small tweak for version getter

Version bump, CHANGELOG update, format
Merge pull request 'Add Health Service Announce All Health Info' (#725 ) from eive/fsfw:add_health_service_announce_all into development
2023-03-15 12:17:36 +01:00 · 2023-02-23 13:38:24 +01:00 · 2023-02-23 13:13:56 +01:00 · 2023-02-23 12:56:12 +01:00 · 2023-02-23 12:44:42 +01:00 · 2023-02-20 13:40:53 +01:00
165 changed files with 1719 additions and 3267 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -8,32 +8,124 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-# [v6.0.0]
+# [v6.0.0] 2023-02-10

 ## Fixes

+- Mode Service: Add allowed subservice
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
+- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
+  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
+  subservice not working properly.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
+- Memory leak fixes for the TCP/IP TMTC bridge.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
+- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
+  seconds instead of uptime.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
+  only the X scaling factor was used.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
+- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
+- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
+  to false correctly because the `read` and `write` calls were missing.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
+- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
+  of the correct unsegmented flags (0b11) as specified in the standard.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
+- TC Scheduler Service 11: Add size and CRC check for contained TC.
+  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
+- Only delete health table entry in `HealthHelper` destructor if
+  health table was set.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
+- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
+  Also properly reset the reply size for successfull transfers and erroneous transfers.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
 - 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
+- `CServiceHealthCommanding`: Add announce all health info implementation
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+- various fixes related to linux Unittests and memory leaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
+- small fix to allow teardown handling
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
+- fix compiler warning for fixed array list copy ctor
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
+- missing include
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
+- defaultconfig did not build anymore
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
+- hotfix
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
+- small fix for helper
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
+- missing retval conv
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
+- DHB Countdown Bug
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
+- doc corrections
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
+- better error printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
+- include correction
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
+- better warning for missing include paths
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
+- Service 11 regression
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670

 ## 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
+- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
+- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
+- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
+  option on the TCP server. CTOR prototype has changed and expects an explicit
+  TCP configuration struct to be passed.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
+- `DleParser` helper class to parse DLE encoded packets from a byte stream.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
+- `UioMapper` is able to resolve symlinks now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
+- publish documentation for development and master branch
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
+- Add Linux HAL options
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
+- Expand SerializeIF
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
+- PUS Service 11: Additional Safety Check
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
+- improvements for auto-formatter script
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
+- provide a weak print char impl
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
+
+## Removed
+
+- now that doc server is up, remove markdown files
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
+- remove bsp specific code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679

 ## Changes

+- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
+  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
+  `HealthServiceCfg` now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
+- Moved some container returnvalues to dedicated header and namespace
+  so they can be used without template specification.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
  `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
  `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
@ -66,10 +158,37 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
  - 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
+- Generic TMTC Bridge Update
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
+- comment tweak to event parser can read everything
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
+- CMakeLists file updates
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
+- improve srv20 error messages
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
+- I2C Linux: remove duplicate printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
+- printout handling improvements
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
+- vec getter, reset for content
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
+- updates for source sequence counter
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
+- SP reader getPacketData is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
+- refactoring of serial drivers for linux
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
+- Local Pool Update Remove Add Data Ignore Fault Argument
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
+- Switch to new documentation server
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
+- Windows Tweaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
+- Refactor Local Pool API
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
+- group MGM data in local pool vectors
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
+

 ## CFDP

@ -89,7 +208,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
     implementation without an extra component
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682

-# [v5.0.0] 25.07.2022
+# [v5.0.0] 2022-07-25

 ## Changes

@ -222,6 +341,7 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
  Easiest solution for now: Keep this option OFF by default.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
  inside `fsfw/version.h`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
@ -236,17 +356,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - `Subsystem`: New API to add table and sequence entries

-## HAL
-
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
- SPI: Getter functions for SPI speed and mode.
- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
-
 ## Fixed

 - TCP TMTC Server: `MutexGuard` was not created properly in
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################

-set(FSFW_VERSION_IF_GIT_FAILS 5)
+set(FSFW_VERSION_IF_GIT_FAILS 6)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)

@ -122,6 +122,7 @@ 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)
+  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
 endif()

 # Optional sources
@ -152,12 +153,12 @@ if(FSFW_BUILD_TESTS)
      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
  )
  # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
    message(
      STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
    )
    include(FetchContent)

@ -195,13 +196,13 @@ message(
 )

 # Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  message(
    STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-      "etl with FindPackage")
+      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
+  )
  include(FetchContent)

  FetchContent_Declare(
@ -326,7 +327,8 @@ if(FSFW_BUILD_TESTS)
            "/usr/local/include/*"
            "*/fsfw_tests/*"
            "*/catch2-src/*"
-            "*/fsfw_hal/*")
+            "*/fsfw_hal/*"
+            "unittests/*")
      endif()

      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@ -344,8 +346,15 @@ if(FSFW_BUILD_TESTS)
          DEPENDENCIES ${FSFW_TEST_TGT})
      else()
        setup_target_for_coverage_lcov(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
+          NAME
+          ${FSFW_TEST_TGT}_coverage
+          EXECUTABLE
+          ${FSFW_TEST_TGT}
+          DEPENDENCIES
+          ${FSFW_TEST_TGT}
+          GENHTML_ARGS
+          --html-epilog
+          ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
      endif()
    endif()
  endif()
--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@ -5,7 +5,7 @@ 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 python3 pip doxygen graphviz
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync

 RUN python3 -m pip install sphinx breathe

@ -23,3 +23,7 @@ RUN git clone https://github.com/ETLCPP/etl.git && \

 #ssh needs a valid user to work
 RUN adduser --uid 114 jenkins
+
+#add documentation server to known hosts
+RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -1,48 +1,90 @@
 pipeline {
    environment {
-        BUILDDIR = 'cmake-build-tests'
+        BUILDDIR_HOST = 'cmake-build-tests-host'
+        BUILDDIR_LINUX = 'cmake-build-tests-linux'
        DOCDDIR = 'cmake-build-documentation'
    }
    agent {
        docker { 
-            image 'fsfw-ci:d5'
-            args '--network host'
+            image 'fsfw-ci:d6'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
        }
    }
+    stages {
+        stage('Host') {
            stages{
                stage('Clean') {
                    steps {
-                sh 'rm -rf $BUILDDIR'
+                        sh 'rm -rf $BUILDDIR_HOST'
                    }
                }
                stage('Configure') {
                    steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                        }
                    }
                }
                stage('Build') {
                    steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                            sh 'cmake --build . -j4'
                        }
                    }
                }
                stage('Unittests') {
                    steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
                        }
                    }
                }
                stage('Valgrind') {
                    steps {
-                dir(BUILDDIR) {
+                        dir(BUILDDIR_HOST) {
                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                        }
                    }
                }
+            }
+        }
+        stage('Linux') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_LINUX'
+                    }
+                }
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
+                }
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
+                }
+            }
+        }
        stage('Documentation') {
            when {
                branch 'development'
@ -52,14 +94,12 @@ pipeline {
                    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'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/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'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
                    }
                }
            }
@ -73,14 +113,12 @@ pipeline {
                    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'
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/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'
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
                    }
                }
            }
--- a/cmake/cmake-modules/bilke/CodeCoverage.cmake
+++ b/cmake/cmake-modules/bilke/CodeCoverage.cmake
@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
 find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
 find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
 find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
-find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
+find_program( GCOVR_PATH gcovr )
 find_program( CPPFILT_PATH NAMES c++filt )

