new uart helper module

Reviewed-on: #111

.gitignore

@@ -1,6 +1,14 @@
+# PyCharm and CLion
+/.idea/*
+!/.idea/runConfigurations
+!/.idea/cmake.xml
+!/.idea/codeStyles
+
+# Eclipse
 .cproject
 .project
 .settings
 .metadata
 
 /build*
+/cmake-build*

.idea/codeStyles/Project.xml

@@ -0,0 +1,14 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <clangFormatSettings>
+      <option name="ENABLED" value="true" />
+    </clangFormatSettings>
+    <codeStyleSettings language="CMake">
+      <indentOptions>
+        <option name="INDENT_SIZE" value="2" />
+        <option name="CONTINUATION_INDENT_SIZE" value="0" />
+        <option name="TAB_SIZE" value="2" />
+      </indentOptions>
+    </codeStyleSettings>
+  </code_scheme>
+</component>

.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

CHANGELOG.md

@@ -8,23 +8,105 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v5.0.0]
+# [v6.0.0]
+
+## Fixes
+
+- Bugfix for Serial Buffer Stream: Setting `doActive` to false now
+  actually fully disables printing.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
+- `TcpTmTcServer.cpp`: The server was actually not able to handle
+  CCSDS packets which were clumped together. This has been fixed now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
+
+## Added
+
+- DHB TM handler `handleDeviceTM` renamed to `handleDeviceTm` and now takes
+  `util::DataWrapper` as the data input argument. This allows more flexibility in the possible
+  types of telemetry.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/669
+- Add `util::DataWrapper` class inside the `util` module. This is a tagged union which allows
+  to specify raw data either as a classic C-style raw pointer and size or as a `SerializeIF`
+  pointer.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/668
+- Add new `UnsignedByteField` class
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
 
 ## Changes
 
+- Remove default secondary header argument for
+  `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
+  `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
+- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
+  constants.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
+- Overhaul of the TMTC stack, including various changes and improvements
+  for other modules
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
+  which also includes a migration guide
+- Bump Catch2 dependency to regular version `v3.1.0`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
+- `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
+  API to expect `const uint8_t*` accordingly.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
+- Remove the following user includes from `fsfw/events/Event.h` and
+  `fsfw/returnvalues/returnvalue.h`:
+  - `#include "events/subsystemIdRanges.h"`
+  - `#include "returnvalues/classIds.h"`
+  The user has to include those themselves now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
+- `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
+  This allows finishing action commands immediately inside the function.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
+- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
+  a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
+- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
+  - Make functions `const` where it makes sense
+  - Add `const char* getName const` abstract function
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
+- Move some generic `StorageManagerIF` implementations from `LocalPool` to
+  interface itself so it can be re-used more easily. Also add new
+  abstract function `bool hasDataAtId(store_address_t storeId) const`.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/685
+
+## CFDP
+
+- Refactoring of CFDP stack which was done during implementation of the CFDP source and destination
+  handlers.
+   - New filesystem module, changes for filesystem abstraction `HasFileSystemIF` to better
+     fit requirements of CFDP
+   - New `HostFilesystem` implementation of the `HasFileSystemIF`
+   - New `cfdp::UserBase` class which is the abstraction for the CFDP user in an OBSW context.
+   - mib module for the CFDP stack
+   - PDU classes renamed from `...Serializer`/`...Deserializer` to `...Creator`/`...Reader`
+     respetively
+   - Renamed `TcDistributor` to `TcDistributorBase` to prevent confusion
+   - Refactored `TcDisitributorBase` to be more flexible and usable for CFDP distribution
+   - Renamed `CCSDSDistributor` to `CcsdsDistributor` and add feature which allows it
+     to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver
+     implementation without an extra component
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
+
+# [v5.0.0] 25.07.2022
+
+## Changes
+
+- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
+  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
   compiler supports it
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
-- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
-- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
+  Buffer and rejects such writeData calls with `returnvalue::FAILED`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
   - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
@@ -42,6 +124,41 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
+  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
+
+### Task Module Refactoring
+
+PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
+
+**Refactoring general task code**
+
+- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
+  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
+
+**Refactor PeriodicTaskIF**
+
+- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
+  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
+  the operation code passed to `performOperation`. Updated API taking
+  an `ExecutableObjectIF` accordingly
+
+**Refactor FixedTimeslotTaskIF**
+
+- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
+
+**Refactor FixedSequenceSlot**
+
+- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
+- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
+  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
+  for the custom checker
+
+**Linux Task Module**
+
+- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
+  member of the class
 
 ### HAL
 
@@ -84,6 +201,13 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
+- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
+  This is also the new default constructor for scalar value with 0 as an initial value
+- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
+  whether it is running in CI/CD
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
+- Basic `clion` support: Update `.gitignore` and add some basic run configurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
 - LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
   the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
   can make good use of it and it usually makes the code faster and/or smaller.

CMakeLists.txt

@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################
 
-set(FSFW_VERSION_IF_GIT_FAILS 4)
+set(FSFW_VERSION_IF_GIT_FAILS 5)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
@@ -67,11 +67,12 @@ endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LINK_TARGET etl::etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
     CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 
@@ -79,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
     CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
     CACHE STRING "Catch2 library exact version requirement")
 
 # Keep this off by default for now. See PR:
@@ -103,19 +104,26 @@ if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS
-       "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_TESTS
+       "Build unittest binary in addition to static library. Requires Catch2"
+       OFF)
+option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
-option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 
+if(UNIX)
+  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
+         OFF)
+  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
+endif()
+
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@@ -138,7 +146,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                 TRUE)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   message(
     STATUS
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
@@ -161,10 +169,9 @@ if(FSFW_BUILD_UNITTESTS)
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
-  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
-                 tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH unittests/testcfg)
+  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
@@ -182,7 +189,10 @@ if(FSFW_BUILD_UNITTESTS)
   endif()
 endif()
 
-message(STATUS "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
+message(
+  STATUS
+    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
+)
 
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
@@ -280,16 +290,15 @@ message(
 )
 
 add_subdirectory(src)
-add_subdirectory(tests)
-if(FSFW_ADD_HAL)
-  add_subdirectory(hal)
-endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_TESTS)
+  add_subdirectory(unittests)
+endif()
 if(FSFW_BUILD_DOCS)
   add_subdirectory(docs)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   if(FSFW_TESTS_GEN_COV)
     if(CMAKE_COMPILER_IS_GNUCXX)
       include(CodeCoverage)
@@ -351,7 +360,8 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
+    )
     message(
       WARNING
         "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
@@ -446,8 +456,8 @@ target_include_directories(
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                 ${COMPILER_FLAGS})
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-                                               ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
 
 string(
   CONCAT

README.md

@@ -99,7 +99,7 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-   ```cmake
+   ```sh
    target_link_libraries(${YourProjectName} PRIVATE fsfw)
    ```
 
@@ -131,15 +131,15 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system
 
 ```sh
-mkdir build-Unittest && cd build-Unittest
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+mkdir build-tests && cd build-tests
+cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
 You can also use `-DFSFW_OSAL=linux` on Linux systems.
 
 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generare the coverage data in this format,
+To build the unittests, run them and then generate the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 
 ```sh
@@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using
 
 ```sh
-cmake --build . -j
+cmake --build . -- Sphinx -j
 ```
 
 You can find the generated documentation inside the `docs/sphinx` folder inside the build
@@ -188,7 +188,10 @@ and open the documentation conveniently. Try `helper.py -h for more information.
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `apply-clang-format.sh` helper script to format all source files consistently.
+can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
+````sh
+sudo pip install cmakelang
+````
 
 ## Index
 

automation/Dockerfile

@@ -5,10 +5,21 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
+
+RUN python3 -m pip install sphinx breathe
 
 RUN git clone https://github.com/catchorg/Catch2.git && \
-	cd Catch2 && \
-	git checkout v3.0.0-preview5 && \
-	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-	cmake --build build/ --target install
+        cd Catch2 && \
+        git checkout v3.1.0 && \
+        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+        cmake --build build/ --target install
+
+RUN git clone https://github.com/ETLCPP/etl.git && \
+        cd etl && \
+        git checkout 20.28.0 && \
+        cmake -B build . && \
+        cmake --install build/
+
+#ssh needs a valid user to work
+RUN adduser --uid 114 jenkins

automation/Jenkinsfile

@@ -1,9 +1,13 @@
 pipeline {
     environment {
-        BUILDDIR = 'build-tests'
+        BUILDDIR = 'cmake-build-tests'
+        DOCDDIR = 'cmake-build-documentation'
     }
     agent {
-        docker { image 'fsfw-ci:d2'}
+        docker { 
+            image 'fsfw-ci:d5'
+            args '--network host'
+        }
     }
     stages {
         stage('Clean') {
@@ -14,7 +18,7 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                 }
             }
         }
@@ -39,5 +43,47 @@ pipeline {
                 }
             }
         }
+        stage('Documentation') {
+            when {
+                branch 'development'
+            }
+            steps {
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
+                    }
+                }
+            }
+        }
+        stage('Master Documentation') {
+            when {
+                branch 'master'
+            }
+            steps {
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
+                    }
+                }
+            }
+        }
     }
 }

docs/README-highlevel.md

@@ -14,7 +14,7 @@ FSFW to achieve that. The fsfw uses run-time type information but exceptions are
 # Failure Handling
 
 Functions should return a defined `ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
+gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
 or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
 See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
 `fsfwconfig` folder.

docs/README-localpools.md

@@ -144,7 +144,7 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDat
 			new PoolEntry<uint8_t>({0}));
 
 	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-	return HasReturnvaluesIF::RETURN_OK;
+	return returnvalue::OK;
 }
 ```
 
