(static_cast<uint8_t*>(nullptr), 0, true) {}
 
+cfdp::Lv::Lv(const Lv& other)
+    : value(other.value.getConstBuffer(), other.value.getSerializedSize() - 1, true) {
+  if (other.value.getSerializedSize() - 1 > 0) {
+    zeroLen = false;
+  }
+}
+
+cfdp::Lv& cfdp::Lv::operator=(const Lv& other) {
+  size_t otherSize = 0;
+  auto* otherVal = const_cast<uint8_t*>(other.getValue(&otherSize));
+  if (otherVal == nullptr or otherSize == 0) {
+    this->zeroLen = true;
+  }
+  this->value.setConstBuffer(otherVal, otherSize);
+  return *this;
+}
+
 ReturnValue_t cfdp::Lv::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                                   Endianness streamEndianness) const {
   if (maxSize < 1) {
@@ -32,8 +49,10 @@ ReturnValue_t cfdp::Lv::serialize(uint8_t** buffer, size_t* size, size_t maxSize
 }
 
 size_t cfdp::Lv::getSerializedSize() const {
-  if (zeroLen or value.getConstBuffer() == nullptr) {
+  if (zeroLen) {
     return 1;
+  } else if (value.getConstBuffer() == nullptr) {
+    return 0;
   }
   return value.getSerializedSize();
 }
@@ -66,34 +85,7 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
 const uint8_t* cfdp::Lv::getValue(size_t* size) const {
   if (size != nullptr) {
     // Length without length field
-    *size = getSerializedSize() - 1;
+    *size = value.getSerializedSize() - 1;
   }
   return value.getConstBuffer();
 }
-cfdp::Lv::Lv(cfdp::Lv&& other) noexcept
-    : value(other.value.getConstBuffer(), other.value.getSerializedSize() - 1, true) {
-  if (other.value.getSerializedSize() - 1 > 0) {
-    zeroLen = false;
-  }
-  // Leave other class in intact state.
-  other.zeroLen = false;
-  other.value = SerialBufferAdapter<uint8_t>();
-}
-
-cfdp::Lv& cfdp::Lv::operator=(cfdp::Lv&& other) noexcept {
-  size_t otherSize = 0;
-  this->zeroLen = false;
-  auto* otherVal = const_cast<uint8_t*>(other.getValue(&otherSize));
-  if (otherVal == nullptr or otherSize == 0) {
-    this->zeroLen = true;
-  }
-  this->value.setConstBuffer(otherVal, otherSize);
-  // Leave other class in intact state.
-  other.zeroLen = false;
-  other.value = SerialBufferAdapter<uint8_t>();
-  return *this;
-}
-
-size_t cfdp::Lv::getValueLen() const { return getSerializedSize() - 1; }
-
-bool cfdp::Lv::isEmpty() const { return zeroLen; }

src/fsfw/cfdp/tlv/Lv.h

@@ -18,12 +18,8 @@ class Lv : public SerializeIF {
   Lv(const uint8_t* value, size_t size);
   Lv();
 
-  // Semantically, this class is a zero-copy helper, so the copy ctor and copy assigment do not
-  // really make sense here.
-  Lv(const Lv&) = delete;
-  Lv& operator=(const Lv&) = delete;
-  Lv(Lv&&) noexcept;
-  Lv& operator=(Lv&&) noexcept;
+  Lv(const Lv&);
+  Lv& operator=(const Lv&);
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
@@ -40,8 +36,6 @@ class Lv : public SerializeIF {
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override;
 
-  size_t getValueLen() const;
-
   /**
    * Get value field and its size.
    * @param size Optionally retrieve size. Size will be the size of the actual value field
@@ -50,8 +44,6 @@ 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

@@ -7,22 +7,3 @@ MessageToUserTlv::MessageToUserTlv() : Tlv() {}
 
 MessageToUserTlv::MessageToUserTlv(const std::vector<uint8_t>& data)
     : Tlv(cfdp::TlvType::MSG_TO_USER, data.data(), data.size()) {}
-
-MessageToUserTlv::MessageToUserTlv(const uint8_t* value, size_t size)
-    : Tlv(cfdp::TlvType::MSG_TO_USER, value, size) {}
-
-bool MessageToUserTlv::isReservedCfdpMessage(uint8_t& messageType, const uint8_t** msgDataStart,
-                                             size_t& msgLen) const {
-  if (cfdp::Tlv::getLengthField() < 5) {
-    return false;
-  }
-  if (std::strncmp(reinterpret_cast<const char*>(getValue()), "cfdp", 4) == 0) {
-    messageType = getValue()[4];
-    if (msgDataStart != nullptr) {
-      *msgDataStart = getValue() + 5;
-    }
-    msgLen = cfdp::Tlv::getSerializedSize() - 5;
-    return true;
-  }
-  return false;
-}

src/fsfw/cfdp/tlv/MessageToUserTlv.h

@@ -9,12 +9,8 @@ class MessageToUserTlv : public cfdp::Tlv {
  public:
   MessageToUserTlv();
   MessageToUserTlv(uint8_t* value, size_t size);
-  MessageToUserTlv(const uint8_t* value, size_t size);
   explicit MessageToUserTlv(const std::vector<uint8_t>& data);
 
-  bool isReservedCfdpMessage(uint8_t& messageType, const uint8_t** msgDataStart,
-                             size_t& msgLen) const;
-
  private:
 };
 

src/fsfw/cfdp/tlv/ReservedMessageCreator.cpp

@@ -1,39 +0,0 @@
-#include "ReservedMessageCreator.h"
-
-cfdp::ReservedMessageCreator::ReservedMessageCreator(uint8_t messageType, uint8_t *msgData,
-                                                     size_t msgLen)
-    : messageType(messageType), msgData(msgData), msgSize(msgLen) {}
-
-ReturnValue_t cfdp::ReservedMessageCreator::serialize(
-    uint8_t **buffer, size_t *size, size_t maxSize,
-    SerializeIF::Endianness streamEndianness) const {
-  if (*size + getSerializedSize() > maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  **buffer = TlvType::MSG_TO_USER;
-  *buffer += 1;
-  *size += 1;
-  **buffer = getSerializedSize() - 2;
-  *size += 1;
-  *buffer += 1;
-  std::memcpy(*buffer, MSG_HEADER, 4);
-  *buffer += 4;
-  *size += 4;
-  **buffer = messageType;
-  *buffer += 1;
-  *size += 1;
-  std::memcpy(*buffer, msgData, msgSize);
-  *buffer += msgSize;
-  *size += msgSize;
-  return returnvalue::OK;
-}
-
-size_t cfdp::ReservedMessageCreator::getSerializedSize() const {
-  // 2 bytes type and length, 4 bytes CFDP, 1 byte reserved message type, message data.
-  return 2 + 5 + msgSize;
-}
-
-ReturnValue_t cfdp::ReservedMessageCreator::deSerialize(const uint8_t **buffer, size_t *size,
-                                                        SerializeIF::Endianness streamEndianness) {
-  return returnvalue::FAILED;
-}