 if(NOT GCOV_PATH)
--- a/docs/README-config.md
+++ b/docs/README-config.md
@ -1,40 +0,0 @@
-Configuring the FSFW
-======
-
-The FSFW can be configured via the `fsfwconfig` folder. A template folder has
-been provided to have a starting point for this. The folder should be added
-to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
-of the available options will be explained in more detail here.
-
-# Auto-Translation of Events
-
-The FSFW allows the automatic translation of events, which allows developers to track triggered
-events directly via console output. Using this feature requires:
-
-1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
-2. Special auto-generated translation files which translate event IDs and object IDs into
-   human readable strings. These files can be generated using the 
-   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
-3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
-   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
-4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
-   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
-   
-An example implementations of these translation file generators can be found as part
-of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
-or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
-
-## Configuring the Event Manager
-
-The number of allowed subscriptions can be modified with the following
-parameters:
-
-``` c++
-namespace fsfwconfig {
-//! Configure the allocated pool sizes for the event manager.
-static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
-static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
-static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
-}
-```
-
--- a/docs/README-controllers.md
+++ b/docs/README-controllers.md
@ -1 +0,0 @@
-## Controllers
--- a/docs/README-core.md
+++ b/docs/README-core.md
@ -1,55 +0,0 @@
-## FSFW Core Modules
-
-These core modules provide the most important functionalities of the 
-Flight Software Framework
-
-### Clock
-
- * This is a class of static functions that can be used at anytime
- * Leap Seconds must be set if any time conversions from UTC to other times is used
-
-### ObjectManager
-
-* Must be created during program startup
-* The component which handles all references. All SystemObjects register at this component. 
-* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
-* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
-A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
-
-```cpp
-template <typename T> T* ObjectManagerIF::get( object_id_t id )
-```
-* A typical way to create all objects on startup is a handing a static produce function to the
-  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
-  called and all SystemObjects will be initialized afterwards.
-
-### Event Manager
-
-* Component which allows routing of events
-* Other objects can subscribe to specific events, ranges of events or all events of an object.
-* Subscriptions can be done during runtime but should be done during initialization
-* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
-
-### Health Table
-
-* A component which holds every health state 
-* Provides a thread safe way to access all health states without the need of message exchanges
-
-### Stores
-
-* The message based communication can only exchange a few bytes of information inside the message
-  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
-  store address must be exchanged in the message.
-* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
-  Store is used. For outgoing TM a TM store is used.
-* All of them should use the Thread Safe Class storagemanager/PoolManager
-
-### Tasks
-
-There are two different types of tasks:
- * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
-   insertion to the Tasks.
- * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
-   DeviceHandlers, where polling should be in a defined order. An example can be found in 
-   `defaultcfg/fsfwconfig/pollingSequence` folder
-
--- a/docs/README-devicehandlers.md
+++ b/docs/README-devicehandlers.md
@ -1 +0,0 @@
-## Device Handlers
--- a/docs/README-highlevel.md
+++ b/docs/README-highlevel.md
@ -1,135 +0,0 @@
-High-level overview
-======
-
-# 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.
-
-# 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 `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.
-
-# OSAL
-
-The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
-The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
-The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
-and how to use them.
-
-# Core Components 
-
-The FSFW has following core components. More detailed informations can be found in the
-[core component section](doc/README-core.md#top):
-
-1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
-   with fixed timeslots
-2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
-   to the object handles.
-3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
-   or small telemetry) in a pool structure without using dynamic memory allocation.
-   These pools are allocated up front.
-3. Clock: This module provided common time related functions
-4. EventManager: This module allows routing of events generated by `SystemObjects`
-5. HealthTable: A component which stores the health states of objects
-
-# Static IDs in the framework
-
-Some parts of the framework use a static routing address for communication. 
-An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
- inside the function `Factory::setStaticFrameworkObjectIds()`.
-
-# Events
-
-Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
-This works analog to the returnvalues. Every object that needs own EventIds has to get a
-unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
-Therefore, event messages contain the specific EventId and the objectId of the object that
-has triggered.
-
-# Internal Communication
-
-Components communicate mostly via Messages through Queues. 
-Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
-will create `MessageQueue` instances for the used OSAL.
-
-# External Communication
-
-The external communication with the mission control system is mostly up to the user implementation.
-The FSFW provides PUS Services which can be used to but don't need to be used. 
-The services can be seen as a conversion from a TC to a message based communication and back.
-
-## TMTC Communication
-
-The FSFW provides some components to facilitate TMTC handling via the PUS commands.
-For example, a UDP or TCP PUS server socket can be opened on a specific port using the
-files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
-and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
-Simple commands like the PUS Service 17 ping service can be tested by simply running the
-`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
-the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
-while the `fsfw_example` application is running.
-
-More generally, any class responsible for handling incoming telecommands and sending telemetry
-can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
-also use a dedicated polling task for reading telecommands which passes telecommands
-to the `TmTcBridge` implementation.
-
-## CCSDS Frames, CCSDS Space Packets and PUS
-
-If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
-distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
-If Space Packets are used, a timestamper has to be provided by the user. 
-An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
-
-# Device Handlers
-
-DeviceHandlers are another important component of the FSFW. 
-The idea is, to have a software counterpart of every physical device to provide a simple mode,
-health and commanding interface. By separating the underlying Communication Interface with 
-`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
-The DH has mechanisms to monitor the communication with the physical device which allow
-for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
-A standard FDIR component for the DH will be created automatically but can
-be overwritten by the user. More information on DeviceHandlers can be found in the
-related [documentation section](doc/README-devicehandlers.md#top).
-
-# Modes and Health
-
-The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
-of components. On-board Mode Management is implement in hierarchy system. 
-DeviceHandlers and Controllers are the lowest part of the hierarchy. 
-The next layer are Assemblies. Those assemblies act as a component which handle
-redundancies of handlers. Assemblies share a common core with the next level which
-are the Subsystems. 
-
-Those Assemblies are intended to act as auto-generated components from a database which describes
-the subsystem modes. The definitions contain transition and target tables which contain the DH,
-Assembly and Controller Modes to be commanded.
-Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
-switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
-controller as last component. 
-The target table is used to describe the state that is checked continuously by the subsystem. 
-All of this allows System Modes to be generated as Subsystem object as well from the same database. 
-This System contains list of subsystem modes in the transition and target tables. 
-Therefore, it allows a modular system to create system modes and easy commanding of those, because
-only the highest components must be commanded.
-
-The health state represents if the component is able to perform its tasks. 
-This can be used to signal the system to avoid using this component instead of a redundant one.
-The on-board FDIR uses the health state for isolation and recovery. 
-
-# Unit Tests
-
-Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
-catch2 itself. More information on how to run these tests can be found in the separate
-[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)
--- a/docs/README-localpools.md
+++ b/docs/README-localpools.md
@ -1,174 +0,0 @@
-## Local Data Pools Developer Information
-
-The following text is targeted towards mission software developers which would like
-to use the local data pools provided by the FSFW to store data like sensor values so they can be 
-used by other software objects like controllers as well. If a custom class should have a local 
-pool which  can be used by other software objects as well, following steps have to be performed:
-
-1. Create a `LocalDataPoolManager` member object in the custom class
-2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
-and the class owning the local pool.
-
-The local data pool manager is also able to process housekeeping service requests in form
-of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
-variables and datasets and process notifications and snapshots coming from other objects.
-The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
-while the later two are related to data consumers like controllers only acting on data change 
-detected by the data creator instead of checking the data manually each cycle. Two important 
-framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
-shown above so the steps required are altered slightly.
-
-### Storing and Accessing pool data 
-
-The pool manager is responsible for thread-safe access of the pool data, but the actual
-access to the pool data from the point of view of a mission software developer happens via proxy
-classes like pool variable classes. These classes store a copy
-of the pool variable with the matching datatype and copy the actual data from the local pool
-on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
-The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
-and data consumers. Generally, a user will create a dataset class which in turn groups all 
-cohesive pool variables. These sets simply iterator over the list of variables and call the 
-`read` and `commit` functions of each variable. The following diagram shows the
-high-level architecture of the local data pools.
-
-.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
-   :alt: FSFW Logo
-
-
-An example is shown for using the local data pools with a Gyroscope.
-For example, the following code shows an implementation to access data from a Gyroscope taken
-from the SOURCE CubeSat project:
-
-```cpp
-class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
-public:
-    /**
-     * Constructor for data users
-     * @param gyroId
-     */
-    GyroPrimaryDataset(object_id_t gyroId):
-            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
-        setAllVariablesReadOnly();
-    }
-
-    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_X, this);
-    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_Y, this);
-    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_Z, this);
-private:
-
-    friend class GyroHandler;
-    /**
-     * Constructor for data creator
-     * @param hkOwner
-     */
-    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
-};
-```
-
-There is a public constructor for users which sets all variables to read-only and there is a
-constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
-as a friend class. Both the atittude controller and the `GyroHandler` can now
-use the same class definition to access the pool variables with `read` and `commit` semantics
-in a thread-safe way. Generally, each class requiring access will have the set class as a member
-class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
-steps are necessary to expose the set for housekeeping purposes.
-
-### Using the local data pools in a `DeviceHandlerBase` subclass
-
-It is very common to store data generated by devices like a sensor into a pool which can 
-then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
-local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
-as a member:
-
-```cpp
-class GyroHandler: ... {
-
-public:
-	...
-private:
-	...
-	GyroPrimaryDataset gyroData;
-	...
-};
-```
-
-The constructor used for the creators expects the owner class as a parameter, so we initialize
-the object in the `GyroHandler` constructor like this:
-
-```cpp
-GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
-        CookieIF *comCookie, uint8_t switchId):
-        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
-		gyroData(this) {}
-```
-
-We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
-The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
-`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
-generating update messages. We need to assign our custom set class in some way so that the local 
-pool manager can access the custom data sets as well.
-By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
-`DeviceHandlerBase` subclass will use the internal command map to retrieve 
-a handle to a dataset from a given reply ID. Therefore,
-we assign the set in the `fillCommandAndReplyMap` function:
-
-```cpp
-void GyroHandler::fillCommandAndReplyMap() {
-	...
-	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
-	...
-}
-```
-
-Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
-function. Here, we also immediately subscribe for periodic housekeeping packets 
-with an interval of 4 seconds. They are still disabled in this example and can be enabled 
-with a housekeeping service command.
-
-```cpp
-ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-		LocalDataPoolManager &poolManager) {
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
-			new PoolEntry<uint8_t>({0}));
-	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
-			new PoolEntry<uint8_t>({0}));
-
-	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-	return returnvalue::OK;
-}
-```
-
-Now, if we receive some sensor data and converted them into the right format, 
-we can write it into the pool like this, using a guard class to ensure the set is commited back 
-in any case:
-
-```cpp
-PoolReadGuard readHelper(&gyroData);
-if(readHelper.getReadResult() == returnvalue::OK) {
-	if(not gyroData.isValid()) {
-		gyroData.setValidity(true, true);
-	}
-
-	gyroData.angVelocityX = angularVelocityX;
-	gyroData.angVelocityY = angularVelocityY;
-	gyroData.angVelocityZ = angularVelocityZ;
-}
-```
-
-The guard class will commit the changed data on destruction automatically.
-
-### Using the local data pools in a `ExtendedControllerBase` subclass
-
-Coming soon
-
-
--- a/docs/README-osal.md
+++ b/docs/README-osal.md
@ -1,32 +0,0 @@
-# Operating System Abstraction Layer (OSAL)
-
-Some specific information on the provided OSALs are provided.
-
-## Linux OSAL
-
-This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for 
-embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
-and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
-
-More information on how to set up a Linux system accordingly can be found in the 
-[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
-
-## Hosted OSAL
-
-This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
-
-## FreeRTOS OSAL
-
-FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
-
-When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
-
-## RTEMS OSAL
-
-The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
-
-## TCP/IP socket abstraction
-
-The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
-
-
--- a/docs/README-pus.md
+++ b/docs/README-pus.md
@ -1 +0,0 @@
-## PUS Services
--- a/docs/conf.py
+++ b/docs/conf.py
@ -50,6 +50,11 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 #
 html_theme = "alabaster"