@@ -154,7 +154,7 @@ in any case:
 
 ```cpp
 PoolReadGuard readHelper(&gyroData);
-if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+if(readHelper.getReadResult() == returnvalue::OK) {
 	if(not gyroData.isValid()) {
 		gyroData.setValidity(true, true);
 	}

docs/api.rst

@@ -4,6 +4,7 @@ API
 .. toctree::
    :maxdepth: 4
 
+   api/cfdp
    api/objectmanager
    api/task
    api/ipc

docs/api/cfdp.rst

@@ -0,0 +1,8 @@
+CFDP API
+=================
+
+``UserBase``
+-----------------
+
+.. doxygenclass:: cfdp::UserBase
+	:members:

docs/api/returnvalue.rst

@@ -3,7 +3,7 @@
 Returnvalue API
 ==================
 
-.. doxygenfile:: HasReturnvaluesIF.h
+.. doxygenfile:: returnvalue.h
 
 .. _fwclassids:
 

docs/conf.py

@@ -17,12 +17,12 @@
 
 # -- Project information -----------------------------------------------------
 
-project = 'Flight Software Framework'
-copyright = '2021, Institute of Space Systems (IRS)'
-author = 'Institute of Space Systems (IRS)'
+project = "Flight Software Framework"
+copyright = "2021, Institute of Space Systems (IRS)"
+author = "Institute of Space Systems (IRS)"
 
 # The full version, including alpha/beta/rc tags
-release = '2.0.1'
+release = "5.0.0"
 
 
 # -- General configuration ---------------------------------------------------
@@ -30,17 +30,17 @@ release = '2.0.1'
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = [ "breathe" ]
+extensions = ["breathe"]
 
 breathe_default_project = "fsfw"
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 
 # -- Options for HTML output -------------------------------------------------
@@ -48,9 +48,9 @@ exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'alabaster'
+html_theme = "alabaster"
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = []
+html_static_path = []

docs/devicehandlers.rst

@@ -75,11 +75,11 @@ and the respective source file with sensible default return values:
 	void TestDeviceHandler::doShutDown() {}
 
 	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}
 
 	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}
 
 	void TestDeviceHandler::fillCommandAndReplyMap() {}
@@ -87,17 +87,17 @@ and the respective source file with sensible default return values:
 	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 	                                                         const uint8_t* commandData,
 	                                                         size_t commandDataLen) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}
 
 	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
 	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}
 
 	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 	                                                      const uint8_t* packet) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}
 
 	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
@@ -106,5 +106,5 @@ and the respective source file with sensible default return values:
 
 	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                                         LocalDataPoolManager& poolManager) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}

docs/getting_started.rst

@@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console
 
    mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
 
 
 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.

docs/highlevel.rst

@@ -7,18 +7,20 @@ Structure
 ----------
 
 The general structure is driven by the usage of interfaces provided by objects.
-The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
-widely available, even with older compilers.
-The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
-This simplifies the instantiation of objects and allows the usage of some standard containers.
-Dynamic Allocation after initialization is discouraged and different solutions are provided in the
-FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+The FSFW uses C++17 as baseline.
+It also uses dynamic allocation during the initialization but provides
+static containers during runtime.
+This simplifies the instantiation of objects and allows the usage of some
+standard containers.
+Dynamic Allocation after initialization is discouraged and different solutions
+are provided in the FSFW to achieve that. The fsfw uses run-time type
+information but will not throw exceptions.
 
 Failure Handling
 -----------------
 
 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.

docs/localpools.rst

@@ -150,7 +150,7 @@ with a housekeeping service command.
 				new PoolEntry<uint8_t>({0}));
 
 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-		return HasReturnvaluesIF::RETURN_OK;
+		return returnvalue::OK;
 	}
 
 Now, if we receive some sensor data and converted them into the right format,
@@ -160,7 +160,7 @@ in any case:
 .. code-block:: cpp
 
 	PoolReadGuard readHelper(&gyroData);
-	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+	if(readHelper.getReadResult() == returnvalue::OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}

hal/CMakeLists.txt

@@ -1,48 +0,0 @@
-cmake_minimum_required(VERSION 3.13)
-
-# Can also be changed by upper CMakeLists.txt file
-find_library(LIB_FSFW_NAME fsfw REQUIRED)
-
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
-# On by default for now because I did not have an issue including and compiling those files
-# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
-# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
-# but CMake is able to determine whether this library is installed with find_library.
-option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
-option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
-
-option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
-option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
-option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
-
-set(LINUX_HAL_PATH_NAME linux)
-set(STM32H7_PATH_NAME stm32h7)
-
-add_subdirectory(src)
-
-foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
-    if(IS_ABSOLUTE ${INCLUDE_PATH})
-        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-    else()
-        get_filename_component(CURR_ABS_INC_PATH
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
-    endif()
-
-    if(CMAKE_VERBOSE)
-        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-    endif()
-
-    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
-endforeach()
-
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_ADD_INC_PATHS_ABS}
-)
-
-target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_DEFINES}
-)
-
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_LINK_LIBS}
-)

hal/src/CMakeLists.txt

@@ -1,9 +0,0 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-add_subdirectory(fsfw_hal)

hal/src/fsfw_hal/common/CMakeLists.txt

@@ -1 +0,0 @@
-add_subdirectory(gpio)

hal/src/fsfw_hal/common/gpio/CMakeLists.txt

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

hal/src/fsfw_hal/devicehandlers/CMakeLists.txt

@@ -1,5 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GyroL3GD20Handler.cpp
-    MgmRM3100Handler.cpp
-    MgmLIS3MDLHandler.cpp
-)

hal/src/fsfw_hal/host/CMakeLists.txt

@@ -1 +0,0 @@
-

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -1,25 +0,0 @@
-if(FSFW_HAL_ADD_RASPBERRY_PI)
-    add_subdirectory(rpi)
-endif()
-
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	UnixFileGuard.cpp
-	CommandExecutor.cpp
-	utility.cpp
-)
-
-if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
-	add_subdirectory(gpio)
-endif()
-	add_subdirectory(uart)
-	# Adding those does not really make sense on Apple systems which
-	# are generally host systems. It won't even compile as the headers
-	# are missing
-	if(NOT APPLE)
-		add_subdirectory(i2c)
-		add_subdirectory(spi)
-	endif()
-endif()
-
-add_subdirectory(uio)

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -1,16 +0,0 @@
-# This abstraction layer requires the gpiod library. You can install this library
-# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
-# to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod)
-
-if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
-    message(STATUS "gpiod library not found, not linking against it")
-else()
-    target_sources(${LIB_FSFW_NAME} PRIVATE
-        LinuxLibgpioIF.cpp
-    )
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_GPIO}
-    )
-endif()
-

hal/src/fsfw_hal/linux/i2c/CMakeLists.txt

@@ -1,8 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-    I2cComIF.cpp
-    I2cCookie.cpp
-)
-
-
-
-

hal/src/fsfw_hal/linux/rpi/CMakeLists.txt

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

hal/src/fsfw_hal/linux/spi/CMakeLists.txt

@@ -1,8 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-    SpiComIF.cpp
-    SpiCookie.cpp
-)
-
-
-
-

hal/src/fsfw_hal/linux/uart/CMakeLists.txt

@@ -1,4 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-	UartComIF.cpp
-	UartCookie.cpp
-)

hal/src/fsfw_hal/linux/uio/CMakeLists.txt

@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-	UioMapper.cpp
-)

hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt

@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GyroL3GD20H.cpp
-)

hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt

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

hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt

@@ -1,2 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-)

hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt

@@ -1,9 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    spiCore.cpp
-    spiDefinitions.cpp
-    spiInterrupts.cpp
-    mspInit.cpp
-    SpiCookie.cpp
-    SpiComIF.cpp
-    stm32h743zi.cpp
-)

hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt

@@ -1,2 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-)

misc/defaultcfg/fsfwconfig/FSFWConfig.h

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

misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp

@@ -4,7 +4,6 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/events/EventManager.h>
 #include <fsfw/health/HealthTable.h>
-#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/internalerror/InternalErrorReporter.h>
@@ -35,19 +34,15 @@ void Factory::produceFsfwObjects(void) {
 }
 
 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::packetSource = objects::NO_OBJECT;
-	PusServiceBase::packetDestination = objects::NO_OBJECT;
+	PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
+	PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
 
 	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
 	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
 
-	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-
 	DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 	DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
 
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
-
-	TmPacketBase::timeStamperId = objects::NO_OBJECT;
 }
 

misc/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp

@@ -11,15 +11,15 @@ ReturnValue_t pst::pollingSequenceInitDefault(
 
 	/* Add polling sequence table here */
 
-	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
-		return HasReturnvaluesIF::RETURN_OK;
+	if (thisSequence->checkSequence() == returnvalue::OK) {
+		return returnvalue::OK;
 	}
 	else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
 		        << std::endl;
 #endif
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return returnvalue::FAILED;
 	}
 }
 

misc/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h

@@ -1,7 +1,7 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_
 
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 
 class FixedTimeslotTaskIF;
 

scripts/auto-formatter.sh

@@ -5,15 +5,15 @@ fi
 
 folder_list=(
   "./src"
-  "./hal"
-  "./tests"
+  "./unittests"
 )
 
 cmake_fmt="cmake-format"
 file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
   ${cmake_fmt} -i CMakeLists.txt
-  find ./src ${file_selectors} | xargs ${cmake_fmt}  -i
+  find ./src ${file_selectors} | xargs ${cmake_fmt} -i
+  find ./unittests ${file_selectors} | xargs ${cmake_fmt} -i
 else
   echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi

scripts/helper.py

@@ -13,7 +13,7 @@ from shutil import which
 from typing import List
 
 
-UNITTEST_FOLDER_NAME = "build-tests"
+UNITTEST_FOLDER_NAME = "cmake-build-tests"
 DOCS_FOLDER_NAME = "build-docs"
 
 
@@ -48,6 +48,20 @@ def main():
         action="store_true",
         help="Run valgrind on generated test binary",
     )
+    parser.add_argument(
+        "-g",
+        "--generators",
+        default="Ninja",
+        action="store",
+        help="CMake generators",
+    )
+    parser.add_argument(
+        "-w",
+        "--windows",
+        default=False,
+        action="store_true",
+        help="Run on windows",
+    )
 
     args = parser.parse_args()
     if args.all:
@@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
     if args.create:
         if os.path.exists(UNITTEST_FOLDER_NAME):
             shutil.rmtree(UNITTEST_FOLDER_NAME)
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:
         print(
             "No valid CMake tests build directory found. "
             "Trying to set up test build system"
         )
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 1:
         build_directory = build_dir_list[0]
@@ -147,10 +161,23 @@ def handle_tests_type(args, build_dir_list: list):
         os.chdir("..")
 
 
-def create_tests_build_cfg():
+def create_tests_build_cfg(args):
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    if args.windows:
+        cmake_cmd = (
+            'cmake -G "'
+            + args.generators
+            + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
+        -DGCOVR_PATH="py -m gcovr" ..'
+        )
+    else:
+        cmake_cmd = (
+            'cmake -G "'
+            + args.generators
+            + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
+        )
+    cmd_runner(cmake_cmd)
     os.chdir("..")
 
 

src/CMakeLists.txt

@@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
                            INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_subdirectory(fsfw)
+if(FSFW_ADD_HAL)
+  add_subdirectory(fsfw_hal)
+endif()
+
+add_subdirectory(fsfw_tests)

src/fsfw/CMakeLists.txt

@@ -31,6 +31,7 @@ add_subdirectory(thermal)
 add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
 add_subdirectory(tmtcservices)
+add_subdirectory(filesystem)
 
 # Optional
 

src/fsfw/action/ActionHelper.cpp

@@ -6,13 +6,13 @@
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
 
-ActionHelper::~ActionHelper() {}
+ActionHelper::~ActionHelper() = default;
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
   if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
     ActionId_t currentAction = ActionMessage::getActionId(command);
     prepareExecution(command->getSender(), currentAction, ActionMessage::getStoreId(command));
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::OK;
   } else {
     return CommandMessage::UNKNOWN_COMMAND;
   }
@@ -21,7 +21,7 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (ipcStore == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   if (queueToUse_ != nullptr) {
     setQueueToUse(queueToUse_);
@@ -35,10 +35,10 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
     sif::printWarning("ActionHelper::initialize: No queue set\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
 
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
@@ -59,10 +59,10 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
@@ -75,7 +75,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