src/fsfw/cfdp/tlv/ReservedMessageCreator.h

@@ -1,24 +0,0 @@
-#pragma once
-
-#include "Tlv.h"
-
-namespace cfdp {
-
-class ReservedMessageCreator : public SerializeIF {
- public:
-  static constexpr char MSG_HEADER[] = "cfdp";
-
-  ReservedMessageCreator(uint8_t messageType, uint8_t *msgData, size_t msgLen);
-  [[nodiscard]] 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;
-
- private:
-  uint8_t messageType;
-  uint8_t *msgData;
-  size_t msgSize;
-};
-
-}  // namespace cfdp

src/fsfw/cfdp/tlv/StringLv.cpp

@@ -7,12 +7,3 @@ cfdp::StringLv::StringLv(const char* filename, size_t len)
     : Lv(reinterpret_cast<const uint8_t*>(filename), len) {}
 
 cfdp::StringLv::StringLv() : Lv() {}
-
-const char* cfdp::StringLv::getCString(size_t& fileSize) const {
-  return reinterpret_cast<const char*>(getValue(&fileSize));
-}
-
-std::string cfdp::StringLv::getString() const {
-  size_t fileSize;
-  return {getCString(fileSize), fileSize};
-}

src/fsfw/cfdp/tlv/StringLv.h

@@ -13,8 +13,6 @@ class StringLv : public Lv {
   explicit StringLv(const std::string& fileName);
   explicit StringLv(const char* filename, size_t len);
 
-  const char* getCString(size_t& fileSize) const;
-  std::string getString() const;
   // Delete the move constructor to avoid passing in a temporary
   StringLv(const std::string&&) = delete;
 };

src/fsfw/cfdp/tlv/Tlv.cpp

@@ -54,7 +54,6 @@ 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;
@@ -103,5 +102,3 @@ 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

@@ -47,7 +47,6 @@ 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;
@@ -56,7 +55,6 @@ 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

@@ -4,31 +4,48 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/subsystem/SubsystemBase.h"
-#include "fsfw/subsystem/helper.h"
 
-ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth)
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
+                               size_t commandQueueDepth)
     : SystemObject(setObjectId),
+      parentId(parentId),
       mode(MODE_OFF),
       submode(SUBMODE_NONE),
       modeHelper(this),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
 ReturnValue_t ControllerBase::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
+  ReturnValue_t result = SystemObject::initialize();
   if (result != returnvalue::OK) {
     return result;
   }
-  result = healthHelper.initialize();
+
+  MessageQueueId_t parentQueue = 0;
+  if (parentId != objects::NO_OBJECT) {
+    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    if (parent == nullptr) {
+      return returnvalue::FAILED;
+    }
+    parentQueue = parent->getCommandQueue();
+
+    parent->registerChild(getObjectId());
+  }
+
+  result = healthHelper.initialize(parentQueue);
   if (result != returnvalue::OK) {
     return result;
   }
-  return SystemObject::initialize();
+
+  result = modeHelper.initialize(parentQueue);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  return returnvalue::OK;
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
@@ -58,7 +75,7 @@ void ControllerBase::handleQueue() {
 
 void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
   changeHK(this->mode, this->submode, false);
-  triggerEvent(CHANGING_MODE, mode_, submode_);
+  triggerEvent(CHANGING_MODE, mode, submode);
   mode = mode_;
   submode = submode_;
   modeHelper.modeChanged(mode, submode);
@@ -72,17 +89,18 @@ void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
   *submode_ = this->submode;
 }
 
-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); }
 
+void ControllerBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
+
 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:
@@ -100,13 +118,3 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
-
-const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
-
-const HasModesIF& ControllerBase::getModeIF() const { return *this; }
-
-ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
-
-ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}

src/fsfw/controller/ControllerBase.h

@@ -6,9 +6,6 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/modes/ModeHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/subsystem/HasModeTreeChildrenIF.h"
-#include "fsfw/subsystem/ModeTreeChildIF.h"
-#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -21,18 +18,13 @@
 class ControllerBase : public HasModesIF,
                        public HasHealthIF,
                        public ExecutableObjectIF,
-                       public ModeTreeChildIF,
-                       public ModeTreeConnectionIF,
                        public SystemObject {
  public:
   static const Mode_t MODE_NORMAL = 2;
 
-  ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3);
+  ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
 
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
   /** SystemObject override */
   ReturnValue_t initialize() override;
 
@@ -46,8 +38,6 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t performOperation(uint8_t opCode) override;
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
 
  protected:
   /**
@@ -66,6 +56,8 @@ class ControllerBase : public HasModesIF,
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override = 0;
 
+  const object_id_t parentId;
+
   Mode_t mode;
 
   Submode_t submode;

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -1,7 +1,8 @@
 #include "fsfw/controller/ExtendedControllerBase.h"
 
-ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth)
-    : ControllerBase(objectId, commandQueueDepth),
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
+                                               size_t commandQueueDepth)
+    : ControllerBase(objectId, parentId, commandQueueDepth),
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 

src/fsfw/controller/ExtendedControllerBase.h

@@ -17,7 +17,7 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasActionsIF,
                                public HasLocalDataPoolIF {
  public:
-  ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth = 3);
+  ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
   ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */

src/fsfw/coordinates/CoordinateTransformations.cpp

@@ -6,8 +6,6 @@
 #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) {
@@ -99,14 +97,7 @@ void CoordinateTransformations::ecfToEci(const double* ecfCoordinates, double* e
 
 double CoordinateTransformations::getJuleanCenturiesTT(timeval timeUTC) {
   timeval 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;
-  }
+  Clock::convertUTCToTT(timeUTC, &timeTT);
   double jD2000TT;
   Clock::convertTimevalToJD2000(timeTT, &jD2000TT);
 
@@ -216,61 +207,3 @@ 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

@@ -23,12 +23,6 @@ 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 daysSinceEpoch = minutesSinceEpoch / 60 / 24;
+  double yearsSinceEpoch = minutesSinceEpoch / 60 / 24 / 365;
 
-  if ((daysSinceEpoch > 7) || (daysSinceEpoch < -7)) {
+  if ((yearsSinceEpoch > 1) || (yearsSinceEpoch < -1)) {
     return TLE_TOO_OLD;
   }
 

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -70,7 +70,8 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation() {
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(uint8_t nonDiagInvlFactor) {
+  setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
   return initializeHousekeepingPoolEntriesOnce();
 }
 
@@ -505,9 +506,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
       float newCollIntvl = 0;
       HousekeepingMessage::getCollectionIntervalModificationCommand(message, &newCollIntvl);
       if (command == HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
-        result = changeCollectionInterval(sid, newCollIntvl);
+        result = changeCollectionInterval(sid, newCollIntvl, true);
       } else {
-        result = changeCollectionInterval(sid, newCollIntvl);
+        result = changeCollectionInterval(sid, newCollIntvl, false);
       }
       break;
     }
@@ -569,10 +570,6 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me
 