+html_theme_options = {
+    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
+}
+
+
 # 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".
--- a/docs/highlevel.rst
+++ b/docs/highlevel.rst
@ -7,14 +7,13 @@ Structure
 ----------

 The general structure is driven by the usage of interfaces provided by objects. 
-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.
+The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
+standard, even for micocontrollers.
+
+The FSFW might use dynamic allocation during program initialization but not during runtime.
+It offers pool objects, static containers and it also exposes the
+`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
+allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.

 Failure Handling
 -----------------
--- a/scripts/check_release.py
+++ b/scripts/check_release.py
@ -0,0 +1,110 @@
+#! /bin/python
+
+
+import argparse
+import json
+import urllib.request
+import re
+from pathlib import Path
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="List undocumented PRs"
+    )
+    parser.add_argument("-v", "--version", type=str, required=True)
+    args = parser.parse_args()
+    
+    match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version)
+    
+    if not match:
+        print("invalid version")
+        exit(1)
+    
+    version = "v" + match.group(1)
+    
+    print("looking for milestone for " + version + " ...")
+    
+    
+    with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json:
+        milestones = json.load(milestone_json)
+        if (len(milestones) == 0):
+            print("did not find any milestone")
+            exit(1)
+        if (len(milestones) > 1):
+            print("found multiple milestons")
+        milestone_title = milestones[0]['title']
+        milestone = str(milestones[0]['id'])
+        print("Using Milestone \""+ milestone_title + "\" with id " + milestone)
+    
+    milestone_prs = []
+    
+    page = 1
+    last_count = 1;
+    while last_count != 0:
+        with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
+            pull_requests = json.load(pull_requests_json)
+            for pr in pull_requests:
+                milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']})
+            page += 1
+            last_count = len(pull_requests)
+    
+    print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
+    
+    print("looking for CHANGELOG.md ...")
+    
+    path = Path(".")
+    
+    files = list(path.glob("CHANGELOG.md"))
+    
+    if (len(files) != 1):
+        files = list(path.glob("../CHANGELOG.md"))
+        
+    if (len(files) != 1):
+        print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.")
+        exit(1)
+        
+    print("Scanning CHANGELOG.md ...")
+    
+    changelog_prs = []
+    
+    with open(files[0]) as changelog:
+        line = changelog.readline()
+        while (line):
+            #print("line: " + line)
+            match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line)
+            if (match):
+                if match.group(1) == version:
+                    #print("found version")
+                    line = changelog.readline()
+                    continue
+                else:
+                    #print("done with " + match.group(1))
+                    break
+            
+            match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line)
+            if match:
+                changelog_prs.append(match.group(1))
+                
+            line = changelog.readline()
+    
+    print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md")
+    
+    print("")
+    
+    copy_array = changelog_prs.copy()
+    print("PRs in CHANGELOG.md that are not in Milestone:")
+    for pr in milestone_prs:
+        if pr['number'] in copy_array:
+            copy_array.remove(pr['number'])
+    for pr in copy_array:
+        print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr)
+
+    print("")
+
+    print("PRs in milestone that are not in CHANGELOG.md:")
+    
+    for pr in milestone_prs:
+        if pr['number'] not in changelog_prs:
+            print("- " + pr['title'] + "\n  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number'])
+
+main()
--- a/scripts/helper.py
+++ b/scripts/helper.py
@ -207,7 +207,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
 def perform_lcov_operation(directory: str, chdir: bool):
    if chdir:
        os.chdir(directory)
-    cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
+    cmd_runner("cmake --build . -j -- fsfw-tests_coverage")