     ActionMessage::setCompletionReply(&reply, actionId, true, result);
     queueToUse->sendMessage(commandedBy, &reply);
   }
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
@@ -91,11 +91,11 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   size_t maxSize = data->getSerializedSize();
   if (maxSize == 0) {
     /* No error, there's simply nothing to report. */
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::OK;
   }
   size_t size = 0;
   ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
                  << std::endl;
@@ -107,7 +107,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
     return result;
   }
   result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     ipcStore->deleteData(storeAddress);
     return result;
   }
@@ -124,7 +124,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
     result = queueToUse->sendMessage(reportTo, &reply);
   }
 
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     ipcStore->deleteData(storeAddress);
   }
   return result;
@@ -137,7 +137,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   CommandMessage reply;
   store_address_t storeAddress;
   ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
 #else
@@ -158,7 +158,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
     result = queueToUse->sendMessage(reportTo, &reply);
   }
 
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     ipcStore->deleteData(storeAddress);
   }
   return result;

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *
@@ -36,7 +36,7 @@ class ActionHelper {
    * send to the sender of the message automatically.
    *
    * @param command Pointer to a command message received by the owner
-   * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
+   * @return returnvalue::OK if the message is a action message,
    *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
    */
   ReturnValue_t handleActionMessage(CommandMessage* command);
@@ -45,7 +45,7 @@ class ActionHelper {
    * helper function
    * @param queueToUse_   Pointer to the messageQueue to be used, optional
    *                      if queue was set in constructor
-   * @return Returns RETURN_OK if successful
+   * @return Returns returnvalue::OK if successful
    */
   ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
   /**
@@ -58,7 +58,7 @@ class ActionHelper {
    * @param result Result of the execution
    */
   void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
-            ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+            ReturnValue_t result = returnvalue::OK);
   /**
    * Function to be called by the owner to send a action completion message
    * @param success   Specify whether action was completed successfully or not.
@@ -67,7 +67,7 @@ class ActionHelper {
    * @param result Result of the execution
    */
   void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
-              ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+              ReturnValue_t result = returnvalue::OK);
   /**
    * Function to be called by the owner if an action does report data.
    * Takes a SerializeIF* pointer and serializes it into the IPC store.
@@ -75,7 +75,7 @@ class ActionHelper {
    *                  message to
    * @param replyId ID of the executed command
    * @param data Pointer to the data
-   * @return Returns RETURN_OK if successful, otherwise failure code
+   * @return Returns returnvalue::OK if successful, otherwise failure code
    */
   ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data,
                            bool hideSender = false);
@@ -86,7 +86,7 @@ class ActionHelper {
    *                  message to
    * @param replyId ID of the executed command
    * @param data Pointer to the data
-   * @return Returns RETURN_OK if successful, otherwise failure code
+   * @return Returns returnvalue::OK if successful, otherwise failure code
    */
   ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data,
                            size_t dataSize, bool hideSender = false);

src/fsfw/action/ActionMessage.cpp

@@ -2,9 +2,9 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-ActionMessage::ActionMessage() {}
+ActionMessage::ActionMessage() = default;
 
-ActionMessage::~ActionMessage() {}
+ActionMessage::~ActionMessage() = default;
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
                                store_address_t parameters) {
@@ -25,7 +25,7 @@ store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
 
 void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
                                  ReturnValue_t result) {
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
     message->setCommand(STEP_SUCCESS);
   } else {
     message->setCommand(STEP_FAILED);
@@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
   switch (message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-      StorageManagerIF* ipcStore =
-          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-      if (ipcStore != NULL) {
+      auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+      if (ipcStore != nullptr) {
         ipcStore->deleteData(getStoreId(message));
       }
       break;

src/fsfw/action/ActionMessage.h

@@ -33,12 +33,12 @@ class ActionMessage {
   static store_address_t getStoreId(const CommandMessage* message);
 
   static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
-                           ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+                           ReturnValue_t result = returnvalue::OK);
   static uint8_t getStep(const CommandMessage* message);
   static ReturnValue_t getReturnCode(const CommandMessage* message);
   static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
   static void setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
-                                 ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+                                 ReturnValue_t result = returnvalue::OK);
 
   static void clear(CommandMessage* message);
 };

src/fsfw/action/CommandActionHelper.cpp

@@ -2,26 +2,26 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
+    : owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
 
-CommandActionHelper::~CommandActionHelper() {}
+CommandActionHelper::~CommandActionHelper() = default;
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  SerializeIF *data) {
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
   uint8_t *storePointer;
   size_t maxSize = data->getSerializedSize();
   ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   size_t size = 0;
   result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   return sendCommand(receiver->getCommandQueue(), actionId, storeId);
@@ -29,16 +29,13 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  const uint8_t *data, uint32_t size) {
-  //    if (commandCount != 0) {
-  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
-  //    }
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
   ReturnValue_t result = ipcStore->addData(&storeId, data, size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   return sendCommand(receiver->getCommandQueue(), actionId, storeId);
@@ -49,7 +46,7 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
   CommandMessage command;
   ActionMessage::setCommand(&command, actionId, storeId);
   ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     ipcStore->deleteData(storeId);
   }
   lastTarget = queueId;
@@ -59,55 +56,55 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
 
 ReturnValue_t CommandActionHelper::initialize() {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (ipcStore == NULL) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+  if (ipcStore == nullptr) {
+    return returnvalue::FAILED;
   }
 
   queueToUse = owner->getCommandQueuePtr();
-  if (queueToUse == NULL) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+  if (queueToUse == nullptr) {
+    return returnvalue::FAILED;
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
   if (reply->getSender() != lastTarget) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
   }
   switch (reply->getCommand()) {
     case ActionMessage::COMPLETION_SUCCESS:
       commandCount--;
       owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
     case ActionMessage::COMPLETION_FAILED:
       commandCount--;
       owner->completionFailedReceived(ActionMessage::getActionId(reply),
                                       ActionMessage::getReturnCode(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
     case ActionMessage::STEP_SUCCESS:
       owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
                                     ActionMessage::getStep(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
     case ActionMessage::STEP_FAILED:
       commandCount--;
       owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
                                 ActionMessage::getReturnCode(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
     case ActionMessage::DATA_REPLY:
       extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
     default:
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
   }
 }
 
 uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-  const uint8_t *data = NULL;
+  const uint8_t *data = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return;
   }
   owner->dataReceived(actionId, data, size);

src/fsfw/action/CommandActionHelper.h

@@ -4,7 +4,7 @@
 #include "ActionMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
@@ -14,14 +14,14 @@ class CommandActionHelper {
   friend class CommandsActionsIF;
 
  public:
-  CommandActionHelper(CommandsActionsIF* owner);
+  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, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);
-  uint8_t getCommandCount() const;
+  [[nodiscard]] uint8_t getCommandCount() const;
 
  private:
   CommandsActionsIF* owner;

src/fsfw/action/CommandsActionsIF.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "CommandActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 
 /**
  * Interface to separate commanding actions of other objects.
@@ -21,7 +21,7 @@ class CommandsActionsIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
   static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
   static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-  virtual ~CommandsActionsIF() {}
+  virtual ~CommandsActionsIF() = default;
   virtual MessageQueueIF* getCommandQueuePtr() = 0;
 
  protected:

src/fsfw/action/HasActionsIF.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 
 /**
  * @brief
@@ -40,12 +40,12 @@ class HasActionsIF {
   static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
   static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
   static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-  virtual ~HasActionsIF() {}
+  virtual ~HasActionsIF() = default;
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
    */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently
@@ -53,7 +53,7 @@ class HasActionsIF {
    *
    * @return
    * -@c EXECUTION_FINISHED Finish reply will be generated
-   * -@c Not RETURN_OK Step failure reply will be generated
+   * -@c Not returnvalue::OK Step failure reply will be generated
    */
   virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                       const uint8_t* data, size_t size) = 0;

src/fsfw/action/SimpleActionHelper.cpp

@@ -3,13 +3,13 @@
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
 
-SimpleActionHelper::~SimpleActionHelper() {}
+SimpleActionHelper::~SimpleActionHelper() = default;
 
 void SimpleActionHelper::step(ReturnValue_t result) {
   // STEP_OFFESET is subtracted to compensate for adding offset in base
   // method, which is not necessary here.
   ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     resetHelper();
   }
 }
@@ -38,10 +38,10 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
     ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
     queueToUse->sendMessage(commandedBy, &reply);
   }
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
     return;
@@ -51,12 +51,12 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
   result = owner->executeAction(actionId, commandedBy, dataPtr, size);
   ipcStore->deleteData(dataAddress);
   switch (result) {
-    case HasReturnvaluesIF::RETURN_OK:
+    case returnvalue::OK:
       isExecuting = true;
       stepCount++;
       break;
     case HasActionsIF::EXECUTION_FINISHED:
-      ActionMessage::setCompletionReply(&reply, actionId, true, HasReturnvaluesIF::RETURN_OK);
+      ActionMessage::setCompletionReply(&reply, actionId, true, returnvalue::OK);
       queueToUse->sendMessage(commandedBy, &reply);
       break;
     default:

src/fsfw/action/SimpleActionHelper.h

@@ -11,15 +11,15 @@
 class SimpleActionHelper : public ActionHelper {
  public:
   SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-  virtual ~SimpleActionHelper();
-  void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-  void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+  ~SimpleActionHelper() override;
+  void step(ReturnValue_t result = returnvalue::OK);
+  void finish(ReturnValue_t result = returnvalue::OK);
   ReturnValue_t reportData(SerializeIF* data);
 
  protected:
   void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                        store_address_t dataAddress);
-  virtual void resetHelper();
+                        store_address_t dataAddress) override;
+  void resetHelper() override;
 
  private:
   bool isExecuting;
@@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
   uint8_t stepCount = 0;
 };
 
-#endif /* SIMPLEACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */

src/fsfw/cfdp.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_CFDP_H
+#define FSFW_CFDP_H
+
+#include "cfdp/definitions.h"
+#include "cfdp/handler/CfdpHandler.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"
+
+#endif  // FSFW_CFDP_H

src/fsfw/cfdp/CFDPHandler.cpp

@@ -1,59 +0,0 @@
-#include "fsfw/cfdp/CFDPHandler.h"
-
-#include "fsfw/cfdp/CFDPMessage.h"
-#include "fsfw/ipc/CommandMessage.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/storagemanager/storeAddress.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-
-object_id_t CFDPHandler::packetSource = 0;
-object_id_t CFDPHandler::packetDestination = 0;
-
-CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
-    : SystemObject(setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  requestQueue = QueueFactory::instance()->createMessageQueue(
-      CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-  distributor = dist;
-}
-
-CFDPHandler::~CFDPHandler() {}
-
-ReturnValue_t CFDPHandler::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != RETURN_OK) {
-    return result;
-  }
-  this->distributor->registerHandler(this);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "CFDPHandler::handleRequest" << std::endl;
-#else
-  sif::printDebug("CFDPHandler::handleRequest\n");
-#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif
-
-  // TODO read out packet from store using storeId
-
-  return RETURN_OK;
-}
-
-ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
-  ReturnValue_t status = RETURN_OK;
-  CommandMessage currentMessage;
-  for (status = this->requestQueue->receiveMessage(&currentMessage); status == RETURN_OK;
-       status = this->requestQueue->receiveMessage(&currentMessage)) {
-    store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
-    this->handleRequest(storeId);
-  }
-  return RETURN_OK;
-}
-
-uint16_t CFDPHandler::getIdentifier() { return 0; }