   CommandMessage reply;
   if (result != returnvalue::OK) {
-    if (result == WRONG_HK_PACKET_TYPE) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
-                          WRONG_HK_PACKET_TYPE);
-    }
     HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
   } else {
     HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@@ -660,6 +657,10 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(HousekeepingPacke
   return hkPacket.serialize(&dataPtr, serializedSize, maxSize, SerializeIF::Endianness::MACHINE);
 }
 
+void LocalDataPoolManager::setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor) {
+  this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
+}
+
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   sid_t sid = receiver.dataId.sid;
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
@@ -713,15 +714,15 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
 
   if ((LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and enable) or
       (not LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and not enable)) {
-    return returnvalue::OK;
+    return REPORTING_STATUS_UNCHANGED;
   }
 
   LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enable);
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
-                                                             float newCollectionInterval) {
+ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid, float newCollectionInterval,
+                                                             bool isDiagnostics) {
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
   if (dataSet == nullptr) {
     printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",
@@ -729,6 +730,11 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
     return DATASET_NOT_FOUND;
   }
 
+  bool targetIsDiagnostics = LocalPoolDataSetAttorney::isDiagnostics(*dataSet);
+  if ((targetIsDiagnostics and not isDiagnostics) or (not targetIsDiagnostics and isDiagnostics)) {
+    return WRONG_HK_PACKET_TYPE;
+  }
+
   PeriodicHousekeepingHelper* periodicHelper =
       LocalPoolDataSetAttorney::getPeriodicHelper(*dataSet);
 
@@ -819,8 +825,6 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
       errorPrint = "Dataset not found";
     } else if (error == POOLOBJECT_NOT_FOUND) {
       errorPrint = "Pool Object not found";
-    } else if (error == WRONG_HK_PACKET_TYPE) {
-      errorPrint = "Wrong Packet Type";
     } else if (error == returnvalue::FAILED) {
       if (outputType == sif::OutputTypes::OUT_WARNING) {
         errorPrint = "Generic Warning";

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -102,7 +102,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * @param nonDiagInvlFactor
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation();
+  ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
 
   /**
    * @brief   This should be called in the periodic handler of the owner.
@@ -152,6 +152,17 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
 
+  /**
+   * Non-Diagnostics packets usually have a lower minimum sampling frequency
+   * than diagnostic packets.
+   * A factor can be specified to determine the minimum sampling frequency
+   * for non-diagnostic packets. The minimum sampling frequency of the
+   * diagnostics packets,which is usually jusst the period of the
+   * performOperation calls, is multiplied with that factor.
+   * @param factor
+   */
+  void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
+
   /**
    * @brief   The manager is also able to handle housekeeping messages.
    * @details
@@ -174,7 +185,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
   ReturnValue_t generateHousekeepingPacket(sid_t sid, LocalPoolDataSetBase* dataSet,
                                            bool forDownlink,
                                            MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
-  ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval);
 
   HasLocalDataPoolIF* getOwner();
 
@@ -338,6 +348,8 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
 
   void performPeriodicHkGeneration(HkReceiver& hkReceiver);
   ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
+  ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
+                                         bool isDiagnostics);
   ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
 
   void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -250,8 +250,9 @@ void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
 bool LocalPoolDataSetBase::getReportingEnabled() const { return reportingEnabled; }
 
 void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
-                                                    dur_millis_t minimumPeriodicInterval) {
-  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval);
+                                                    dur_millis_t minimumPeriodicInterval,
+                                                    uint8_t nonDiagIntervalFactor) {
+  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
 }
 
 void LocalPoolDataSetBase::setChanged(bool changed) { this->changed = changed; }

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

@@ -162,7 +162,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
   object_id_t getCreatorObjectId();
 
   bool getReportingEnabled() const;
-  void setReportingEnabled(bool enabled);
 
   /**
    * Returns the current periodic HK generation interval this set
@@ -190,8 +189,10 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    * Used for periodic generation.
    */
   bool reportingEnabled = false;
+  void setReportingEnabled(bool enabled);
 
-  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval);
+  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+                                uint8_t nonDiagIntervalFactor = 5);
 
   /**
    * If the valid state of a dataset is always relevant to the whole

src/fsfw/datapoollocal/internal/LocalPoolDataSetAttorney.h

@@ -12,8 +12,10 @@ class LocalPoolDataSetAttorney {
   static bool isDiagnostics(LocalPoolDataSetBase& set) { return set.isDiagnostics(); }
 
   static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
-                                       uint32_t minimumPeriodicIntervalMs) {
-    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs);
+                                       uint32_t minimumPeriodicIntervalMs,
+                                       uint8_t nonDiagIntervalFactor = 5) {
+    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
+                                 nonDiagIntervalFactor);
   }
 
   static void setReportingEnabled(LocalPoolDataSetBase& set, bool enabled) {

src/fsfw/devicehandlers/AssemblyBase.cpp

@@ -1,7 +1,7 @@
 #include "fsfw/devicehandlers/AssemblyBase.h"
 
-AssemblyBase::AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth)
-    : SubsystemBase(objectId, MODE_OFF, commandQueueDepth),
+AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth)
+    : SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
       internalState(STATE_NONE),
       recoveryState(RECOVERY_IDLE),
       recoveringDevice(childrenMap.end()),
@@ -26,7 +26,11 @@ void AssemblyBase::performChildOperation() {
 
 void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   doStartTransition(mode, submode);
-  triggerModeHelperEvents(mode, submode);
+  if (modeHelper.isForced()) {
+    triggerEvent(FORCING_MODE, mode, submode);
+  } else {
+    triggerEvent(CHANGING_MODE, mode, submode);
+  }
 }
 
 void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@@ -73,10 +77,9 @@ bool AssemblyBase::handleChildrenChangedHealth() {
   }
   HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
   if (healthState == HasHealthIF::NEEDS_RECOVERY) {
-    triggerEvent(TRYING_RECOVERY, iter->first, 0);
+    triggerEvent(TRYING_RECOVERY);
     recoveryState = RECOVERY_STARTED;
     recoveringDevice = iter;
-    // The user needs to take care of commanding the children off in commandChildren
     doStartTransition(targetMode, targetSubmode);
   } else {
     triggerEvent(CHILD_CHANGED_HEALTH);
@@ -225,9 +228,6 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
 bool AssemblyBase::checkAndHandleRecovery() {
   switch (recoveryState) {
     case RECOVERY_STARTED:
-      // The recovery was already start in #handleChildrenChangedHealth and we just need
-      // to wait for an off time period.
-      // TODO: make time period configurable
       recoveryState = RECOVERY_WAIT;
       recoveryOffTimer.resetTimer();
       return true;
@@ -266,11 +266,3 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
   modeHelper.setForced(true);
   sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
 }
-
-void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
-  if (modeHelper.isForced()) {
-    triggerEvent(FORCING_MODE, mode, submode);
-  } else {
-    triggerEvent(CHANGING_MODE, mode, submode);
-  }
-}

src/fsfw/devicehandlers/AssemblyBase.h

@@ -12,8 +12,7 @@
  * Documentation: Dissertation Baetz p.156, 157.
  *
  * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
  *
  * The template class monitors mode and health state of its children
  * and checks availability of devices on every detected change.
@@ -27,9 +26,11 @@
  *
  * Important:
  *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
  * The implementation must call the initialization function of the base class.
  * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase : public SubsystemBase {
  public:
@@ -41,15 +42,14 @@ class AssemblyBase : public SubsystemBase {
   static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE = MAKE_RETURN_CODE(0xa1);
 