 def determine_build_dir(build_dir_list: List[str]):
--- a/src/fsfw/action/CommandActionHelper.h
+++ b/src/fsfw/action/CommandActionHelper.h
@ -16,8 +16,8 @@ class CommandActionHelper {
 public:
  explicit CommandActionHelper(CommandsActionsIF* owner);
  virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
-                              const uint8_t* data = nullptr, uint32_t size = 0);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
+                              uint32_t size);
  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
  ReturnValue_t initialize();
  ReturnValue_t handleReply(CommandMessage* reply);
--- a/src/fsfw/cfdp.h
+++ b/src/fsfw/cfdp.h
@ -2,10 +2,7 @@
 #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"
--- a/src/fsfw/cfdp/handler/CMakeLists.txt
+++ b/src/fsfw/cfdp/handler/CMakeLists.txt
@ -1,3 +1 @@
-target_sources(
-  ${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
-                           FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE FaultHandlerBase.cpp UserBase.cpp)
--- a/src/fsfw/cfdp/handler/CfdpHandler.cpp
+++ b/src/fsfw/cfdp/handler/CfdpHandler.cpp
@ -1,134 +0,0 @@
-#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;
-}
--- a/src/fsfw/cfdp/handler/CfdpHandler.h
+++ b/src/fsfw/cfdp/handler/CfdpHandler.h
@ -1,71 +0,0 @@
-#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
--- a/src/fsfw/cfdp/handler/DestHandler.cpp
+++ b/src/fsfw/cfdp/handler/DestHandler.cpp
@ -1,480 +0,0 @@
-#include "DestHandler.h"
-
-#include <etl/crc32.h>
-
-#include <utility>
-
-#include "fsfw/FSFW.h"
-#include "fsfw/cfdp/pdu/EofPduReader.h"
-#include "fsfw/cfdp/pdu/FileDataReader.h"
-#include "fsfw/cfdp/pdu/FinishedPduCreator.h"
-#include "fsfw/cfdp/pdu/PduHeaderReader.h"
-#include "fsfw/objectmanager.h"
-#include "fsfw/tmtcservices/TmTcMessage.h"
-
-using namespace returnvalue;
-
-cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
-    : tlvVec(params.maxTlvsInOnePdu),
-      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; }
--- a/src/fsfw/cfdp/handler/DestHandler.h
+++ b/src/fsfw/cfdp/handler/DestHandler.h
@ -1,202 +0,0 @@
-#ifndef FSFW_CFDP_CFDPDESTHANDLER_H
-#define FSFW_CFDP_CFDPDESTHANDLER_H
-
-#include <etl/list.h>
-#include <etl/set.h>
-
-#include <optional>
-#include <utility>
-
-#include "RemoteConfigTableIF.h"
-#include "UserBase.h"
-#include "defs.h"
-#include "fsfw/cfdp/handler/mib.h"
-#include "fsfw/cfdp/pdu/MetadataPduReader.h"
-#include "fsfw/cfdp/pdu/PduConfig.h"
-#include "fsfw/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
--- a/src/fsfw/cfdp/handler/SourceHandler.cpp
+++ b/src/fsfw/cfdp/handler/SourceHandler.cpp
@ -1 +0,0 @@
-#include "SourceHandler.h"
--- a/src/fsfw/cfdp/handler/SourceHandler.h
+++ b/src/fsfw/cfdp/handler/SourceHandler.h
@ -1,6 +0,0 @@
-#ifndef FSFW_CFDP_CFDPSOURCEHANDLER_H
-#define FSFW_CFDP_CFDPSOURCEHANDLER_H
-
-class SourceHandler {};
-
-#endif  // FSFW_CFDP_CFDPSOURCEHANDLER_H
--- a/src/fsfw/cfdp/pdu/FinishedPduCreator.cpp
+++ b/src/fsfw/cfdp/pdu/FinishedPduCreator.cpp
@ -17,7 +17,7 @@ ReturnValue_t FinishPduCreator::serialize(uint8_t **buffer, size_t *size, size_t
  if (result != returnvalue::OK) {
    return result;
  }
-  if (*size + 1 >= maxSize) {
+  if (*size + 1 > maxSize) {
    return SerializeIF::BUFFER_TOO_SHORT;
  }
  **buffer = finishInfo.getConditionCode() << 4 | finishInfo.getDeliveryCode() << 2 |
--- a/src/fsfw/container/ArrayList.h
+++ b/src/fsfw/container/ArrayList.h
@ -4,6 +4,7 @@
 #include "../returnvalues/returnvalue.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serialize/SerializeIF.h"
+#include "definitions.h"

 /**
 * @brief     A List that stores its values in an array.
@ -19,9 +20,6 @@ class ArrayList {
  friend class SerialArrayListAdapter;

 public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
-  static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
-
  /**
   * This is the allocating constructor.
   * It allocates an array of the specified size.
@ -187,7 +185,7 @@ class ArrayList {
   */
  ReturnValue_t insert(T entry) {
    if (size >= maxSize_) {
-      return FULL;
+      return containers::LIST_FULL;
    }
    entries[size] = entry;
    ++size;
--- a/src/fsfw/container/FixedArrayList.h
+++ b/src/fsfw/container/FixedArrayList.h
@ -20,15 +20,19 @@ class FixedArrayList : public ArrayList<T, count_t> {
  FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {}

  FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) {
-    memcpy(this->data, other.data, sizeof(this->data));
    this->entries = data;
    this->size = other.size;
+    for (size_t idx = 0; idx < this->size; idx++) {
+      data[idx] = other.data[idx];
+    }
  }

  FixedArrayList& operator=(FixedArrayList other) {
-    memcpy(this->data, other.data, sizeof(this->data));
    this->entries = data;
    this->size = other.size;
+    for (size_t idx = 0; idx < this->size; idx++) {
+      data[idx] = other.data[idx];
+    }
    return *this;
  }