-
-MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }

src/fsfw/cfdp/CFDPHandler.h

@@ -1,63 +0,0 @@
-#ifndef FSFW_CFDP_CFDPHANDLER_H_
-#define FSFW_CFDP_CFDPHANDLER_H_
-
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tcdistribution/CFDPDistributor.h"
-#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
-
-namespace Factory {
-void setStaticFrameworkObjectIds();
-}
-
-class CFDPHandler : public ExecutableObjectIF,
-                    public AcceptsTelecommandsIF,
-                    public SystemObject,
-                    public HasReturnvaluesIF {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
- public:
-  CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
-  /**
-   * The destructor is empty.
-   */
-  virtual ~CFDPHandler();
-
-  virtual ReturnValue_t handleRequest(store_address_t storeId);
-
-  virtual ReturnValue_t initialize() override;
-  virtual uint16_t getIdentifier() override;
-  MessageQueueId_t getRequestQueue() override;
-  ReturnValue_t performOperation(uint8_t opCode) override;
-
- protected:
-  /**
-   * This is a complete instance of the telecommand reception queue
-   * of the class. It is initialized on construction of the class.
-   */
-  MessageQueueIF* requestQueue = nullptr;
-
-  CFDPDistributor* distributor = nullptr;
-
-  /**
-   * The current CFDP packet to be processed.
-   * It is deleted after handleRequest was executed.
-   */
-  CFDPPacketStored currentPacket;
-
-  static object_id_t packetSource;
-
-  static object_id_t packetDestination;
-
- private:
-  /**
-   * This constant sets the maximum number of packets accepted per call.
-   * Remember that one packet must be completely handled in one
-   * #handleRequest call.
-   */
-  static const uint8_t CFDP_HANDLER_MAX_RECEPTION = 100;
-};
-
-#endif /* FSFW_CFDP_CFDPHANDLER_H_ */

src/fsfw/cfdp/CFDPMessage.cpp

@@ -1,17 +0,0 @@
-#include "CFDPMessage.h"
-
-CFDPMessage::CFDPMessage() {}
-
-CFDPMessage::~CFDPMessage() {}
-
-void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
-  message->setParameter(cfdpPacket.raw);
-}
-
-store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
-  store_address_t storeAddressCFDPPacket;
-  storeAddressCFDPPacket = message->getParameter();
-  return storeAddressCFDPPacket;
-}
-
-void CFDPMessage::clear(CommandMessage *message) {}

src/fsfw/cfdp/CMakeLists.txt

@@ -1,4 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE CfdpMessage.cpp CfdpDistributor.cpp
+                                        VarLenFields.cpp helpers.cpp)
 
 add_subdirectory(pdu)
 add_subdirectory(tlv)
+add_subdirectory(handler)

src/fsfw/cfdp/CfdpDistributor.cpp

@@ -0,0 +1,55 @@
+#include "CfdpDistributor.h"
+
+#include "fsfw/tcdistribution/definitions.h"
+
+CfdpDistributor::CfdpDistributor(CfdpDistribCfg cfg)
+    : TcDistributorBase(cfg.objectId, cfg.tcQueue), cfg(cfg) {}
+
+ReturnValue_t CfdpDistributor::registerTcDestination(const cfdp::EntityId& address,
+                                                     AcceptsTelecommandsIF& tcDest) {
+  for (const auto& dest : tcDestinations) {
+    if (dest.id == address) {
+      return returnvalue::FAILED;
+    }
+  }
+  tcDestinations.emplace_back(address, tcDest.getName(), tcDest.getRequestQueue());
+  return returnvalue::OK;
+}
+
+ReturnValue_t CfdpDistributor::selectDestination(MessageQueueId_t& destId) {
+  auto accessorPair = cfg.tcStore.getData(currentMessage.getStorageId());
+  if (accessorPair.first != returnvalue::OK) {
+    return accessorPair.first;
+  }
+  ReturnValue_t result =
+      pduReader.setReadOnlyData(accessorPair.second.data(), accessorPair.second.size());
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = pduReader.parseData();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  cfdp::EntityId foundId;
+  pduReader.getDestId(foundId);
+  bool destFound = false;
+  for (const auto& dest : tcDestinations) {
+    if (dest.id == foundId) {
+      destId = dest.queueId;
+      destFound = true;
+    }
+  }
+  if (not destFound) {
+    // TODO: Warning and event?
+    return tmtcdistrib::NO_DESTINATION_FOUND;
+  }
+  // Packet was forwarded successfully, so do not delete it.
+  accessorPair.second.release();
+  return returnvalue::OK;
+}
+
+const char* CfdpDistributor::getName() const { return "CFDP Distributor"; }
+
+uint32_t CfdpDistributor::getIdentifier() const { return 0; }
+
+MessageQueueId_t CfdpDistributor::getRequestQueue() const { return tcQueue->getId(); }

src/fsfw/cfdp/CfdpDistributor.h

@@ -0,0 +1,76 @@
+#ifndef FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
+#define FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
+
+#include <utility>
+#include <vector>
+
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/tcdistribution/CfdpPacketChecker.h"
+#include "fsfw/tcdistribution/TcDistributorBase.h"
+#include "fsfw/tmtcpacket/cfdp/CfdpPacketStored.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcservices/VerificationReporter.h"
+
+struct CfdpDistribCfg {
+  CfdpDistribCfg(object_id_t objectId, StorageManagerIF& tcStore, MessageQueueIF* tcQueue)
+      : objectId(objectId), tcStore(tcStore), tcQueue(tcQueue) {}
+
+  object_id_t objectId;
+  StorageManagerIF& tcStore;
+  MessageQueueIF* tcQueue;
+};
+
+/**
+ * This will be the primary component to perform PDU forwading procedures. This includes forwarding
+ * CFDP TC packets to registered source or destination handlers, and forwarding all telemetry
+ * generated by them to registered TM sinks.
+ * @ingroup tc_distribution
+ */
+class CfdpDistributor : public TcDistributorBase, public AcceptsTelecommandsIF {
+ public:
+  /**
+   * The ctor passes @c set_apid to the checker class and calls the
+   * TcDistribution ctor with a certain object id.
+   * @param setApid The APID of this receiving Application.
+   * @param setObjectId Object ID of the distributor itself
+   * @param setPacketSource Object ID of the source of TC packets.
+   * Must implement CcsdsDistributorIF.
+   */
+  explicit CfdpDistributor(CfdpDistribCfg cfg);
+
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] uint32_t getIdentifier() const override;
+  [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
+
+  /**
+   * Register a new CFDP entity which can receive PDUs.
+   * @param address
+   * @param tcDest
+   * @return
+   *  - @c RETURN_FAILED: Entry already exists for the given address
+   */
+  ReturnValue_t registerTcDestination(const cfdp::EntityId& address, AcceptsTelecommandsIF& tcDest);
+
+ protected:
+  struct EntityInfo {
+    EntityInfo(cfdp::EntityId id, const char* name, MessageQueueId_t queueId)
+        : id(std::move(id)), name(name), queueId(queueId) {}
+    cfdp::EntityId id;
+    const char* name;
+    MessageQueueId_t queueId;
+  };
+  PduHeaderReader pduReader;
+  ReturnValue_t lastTcError = returnvalue::OK;
+  ReturnValue_t lastTmError = returnvalue::OK;
+  // I don't think a regular OBSW will have more than 1 or 2 of these destinations, so I think
+  // it is okay to accept the overhead here
+  std::vector<EntityInfo> tcDestinations;
+  CfdpDistribCfg cfg;
+
+  ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
+
+ private:
+};
+
+#endif /* FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_ */

src/fsfw/cfdp/CfdpMessage.cpp

@@ -0,0 +1,17 @@
+#include "CfdpMessage.h"
+
+CfdpMessage::CfdpMessage() = default;
+
+CfdpMessage::~CfdpMessage() = default;
+
+void CfdpMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
+  message->setParameter(cfdpPacket.raw);
+}
+
+store_address_t CfdpMessage::getStoreId(const CommandMessage *message) {
+  store_address_t storeId;
+  storeId = static_cast<store_address_t>(message->getParameter());
+  return storeId;
+}
+
+void CfdpMessage::clear(CommandMessage *message) {}

src/fsfw/cfdp/CfdpMessage.h

@@ -5,14 +5,14 @@
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-class CFDPMessage {
+class CfdpMessage {
  private:
-  CFDPMessage();
+  CfdpMessage();
 
  public:
   static const uint8_t MESSAGE_ID = messagetypes::CFDP;
 
-  virtual ~CFDPMessage();
+  virtual ~CfdpMessage();
   static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
 
   static store_address_t getStoreId(const CommandMessage* message);

src/fsfw/cfdp/FileSize.h

@@ -1,5 +1,7 @@
-#ifndef FSFW_SRC_FSFW_CFDP_FILESIZE_H_
-#define FSFW_SRC_FSFW_CFDP_FILESIZE_H_
+#ifndef FSFW_CFDP_FILESIZE_H_
+#define FSFW_CFDP_FILESIZE_H_
+
+#include <optional>
 
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serialize/SerializeIF.h"
@@ -8,9 +10,11 @@ namespace cfdp {
 
 struct FileSize : public SerializeIF {
  public:
-  FileSize() : largeFile(false){};
+  FileSize() = default;
 
-  FileSize(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; }
 
   ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) {
@@ -27,7 +31,7 @@ struct FileSize : public SerializeIF {
     return SerializeAdapter::serialize(&fileSize, buffer, size, maxSize, streamEndianness);
   }
 
-  size_t getSerializedSize() const override {
+  [[nodiscard]] size_t getSerializedSize() const override {
     if (largeFile) {
       return 8;
     } else {
@@ -43,27 +47,29 @@ struct FileSize : public SerializeIF {
       uint32_t sizeTmp = 0;
       ReturnValue_t result =
           SerializeAdapter::deSerialize(&sizeTmp, buffer, size, streamEndianness);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
+      if (result == returnvalue::OK) {
         fileSize = sizeTmp;
       }
       return result;
     }
   }
 
-  ReturnValue_t setFileSize(uint64_t fileSize, bool largeFile) {
+  ReturnValue_t setFileSize(uint64_t fileSize_, std::optional<bool> largeFile_) {
+    if (largeFile_) {
+      largeFile = largeFile_.value();
+    }
     if (not largeFile and fileSize > UINT32_MAX) {
       // TODO: emit warning here
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
     }
-    this->fileSize = fileSize;
-    this->largeFile = largeFile;
-    return HasReturnvaluesIF::RETURN_OK;
+    this->fileSize = fileSize_;
+    return returnvalue::OK;
   }
 
-  bool isLargeFile() const { return largeFile; }
-  uint64_t getSize(bool *largeFile = nullptr) const {
-    if (largeFile != nullptr) {
-      *largeFile = this->largeFile;
+  [[nodiscard]] bool isLargeFile() const { return largeFile; }
+  uint64_t getSize(bool *largeFile_ = nullptr) const {
+    if (largeFile_ != nullptr) {
+      *largeFile_ = this->largeFile;
     }
     return fileSize;
   }
@@ -75,4 +81,4 @@ struct FileSize : public SerializeIF {
 
 }  // namespace cfdp
 
-#endif /* FSFW_SRC_FSFW_CFDP_FILESIZE_H_ */
+#endif /* FSFW_CFDP_FILESIZE_H_ */

src/fsfw/cfdp/VarLenFields.cpp

@@ -1,12 +1,11 @@
-#include "VarLenField.h"
+#include "VarLenFields.h"
 
-#include "fsfw/FSFW.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
 
 cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
   ReturnValue_t result = this->setValue(width, value);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_DISABLE_PRINTOUT == 0
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "cfdp::VarLenField: Setting value failed" << std::endl;
@@ -21,27 +20,27 @@ cfdp::VarLenField::VarLenField() : width(cfdp::WidthInBytes::ONE_BYTE) { value.o
 
 cfdp::WidthInBytes cfdp::VarLenField::getWidth() const { return width; }
 
-ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value) {
+ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value_) {
   switch (widthInBytes) {
     case (cfdp::WidthInBytes::ONE_BYTE): {
-      if (value > UINT8_MAX) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      if (value_ > UINT8_MAX) {
+        return returnvalue::FAILED;
       }
-      this->value.oneByte = value;
+      this->value.oneByte = value_;
       break;
     }
     case (cfdp::WidthInBytes::TWO_BYTES): {
-      if (value > UINT16_MAX) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      if (value_ > UINT16_MAX) {
+        return returnvalue::FAILED;
       }
-      this->value.twoBytes = value;
+      this->value.twoBytes = value_;
       break;
     }
     case (cfdp::WidthInBytes::FOUR_BYTES): {
-      if (value > UINT32_MAX) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      if (value_ > UINT32_MAX) {
+        return returnvalue::FAILED;
       }
-      this->value.fourBytes = value;
+      this->value.fourBytes = value_;
       break;
     }
     default: {
@@ -49,7 +48,7 @@ ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_
     }
   }
   this->width = widthInBytes;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
 size_t cfdp::VarLenField::getValue() const {
@@ -77,7 +76,7 @@ ReturnValue_t cfdp::VarLenField::serialize(uint8_t **buffer, size_t *size, size_
       **buffer = value.oneByte;
       *size += 1;
       *buffer += 1;
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
     }
     case (cfdp::WidthInBytes::TWO_BYTES): {
       return SerializeAdapter::serialize(&value.twoBytes, buffer, size, maxSize, streamEndianness);
@@ -86,16 +85,16 @@ ReturnValue_t cfdp::VarLenField::serialize(uint8_t **buffer, size_t *size, size_
       return SerializeAdapter::serialize(&value.fourBytes, buffer, size, maxSize, streamEndianness);
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
     }
   }
 }
 
 size_t cfdp::VarLenField::getSerializedSize() const { return width; }
 
-ReturnValue_t cfdp::VarLenField::deSerialize(cfdp::WidthInBytes width, const uint8_t **buffer,
+ReturnValue_t cfdp::VarLenField::deSerialize(cfdp::WidthInBytes width_, const uint8_t **buffer,
                                              size_t *size, Endianness streamEndianness) {
-  this->width = width;
+  this->width = width_;
   return deSerialize(buffer, size, streamEndianness);
 }
 
@@ -105,7 +104,7 @@ ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *siz
     case (cfdp::WidthInBytes::ONE_BYTE): {
       value.oneByte = **buffer;
       *size += 1;
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
     }
     case (cfdp::WidthInBytes::TWO_BYTES): {
       return SerializeAdapter::deSerialize(&value.twoBytes, buffer, size, streamEndianness);
@@ -114,7 +113,25 @@ ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *siz
       return SerializeAdapter::deSerialize(&value.fourBytes, buffer, size, streamEndianness);
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
     }
   }
 }
+
+bool cfdp::VarLenField::operator<(const cfdp::VarLenField &other) const {
+  if (getWidth() < other.getWidth()) {
+    return true;
+  } else if (getWidth() == other.getWidth()) {
+    return getValue() < other.getValue();
+  } else {
+    return false;
+  }
+}
+
+bool cfdp::VarLenField::operator==(const cfdp::VarLenField &other) const {
+  return getWidth() == other.getWidth() and getValue() == other.getValue();
+}
+
+bool cfdp::VarLenField::operator!=(const cfdp::VarLenField &other) const {
+  return not(*this == other);
+}

src/fsfw/cfdp/VarLenFields.h

@@ -0,0 +1,107 @@
+#ifndef FSFW_CFDP_PDU_VARLENFIELD_H_
+#define FSFW_CFDP_PDU_VARLENFIELD_H_
+
+#include <cstddef>
+#include <cstdint>
+#include <utility>
+
+#include "fsfw/cfdp/definitions.h"
+#include "fsfw/serialize/SerializeIF.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/util/UnsignedByteField.h"
+
+namespace cfdp {
+
+class VarLenField : public SerializeIF {
+ public:
+  union LengthFieldLen {
+    uint8_t oneByte;
+    uint16_t twoBytes;
+    uint32_t fourBytes;
+    uint64_t eightBytes;
+  };
+
+  VarLenField();
+  template <typename T>
+  explicit VarLenField(UnsignedByteField<T> byteField);
+
+  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 setValue(cfdp::WidthInBytes, size_t value);
+