-  AssemblyBase(object_id_t objectId, uint16_t commandQueueDepth = 8);
+  AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
   virtual ~AssemblyBase();
 
  protected:
   /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
    * @param mode
    * @param submode
    * @return
@@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {
 
   virtual ReturnValue_t handleHealthReply(CommandMessage *message);
 
-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();
 
-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
   bool handleChildrenChanged();
 
   /**
@@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {
 
   bool handleChildrenChangedHealth();
 
-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
   virtual void handleChildrenTransition();
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
 
-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
   virtual void startTransition(Mode_t mode, Submode_t submode);
 
-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
   virtual void doStartTransition(Mode_t mode, Submode_t submode);
 
   virtual bool isInTransition();
@@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
    * Manages recovery of a device
    * @return true if recovery is still ongoing, false else.
    */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();
 
   /**
    * Helper method to overwrite health state of one of the children.
@@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
    * @param objectId Must be a registered child.
    */
   void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

src/fsfw/devicehandlers/CMakeLists.txt

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

src/fsfw/devicehandlers/ChildHandlerBase.cpp

@@ -3,12 +3,17 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-                                   CookieIF* cookie, HasModeTreeChildrenIF& parent,
-                                   FailureIsolationBase* customFdir, size_t cmdQueueSize)
+                                   CookieIF* cookie, object_id_t hkDestination,
+                                   uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+                                   object_id_t parent, FailureIsolationBase* customFdir,
+                                   size_t cmdQueueSize)
     : DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
                         (customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
-      parent(parent),
-      childHandlerFdir(setObjectId) {}
+      parentId(parent),
+      childHandlerFdir(setObjectId) {
+  this->setHkDestination(hkDestination);
+  this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
+}
 
 ChildHandlerBase::~ChildHandlerBase() {}
 
@@ -18,5 +23,21 @@ ReturnValue_t ChildHandlerBase::initialize() {
     return result;
   }
 
-  return DeviceHandlerBase::connectModeTreeParent(parent);
+  MessageQueueId_t parentQueue = 0;
+
+  if (parentId != objects::NO_OBJECT) {
+    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    if (parent == NULL) {
+      return returnvalue::FAILED;
+    }
+    parentQueue = parent->getCommandQueue();
+
+    parent->registerChild(getObjectId());
+  }
+
+  healthHelper.setParentQueue(parentQueue);
+
+  modeHelper.setParentQueue(parentQueue);
+
+  return returnvalue::OK;
 }

src/fsfw/devicehandlers/ChildHandlerBase.h

@@ -1,23 +1,22 @@
 #ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 #define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
-#include <fsfw/subsystem/HasModeTreeChildrenIF.h>
-
 #include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
 
 class ChildHandlerBase : public DeviceHandlerBase {
  public:
   ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie,
-                   HasModeTreeChildrenIF& parent, FailureIsolationBase* customFdir = nullptr,
-                   size_t cmdQueueSize = 20);
+                   object_id_t hkDestination, uint32_t thermalStatePoolId,
+                   uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
+                   FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 
   virtual ~ChildHandlerBase();
 
   virtual ReturnValue_t initialize();
 
  protected:
-  HasModeTreeChildrenIF& parent;
+  const uint32_t parentId;
   ChildHandlerFDIR childHandlerFdir;
 };
 

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -49,7 +49,6 @@ class DeviceCommunicationIF {
   // is this needed if there is no open/close call?
   static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
   static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
-  static constexpr ReturnValue_t BUSY = MAKE_RETURN_CODE(0x07);
 
   virtual ~DeviceCommunicationIF() {}
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,4 +1,4 @@
-#include "DeviceHandlerBase.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
@@ -13,7 +13,6 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
-#include "fsfw/subsystem/helper.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@@ -24,6 +23,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
                                      CookieIF* comCookie, FailureIsolationBase* fdirInstance,
                                      size_t cmdQueueSize)
     : SystemObject(setObjectId),
+      mode(MODE_OFF),
+      submode(SUBMODE_NONE),
       wiretappingMode(OFF),
       storedRawData(StorageManagerIF::INVALID_ADDRESS),
       deviceCommunicationId(deviceCommunication),
@@ -38,13 +39,10 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       defaultFDIRUsed(fdirInstance == nullptr),
       switchOffWasReported(false),
       childTransitionDelay(5000),
-      mode(MODE_OFF),
-      submode(SUBMODE_NONE),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
   insertInCommandMap(RAW_COMMAND_ID);
   cookieInfo.state = COOKIE_UNUSED;
   cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -52,13 +50,21 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
     printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", returnvalue::FAILED,
                         "Invalid cookie");
   }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }
 
 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
   this->hkDestination = hkDestination;
 }
 
-void DeviceHandlerBase::enableThermalModule(ThermalStateCfg cfg) { this->thermalStateCfg = cfg; }
+void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId,
+                                                      lp_id_t heaterRequestPoolId,
+                                                      uint32_t thermalSetId) {
+  thermalSet =
+      new DeviceHandlerThermalSet(this, thermalSetId, thermalStatePoolId, heaterRequestPoolId);
+}
 
 DeviceHandlerBase::~DeviceHandlerBase() {
   if (comCookie != nullptr) {
@@ -124,10 +130,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
 
   communicationInterface =
       ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@@ -222,11 +224,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
   fillCommandAndReplyMap();
 
   if (thermalSet != nullptr) {
-    PoolReadGuard pg(thermalSet);
     // Set temperature target state to NON_OP.
-    if (pg.getReadResult() == returnvalue::OK) {
+    result = thermalSet->read();
+    if (result == returnvalue::OK) {
       thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       thermalSet->heaterRequest.setValid(true);
+      thermalSet->commit();
     }
   }
 