--- a/src/fsfw/container/FixedMap.h
+++ b/src/fsfw/container/FixedMap.h
@ -4,8 +4,8 @@
 #include <type_traits>
 #include <utility>

-#include "../returnvalues/returnvalue.h"
 #include "ArrayList.h"
+#include "definitions.h"

 /**
 * @brief    Map implementation for maps with a pre-defined size.
@ -24,11 +24,6 @@ class FixedMap : public SerializeIF {
                "derived class from SerializeIF to be serialize-able");

 public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
-  static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
-  static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
-  static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
-
 private:
  static const key_t EMPTY_SLOT = -1;
  ArrayList<std::pair<key_t, T>, uint32_t> theMap;
@ -76,10 +71,10 @@ class FixedMap : public SerializeIF {

  ReturnValue_t insert(key_t key, T value, Iterator* storedValue = nullptr) {
    if (exists(key) == returnvalue::OK) {
-      return KEY_ALREADY_EXISTS;
+      return containers::KEY_ALREADY_EXISTS;
    }
    if (_size == theMap.maxSize()) {
-      return MAP_FULL;
+      return containers::MAP_FULL;
    }
    theMap[_size].first = key;
    theMap[_size].second = value;
@ -93,7 +88,7 @@ class FixedMap : public SerializeIF {
  ReturnValue_t insert(std::pair<key_t, T> pair) { return insert(pair.first, pair.second); }

  ReturnValue_t exists(key_t key) const {
-    ReturnValue_t result = KEY_DOES_NOT_EXIST;
+    ReturnValue_t result = containers::KEY_DOES_NOT_EXIST;
    if (findIndex(key) < _size) {
      result = returnvalue::OK;
    }
@ -103,7 +98,7 @@ class FixedMap : public SerializeIF {
  ReturnValue_t erase(Iterator* iter) {
    uint32_t i;
    if ((i = findIndex((*iter).value->first)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return containers::KEY_DOES_NOT_EXIST;
    }
    theMap[i] = theMap[_size - 1];
    --_size;
@ -114,7 +109,7 @@ class FixedMap : public SerializeIF {
  ReturnValue_t erase(key_t key) {
    uint32_t i;
    if ((i = findIndex(key)) >= _size) {
-      return KEY_DOES_NOT_EXIST;
+      return containers::KEY_DOES_NOT_EXIST;
    }
    theMap[i] = theMap[_size - 1];
    --_size;
--- a/src/fsfw/container/definitions.h
+++ b/src/fsfw/container/definitions.h
@ -0,0 +1,14 @@
+#ifndef FSFW_CONTAINER_DEFINITIONS_H_
+#define FSFW_CONTAINER_DEFINITIONS_H_
+
+#include "fsfw/retval.h"
+
+namespace containers {
+static const ReturnValue_t KEY_ALREADY_EXISTS = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x01);
+static const ReturnValue_t MAP_FULL = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x02);
+static const ReturnValue_t KEY_DOES_NOT_EXIST = returnvalue::makeCode(CLASS_ID::FIXED_MAP, 0x03);
+
+static const ReturnValue_t LIST_FULL = returnvalue::makeCode(CLASS_ID::ARRAY_LIST, 0x01);
+}  // namespace containers
+
+#endif /* FSFW_CONTAINER_DEFINITIONS_H_ */
--- a/src/fsfw/controller/ControllerBase.cpp
+++ b/src/fsfw/controller/ControllerBase.cpp
@ -13,9 +13,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
      submode(SUBMODE_NONE),
      modeHelper(this),
      healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }

 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
--- a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp
+++ b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp
@ -570,10 +570,6 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me

  CommandMessage reply;
  if (result != returnvalue::OK) {
-    if (result == WRONG_HK_PACKET_TYPE) {
-      printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
-                          WRONG_HK_PACKET_TYPE);
-    }
    HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
  } else {
    HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
@ -829,8 +825,6 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
      errorPrint = "Dataset not found";
    } else if (error == POOLOBJECT_NOT_FOUND) {
      errorPrint = "Pool Object not found";
-    } else if (error == WRONG_HK_PACKET_TYPE) {
-      errorPrint = "Wrong Packet Type";
    } else if (error == returnvalue::FAILED) {
      if (outputType == sif::OutputTypes::OUT_WARNING) {
        errorPrint = "Generic Warning";
--- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h
+++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h
@ -162,7 +162,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
  object_id_t getCreatorObjectId();

  bool getReportingEnabled() const;
-  void setReportingEnabled(bool enabled);

  /**
   * Returns the current periodic HK generation interval this set
@ -190,6 +189,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
   * Used for periodic generation.
   */
  bool reportingEnabled = false;
+  void setReportingEnabled(bool enabled);

  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
                                uint8_t nonDiagIntervalFactor = 5);
--- a/src/fsfw/devicehandlers/AssemblyBase.cpp
+++ b/src/fsfw/devicehandlers/AssemblyBase.cpp
@ -26,7 +26,11 @@ void AssemblyBase::performChildOperation() {

 void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
  doStartTransition(mode, submode);
-  triggerModeHelperEvents(mode, submode);
+  if (modeHelper.isForced()) {
+    triggerEvent(FORCING_MODE, mode, submode);
+  } else {
+    triggerEvent(CHANGING_MODE, mode, submode);
+  }
 }