+  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(cfdp::WidthInBytes width, const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness);
+
+  [[nodiscard]] cfdp::WidthInBytes getWidth() const;
+  [[nodiscard]] size_t getValue() const;
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  friend std::ostream &operator<<(std::ostream &os, const VarLenField &id) {
+    os << "dec: " << id.getValue() << ", hex: " << std::hex << std::setw(id.getWidth())
+       << std::setfill('0') << id.getValue() << std::dec << std::setfill('0');
+    return os;
+  }
+#endif
+
+ private:
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override;
+
+  cfdp::WidthInBytes width;
+  LengthFieldLen value{};
+};
+
+template <typename T>
+cfdp::VarLenField::VarLenField(UnsignedByteField<T> byteField)
+    : width(static_cast<cfdp::WidthInBytes>(sizeof(T))) {
+  static_assert((sizeof(T) % 2) == 0);
+  setValue(width, byteField.getValue());
+}
+
+struct EntityId : public VarLenField {
+ public:
+  EntityId() : VarLenField() {}
+  template <typename T>
+  explicit EntityId(UnsignedByteField<T> byteField) : VarLenField(byteField) {}
+  EntityId(cfdp::WidthInBytes width, size_t entityId) : VarLenField(width, entityId) {}
+};
+
+struct TransactionSeqNum : public VarLenField {
+ public:
+  TransactionSeqNum() : VarLenField() {}
+  template <typename T>
+  explicit TransactionSeqNum(UnsignedByteField<T> byteField) : VarLenField(byteField) {}
+  TransactionSeqNum(cfdp::WidthInBytes width, size_t seqNum) : VarLenField(width, seqNum) {}
+};
+
+struct TransactionId {
+  TransactionId() = default;
+  TransactionId(EntityId entityId, TransactionSeqNum seqNum)
+      : entityId(std::move(entityId)), seqNum(std::move(seqNum)) {}
+
+  bool operator==(const TransactionId &other) const {
+    return entityId == other.entityId and seqNum == other.seqNum;
+  }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  friend std::ostream &operator<<(std::ostream &os, const TransactionId &id) {
+    os << "Source ID { " << id.entityId << " }, Sequence Number " << id.seqNum.getValue();
+    return os;
+  }
+#endif
+  EntityId entityId;
+  TransactionSeqNum seqNum;
+};
+
+}  // namespace cfdp
+
+#endif /* FSFW_CFDP_PDU_VARLENFIELD_H_ */

src/fsfw/cfdp/definitions.h

@@ -7,36 +7,37 @@
 #include <cstdint>
 
 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 
 namespace cfdp {
 
-static constexpr uint8_t VERSION_BITS = 0b00100000;
+static constexpr char CFDP_VERSION_2_NAME[] = "CCSDS 727.0-B-5";
+
+// Second version of the protocol, only this one is supported here
+static constexpr uint8_t CFDP_VERSION_2 = 0b001;
+static constexpr uint8_t VERSION_BITS = CFDP_VERSION_2 << 5;
 
 static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
 
-static constexpr ReturnValue_t INVALID_TLV_TYPE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 1);
-static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 2);
-static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 3);
+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);
+static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN = returnvalue::makeCode(CFDP_CLASS_ID, 3);
 static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 4);
+    returnvalue::makeCode(CFDP_CLASS_ID, 4);
 //! Can not parse options. This can also occur because there are options
 //! available but the user did not pass a valid options array
 static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 5);
-static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
+    returnvalue::makeCode(CFDP_CLASS_ID, 5);
+static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS = returnvalue::makeCode(CFDP_CLASS_ID, 6);
 static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
+    returnvalue::makeCode(CFDP_CLASS_ID, 7);
 static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 8);
+    returnvalue::makeCode(CFDP_CLASS_ID, 8);
 //! Can not parse filestore response because user did not pass a valid instance
 //! or remaining size is invalid
 static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 9);
+    returnvalue::makeCode(CFDP_CLASS_ID, 9);
+static constexpr ReturnValue_t INVALID_PDU_FORMAT = returnvalue::makeCode(CFDP_CLASS_ID, 10);
 
 //! Checksum types according to the SANA Checksum Types registry
 //! https://sanaregistry.org/r/checksum_identifiers/
@@ -49,17 +50,17 @@ enum ChecksumType {
   NULL_CHECKSUM = 15
 };
 
-enum PduType : bool { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
+enum PduType : uint8_t { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
 
-enum TransmissionModes : bool { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
+enum TransmissionMode : uint8_t { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
 
-enum SegmentMetadataFlag : bool { NOT_PRESENT = 0, PRESENT = 1 };
+enum SegmentMetadataFlag : bool { NOT_PRESENT = false, PRESENT = true };
 
-enum Direction : bool { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
+enum Direction : uint8_t { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
 
 enum SegmentationControl : bool {
-  NO_RECORD_BOUNDARIES_PRESERVATION = 0,
-  RECORD_BOUNDARIES_PRESERVATION = 1
+  NO_RECORD_BOUNDARIES_PRESERVATION = false,
+  RECORD_BOUNDARIES_PRESERVATION = true
 };
 
 enum WidthInBytes : uint8_t {
@@ -69,8 +70,9 @@ enum WidthInBytes : uint8_t {
   FOUR_BYTES = 4,
 };
 
-enum FileDirectives : uint8_t {
+enum FileDirective : uint8_t {
   INVALID_DIRECTIVE = 0x0f,
+  // The _DIRECTIVE suffix is mandatory here because of some nameclash!
   EOF_DIRECTIVE = 0x04,
   FINISH = 0x05,
   ACK = 0x06,
@@ -97,6 +99,14 @@ enum ConditionCode : uint8_t {
   CANCEL_REQUEST_RECEIVED = 0b1111
 };
 
+enum FaultHandlerCode {
+  RESERVED = 0b0000,
+  NOTICE_OF_CANCELLATION = 0b0001,
+  NOTICE_OF_SUSPENSION = 0b0010,
+  IGNORE_ERROR = 0b0011,
+  ABANDON_TRANSACTION = 0b0100
+};
+
 enum AckTransactionStatus {
   UNDEFINED = 0b00,
   ACTIVE = 0b01,
@@ -104,18 +114,18 @@ enum AckTransactionStatus {
   UNRECOGNIZED = 0b11
 };
 
-enum FinishedDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
+enum FileDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
 
-enum FinishedFileStatus {
+enum FileDeliveryStatus {
   DISCARDED_DELIBERATELY = 0,
   DISCARDED_FILESTORE_REJECTION = 1,
   RETAINED_IN_FILESTORE = 2,
   FILE_STATUS_UNREPORTED = 3
 };
 
-enum PromptResponseRequired : bool { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
+enum PromptResponseRequired : uint8_t { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
 
-enum TlvTypes : uint8_t {
+enum TlvType : uint8_t {
   FILESTORE_REQUEST = 0x00,
   FILESTORE_RESPONSE = 0x01,
   MSG_TO_USER = 0x02,

src/fsfw/cfdp/handler/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
+                           FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp)

src/fsfw/cfdp/handler/CfdpHandler.cpp

@@ -0,0 +1,134 @@
+#include "CfdpHandler.h"
+
+#include "fsfw/cfdp/pdu/AckPduReader.h"
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+using namespace returnvalue;
+using namespace cfdp;
+
+CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
+    : SystemObject(fsfwParams.objectId),
+      msgQueue(fsfwParams.msgQueue),
+      destHandler(
+          DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
+                            cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
+                            cfdpCfg.lostSegmentsList),
+          FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
+                     fsfwParams.tmStore)) {
+  destHandler.setMsgQueue(msgQueue);
+}
+
+[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
+
+[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
+  return destHandler.getDestHandlerParams().cfg.localId.getValue();
+}
+
+[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
+
+ReturnValue_t CfdpHandler::initialize() {
+  ReturnValue_t result = destHandler.initialize();
+  if (result != OK) {
+    return result;
+  }
+  tcStore = destHandler.getTcStore();
+  tmStore = destHandler.getTmStore();
+
+  return SystemObject::initialize();
+}
+
+ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
+  // TODO: Receive TC packets and route them to source and dest handler, depending on which is
+  //       correct or more appropriate
+  ReturnValue_t status;
+  ReturnValue_t result = OK;
+  TmTcMessage tmtcMsg;
+  for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
+       status = msgQueue.receiveMessage(&tmtcMsg)) {
+    result = handleCfdpPacket(tmtcMsg);
+    if (result != OK) {
+      status = result;
+    }
+  }
+  auto& fsmRes = destHandler.performStateMachine();
+  // TODO: Error handling?
+  while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
+    destHandler.performStateMachine();
+    // TODO: Error handling?
+  }
+  return status;
+}
+
+ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
+  auto accessorPair = tcStore->getData(msg.getStorageId());
+  if (accessorPair.first != OK) {
+    return accessorPair.first;
+  }
+  PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
+  ReturnValue_t result = reader.parseData();
+  if (result != returnvalue::OK) {
+    return INVALID_PDU_FORMAT;
+  }
+  // The CFDP distributor should have taken care of ensuring the destination ID is correct
+  PduType type = reader.getPduType();
+  // Only the destination handler can process these PDUs
+  if (type == PduType::FILE_DATA) {
+    // Disable auto-deletion of packet
+    accessorPair.second.release();
+    PacketInfo info(type, msg.getStorageId());
+    result = destHandler.passPacket(info);
+  } else {
+    // Route depending on PDU type and directive type if applicable. It retrieves directive type
+    // from the raw stream for better performance (with sanity and directive code check).
+    // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
+    // procedure.
+
+    // PDU header only. Invalid supplied data. A directive packet should have a valid data field
+    // with at least one byte being the directive code
+    const uint8_t* pduDataField = reader.getPduDataField();
+    if (pduDataField == nullptr) {
+      return INVALID_PDU_FORMAT;
+    }
+    if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
+      return INVALID_DIRECTIVE_FIELD;
+    }
+    auto directive = static_cast<FileDirective>(pduDataField[0]);
+
+    auto passToDestHandler = [&]() {
+      accessorPair.second.release();
+      PacketInfo info(type, msg.getStorageId(), directive);
+      result = destHandler.passPacket(info);
+    };
+    auto passToSourceHandler = [&]() {
+
+    };
+    if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
+        directive == FileDirective::PROMPT) {
+      // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
+      // the destination handler
+      passToDestHandler();
+    } else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
+               directive == FileDirective::KEEP_ALIVE) {
+      // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
+      // the source handler
+      passToSourceHandler();
+    } else if (directive == FileDirective::ACK) {
+      // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
+      // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
+      // the source handler, for a Finished PDU, it is passed to the destination handler.
+      FileDirective ackedDirective;
+      if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
+        return INVALID_ACK_DIRECTIVE_FIELDS;
+      }
+      if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
+        passToSourceHandler();
+      } else if (ackedDirective == FileDirective::FINISH) {
+        passToDestHandler();
+      }
+    }
+  }
+  return result;
+}

src/fsfw/cfdp/handler/CfdpHandler.h

@@ -0,0 +1,71 @@
+#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+
+#include <utility>
+
+#include "fsfw/cfdp/handler/DestHandler.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+struct FsfwHandlerParams {
+  FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
+                    StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
+      : objectId(objectId),
+        vfs(vfs),
+        packetDest(packetDest),
+        tcStore(tcStore),
+        tmStore(tmStore),
+        msgQueue(msgQueue) {}
+  object_id_t objectId{};
+  HasFileSystemIF& vfs;
+  AcceptsTelemetryIF& packetDest;
+  StorageManagerIF& tcStore;
+  StorageManagerIF& tmStore;
+  MessageQueueIF& msgQueue;
+};
+
+struct CfdpHandlerCfg {
+  CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
+                 cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
+                 cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
+                 cfdp::RemoteConfigTableIF& remoteCfgProvider)
+      : id(std::move(localId)),
+        indicCfg(indicationCfg),
+        packetInfoList(packetInfo),
+        lostSegmentsList(lostSegmentsList),
+        remoteCfgProvider(remoteCfgProvider),
+        userHandler(userHandler),
+        faultHandler(userFaultHandler) {}
+
+  cfdp::EntityId id;
+  cfdp::IndicationCfg indicCfg;
+  cfdp::PacketInfoListBase& packetInfoList;
+  cfdp::LostSegmentsListBase& lostSegmentsList;
+  cfdp::RemoteConfigTableIF& remoteCfgProvider;
+  cfdp::UserBase& userHandler;
+  cfdp::FaultHandlerBase& faultHandler;
+};
+
+class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
+ public:
+  explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
+
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] uint32_t getIdentifier() const override;
+  [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+
+ private:
+  MessageQueueIF& msgQueue;
+  cfdp::DestHandler destHandler;
+  StorageManagerIF* tcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -0,0 +1,480 @@
+#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),
+      userTlvVec(params.maxTlvsInOnePdu),
+      dp(std::move(params)),
+      fp(fsfwParams),
+      tp(params.maxFilenameLen) {
+  tp.pduConf.direction = cfdp::Direction::TOWARDS_SENDER;
+}
+
+const cfdp::DestHandler::FsmResult& cfdp::DestHandler::performStateMachine() {
+  ReturnValue_t result;
+  uint8_t errorIdx = 0;
+  fsmRes.resetOfIteration();
+  if (fsmRes.step == TransactionStep::IDLE) {
+    for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.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
+        dp.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 = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
+        fp.tcStore->deleteData(infoIter->storeId);
+        infoIter++;
+      }
+      dp.packetListRef.clear();
+    }
+
+    if (fsmRes.step != TransactionStep::IDLE) {
+      fsmRes.callStatus = CallStatus::CALL_AGAIN;
+    }
+    return updateFsmRes(errorIdx);
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+    if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
+      for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.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
+          dp.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
+          dp.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 == CfdpStates::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 (dp.packetListRef.full()) {
+    return FAILED;
+  }
+  dp.packetListRef.push_back(packet);
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::initialize() {
+  if (fp.tmStore == nullptr) {
+    fp.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
+    if (fp.tmStore == nullptr) {
+      return FAILED;
+    }
+  }
+
+  if (fp.tcStore == nullptr) {
+    fp.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+    if (fp.tcStore == nullptr) {
+      return FAILED;
+    }
+  }
+
+  if (fp.msgQueue == nullptr) {