@@ -350,6 +353,7 @@ void DeviceHandlerBase::doStateMachine() {
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(_MODE_POWER_DOWN);
+        callChildStatemachine();
         break;
       }
       ReturnValue_t switchState = getStateOfSwitches();
@@ -363,12 +367,13 @@ void DeviceHandlerBase::doStateMachine() {
       }
     } break;
     case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
       if (powerSwitcher == nullptr) {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -376,7 +381,7 @@ void DeviceHandlerBase::doStateMachine() {
       }
       ReturnValue_t switchState = getStateOfSwitches();
       if ((switchState == PowerSwitchIF::SWITCH_OFF) || (switchState == NO_SWITCH)) {
-        setMode(MODE_OFF, SUBMODE_NONE);
+        setMode(_MODE_SWITCH_IS_OFF);
       }
     } break;
     case MODE_OFF:
@@ -389,6 +394,9 @@ void DeviceHandlerBase::doStateMachine() {
     case MODE_NORMAL:
     case MODE_ERROR_ON:
       break;
+    case _MODE_SWITCH_IS_OFF:
+      setMode(MODE_OFF, SUBMODE_NONE);
+      break;
     default:
       triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
       setMode(_MODE_POWER_DOWN, 0);
@@ -560,40 +568,25 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 }
 
 void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
-  /**
-   * handle transition from OFF to NORMAL by continuing towards normal when ON is reached
-   */
-  if (newMode == MODE_ON and continueToNormal) {
-    continueToNormal = false;
-    // TODO: Check whether the following two lines are okay to do so.
-    transitionSourceMode = MODE_ON;
-    transitionSourceSubMode = newSubmode;
-    mode = _MODE_TO_NORMAL;
-    return;
-  }
-
+  /* TODO: This will probably be done by the LocalDataPoolManager now */
+  // changeHK(mode, submode, false);
   submode = newSubmode;
   mode = newMode;
   modeChanged();
   setNormalDatapoolEntriesInvalid();
-  if (newMode == MODE_OFF) {
-    disableCommandsAndReplies();
-  }
   if (!isTransitionalMode()) {
-    // clear this flag when a non-transitional Mode is reached to be safe
-    continueToNormal = false;
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
   Clock::getUptime(&timeoutStart);
 
   if (mode == MODE_OFF and thermalSet != nullptr) {
-    PoolReadGuard pg(thermalSet);
-    if (pg.getReadResult() == returnvalue::OK) {
+    ReturnValue_t result = thermalSet->read();
+    if (result == returnvalue::OK) {
       if (thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) {
         thermalSet->heaterRequest.value = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
       }
-      thermalSet->heaterRequest.setValid(true);
+      thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
     }
   }
   /* TODO: This will probably be done by the LocalDataPoolManager now */
@@ -1066,7 +1059,8 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
   return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
 }
 
-// SHOULDDO: throw away DHB and write a new one:
+// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
+// way, throw away DHB and write a new one:
 //  - Include power and thermal completely, but more modular :-)
 //  - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
 //  - Modularization?
@@ -1078,12 +1072,13 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
   if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
     return TRANS_NOT_ALLOWED;
   }
+  if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
+    return TRANS_NOT_ALLOWED;
+  }
 
-  // Do not check thermal state for MODE_RAW
-  if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
-      (thermalSet != nullptr)) {
-    PoolReadGuard pg(thermalSet);
-    if (pg.getReadResult() == returnvalue::OK) {
+  if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
+    ReturnValue_t result = thermalSet->read();
+    if (result == returnvalue::OK) {
       if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
           (not ThermalComponentIF::isOperational(thermalSet->thermalState.value))) {
         triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE, thermalSet->thermalState.value);
@@ -1096,7 +1091,6 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
 }
 
 void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
-  continueToNormal = false;
   switch (commandedMode) {
     case MODE_ON:
       handleTransitionToOnMode(commandedMode, commandedSubmode);
@@ -1126,9 +1120,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
     case MODE_NORMAL:
       if (mode != MODE_OFF) {
         setTransition(MODE_NORMAL, commandedSubmode);
-      } else {  // mode is off
-        continueToNormal = true;
-        handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
+      } else {
+        replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
       }
       break;
   }
@@ -1144,10 +1137,11 @@ void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode, Submode_t
     childTransitionDelay = getTransitionDelayMs(_MODE_START_UP, MODE_ON);
     triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
     if (thermalSet != nullptr) {
-      PoolReadGuard pg(thermalSet);
-      if (pg.getReadResult() == returnvalue::OK) {
+      ReturnValue_t result = thermalSet->read();
+      if (result == returnvalue::OK) {
         if (thermalSet->heaterRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
           thermalSet->heaterRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
+          thermalSet->commit();
         }
       }
     }
@@ -1285,7 +1279,6 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
   if (iter->second.command != deviceCommandMap.end()) {
     MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
-    // This may fail, but we'll ignore the fault.
     if (queueId != NO_COMMANDER) {
       // This may fail, but we'll ignore the fault.
       actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
@@ -1464,17 +1457,15 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                        uint32_t parameter) {}
 
-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}
 
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  if (thermalStateCfg.has_value()) {
-    localDataPoolMap.emplace(thermalStateCfg.value().thermalStatePoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>());
-    localDataPoolMap.emplace(thermalStateCfg.value().thermalRequestPoolId,
-                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>());
+  if (thermalSet != nullptr) {
+    localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
+                             new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
+    localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
+                             new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
   }
   return returnvalue::OK;
 }
@@ -1487,12 +1478,8 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
   }
   this->poolManager.initializeAfterTaskCreation();
 
-  if (thermalStateCfg.has_value()) {
-    ThermalStateCfg& cfg = thermalStateCfg.value();
-    thermalSet = new DeviceHandlerThermalSet(this, cfg);
-  }
   if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
   }
   return returnvalue::OK;
 }
@@ -1579,52 +1566,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
   }
   return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}
-
-Mode_t DeviceHandlerBase::getMode() { return mode; }
-
-Submode_t DeviceHandlerBase::getSubmode() { return submode; }
-
-void DeviceHandlerBase::disableCommandsAndReplies() {
-  for (auto& command : deviceCommandMap) {
-    if (command.second.isExecuting) {
-      command.second.isExecuting = false;
-    }
-  }
-  for (auto& reply : deviceReplyMap) {
-    if (!reply.second.periodic) {
-      if (reply.second.countdown != nullptr) {
-        reply.second.countdown->timeOut();
-      } else {
-        reply.second.delayCycles = 0;
-      }
-      reply.second.active = false;
-    }
-  }
-}
-
-ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
-}
-
-const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
-
-const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
-
-ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
-
-ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
-                                              ReturnValue_t result) {
-  auto commandIter = deviceCommandMap.find(action);
-  if (commandIter == deviceCommandMap.end()) {
-    return MessageQueueIF::NO_QUEUE;
-  }
-  commandIter->second.isExecuting = false;
-  actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
-  return returnvalue::OK;
-}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -2,7 +2,6 @@
 #define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include <map>
-#include <optional>
 