 void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@ -73,10 +77,9 @@ bool AssemblyBase::handleChildrenChangedHealth() {
  }
  HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
  if (healthState == HasHealthIF::NEEDS_RECOVERY) {
-    triggerEvent(TRYING_RECOVERY, iter->first, 0);
+    triggerEvent(TRYING_RECOVERY);
    recoveryState = RECOVERY_STARTED;
    recoveringDevice = iter;
-    // The user needs to take care of commanding the children off in commandChildren
    doStartTransition(targetMode, targetSubmode);
  } else {
    triggerEvent(CHILD_CHANGED_HEALTH);
@ -225,9 +228,6 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
 bool AssemblyBase::checkAndHandleRecovery() {
  switch (recoveryState) {
    case RECOVERY_STARTED:
-      // The recovery was already start in #handleChildrenChangedHealth and we just need
-      // to wait for an off time period.
-      // TODO: make time period configurable
      recoveryState = RECOVERY_WAIT;
      recoveryOffTimer.resetTimer();
      return true;
@ -266,11 +266,3 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
  modeHelper.setForced(true);
  sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
 }
-
-void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
-  if (modeHelper.isForced()) {
-    triggerEvent(FORCING_MODE, mode, submode);
-  } else {
-    triggerEvent(CHANGING_MODE, mode, submode);
-  }
-}
--- a/src/fsfw/devicehandlers/AssemblyBase.h
+++ b/src/fsfw/devicehandlers/AssemblyBase.h
@ -12,8 +12,7 @@
 * Documentation: Dissertation Baetz p.156, 157.
 *
 * This class reduces the complexity of controller components which would
- * otherwise be needed for the handling of redundant devices. However, it can also be used to
- * manage the mode keeping and recovery of non-redundant devices
+ * otherwise be needed for the handling of redundant devices.
 *
 * The template class monitors mode and health state of its children
 * and checks availability of devices on every detected change.
@ -27,9 +26,11 @@
 *
 * Important:
 *
- * The implementation must call #registerChild for all commanded children during initialization.
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
 * The implementation must call the initialization function of the base class.
 * (This will call the function in SubsystemBase)
+ *
 */
 class AssemblyBase : public SubsystemBase {
 public:
@ -46,10 +47,9 @@ class AssemblyBase : public SubsystemBase {

 protected:
  /**
-   * Command children to reach [mode,submode] combination. Can be done by setting
-   * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
-   * the user needs to ensure that the target devices are healthy. If a device is not healthy,
-   * a recovery might be on-going and the device needs to be commanded to off first.
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
   * @param mode
   * @param submode
   * @return
@ -120,19 +120,8 @@ class AssemblyBase : public SubsystemBase {

  virtual ReturnValue_t handleHealthReply(CommandMessage *message);

-  /**
-   * @brief Default periodic handler
-   * @details
-   * This is the default periodic handler which will be called by the SubsystemBase
-   * performOperation. It performs the child transitions or reacts to changed health/mode states
-   * of children objects
-   */
-  virtual void performChildOperation() override;
+  virtual void performChildOperation();

-  /**
-   * This function handles changed mode or health states of children
-   * @return
-   */
  bool handleChildrenChanged();

  /**
@ -145,37 +134,12 @@ class AssemblyBase : public SubsystemBase {

  bool handleChildrenChangedHealth();

-  /**
-   * Core transition handler. The default implementation will only do something if
-   * #commandsOutstanding is smaller or equal to zero, which means that all mode commands
-   * from the #doPerformTransition call were executed successfully.
-   *
-   * Unless a second step was requested, the function will then use #checkChildrenState to
-   * determine whether the target mode was reached.
-   *
-   * There is some special handling for certain (internal) modes:
-   *  - A second step is necessary. #commandChildren will be performed again
-   *  - The device health was overwritten. #commandChildren will be called
-   *  - A recovery is ongoing. #checkAndHandleRecovery will be called.
-   */
  virtual void handleChildrenTransition();

  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);

-  /**
-   * Calls #doStartTransition and triggers an informative event as well that the mode will
-   * change
-   * @param mode
-   * @param submode
-   */
  virtual void startTransition(Mode_t mode, Submode_t submode);

-  /**
-   * This function starts the transition by setting the internal #targetSubmode and #targetMode
-   * variables and then calling the #commandChildren function.
-   * @param mode
-   * @param submode
-   */
  virtual void doStartTransition(Mode_t mode, Submode_t submode);

  virtual bool isInTransition();
@ -196,7 +160,7 @@ class AssemblyBase : public SubsystemBase {
   * Manages recovery of a device
   * @return true if recovery is still ongoing, false else.
   */
-  virtual bool checkAndHandleRecovery();
+  bool checkAndHandleRecovery();

  /**
   * Helper method to overwrite health state of one of the children.
@ -204,8 +168,6 @@ class AssemblyBase : public SubsystemBase {
   * @param objectId Must be a registered child.
   */
  void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-  void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
 };

 #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
@ -1,5 +1,6 @@
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"

+#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@ -40,9 +41,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
      childTransitionDelay(5000),
      transitionSourceMode(_MODE_POWER_DOWN),
      transitionSourceSubMode(SUBMODE_NONE) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
  commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
  insertInCommandMap(RAW_COMMAND_ID);
  cookieInfo.state = COOKIE_UNUSED;
  cookieInfo.pendingCommand = deviceCommandMap.end();
@ -50,6 +50,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
    printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", returnvalue::FAILED,
                        "Invalid cookie");
  }
+  if (this->fdirInstance == nullptr) {
+    this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
+  }
 }

 void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@ -127,18 +130,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
  if (result != returnvalue::OK) {
    return result;
  }
-  if (this->fdirInstance == nullptr) {
-    this->fdirInstance =
-        new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
-  }
-
-  if (this->parent != objects::NO_OBJECT) {
-    HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
-    HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
-    if (modeIF != nullptr and healthIF != nullptr) {
-      setParentQueue(modeIF->getCommandQueue());
-    }
-  }