+    return FAILED;
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
+  // Process metadata PDU
+  auto constAccessorPair = fp.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;
+  MetadataInfo metadataInfo(tp.fileSize, sourceFileName, destFileName);
+  cfdp::Tlv* tlvArrayAsPtr = tlvVec.data();
+  metadataInfo.setOptionsArray(&tlvArrayAsPtr, std::nullopt, tlvVec.size());
+  MetadataPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(),
+                           metadataInfo);
+  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, metadataInfo);
+}
+
+ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
+  // Process file data PDU
+  auto constAccessorPair = fp.tcStore->getData(info.storeId);
+  if (constAccessorPair.first != OK) {
+    // TODO: This is not a CFDP error. Event and/or warning?
+    return constAccessorPair.first;
+  }
+  cfdp::FileSize offset;
+  FileDataInfo fdInfo(offset);
+  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(tp.destName.data(), fileSegmentLen);
+  fileOpParams.offset = offset.value();
+  if (dp.cfg.indicCfg.fileSegmentRecvIndicRequired) {
+    FileSegmentRecvdParams segParams;
+    segParams.offset = offset.value();
+    segParams.id = tp.transactionId;
+    segParams.length = fileSegmentLen;
+    segParams.recContState = fdInfo.getRecordContinuationState();
+    size_t segmentMetadatLen = 0;
+    auto* segMetadata = fdInfo.getSegmentMetadata(&segmentMetadatLen);
+    segParams.segmentMetadata = {segMetadata, segmentMetadatLen};
+    dp.user.fileSegmentRecvdIndication(segParams);
+  }
+  result = dp.user.vfs.writeToFile(fileOpParams, fileData);
+  if (offset.value() + fileSegmentLen > tp.progress) {
+    tp.progress = offset.value() + fileSegmentLen;
+  }
+  if (result != returnvalue::OK) {
+    // TODO: Proper Error handling
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "File write error" << std::endl;
+#endif
+  } else {
+    tp.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
+  }
+  return result;
+}
+
+ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PacketInfo& info) {
+  // Process EOF PDU
+  auto constAccessorPair = fp.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) {
+    tp.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 > tp.progress) {
+      // TODO: File size error
+    }
+    tp.fileSize.setFileSize(fileSizeFromEof, std::nullopt);
+  }
+  if (dp.cfg.indicCfg.eofRecvIndicRequired) {
+    dp.user.eofRecvIndication(getTransactionId());
+  }
+  if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
+    if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+      fsmRes.step = TransactionStep::TRANSFER_COMPLETION;
+    } else if (fsmRes.state == CfdpStates::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 dp.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(MetadataPduReader& reader, MetadataInfo& info) {
+  if (fsmRes.state != CfdpStates::IDLE) {
+    // According to standard, discard metadata PDU if we are busy
+    return OK;
+  }
+  ReturnValue_t result = OK;
+  fsmRes.step = TransactionStep::TRANSACTION_START;
+  if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
+  } else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
+  }
+  tp.checksumType = info.getChecksumType();
+  tp.closureRequested = info.isClosureRequested();
+  size_t sourceNameSize = 0;
+  const uint8_t* sourceNamePtr = info.getSourceFileName().getValue(&sourceNameSize);
+  if (sourceNameSize > tp.sourceName.size()) {
+    // TODO: Warning, event etc.
+    return FAILED;
+  }
+  std::memcpy(tp.sourceName.data(), sourceNamePtr, sourceNameSize);
+  tp.sourceName[sourceNameSize] = '\0';
+  size_t destNameSize = 0;
+  const uint8_t* destNamePtr = info.getDestFileName().getValue(&destNameSize);
+  if (destNameSize > tp.destName.size()) {
+    // TODO: Warning, event etc.
+    return FAILED;
+  }
+  std::memcpy(tp.destName.data(), destNamePtr, destNameSize);
+  tp.destName[destNameSize] = '\0';
+  reader.fillConfig(tp.pduConf);
+  tp.pduConf.direction = Direction::TOWARDS_SENDER;
+  tp.transactionId.entityId = tp.pduConf.sourceId;
+  tp.transactionId.seqNum = tp.pduConf.seqNum;
+  if (not dp.remoteCfgTable.getRemoteCfg(tp.pduConf.sourceId, &tp.remoteCfg)) {
+    // TODO: Warning, event etc.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler" << __func__
+                 << ": No remote configuration found for destination ID "
+                 << tp.pduConf.sourceId.getValue() << std::endl;
+#endif
+    return FAILED;
+  }
+  // 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) {
+    FilesystemParams fparams(tp.destName.data());
+    // TODO: Filesystem errors?
+    if (dp.user.vfs.fileExists(fparams)) {
+      dp.user.vfs.truncateFile(fparams);
+    } else {
+      result = dp.user.vfs.createFile(fparams);
+      if (result != OK) {
+        // TODO: Handle FS error. This is probably a case for the filestore rejection mechanism of
+        // CFDP.
+        //       In any case, it does not really make sense to continue here
+      }
+    }
+  }
+  fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
+  MetadataRecvdParams params(tp.transactionId, tp.pduConf.sourceId);
+  params.fileSize = tp.fileSize.getSize();
+  params.destFileName = tp.destName.data();
+  params.sourceFileName = tp.sourceName.data();
+  params.msgsToUserArray = dynamic_cast<MessageToUserTlv*>(userTlvVec.data());
+  params.msgsToUserLen = info.getOptionsLen();
+  dp.user.metadataRecvdIndication(params);
+  return result;
+}
+
+cfdp::CfdpStates cfdp::DestHandler::getCfdpState() const { return fsmRes.state; }
+
+ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
+  ReturnValue_t result;
+  if (tp.checksumType != ChecksumType::NULL_CHECKSUM) {
+    result = checksumVerification();
+    if (result != OK) {
+      // TODO: Warning / error handling?
+    }
+  } else {
+    tp.conditionCode = ConditionCode::NO_ERROR;
+  }
+  result = noticeOfCompletion();
+  if (result != OK) {
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+    if (tp.closureRequested) {
+      fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
+    } else {
+      finish();
+    }
+  } else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
+    fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
+  }
+  return OK;
+}
+
+void cfdp::DestHandler::finish() {
+  tp.reset();
+  dp.packetListRef.clear();
+  fsmRes.state = CfdpStates::IDLE;
+  fsmRes.step = TransactionStep::IDLE;
+}
+
+ReturnValue_t cfdp::DestHandler::checksumVerification() {
+  std::array<uint8_t, 1024> buf{};
+  // TODO: Checksum verification and notice of completion
+  etl::crc32 crcCalc;
+  uint64_t currentOffset = 0;
+  FileOpParams params(tp.destName.data(), tp.fileSize.value());
+  while (currentOffset < tp.fileSize.value()) {
+    uint64_t readLen;
+    if (currentOffset + buf.size() > tp.fileSize.value()) {
+      readLen = tp.fileSize.value() - currentOffset;
+    } else {
+      readLen = buf.size();
+    }
+    if (readLen > 0) {
+      params.offset = currentOffset;
+      params.size = readLen;
+      auto result = dp.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 == tp.crc) {
+    tp.conditionCode = ConditionCode::NO_ERROR;
+    tp.deliveryCode = FileDeliveryCode::DATA_COMPLETE;
+  } else {
+    // TODO: Proper error handling
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CRC check for file " << tp.destName.data() << " failed" << std::endl;
+#endif
+    tp.conditionCode = ConditionCode::FILE_CHECKSUM_FAILURE;
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::noticeOfCompletion() {
+  if (dp.cfg.indicCfg.transactionFinishedIndicRequired) {
+    TransactionFinishedParams params(tp.transactionId, tp.conditionCode, tp.deliveryCode,
+                                     tp.deliveryStatus);
+    dp.user.transactionFinishedIndication(params);
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
+  FinishedInfo info(tp.conditionCode, tp.deliveryCode, tp.deliveryStatus);
+  FinishPduCreator finishedPdu(tp.pduConf, info);
+  store_address_t storeId;
+  uint8_t* dataPtr = nullptr;
+  ReturnValue_t result =
+      fp.tcStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
+  if (result != OK) {
+    // TODO: Error handling and event, this is a non CFDP specific error (most likely store is full)
+    return result;
+  }
+  size_t serLen = 0;
+  result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
+  if (result != OK) {
+    // TODO: Error printout, this really should not happen
+    return result;
+  }
+  TmTcMessage msg(storeId);
+  result = fp.msgQueue->sendMessage(fp.packetDest.getReportReceptionQueue(), &msg);
+  if (result != OK) {
+    // TODO: Error handling and event, this is a non CFDP specific error (most likely store is full)
+    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 tp.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) { fp.msgQueue = &queue; }
+
+void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
+  fp.eventReporter = &reporter;
+}
+
+const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const { return dp; }
+
+StorageManagerIF* cfdp::DestHandler::getTmStore() const { return fp.tmStore; }
+StorageManagerIF* cfdp::DestHandler::getTcStore() const { return fp.tcStore; }

src/fsfw/cfdp/handler/DestHandler.h

@@ -0,0 +1,202 @@
+#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/container/DynamicFIFO.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/storagemanager/storeAddress.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+
+namespace cfdp {
+
+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;
+};
+
+template <size_t SIZE>
+using LostSegmentsList = etl::set<etl::pair<uint64_t, uint64_t>, SIZE>;
+template <size_t SIZE>
+using PacketInfoList = etl::list<PacketInfo, SIZE>;
+using LostSegmentsListBase = etl::iset<etl::pair<uint64_t, uint64_t>>;
+using PacketInfoListBase = etl::ilist<PacketInfo>;
+
+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
+                    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 = 10;
+  size_t maxFilenameLen = 255;
+};
+
+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;
+};
+
+enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
+
+class DestHandler {
+ public:
+  enum class TransactionStep {
+    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;
+    CfdpStates state = CfdpStates::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& performStateMachine();
+  void setMsgQueue(MessageQueueIF& queue);
+  void setEventReporter(EventReportingProxyIF& reporter);
+
+  ReturnValue_t passPacket(PacketInfo packet);
+
+  ReturnValue_t initialize();
+
+  [[nodiscard]] CfdpStates 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;
+      closureRequested = false;
+      checksumType = ChecksumType::NULL_CHECKSUM;
+    }
+
+    ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
+    bool closureRequested = false;
+    std::vector<char> sourceName;
+    std::vector<char> destName;
+    cfdp::FileSize 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<cfdp::Tlv> userTlvVec;
+  DestHandlerParams dp;
+  FsfwParams fp;
+  TransactionParams tp;
+  FsmResult fsmRes;
+
+  ReturnValue_t startTransaction(MetadataPduReader& reader, MetadataInfo& info);
+  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 sendFinishedPdu();
+  ReturnValue_t noticeOfCompletion();
+  ReturnValue_t checksumVerification();
+  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/FaultHandlerBase.cpp

@@ -0,0 +1,51 @@
+#include "FaultHandlerBase.h"
+
+namespace cfdp {
+
+FaultHandlerBase::FaultHandlerBase() = default;
+FaultHandlerBase::~FaultHandlerBase() = default;
+
+bool FaultHandlerBase::getFaultHandler(cfdp::ConditionCode code,
+                                       cfdp::FaultHandlerCode& handler) const {
+  auto iter = faultHandlerMap.find(code);
+  if (iter == faultHandlerMap.end()) {
+    return false;
+  }
+  handler = iter->second;
+  return true;
+}
+
+bool FaultHandlerBase::setFaultHandler(cfdp::ConditionCode code, cfdp::FaultHandlerCode handler) {
+  if (not faultHandlerMap.contains(code)) {
+    return false;
+  }
+  if (handler != FaultHandlerCode::NOTICE_OF_SUSPENSION and
+      handler != FaultHandlerCode::ABANDON_TRANSACTION and
+      handler != FaultHandlerCode::NOTICE_OF_CANCELLATION and
+      handler != FaultHandlerCode::IGNORE_ERROR) {
+    return false;
+  }
+  faultHandlerMap[code] = handler;
+  return true;
+}
+
+bool FaultHandlerBase::reportFault(cfdp::TransactionId& id, cfdp::ConditionCode code) {
+  if (not faultHandlerMap.contains(code)) {
+    return false;
+  }
+  cfdp::FaultHandlerCode fh = faultHandlerMap[code];
+  if (fh == cfdp::FaultHandlerCode::IGNORE_ERROR) {
+    ignoreCb(id, code);
+  } else if (fh == cfdp::FaultHandlerCode::ABANDON_TRANSACTION) {
+    abandonCb(id, code);
+  } else if (fh == cfdp::FaultHandlerCode::NOTICE_OF_CANCELLATION) {
+    noticeOfCancellationCb(id, code);
+  } else if (fh == cfdp::FaultHandlerCode::NOTICE_OF_SUSPENSION) {
+    noticeOfSuspensionCb(id, code);
+  } else {
+    // Should never happen, but use defensive programming
+    return false;
+  }
+  return true;
+}
+}  // namespace cfdp

src/fsfw/cfdp/handler/FaultHandlerBase.h

@@ -0,0 +1,77 @@
+#ifndef FSFW_CFDP_FAULTHANDLERBASE_H
+#define FSFW_CFDP_FAULTHANDLERBASE_H
+
+#include <etl/flat_map.h>
+
+#include "fsfw/cfdp/VarLenFields.h"
+#include "fsfw/cfdp/definitions.h"
+
+namespace cfdp {
+
+/**
+ * @brief Provides a way to implement the fault handling procedures as specified
+ * in chapter 4.8 of the CFDP standard.
+ *
+ * @details
+ * It is passed into the CFDP handlers as part of the local entity configuration and provides
+ * a way to specify custom user error handlers.
+ *
+ * It does so by mapping each applicable CFDP condition code to a fault handler which
+ * is denoted by the four @cfdp::FaultHandlerCodes. This code is used to dispatch
+ * to a user-provided callback function:
+ *
+ * 1. @FaultHandlerCodes::IGNORE_ERROR -> @ignore_cb
+ * 2. @FaultHandlerCodes::NOTICE_OF_CANCELLATION` -> @notice_of_cancellation_cb
+ * 3. @FaultHandlerCodes::NOTICE_OF_SUSPENSION` -> @notice_of_suspension_cb
+ * 4. @FaultHandlerCodes::ABANDON_TRANSACTION` -> @abandon_transaction_cb
+ *
+ * For each error reported by @reportError, the appropriate fault handler callback
+ * will be called. The user provides the callbacks by providing a custom class which implements
+ * these base class and all abstract fault handler callbacks.
+ */
+class FaultHandlerBase {
+ public:
+  virtual ~FaultHandlerBase();
+  FaultHandlerBase();
+
+  /**
+   * Get the fault handler code for the given condition code
+   * @param code
+   * @param handler [out] Will be set to the approrpiate handler for the condition code if
+   *    it is valid
+   * @return
+   *  - true if the condition code is valid
+   *  - false otherwise
+   */
+  bool getFaultHandler(cfdp::ConditionCode code, cfdp::FaultHandlerCode& handler) const;
+
+  bool setFaultHandler(cfdp::ConditionCode code, cfdp::FaultHandlerCode handler);
+
+  bool reportFault(cfdp::TransactionId& id, cfdp::ConditionCode code);
+
+  virtual void noticeOfSuspensionCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+  virtual void noticeOfCancellationCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+  virtual void abandonCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+  virtual void ignoreCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+
+ private:
+  etl::flat_map<cfdp::ConditionCode, cfdp::FaultHandlerCode, 10> faultHandlerMap = {
