move CRC check

CHANGELOG.md

@@ -28,12 +28,9 @@ 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
@@ -44,8 +41,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Assert that `FixedArrayList` is larger than 0 at compile time.
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
 - Health functions are virtual now.
-- PUS Service Base request queue depth and maximum number of handled packets per cycle is now
-  configurable.
 
 # [v6.0.0] 2023-02-10
 

src/fsfw/controller/ControllerBase.cpp

@@ -72,17 +72,18 @@ 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:

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 monthsSinceEpoch = minutesSinceEpoch / 60 / 24 / 30;
 
-  if ((daysSinceEpoch > 7) || (daysSinceEpoch < -7)) {
+  if ((monthsSinceEpoch > 1) || (monthsSinceEpoch < -1)) {
     return TLE_TOO_OLD;
   }
 

src/fsfw/devicehandlers/CMakeLists.txt

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

src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -26,11 +26,6 @@ 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:
@@ -191,6 +186,15 @@ 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

@@ -17,6 +17,7 @@ class DeviceHandlerFailureIsolation : public FailureIsolationBase {
                                 uint8_t eventQueueDepth = 10);
   ~DeviceHandlerFailureIsolation();
   ReturnValue_t initialize();
+  void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
   bool isFdirActionInProgress();
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper* parameterWrapper,
@@ -40,19 +41,6 @@ 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/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/fdir/FailureIsolationBase.cpp

@@ -148,16 +148,25 @@ 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

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

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
    */

src/fsfw/globalfunctions/math/VectorOperations.h

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

src/fsfw/pus/Service11TelecommandScheduling.h

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

src/fsfw/pus/Service11TelecommandScheduling.tpp

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

src/fsfw/pus/Service9TimeManagement.cpp

@@ -2,9 +2,9 @@
 
 #include <cmath>
 
+#include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/CCSDSTime.h"
 
 Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {
@@ -18,52 +18,15 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
     case Subservice::SET_TIME: {
-      reportCurrentTime(CLOCK_DUMP_BEFORE_SETTING_TIME);
-      ReturnValue_t result = setTime();
-      reportCurrentTime(CLOCK_DUMP_AFTER_SETTING_TIME);
-      return result;
+      return setTime();
     }
     case Subservice::DUMP_TIME: {
-      reportCurrentTime();
-      return returnvalue::OK;
-    }
-    case Subservice::RELATIVE_TIMESHIFT: {
-      timeval currentTime;
-      ReturnValue_t result = Clock::getClock(&currentTime);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      reportTime(CLOCK_DUMP_BEFORE_SETTING_TIME, currentTime);
-
-      if (currentPacket.getUserDataLen() != 8) {
-        return AcceptsTelecommandsIF::ILLEGAL_APPLICATION_DATA;
-      }
-      size_t deserLen = 8;
-      int64_t timeshiftNanos = 0;
-      result = SerializeAdapter::deSerialize(&timeshiftNanos, currentPacket.getUserData(),
-                                             &deserLen, SerializeIF::Endianness::NETWORK);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      bool positiveShift = true;
-      if (timeshiftNanos < 0) {
-        positiveShift = false;
-      }
-      timeval offset{};
-      offset.tv_sec = std::abs(timeshiftNanos) / NANOS_PER_SECOND;
-      offset.tv_usec = (std::abs(timeshiftNanos) % NANOS_PER_SECOND) / 1000;
-
       timeval newTime;
-      if (positiveShift) {
-        newTime = currentTime + offset;
-      } else {
-        newTime = currentTime - offset;
-      }
-      result = Clock::setClock(&newTime);
-      if (result == returnvalue::OK) {
-        reportTime(CLOCK_DUMP_AFTER_SETTING_TIME, newTime);
-      }
-      return result;
+      Clock::getClock_timeval(&newTime);
+      uint32_t subsecondMs =
+          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
+      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
+      return returnvalue::OK;
     }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -80,20 +43,17 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
+  timeval time;
+  Clock::getClock_timeval(&time);
   result = Clock::setClock(&timeToSet);
-  if (result != returnvalue::OK) {
+
+  if (result == returnvalue::OK) {
+    timeval newTime;
+    Clock::getClock_timeval(&newTime);
+    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
+    return returnvalue::OK;
+  } else {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);
     return returnvalue::FAILED;
   }
-  return result;
-}
-
-void Service9TimeManagement::reportCurrentTime(Event event) {
-  timeval currentTime{};
-  Clock::getClock(&currentTime);
-  triggerEvent(event, currentTime.tv_sec, currentTime.tv_usec);
-}
-
-void Service9TimeManagement::reportTime(Event event, timeval time) {
-  triggerEvent(event, time.tv_sec, time.tv_usec);
 }

src/fsfw/pus/Service9TimeManagement.h

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

src/fsfw/tmtcpacket/ccsds/SpacePacketReader.cpp

@@ -1,6 +1,7 @@
 #include "SpacePacketReader.h"
 
 #include "fsfw/serialize/SerializeIF.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 SpacePacketReader::SpacePacketReader(const uint8_t* setAddress, size_t maxSize_) {
   setInternalFields(setAddress, maxSize_);

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

@@ -57,6 +57,13 @@ ReturnValue_t PusTmReader::parseData(bool crcCheck) {
   if (result != returnvalue::OK) {
     return result;
   }
+  if (crcCheck) {
+    uint16_t crc16 = CRC::crc16ccitt(spReader.getFullData(), getFullPacketLen());
+    if (crc16 != 0) {
+      // Checksum failure
+      return PusIF::INVALID_CRC_16;
+    }
+  }
   size_t currentOffset = SpacePacketReader::getHeaderLen();
   pointers.secHeaderStart = pointers.spHeaderStart + currentOffset;
   currentOffset += PusTmIF::MIN_SEC_HEADER_LEN;
@@ -77,13 +84,6 @@ ReturnValue_t PusTmReader::parseData(bool crcCheck) {
   }
   currentOffset += sourceDataLen;
   pointers.crcStart = pointers.spHeaderStart + currentOffset;
-  if (crcCheck) {
-    uint16_t crc16 = CRC::crc16ccitt(spReader.getFullData(), getFullPacketLen());
-    if (crc16 != 0) {
-      // Checksum failure
-      return PusIF::INVALID_CRC_16;
-    }
-  }
   return returnvalue::OK;
 }
 bool PusTmReader::isNull() const { return spReader.isNull() or pointers.secHeaderStart == nullptr; }

src/fsfw/tmtcservices/PusServiceBase.cpp

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

src/fsfw/tmtcservices/PusServiceBase.h

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

src/fsfw/tmtcservices/SourceSequenceCounter.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
 #define FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
 
-#include "fsfw/tmtcpacket/ccsds/defs.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 
 class SourceSequenceCounter {
  private:
@@ -9,7 +9,6 @@ class SourceSequenceCounter {
 
  public:
   SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
-
   void increment() { sequenceCount = (sequenceCount + 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
   void decrement() { sequenceCount = (sequenceCount - 1) % (ccsds::LIMIT_SEQUENCE_COUNT); }
   uint16_t get() const { return this->sequenceCount; }
@@ -26,7 +25,6 @@ class SourceSequenceCounter {
     sequenceCount = newCount;
     return *this;
   }
-  void set(uint16_t sequenceCount) { this->sequenceCount = sequenceCount; }
 
   operator uint16_t() { return this->get(); }
 };

src/fsfw_hal/linux/serial/helper.cpp

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

src/fsfw_hal/linux/serial/helper.h

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