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
@@ -22,7 +21,6 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
-#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -85,8 +83,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                           public HasModesIF,
                           public HasHealthIF,
                           public HasActionsIF,
-                          public ModeTreeChildIF,
-                          public ModeTreeConnectionIF,
                           public ReceivesParameterMessagesIF,
                           public HasLocalDataPoolIF {
   friend void(Factory::setStaticFrameworkObjectIds)();
@@ -106,51 +102,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
-
-  /**
-   * extending the modes of DeviceHandler IF for internal state machine
-   */
-  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
-  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
-  //! This is a transitional state which can not be commanded. The device
-  //! handler performs all commands to get the device in a state ready to
-  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
-  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
-  //! This is a transitional state which can not be commanded.
-  //! The device handler performs all actions and commands to get the device
-  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
-  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-  //! transition if available.
-  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
-  //! It is possible to set the mode to _MODE_TO_ON to use the to on
-  //! transition if available.
-  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
-  //! transition if available.
-  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
-  //! transition if available.
-  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-  //! This is a transitional state which can not be commanded.
-  //! The device is shut down and ready to be switched off.
-  //! After the command to set the switch off has been sent,
-  //! the mode changes to @c _MODE_WAIT_OFF
-  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
-  //! This is a transitional state which can not be commanded. The device
-  //! will be switched on in this state. After the command to set the switch
-  //! on has been sent, the mode changes to @c _MODE_WAIT_ON.
-  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and the handler waits for it to be off.
-  //! When the switch is off, the mode changes to @c MODE_OFF.
-  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
-  //! This is a transitional state which can not be commanded. The switch
-  //! has been commanded on and the handler waits for it to be on.
-  //! When the switch is on, the mode changes to @c _MODE_TO_ON.
-  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -159,12 +110,13 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * The device handler will then take care of creating local pool entries
    * for the device thermal state and device heating request.
    * Custom local pool IDs can be assigned as well.
+   * @param thermalStatePoolId
+   * @param thermalRequestPoolId
    */
-  void enableThermalModule(ThermalStateCfg cfg);
-
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
-  ModeTreeChildIF &getModeTreeChildIF() override;
-
+  void setThermalStateRequestPoolIds(
+      lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+      lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
+      uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
   /**
    * @brief   Helper function to ease device handler development.
    * This will instruct the transition to MODE_ON immediately
@@ -210,7 +162,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return returnvalue::OK for successful execution
    */
-  ReturnValue_t performOperation(uint8_t counter) override;
+  virtual ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -220,14 +172,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  ReturnValue_t initialize() override;
+  virtual ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
    *          This function will be called by the executing task.
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation() override;
+  virtual ReturnValue_t initializeAfterTaskCreation() override;
 
   /** Destructor. */
   virtual ~DeviceHandlerBase();
@@ -244,8 +196,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual object_id_t getObjectId() const override;
 
   /**
-   * This is a helper method for classes which are parent nodes in the mode tree.
-   * It registers the passed queue as the destination for mode and health messages.
    * @param parentQueueId
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
@@ -257,8 +207,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
   virtual void getMode(Mode_t *mode, Submode_t *submode);
-  virtual HealthState getHealth() override;
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  HealthState getHealth();
+  ReturnValue_t setHealth(HealthState health);
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
                                      const ParameterWrapper *newValues,
@@ -445,8 +395,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
   MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
-  ReturnValue_t finishAction(bool success, DeviceCommandId_t action, ReturnValue_t result);
-
   /**
    * Helper function to get pending command. This is useful for devices
    * like SPI sensors to identify the last sent command.
@@ -515,14 +463,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @brief 	This is a helper method to insert replies in the reply map.
    * @param deviceCommand	Identifier of the reply to add.
    * @param maxDelayCycles The maximum number of delay cycles the reply waits
-   *    until it times out.
+   * until it times out.
    * @param periodic	Indicates if the command is periodic (i.e. it is sent
-   *    by the device repeatedly without request) or not. Default is aperiodic (0).
-   *    Please note that periodic replies are disabled by default. You can enable them with
-   *    #updatePeriodicReply
+   * by the device repeatedly without request) or not. Default is aperiodic (0).
+   * Please note that periodic replies are disabled by default. You can enable them with
+   * #updatePeriodicReply
    * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
-   *    to provide a pointer to a Countdown object which will signal the timeout
-   *    when expired
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
    * @return	- @c returnvalue::OK when the command was successfully inserted,
    *          - @c returnvalue::FAILED else.
    */
@@ -707,12 +655,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                               uint32_t parameter = 0);
 
-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
  protected:
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -742,18 +684,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   size_t rawPacketLen = 0;
 
   /**
-   * Get the current mode
-   *
-   * set via setMode()
+   * The mode the device handler is currently in.
+   * This should never be changed directly but only with setMode()
    */
-  Mode_t getMode();
-
+  Mode_t mode;
   /**
-   * Get the current Submode
-   *
-   * set via setMode()
+   * The submode the device handler is currently in.
+   * This should never be changed directly but only with setMode()
    */
-  Submode_t getSubmode();
+  Submode_t submode;
 
   /** This is the counter value from performOperation(). */
   uint8_t pstStep = 0;
@@ -834,18 +773,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * This is used to keep track of pending replies.
    */
   struct DeviceReplyInfo {
-    //! For Command-Reply combinations:
     //! The maximum number of cycles the handler should wait for a reply
     //! to this command.
-    //!
-    //! Reply Only:
-    //! For periodic replies, this variable will be the number of delay cycles between the replies.
-    //! For the non-periodic variant, this variable is not used as there is no meaningful
-    //! definition for delay
     uint16_t maxDelayCycles;
-    //! This variable will be set to #maxDelayCycles if a reply is expected.
-    //! For non-periodic replies without a command, this variable is unused.
-    //! A runtime value of 0 means there is no reply is currently expected.
+    //! The currently remaining cycles the handler should wait for a reply,
+    //! 0 means there is no reply expected
     uint16_t delayCycles;
     size_t replyLen = 0;  //!< Expected size of the reply.
     //! if this is !=0, the delayCycles will not be reset to 0 but to
@@ -901,7 +833,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   /** Pointer to the used FDIR instance. If not provided by child,
    * default class is instantiated. */
   FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;
 
   //! To correctly delete the default instance.
   bool defaultFDIRUsed;
@@ -922,8 +853,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   //! Object which may be the root cause of an identified fault.
   static object_id_t defaultFdirParentId;
 
-  std::optional<ThermalStateCfg> thermalStateCfg;
-
   /**
    * @brief   Send a reply to a received device handler command.
    *
@@ -944,8 +873,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
    *
    * If the transition is complete, the mode should be set to the target mode,
-   * which can be deduced from the current mode (which is
-   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
+   * which can be deduced from the current mode which is
+   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
    *
    * The intended target submode is already set.
    * The origin submode can be read in subModeFrom.
@@ -1012,9 +941,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   LocalDataPoolManager *getHkManagerHandle() override;
 
-  const HasHealthIF *getOptHealthIF() const override;
-  const HasModesIF &getModeIF() const override;
-
   /**
    * Returns the delay cycle count of a reply.
    * A count != 0 indicates that the command is already executed.
@@ -1194,22 +1120,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t doSendReadHook();
 
-  /**
-   * Send a RMAP getRead command.
-   *
-   * The size of the getRead command is #maxDeviceReplyLen.
-   * This is always executed, independently from the current mode.
-   */
-  virtual void doSendRead(void);
-  /**
-   * Check the getRead reply and the contained data.
-   *
-   * If data was received scanForReply() and, if successful, handleReply()
-   * are called. If the current mode is @c MODE_RAW, the received packet
-   * is sent to the commanding object via commandQueue.
-   */
-  virtual void doGetRead();
-
  private:
   /**
    * State a cookie is in.
@@ -1260,18 +1170,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   uint32_t childTransitionDelay;
 