+      etl::pair{cfdp::ConditionCode::POSITIVE_ACK_LIMIT_REACHED,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::KEEP_ALIVE_LIMIT_REACHED,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::INVALID_TRANSMISSION_MODE,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::FILE_CHECKSUM_FAILURE, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::FILE_SIZE_ERROR, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::NAK_LIMIT_REACHED, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::INACTIVITY_DETECTED, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::UNSUPPORTED_CHECKSUM_TYPE,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::FILESTORE_REJECTION, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::CHECK_LIMIT_REACHED, cfdp::FaultHandlerCode::IGNORE_ERROR}};
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_FAULTHANDLERBASE_H

src/fsfw/cfdp/handler/RemoteConfigTableIF.h

@@ -0,0 +1,35 @@
+#ifndef FSFW_CFDP_HANDLER_REMOTECONFIGTABLEIF_H
+#define FSFW_CFDP_HANDLER_REMOTECONFIGTABLEIF_H
+
+#include "fsfw/cfdp/handler/mib.h"
+
+namespace cfdp {
+
+class RemoteConfigTableIF {
+ public:
+  virtual ~RemoteConfigTableIF() = default;
+  virtual bool getRemoteCfg(const cfdp::EntityId& remoteId, cfdp::RemoteEntityCfg** cfg) = 0;
+};
+
+/**
+ * Helper class for the common case that there is exactly one remote entity
+ */
+class OneRemoteConfigProvider : public RemoteConfigTableIF {
+ public:
+  explicit OneRemoteConfigProvider(RemoteEntityCfg cfg) : cfg(std::move(cfg)) {}
+
+  bool getRemoteCfg(const EntityId& remoteId, cfdp::RemoteEntityCfg** cfg_) override {
+    if (remoteId != cfg.remoteId) {
+      return false;
+    }
+    *cfg_ = &cfg;
+    return true;
+  }
+
+ private:
+  RemoteEntityCfg cfg;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_HANDLER_REMOTECONFIGTABLEIF_H

src/fsfw/cfdp/handler/SourceHandler.cpp

@@ -0,0 +1 @@
+#include "SourceHandler.h"

src/fsfw/cfdp/handler/SourceHandler.h

@@ -0,0 +1,6 @@
+#ifndef FSFW_CFDP_CFDPSOURCEHANDLER_H
+#define FSFW_CFDP_CFDPSOURCEHANDLER_H
+
+class SourceHandler {};
+
+#endif  // FSFW_CFDP_CFDPSOURCEHANDLER_H

src/fsfw/cfdp/handler/StatusReportIF.h

@@ -0,0 +1,12 @@
+#ifndef FSFW_CFDP_HANDLER_STATUSREPORTIF_H
+#define FSFW_CFDP_HANDLER_STATUSREPORTIF_H
+
+namespace cfdp {
+
+class StatusReportIF {
+  virtual ~StatusReportIF() = default;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_HANDLER_STATUSREPORTIF_H

src/fsfw/cfdp/handler/UserBase.cpp

@@ -0,0 +1,3 @@
+#include "UserBase.h"
+
+cfdp::UserBase::UserBase(HasFileSystemIF& vfs) : vfs(vfs) {}

src/fsfw/cfdp/handler/UserBase.h

@@ -0,0 +1,101 @@
+#ifndef FSFW_CFDP_USERBASE_H
+#define FSFW_CFDP_USERBASE_H
+
+#include <optional>
+#include <utility>
+#include <vector>
+
+#include "StatusReportIF.h"
+#include "fsfw/cfdp/VarLenFields.h"
+#include "fsfw/cfdp/tlv/FilestoreResponseTlv.h"
+#include "fsfw/cfdp/tlv/MessageToUserTlv.h"
+#include "fsfw/filesystem/HasFileSystemIF.h"
+
+namespace cfdp {
+
+struct TransactionFinishedParams {
+  TransactionFinishedParams(const TransactionId& id, ConditionCode code, FileDeliveryCode delivCode,
+                            FileDeliveryStatus status)
+      : id(id), condCode(code), status(status), deliveryCode(delivCode) {}
+
+  const TransactionId& id;
+  ConditionCode condCode;
+  FileDeliveryStatus status;
+  FileDeliveryCode deliveryCode;
+  std::vector<FilestoreResponseTlv*> fsResponses;
+  StatusReportIF* statusReport = nullptr;
+};
+
+struct MetadataRecvdParams {
+  MetadataRecvdParams(const TransactionId& id, const EntityId& sourceId)
+      : id(id), sourceId(sourceId) {}
+  const TransactionId& id;
+  const EntityId& sourceId;
+  uint64_t fileSize = 0;
+  const char* sourceFileName = "";
+  const char* destFileName = "";
+  size_t msgsToUserLen = 0;
+  const MessageToUserTlv* msgsToUserArray = nullptr;
+};
+
+struct FileSegmentRecvdParams {
+  TransactionId id;
+  size_t offset;
+  size_t length;
+  std::optional<RecordContinuationState> recContState = std::nullopt;
+  std::pair<const uint8_t*, size_t> segmentMetadata;
+};
+
+/**
+ * @brief Base class which provides a user interface to interact with CFDP handlers.
+ *
+ * @details
+ * This class is also used to pass the Virtual Filestore (VFS) Implementation to the CFDP
+ * handlers so the filestore operations can be mapped to the underlying filestore.
+ *
+ * It is used by implementing it in a child class and then passing it to the CFDP
+ * handler objects. The base class provides default implementation for the user indication
+ * primitives specified in the CFDP standard. The user can override these implementations
+ * to provide custom indication handlers.
+ *
+ * Please note that for all indication callbacks, the passed transaction ID reference will
+ * become invalid shortly after the function has been executed. If the transaction ID is to be
+ * cached or used, create an own copy of it.
+ * @param vfs Virtual Filestore Object. Will be used for all file operations
+ */
+class UserBase {
+  friend class DestHandler;
+
+ public:
+  explicit UserBase(HasFileSystemIF& vfs);
+
+  virtual void transactionIndication(const TransactionId& id) = 0;
+  virtual void eofSentIndication(const TransactionId& id) = 0;
+  virtual void transactionFinishedIndication(const TransactionFinishedParams& params) = 0;
+  /**
+   * Will be called if metadata was received.
+   *
+   * IMPORTANT: The passed struct contains the messages to the user in form of a raw C array.
+   * The TLVs in these arrays are zero-copy types, which means that they point to the raw data
+   * inside the metadata packet directly. The metadata packet will be deleted from the TC store
+   * shortly after it was processed. If some of the data is to be cached and/or used after the
+   * function call, it needs to be copied into another user-provided buffer.
+   * @param params
+   */
+  virtual void metadataRecvdIndication(const MetadataRecvdParams& params) = 0;
+  virtual void fileSegmentRecvdIndication(const FileSegmentRecvdParams& params) = 0;
+  virtual void reportIndication(const TransactionId& id, StatusReportIF& report) = 0;
+  virtual void suspendedIndication(const TransactionId& id, ConditionCode code) = 0;
+  virtual void resumedIndication(const TransactionId& id, size_t progress) = 0;
+  virtual void faultIndication(const TransactionId& id, ConditionCode code, size_t progress) = 0;
+  virtual void abandonedIndication(const TransactionId& id, ConditionCode code,
+                                   size_t progress) = 0;
+  virtual void eofRecvIndication(const TransactionId& id) = 0;
+
+ private:
+  HasFileSystemIF& vfs;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_USERBASE_H

src/fsfw/cfdp/handler/defs.h

@@ -0,0 +1,9 @@
+#ifndef FSFW_CFDP_HANDLER_DEFS_H
+#define FSFW_CFDP_HANDLER_DEFS_H
+
+namespace cfdp {
+
+enum class CfdpStates { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
+
+}
+#endif  // FSFW_CFDP_HANDLER_DEFS_H

src/fsfw/cfdp/handler/mib.h

@@ -0,0 +1,42 @@
+#ifndef FSFW_CFDP_MIB_H
+#define FSFW_CFDP_MIB_H
+
+#include <utility>
+
+#include "FaultHandlerBase.h"
+#include "fsfw/cfdp/pdu/PduConfig.h"
+
+namespace cfdp {
+
+struct IndicationCfg {
+  bool eofSentIndicRequired = true;
+  bool eofRecvIndicRequired = true;
+  bool fileSegmentRecvIndicRequired = true;
+  bool transactionFinishedIndicRequired = true;
+  bool suspendedIndicRequired = true;
+  bool resumedIndicRequired = true;
+};
+
+struct LocalEntityCfg {
+  LocalEntityCfg(EntityId localId, IndicationCfg indicationCfg, FaultHandlerBase& fhBase)
+      : localId(std::move(localId)), indicCfg(indicationCfg), fhBase(fhBase) {}
+
+  EntityId localId;
+  IndicationCfg indicCfg;
+  FaultHandlerBase& fhBase;
+};
+
+struct RemoteEntityCfg {
+  explicit RemoteEntityCfg(EntityId id) : remoteId(std::move(id)) {}
+  EntityId remoteId;
+  size_t maxFileSegmentLen = 2048;
+  bool closureRequested = false;
+  bool crcOnTransmission = false;
+  TransmissionMode defaultTransmissionMode = TransmissionMode::UNACKNOWLEDGED;
+  ChecksumType defaultChecksum = ChecksumType::NULL_CHECKSUM;
+  const uint8_t version = CFDP_VERSION_2;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_MIB_H

src/fsfw/cfdp/helpers.cpp

@@ -0,0 +1,50 @@
+#include "helpers.h"
+
+const char* COND_CODE_STRINGS[14] = {"Unknown",
+                                     "No Error",
+                                     "Positive ACK Limit Reached",
+                                     "Keep Alive Limit Reached",
+                                     "Invalid Transmission Mode",
+                                     "Filestore Rejection",
+                                     "File Checksum Failure",
+                                     "File Size Error",
+                                     "NAK limit reached",
+                                     "Inactivity Detected",
+                                     "Check Limit Reached",
+                                     "Unsupported Checksum Type",
+                                     "Suspend Request Received",
+                                     "Cancel Request Received"};
+
+const char* cfdp::getConditionCodeString(cfdp::ConditionCode code) {
+  switch (code) {
+    case NO_CONDITION_FIELD:
+      return COND_CODE_STRINGS[0];
+    case NO_ERROR:
+      return COND_CODE_STRINGS[1];
+    case POSITIVE_ACK_LIMIT_REACHED:
+      return COND_CODE_STRINGS[2];
+    case KEEP_ALIVE_LIMIT_REACHED:
+      return COND_CODE_STRINGS[3];
+    case INVALID_TRANSMISSION_MODE:
+      return COND_CODE_STRINGS[4];
+    case FILESTORE_REJECTION:
+      return COND_CODE_STRINGS[5];
+    case FILE_CHECKSUM_FAILURE:
+      return COND_CODE_STRINGS[6];
+    case FILE_SIZE_ERROR:
+      return COND_CODE_STRINGS[7];
+    case NAK_LIMIT_REACHED:
+      return COND_CODE_STRINGS[8];
+    case INACTIVITY_DETECTED:
+      return COND_CODE_STRINGS[9];
+    case CHECK_LIMIT_REACHED:
+      return COND_CODE_STRINGS[10];
+    case UNSUPPORTED_CHECKSUM_TYPE:
+      return COND_CODE_STRINGS[11];
+    case SUSPEND_REQUEST_RECEIVED:
+      return COND_CODE_STRINGS[12];
+    case CANCEL_REQUEST_RECEIVED:
+      return COND_CODE_STRINGS[13];
+  }
+  return "Unknown";
+}

src/fsfw/cfdp/helpers.h

@@ -0,0 +1,11 @@
+#ifndef FSFW_EXAMPLE_HOSTED_HELPER_H
+#define FSFW_EXAMPLE_HOSTED_HELPER_H
+
+#include "definitions.h"
+
+namespace cfdp {
+
+const char* getConditionCodeString(cfdp::ConditionCode code);
+
+}
+#endif  // FSFW_EXAMPLE_HOSTED_HELPER_H

src/fsfw/cfdp/pdu/AckInfo.cpp

@@ -1,12 +1,12 @@
 #include "AckInfo.h"
 
-AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
+AckInfo::AckInfo(cfdp::FileDirective ackedDirective, cfdp::ConditionCode ackedConditionCode,
                  cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode)
     : ackedDirective(ackedDirective),
       ackedConditionCode(ackedConditionCode),
       transactionStatus(transactionStatus),
       directiveSubtypeCode(directiveSubtypeCode) {
-  if (ackedDirective == cfdp::FileDirectives::FINISH) {
+  if (ackedDirective == cfdp::FileDirective::FINISH) {
     this->directiveSubtypeCode = 0b0001;
   } else {
     this->directiveSubtypeCode = 0b0000;
@@ -17,16 +17,16 @@ cfdp::ConditionCode AckInfo::getAckedConditionCode() const { return ackedConditi
 
 void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
   this->ackedConditionCode = ackedConditionCode;
-  if (ackedDirective == cfdp::FileDirectives::FINISH) {
+  if (ackedDirective == cfdp::FileDirective::FINISH) {
     this->directiveSubtypeCode = 0b0001;
   } else {
     this->directiveSubtypeCode = 0b0000;
   }
 }
 
-cfdp::FileDirectives AckInfo::getAckedDirective() const { return ackedDirective; }
+cfdp::FileDirective AckInfo::getAckedDirective() const { return ackedDirective; }
 
-void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective) {
+void AckInfo::setAckedDirective(cfdp::FileDirective ackedDirective) {
   this->ackedDirective = ackedDirective;
 }
 

src/fsfw/cfdp/pdu/AckInfo.h

@@ -6,14 +6,14 @@
 class AckInfo {
  public:
   AckInfo();
-  AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
+  AckInfo(cfdp::FileDirective ackedDirective, cfdp::ConditionCode ackedConditionCode,
           cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode = 0);
 
   cfdp::ConditionCode getAckedConditionCode() const;
   void setAckedConditionCode(cfdp::ConditionCode ackedConditionCode);
 
-  cfdp::FileDirectives getAckedDirective() const;
-  void setAckedDirective(cfdp::FileDirectives ackedDirective);
+  cfdp::FileDirective getAckedDirective() const;
+  void setAckedDirective(cfdp::FileDirective ackedDirective);
 
   uint8_t getDirectiveSubtypeCode() const;
   void setDirectiveSubtypeCode(uint8_t directiveSubtypeCode);
@@ -22,7 +22,7 @@ class AckInfo {
   void setTransactionStatus(cfdp::AckTransactionStatus transactionStatus);
 
  private:
-  cfdp::FileDirectives ackedDirective = cfdp::FileDirectives::INVALID_DIRECTIVE;
+  cfdp::FileDirective ackedDirective = cfdp::FileDirective::INVALID_DIRECTIVE;
   cfdp::ConditionCode ackedConditionCode = cfdp::ConditionCode::NO_CONDITION_FIELD;
   cfdp::AckTransactionStatus transactionStatus = cfdp::AckTransactionStatus::UNDEFINED;
   uint8_t directiveSubtypeCode = 0;

src/fsfw/cfdp/pdu/AckPduCreator.cpp

@@ -0,0 +1,33 @@
+#include "AckPduCreator.h"
+
+AckPduCreator::AckPduCreator(AckInfo &ackInfo, PduConfig &pduConf)
+    : FileDirectiveCreator(pduConf, cfdp::FileDirective::ACK, 2), ackInfo(ackInfo) {}
+
+size_t AckPduCreator::getSerializedSize() const { return FileDirectiveCreator::getWholePduSize(); }
+
+ReturnValue_t AckPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                       Endianness streamEndianness) const {
+  ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  cfdp::FileDirective ackedDirective = ackInfo.getAckedDirective();
+  uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
+  cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
+  cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
+  if (ackedDirective != cfdp::FileDirective::FINISH and
+      ackedDirective != cfdp::FileDirective::EOF_DIRECTIVE) {
+    // TODO: better returncode
+    return returnvalue::FAILED;
+  }
+  if (*size + 2 > maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  **buffer = ackedDirective << 4 | directiveSubtypeCode;
+  *buffer += 1;
+  *size += 1;
+  **buffer = ackedConditionCode << 4 | transactionStatus;
+  *buffer += 1;
+  *size += 1;
+  return returnvalue::OK;
+}

src/fsfw/cfdp/pdu/AckPduCreator.h

@@ -1,11 +1,11 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
+#ifndef FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
+#define FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
 
 #include "AckInfo.h"
-#include "FileDirectiveDeserializer.h"
-#include "FileDirectiveSerializer.h"
+#include "FileDirectiveCreator.h"
+#include "FileDirectiveReader.h"
 
-class AckPduSerializer : public FileDirectiveSerializer {
+class AckPduCreator : public FileDirectiveCreator {
  public:
   /**
    * @brief   Serializer to pack ACK PDUs
@@ -16,9 +16,9 @@ class AckPduSerializer : public FileDirectiveSerializer {
    * @param transactionStatus
    * @param pduConf
    */
-  AckPduSerializer(AckInfo& ackInfo, PduConfig& pduConf);
+  AckPduCreator(AckInfo& ackInfo, PduConfig& pduConf);
 
-  size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
@@ -27,4 +27,4 @@ class AckPduSerializer : public FileDirectiveSerializer {
   AckInfo& ackInfo;
 };
 
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_ */
+#endif /* FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_ */

src/fsfw/cfdp/pdu/AckPduDeserializer.cpp

@@ -1,37 +0,0 @@