-  /**
-   * The mode the device handler is currently in.
-   * This should not be changed directly but only with setMode()
-   */
-  Mode_t mode;
-
-  /**
-   * The submode the device handler is currently in.
-   * This should not be changed directly but only with setMode()
-   */
-  Submode_t submode;
-
   /**
    * @brief   The mode the current transition originated from
    *
@@ -1289,15 +1187,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   Submode_t transitionSourceSubMode;
 
-  /**
-   * used to make the state machine continue from ON to NOMAL when
-   * a Device is commanded to NORMAL in OFF mode
-   *
-   * set in startTransition()
-   * evaluated in setMode() to continue to NORMAL when ON is reached
-   */
-  bool continueToNormal;
-
   /**
    * read the command queue
    */
@@ -1366,6 +1255,21 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * - if the action was successful, the reply timout counter is initialized
    */
   void doGetWrite(void);
+  /**
+   * Send a RMAP getRead command.
+   *
+   * The size of the getRead command is #maxDeviceReplyLen.
+   * This is always executed, independently from the current mode.
+   */
+  void doSendRead(void);
+  /**
+   * Check the getRead reply and the contained data.
+   *
+   * If data was received scanForReply() and, if successful, handleReply()
+   * are called. If the current mode is @c MODE_RAW, the received packet
+   * is sent to the commanding object via commandQueue.
+   */
+  void doGetRead(void);
 
   /**
    * @brief Resets replies which use a timeout to detect missed replies.
@@ -1419,11 +1323,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                            ReturnValue_t errorCode = returnvalue::FAILED,
                            const char *errorPrint = nullptr);
-
-  /**
-   * @brief Disables all commands and replies when device is set to MODE_OFF
-   */
-  void disableCommandsAndReplies();
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -10,9 +10,8 @@
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
-                                                             uint8_t eventQueueDepth)
-    : FailureIsolationBase(owner, parent, eventQueueDepth),
+DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent)
+    : FailureIsolationBase(owner, parent),
       strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES, DEFAULT_STRANGE_REPLIES_TIME_MS,
                         parameterDomainBase++),
       missedReplyCount(DEFAULT_MAX_MISSED_REPLY_COUNT, DEFAULT_MISSED_REPLY_TIME_MS,
@@ -26,16 +25,10 @@ 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:
     case HasModesIF::OBJECT_IN_INVALID_MODE:
-    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       handleRecovery(event->getEvent());
@@ -191,6 +184,15 @@ 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

@@ -13,10 +13,10 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
   friend class Heater;
 
  public:
-  DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent,
-                                uint8_t eventQueueDepth = 10);
+  DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent);
   ~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,
@@ -40,19 +40,6 @@ 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

@@ -24,6 +24,9 @@ class DeviceHandlerIF {
   static const DeviceCommandId_t RAW_COMMAND_ID = -1;
   static const DeviceCommandId_t NO_COMMAND_ID = -2;
 
+  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
+  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+
   using dh_heater_request_t = uint8_t;
   using dh_thermal_state_t = int8_t;
 
@@ -51,6 +54,47 @@ class DeviceHandlerIF {
   //! device still is powered. In this mode, only a mode change to @c MODE_OFF
   //! can be commanded, which tries to switch off the device again.
   static const Mode_t MODE_ERROR_ON = 4;
+  //! This is a transitional state which can not be commanded. The device
+  //! handler performs all commands to get the device in a state ready to
+  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
+  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+  //! This is a transitional state which can not be commanded.
+  //! The device handler performs all actions and commands to get the device
+  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
+  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+  //! transition if available.
+  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+  //! It is possible to set the mode to _MODE_TO_ON to use the to on
+  //! transition if available.
+  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+  //! transition if available.
+  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+  //! transition if available.
+  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+  //! This is a transitional state which can not be commanded.
+  //! The device is shut down and ready to be switched off.
+  //! After the command to set the switch off has been sent,
+  //! the mode changes to @c MODE_WAIT_OFF
+  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+  //! This is a transitional state which can not be commanded. The device
+  //! will be switched on in this state. After the command to set the switch
+  //! on has been sent, the mode changes to @c MODE_WAIT_ON.
+  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and the handler waits for it to be off.
+  //! When the switch is off, the mode changes to @c MODE_OFF.
+  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+  //! This is a transitional state which can not be commanded. The switch
+  //! has been commanded on and the handler waits for it to be on.
+  //! When the switch is on, the mode changes to @c MODE_TO_ON.
+  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and is off now. This state is only to do an RMAP
+  //! cycle once more where the doSendRead() function will set the mode to
+  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
   static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
@@ -65,7 +109,6 @@ class DeviceHandlerIF {
   static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
   static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
   static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
 
   static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
@@ -85,7 +128,6 @@ 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);
@@ -137,10 +179,4 @@ class DeviceHandlerIF {
   virtual MessageQueueId_t getCommandQueue() const = 0;
 };
 
-struct ThermalStateCfg {
-  lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID;
-  lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID;
-  uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID;
-};
-
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

src/fsfw/devicehandlers/DeviceHandlerThermalSet.h

@@ -7,21 +7,27 @@
 
 class DeviceHandlerThermalSet : public StaticLocalDataSet<2> {
  public:
-  DeviceHandlerThermalSet(HasLocalDataPoolIF* hkOwner, ThermalStateCfg cfg)
-      : DeviceHandlerThermalSet(hkOwner->getObjectId(), cfg) {}
+  DeviceHandlerThermalSet(
+      HasLocalDataPoolIF* hkOwner, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+      lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+      lp_id_t heaterRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
+      : DeviceHandlerThermalSet(hkOwner->getObjectId(), setId, thermalStateId, heaterRequestId) {}
 
-  DeviceHandlerThermalSet(object_id_t deviceHandler, ThermalStateCfg cfg)
-      : StaticLocalDataSet(sid_t(deviceHandler, cfg.thermalSetId)),
-        thermalStatePoolId(cfg.thermalStatePoolId),
-        heaterRequestPoolId(cfg.thermalRequestPoolId) {}
+  DeviceHandlerThermalSet(
+      object_id_t deviceHandler, uint32_t setId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+      lp_id_t thermalStateId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+      lp_id_t thermalStateRequestId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID)
+      : StaticLocalDataSet(sid_t(deviceHandler, setId)),
+        thermalStatePoolId(thermalStateId),
+        heaterRequestPoolId(thermalStateRequestId) {}
 
   const lp_id_t thermalStatePoolId;
   const lp_id_t heaterRequestPoolId;
 
   lp_var_t<DeviceHandlerIF::dh_thermal_state_t> thermalState =
-      lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(sid.objectId, thermalStatePoolId, this);
+      lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(thermalStatePoolId, sid.objectId, this);
   lp_var_t<DeviceHandlerIF::dh_heater_request_t> heaterRequest =
-      lp_var_t<DeviceHandlerIF::dh_heater_request_t>(sid.objectId, heaterRequestPoolId, this);
+      lp_var_t<DeviceHandlerIF::dh_heater_request_t>(heaterRequestPoolId, sid.objectId, this);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_ */

src/fsfw/devicehandlers/DeviceTmReportingWrapper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 #define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 
-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/serialize/SerializeIF.h"
+#include "../action/HasActionsIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../serialize/SerializeIF.h"
 
 class DeviceTmReportingWrapper : public SerializeIF {
  public:

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -1,203 +0,0 @@
-#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),
-      fdirInstance(config.fdirInstance),
-      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();
-  fdirInstance->checkForFailures();
-  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

@@ -1,167 +0,0 @@
-#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.
-  virtual 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/devicehandlers/HealthDevice.cpp

@@ -8,9 +8,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
       parentQueue(parentQueue),
       commandQueue(),
       healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }
 
 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
@@ -29,10 +27,11 @@ ReturnValue_t HealthDevice::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  if (parentQueue != MessageQueueIF::NO_QUEUE) {
+  if (parentQueue != 0) {
     return healthHelper.initialize(parentQueue);
+  } else {
+    return healthHelper.initialize();
   }
-  return healthHelper.initialize();
 }
 
 MessageQueueId_t HealthDevice::getCommandQueue() const { return commandQueue->getId(); }

src/fsfw/devicehandlers/HealthDevice.h

@@ -29,8 +29,10 @@ class HealthDevice : public SystemObject, public ExecutableObjectIF, public HasH
  protected:
   HealthState lastHealth;
 
-  MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t parentQueue;
   MessageQueueIF* commandQueue;
+
+ public:
   HealthHelper healthHelper;
 };
 

src/fsfw/events/EventManager.cpp

@@ -15,12 +15,11 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
     {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS, sizeof(EventIdRangeMatcher)},
     {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS, sizeof(ReporterRangeMatcher)}};
 
-EventManager::EventManager(object_id_t setObjectId, uint32_t eventQueueDepth)
+EventManager::EventManager(object_id_t setObjectId)
     : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
   mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      eventQueueDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 EventManager::~EventManager() {
@@ -48,21 +47,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 
 void EventManager::notifyListeners(EventMessage* message) {
   lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " for event 0x" << std::setw(4)
-                   << message->getEventId() << " failed with result 0x" << std::setw(4) << result
-                   << std::setfill(' ') << std::endl;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
     }
   }
   unlockMutex();
@@ -213,19 +200,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
   }
 }
 
-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

src/fsfw/events/EventManager.h

@@ -21,9 +21,9 @@ extern const char* translateEvents(Event event);
 
 class EventManager : public EventManagerIF, public ExecutableObjectIF, public SystemObject {
  public:
-  static const uint16_t DEFAULT_MAX_EVENTS_PER_CYCLE = 80;
+  static const uint16_t MAX_EVENTS_PER_CYCLE = 80;
 
-  EventManager(object_id_t setObjectId, uint32_t eventQueueDepth);
+  EventManager(object_id_t setObjectId);
   virtual ~EventManager();
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
@@ -44,7 +44,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                           bool reporterInverted = false);
   ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();
 
  protected:
   MessageQueueIF* eventReportQueue = nullptr;

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -9,9 +9,8 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                            uint8_t messageDepth, uint8_t parameterDomainBase)
     : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -62,12 +61,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
         ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
     if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "FailureIsolationBase::intialize: Parent object "
-                 << "invalid" << std::endl;
-      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#else
-      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
-      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
+      sif::error << "FailureIsolationBase::intialize: Parent object"
+                 << "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
 #endif
       return ObjectManagerIF::CHILD_INIT_FAILED;
       return returnvalue::FAILED;
@@ -148,16 +146,25 @@ 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) {
-  // 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.
+  // With this mechanism, all events are disabled for a certain device.
+  // That's not so good for visibility.
+  if (isFdirDisabledForSeverity(event::getSeverity(event))) {
+    return;
+  }
   EventMessage message(event, ownerId, parameter1, parameter2);
   EventManagerIF::triggerEvent(&message, eventQueue->getId());
   eventReceived(&message);
 }
 
-bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) { return false; }
+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;
+}
 
 void FailureIsolationBase::throwFdirEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
   EventMessage message(event, ownerId, parameter1, parameter2);

src/fsfw/fdir/FailureIsolationBase.h

@@ -12,12 +12,13 @@
 class FailureIsolationBase : public ConfirmsFailuresIF, public HasParametersIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
-  //! FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
-  //! FDIR turns off device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
+  static const Event FDIR_CHANGED_STATE =
+      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
+                                      //!< (oldState) to par1 (newState).
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
+      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
+      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.
 
   FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                        uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
@@ -44,13 +45,13 @@ 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 */
+#endif /* FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_ */

src/fsfw/fdir/FaultCounter.cpp

@@ -68,7 +68,7 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
       parameterWrapper->set(faultCount);
       break;
     case ParameterIds::TIMEOUT:
-      parameterWrapper->set(timer.getTimeoutMs());
+      parameterWrapper->set(timer.timeout);
       break;
     default:
       return INVALID_IDENTIFIER_ID;

src/fsfw/filesystem/HasFileSystemIF.h

@@ -17,7 +17,7 @@ struct FilesystemParams {
 };
 
 struct FileOpParams {
-  FileOpParams(const char* path, size_t opSize) : fsParams(path), size(opSize) {}
+  FileOpParams(const char* path, size_t size) : fsParams(path), size(size) {}
 
   [[nodiscard]] const char* path() const { return fsParams.path; }
 
@@ -40,7 +40,6 @@ class HasFileSystemIF {
   //! [EXPORT] : P1: Can be file system specific error code
   static constexpr ReturnValue_t GENERIC_FILE_ERROR = MAKE_RETURN_CODE(0);
   static constexpr ReturnValue_t GENERIC_DIR_ERROR = MAKE_RETURN_CODE(1);
-  static constexpr ReturnValue_t FILESYSTEM_INACTIVE = MAKE_RETURN_CODE(2);
   static constexpr ReturnValue_t GENERIC_RENAME_ERROR = MAKE_RETURN_CODE(3);
 
   //! [EXPORT] : File system is currently busy
@@ -74,14 +73,6 @@ class HasFileSystemIF {
     return MessageQueueIF::NO_QUEUE;
   }
 
-  // Get the base filename without the full directory path
-  virtual ReturnValue_t getBaseFilename(FilesystemParams params, char* nameBuf, size_t maxLen,
-                                        size_t& baseNameLen) = 0;
-
-  virtual bool isDirectory(const char* path) = 0;
-
-  virtual bool getFileSize(FilesystemParams params, uint64_t& fileSize) = 0;
-
   virtual bool fileExists(FilesystemParams params) = 0;
 
   /**

src/fsfw/globalfunctions/DleParser.h

@@ -18,11 +18,8 @@
  */
 class DleParser {
  public:
-  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
-  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
-
   using BufPair = std::pair<uint8_t*, size_t>;
 
   enum class ContextType { NONE, PACKET_FOUND, ERROR };

src/fsfw/globalfunctions/math/MatrixOperations.h

@@ -1,12 +1,9 @@
 #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 {
@@ -98,139 +95,6 @@ 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

@@ -39,48 +39,6 @@ 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) {
@@ -162,25 +120,3 @@ 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

@@ -23,13 +23,6 @@ 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
    */