-#include "AckPduDeserializer.h"
-
-AckPduDeserializer::AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
-    : FileDirectiveDeserializer(pduBuf, maxSize), info(info) {}
-
-ReturnValue_t AckPduDeserializer::parseData() {
-  ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
-  if (currentIdx + 2 > this->maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  if (not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
-    return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-bool AckPduDeserializer::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
-  uint8_t ackedDirective = static_cast<cfdp::FileDirectives>(firstByte >> 4);
-
-  if (ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE and
-      ackedDirective != cfdp::FileDirectives::FINISH) {
-    return false;
-  }
-  this->info.setAckedDirective(static_cast<cfdp::FileDirectives>(ackedDirective));
-  uint8_t directiveSubtypeCode = firstByte & 0x0f;
-  if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
-    return false;
-  }
-  this->info.setDirectiveSubtypeCode(directiveSubtypeCode);
-  this->info.setAckedConditionCode(static_cast<cfdp::ConditionCode>(secondByte >> 4));
-  this->info.setTransactionStatus(static_cast<cfdp::AckTransactionStatus>(secondByte & 0x0f));
-  return true;
-}

src/fsfw/cfdp/pdu/AckPduReader.cpp

@@ -0,0 +1,45 @@
+#include "AckPduReader.h"
+
+AckPduReader::AckPduReader(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
+    : FileDirectiveReader(pduBuf, maxSize), info(info) {}
+
+ReturnValue_t AckPduReader::parseData() {
+  ReturnValue_t result = FileDirectiveReader::parseData();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  size_t currentIdx = FileDirectiveReader::getHeaderSize();
+  if (currentIdx + 2 > this->maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  if (not checkAndSetCodes(pointers.rawPtr[currentIdx], pointers.rawPtr[currentIdx + 1])) {
+    return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
+  }
+  return returnvalue::OK;
+}
+
+bool AckPduReader::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
+  cfdp::FileDirective directive;
+  if (not checkAckedDirectiveField(firstByte, directive)) {
+    return false;
+  }
+  this->info.setAckedDirective(directive);
+  uint8_t directiveSubtypeCode = firstByte & 0x0f;
+  if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
+    return false;
+  }
+  this->info.setDirectiveSubtypeCode(directiveSubtypeCode);
+  this->info.setAckedConditionCode(static_cast<cfdp::ConditionCode>(secondByte >> 4));
+  this->info.setTransactionStatus(static_cast<cfdp::AckTransactionStatus>(secondByte & 0x0f));
+  return true;
+}
+bool AckPduReader::checkAckedDirectiveField(uint8_t firstPduDataByte,
+                                            cfdp::FileDirective& ackedDirective) {
+  uint8_t ackedDirectiveRaw = static_cast<cfdp::FileDirective>(firstPduDataByte >> 4);
+  if (ackedDirectiveRaw != cfdp::FileDirective::EOF_DIRECTIVE and
+      ackedDirectiveRaw != cfdp::FileDirective::FINISH) {
+    return false;
+  }
+  ackedDirective = (static_cast<cfdp::FileDirective>(ackedDirectiveRaw));
+  return true;
+}

src/fsfw/cfdp/pdu/AckPduReader.h

@@ -2,18 +2,21 @@
 #define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
 
 #include "AckInfo.h"
-#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
+#include "fsfw/cfdp/pdu/FileDirectiveReader.h"
 
-class AckPduDeserializer : public FileDirectiveDeserializer {
+class AckPduReader : public FileDirectiveReader {
  public:
-  AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);
+  AckPduReader(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);
 
   /**
    *
    * @return
    *  - cfdp::INVALID_DIRECTIVE_FIELDS: Invalid fields
    */
-  ReturnValue_t parseData();
+  ReturnValue_t parseData() override;
+
+  static bool checkAckedDirectiveField(uint8_t firstPduDataByte,
+                                       cfdp::FileDirective& ackedDirective);
 
  private:
   bool checkAndSetCodes(uint8_t rawAckedByte, uint8_t rawAckedConditionCode);

src/fsfw/cfdp/pdu/AckPduSerializer.cpp

@@ -1,36 +0,0 @@
-#include "AckPduSerializer.h"
-
-AckPduSerializer::AckPduSerializer(AckInfo &ackInfo, PduConfig &pduConf)
-    : FileDirectiveSerializer(pduConf, cfdp::FileDirectives::ACK, 2), ackInfo(ackInfo) {}
-
-size_t AckPduSerializer::getSerializedSize() const {
-  return FileDirectiveSerializer::getWholePduSize();
-}
-
-ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                          Endianness streamEndianness) const {
-  ReturnValue_t result =
-      FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  cfdp::FileDirectives ackedDirective = ackInfo.getAckedDirective();
-  uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
-  cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
-  cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
-  if (ackedDirective != cfdp::FileDirectives::FINISH and
-      ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE) {
-    // TODO: better returncode
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  if (*size + 2 > maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  **buffer = ackedDirective << 4 | directiveSubtypeCode;
-  *buffer += 1;
-  *size += 1;
-  **buffer = ackedConditionCode << 4 | transactionStatus;
-  *buffer += 1;
-  *size += 1;
-  return HasReturnvaluesIF::RETURN_OK;
-}

src/fsfw/cfdp/pdu/CMakeLists.txt

@@ -1,30 +1,29 @@
 target_sources(
   ${LIB_FSFW_NAME}
   PRIVATE PduConfig.cpp
-          VarLenField.cpp
-          HeaderSerializer.cpp
-          HeaderDeserializer.cpp
-          FileDirectiveDeserializer.cpp
-          FileDirectiveSerializer.cpp
+          HeaderCreator.cpp
+          HeaderReader.cpp
+          FileDirectiveReader.cpp
+          FileDirectiveCreator.cpp
           AckInfo.cpp
-          AckPduSerializer.cpp
-          AckPduDeserializer.cpp
+          AckPduCreator.cpp
+          AckPduReader.cpp
           EofInfo.cpp
-          EofPduSerializer.cpp
-          EofPduDeserializer.cpp
+          EofPduCreator.cpp
+          EofPduReader.cpp
           NakInfo.cpp
-          NakPduSerializer.cpp
-          NakPduDeserializer.cpp
+          NakPduCreator.cpp
+          NakPduReader.cpp
           FinishedInfo.cpp
-          FinishedPduSerializer.cpp
-          FinishedPduDeserializer.cpp
+          FinishedPduCreator.cpp
+          FinishedPduReader.cpp
           MetadataInfo.cpp
-          MetadataPduSerializer.cpp
-          MetadataPduDeserializer.cpp
-          KeepAlivePduSerializer.cpp
-          KeepAlivePduDeserializer.cpp
-          PromptPduSerializer.cpp
-          PromptPduDeserializer.cpp
-          FileDataSerializer.cpp
-          FileDataDeserializer.cpp
+          MetadataPduCreator.cpp
+          MetadataPduReader.cpp
+          KeepAlivePduCreator.cpp
+          KeepAlivePduReader.cpp
+          PromptPduCreator.cpp
+          PromptPduReader.cpp
+          FileDataCreator.cpp
+          FileDataReader.cpp
           FileDataInfo.cpp)

src/fsfw/cfdp/pdu/EofInfo.h

@@ -7,16 +7,16 @@
 
 struct EofInfo {
  public:
-  EofInfo(EntityIdTlv* faultLoc = nullptr);
+  explicit EofInfo(EntityIdTlv* faultLoc = nullptr);
   EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
           EntityIdTlv* faultLoc = nullptr);
 
   size_t getSerializedSize(bool fssLarge = false);
 
-  uint32_t getChecksum() const;
-  cfdp::ConditionCode getConditionCode() const;
+  [[nodiscard]] uint32_t getChecksum() const;
+  [[nodiscard]] cfdp::ConditionCode getConditionCode() const;
 
-  EntityIdTlv* getFaultLoc() const;
+  [[nodiscard]] EntityIdTlv* getFaultLoc() const;
   cfdp::FileSize& getFileSize();
   void setChecksum(uint32_t checksum);
   void setConditionCode(cfdp::ConditionCode conditionCode);

src/fsfw/cfdp/pdu/EofPduCreator.cpp

@@ -1,22 +1,18 @@
-#include "EofPduSerializer.h"
+#include "EofPduCreator.h"
 
 #include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
 
-EofPduSerializer::EofPduSerializer(PduConfig &conf, EofInfo &info)
-    : FileDirectiveSerializer(conf, cfdp::FileDirectives::EOF_DIRECTIVE, 9), info(info) {
-  setDirectiveDataFieldLen(info.getSerializedSize(getLargeFileFlag()));
+EofPduCreator::EofPduCreator(PduConfig &conf, EofInfo &info)
+    : FileDirectiveCreator(conf, cfdp::FileDirective::EOF_DIRECTIVE, 9), info(info) {
+  setDirectiveDataFieldLen(info.getSerializedSize(HeaderCreator::getLargeFileFlag()));
 }
 
-size_t EofPduSerializer::getSerializedSize() const {
-  return FileDirectiveSerializer::getWholePduSize();
-}
+size_t EofPduCreator::getSerializedSize() const { return FileDirectiveCreator::getWholePduSize(); }
 
-ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                          Endianness streamEndianness) const {
-  ReturnValue_t result =
-      FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+ReturnValue_t EofPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                       Endianness streamEndianness) const {
+  ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
     return result;
   }
   if (*size + 1 > maxSize) {
@@ -27,7 +23,7 @@ ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
   *size += 1;
   uint32_t checksum = info.getChecksum();
   result = SerializeAdapter::serialize(&checksum, buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   if (info.getFileSize().isLargeFile()) {

src/fsfw/cfdp/pdu/EofPduCreator.h

@@ -2,18 +2,20 @@
 #define FSFW_SRC_FSFW_CFDP_PDU_EOFPDUSERIALIZER_H_
 
 #include "EofInfo.h"
-#include "fsfw/cfdp/pdu/FileDirectiveSerializer.h"
+#include "fsfw/cfdp/pdu/FileDirectiveCreator.h"
 #include "fsfw/cfdp/tlv/EntityIdTlv.h"
 
-class EofPduSerializer : public FileDirectiveSerializer {
+class EofPduCreator : public FileDirectiveCreator {
  public:
-  EofPduSerializer(PduConfig& conf, EofInfo& info);
+  EofPduCreator(PduConfig& conf, EofInfo& info);
 
-  size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
 
+  using FileDirectiveCreator::serialize;
+
  private:
   EofInfo& info;
 };

src/fsfw/cfdp/pdu/EofPduDeserializer.h

@@ -1,17 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
-
-#include "EofInfo.h"
-#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
-
-class EofPduDeserializer : public FileDirectiveDeserializer {
- public:
-  EofPduDeserializer(const uint8_t* pduBuf, size_t maxSize, EofInfo& eofInfo);
-
-  virtual ReturnValue_t parseData() override;
-
- private:
-  EofInfo& info;
-};
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_ */

src/fsfw/cfdp/pdu/EofPduReader.cpp

@@ -1,23 +1,23 @@
-#include "EofPduDeserializer.h"
+#include "EofPduReader.h"
 
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface.h"
 
-EofPduDeserializer::EofPduDeserializer(const uint8_t* pduBuf, size_t maxSize, EofInfo& eofInfo)
-    : FileDirectiveDeserializer(pduBuf, maxSize), info(eofInfo) {}
+EofPduReader::EofPduReader(const uint8_t* pduBuf, size_t maxSize, EofInfo& eofInfo)
+    : FileDirectiveReader(pduBuf, maxSize), info(eofInfo) {}
 
-ReturnValue_t EofPduDeserializer::parseData() {
-  ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+ReturnValue_t EofPduReader::parseData() {
+  ReturnValue_t result = FileDirectiveReader::parseData();
+  if (result != returnvalue::OK) {
     return result;
   }
 
-  const uint8_t* bufPtr = rawPtr;
+  const uint8_t* bufPtr = pointers.rawPtr;
   size_t expectedFileFieldLen = 4;
   if (this->getLargeFileFlag()) {
     expectedFileFieldLen = 8;
   }
-  size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
+  size_t currentIdx = FileDirectiveReader::getHeaderSize();
   size_t deserLen = maxSize;
   if (maxSize < currentIdx + 5 + expectedFileFieldLen) {
     return SerializeIF::STREAM_TOO_SHORT;
@@ -31,7 +31,7 @@ ReturnValue_t EofPduDeserializer::parseData() {
   uint32_t checksum = 0;
   auto endianness = getEndianness();
   result = SerializeAdapter::deSerialize(&checksum, &bufPtr, &deserLen, endianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   info.setChecksum(checksum);
@@ -44,7 +44,7 @@ ReturnValue_t EofPduDeserializer::parseData() {
     result = SerializeAdapter::deSerialize(&fileSizeValue, &bufPtr, &deserLen, endianness);
     info.setFileSize(fileSizeValue, false);
   }
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   if (info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
@@ -61,7 +61,7 @@ ReturnValue_t EofPduDeserializer::parseData() {
           " given TLV pointer invalid");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
     }
     result = tlvPtr->deSerialize(&bufPtr, &deserLen, endianness);
   }

src/fsfw/cfdp/pdu/EofPduReader.h

@@ -0,0 +1,17 @@
+#ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
+#define FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
+
+#include "EofInfo.h"
+#include "fsfw/cfdp/pdu/FileDirectiveReader.h"
+
+class EofPduReader : public FileDirectiveReader {
+ public:
+  EofPduReader(const uint8_t* pduBuf, size_t maxSize, EofInfo& eofInfo);
+
+  ReturnValue_t parseData() override;
+
+ private:
+  EofInfo& info;
+};
+
+#endif /* FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_ */

src/fsfw/cfdp/pdu/FileDataCreator.cpp

@@ -1,28 +1,31 @@
-#include "FileDataSerializer.h"
+#include "FileDataCreator.h"
 
 #include <cstring>
 
-FileDataSerializer::FileDataSerializer(PduConfig& conf, FileDataInfo& info)
-    : HeaderSerializer(conf, cfdp::PduType::FILE_DATA, 0, info.getSegmentMetadataFlag()),
-      info(info) {
+FileDataCreator::FileDataCreator(PduConfig& conf, FileDataInfo& info)
+    : HeaderCreator(conf, cfdp::PduType::FILE_DATA, 0, info.getSegmentMetadataFlag()), info(info) {
   update();
 }
 
-void FileDataSerializer::update() {
+void FileDataCreator::update() {
   this->setSegmentMetadataFlag(info.getSegmentMetadataFlag());
   this->setSegmentationControl(info.getSegmentationControl());
   setPduDataFieldLen(info.getSerializedSize(this->getLargeFileFlag()));
 }
 
-ReturnValue_t FileDataSerializer::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                            Endianness streamEndianness) const {
-  ReturnValue_t result = HeaderSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
+ReturnValue_t FileDataCreator::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                         Endianness streamEndianness) const {
+  if (buffer == nullptr or size == nullptr) {
+    return returnvalue::FAILED;
   }
-  if (*size + this->getSerializedSize() > maxSize) {
+  if (*size + getSerializedSize() > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
   }
+  ReturnValue_t result = HeaderCreator::serialize(buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
   const uint8_t* readOnlyPtr = nullptr;
   if (this->hasSegmentMetadataFlag()) {
     size_t segmentMetadataLen = info.getSegmentMetadataLen();
@@ -36,7 +39,7 @@ ReturnValue_t FileDataSerializer::serialize(uint8_t** buffer, size_t* size, size
   }
   cfdp::FileSize& offset = info.getOffset();
   result = offset.serialize(this->getLargeFileFlag(), buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
     return result;
   }
   size_t fileSize = 0;
@@ -47,9 +50,9 @@ ReturnValue_t FileDataSerializer::serialize(uint8_t** buffer, size_t* size, size
   std::memcpy(*buffer, readOnlyPtr, fileSize);
   *buffer += fileSize;
   *size += fileSize;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 
-size_t FileDataSerializer::getSerializedSize() const {
-  return HeaderSerializer::getSerializedSize() + info.getSerializedSize(this->getLargeFileFlag());
+size_t FileDataCreator::getSerializedSize() const {
+  return HeaderCreator::getSerializedSize() + info.getSerializedSize(this->getLargeFileFlag());
 }