  communicationInterface =
      ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@ -369,17 +360,20 @@ void DeviceHandlerBase::doStateMachine() {
      if ((switchState == PowerSwitchIF::SWITCH_ON) || (switchState == NO_SWITCH)) {
        // NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition
        childTransitionFailure = CHILD_TIMEOUT;
+        transitionSourceMode = _MODE_SHUT_DOWN;
+        transitionSourceSubMode = SUBMODE_NONE;
        setMode(_MODE_START_UP);
        callChildStatemachine();
      }
    } break;
    case _MODE_WAIT_OFF: {
+      uint32_t currentUptime;
+      Clock::getUptime(&currentUptime);
+
      if (powerSwitcher == nullptr) {
        setMode(MODE_OFF);
        break;
      }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
      if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
        triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
        setMode(MODE_ERROR_ON);
@ -467,7 +461,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
  info.expectedReplies = 0;
  info.isExecuting = false;
  info.sendReplyTo = NO_COMMANDER;
-  info.useAlternativeReplyId = alternativeReplyId;
+  info.useAlternativeReplyId = useAlternativeReply;
  info.alternativeReplyId = alternativeReplyId;
  auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
  if (resultPair.second) {
@ -580,9 +574,6 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
  mode = newMode;
  modeChanged();
  setNormalDatapoolEntriesInvalid();
-  if (newMode == MODE_OFF) {
-    disableCommandsAndReplies();
-  }
  if (!isTransitionalMode()) {
    modeHelper.modeChanged(newMode, newSubmode);
    announceMode(false);
@ -1288,7 +1279,6 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
  if (iter->second.command != deviceCommandMap.end()) {
    MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;

-    // This may fail, but we'll ignore the fault.
    if (queueId != NO_COMMANDER) {
      // This may fail, but we'll ignore the fault.
      actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
@ -1467,8 +1457,6 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
                                       uint32_t parameter) {}

-Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
-
 void DeviceHandlerBase::performOperationHook() {}

 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -1491,7 +1479,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
  this->poolManager.initializeAfterTaskCreation();

  if (setStartupImmediately) {
-    startTransition(MODE_ON, getInitialSubmode());
+    startTransition(MODE_ON, SUBMODE_NONE);
  }
  return returnvalue::OK;
 }
@ -1521,10 +1509,13 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
  for (const auto& reply : deviceReplyMap) {
    if (reply.second.dataSet != nullptr) {
+      PoolReadGuard pg(reply.second.dataSet);
+      if (pg.getReadResult() == returnvalue::OK) {
        reply.second.dataSet->setValidity(false, true);
      }
    }
  }
+}

 void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, const char* functionName,
                                            ReturnValue_t errorCode, const char* errorPrint) {
@ -1575,29 +1566,3 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
  }
  return commandIter->second.sendReplyTo;
 }
-
-void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
-
-void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
-
-void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
-  this->powerSwitcher = switcher;
-}
-
-void DeviceHandlerBase::disableCommandsAndReplies() {
-  for (auto& command : deviceCommandMap) {
-    if (command.second.isExecuting) {
-      command.second.isExecuting = false;
-    }
-  }
-  for (auto& reply : deviceReplyMap) {
-    if (!reply.second.periodic) {
-      if (reply.second.countdown != nullptr) {
-        reply.second.countdown->timeOut();
-      } else {
-        reply.second.delayCycles = 0;
-      }
-      reply.second.active = false;
-    }
-  }
-}
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h
@ -23,7 +23,6 @@
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
-#include "fsfw/util/dataWrapper.h"

 namespace Factory {
 void setStaticFrameworkObjectIds();
@ -103,9 +102,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
                    FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);

-  void setCustomFdir(FailureIsolationBase *fdir);
-  void setParent(object_id_t parent);
-  void setPowerSwitcher(PowerSwitchIF *switcher);
  void setHkDestination(object_id_t hkDestination);

  /**
@ -659,12 +655,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
                              uint32_t parameter = 0);

-  /**
-   * @brief Can be overwritten by a child to specify the initial submode when device has been set
-   *        to startup immediately.
-   */
-  virtual Submode_t getInitialSubmode();
-
 protected:
  static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;

@ -783,18 +773,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   * This is used to keep track of pending replies.
   */
  struct DeviceReplyInfo {
-    //! For Command-Reply combinations:
    //! The maximum number of cycles the handler should wait for a reply
    //! to this command.
-    //!
-    //! Reply Only:
-    //! For periodic replies, this variable will be the number of delay cycles between the replies.
-    //! For the non-periodic variant, this variable is not used as there is no meaningful
-    //! definition for delay
    uint16_t maxDelayCycles;
-    //! This variable will be set to #maxDelayCycles if a reply is expected.
-    //! For non-periodic replies without a command, this variable is unused.
-    //! A runtime value of 0 means there is no reply is currently expected.
+    //! The currently remaining cycles the handler should wait for a reply,
+    //! 0 means there is no reply expected
    uint16_t delayCycles;
    size_t replyLen = 0;  //!< Expected size of the reply.
    //! if this is !=0, the delayCycles will not be reset to 0 but to
@ -850,7 +833,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  /** Pointer to the used FDIR instance. If not provided by child,
   * default class is instantiated. */
  FailureIsolationBase *fdirInstance;
-  object_id_t parent = objects::NO_OBJECT;

  //! To correctly delete the default instance.
  bool defaultFDIRUsed;
@ -1341,11 +1323,6 @@ class DeviceHandlerBase : public DeviceHandlerIF,
  void printWarningOrError(sif::OutputTypes errorType, const char *functionName,
                           ReturnValue_t errorCode = returnvalue::FAILED,
                           const char *errorPrint = nullptr);
-
-  /**
-   * @brief Disables all commands and replies when device is set to MODE_OFF
-   */
-  void disableCommandsAndReplies();
 };

 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
--- a/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
@ -29,7 +29,6 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
  switch (event->getEvent()) {
    case HasModesIF::MODE_TRANSITION_FAILED:
    case HasModesIF::OBJECT_IN_INVALID_MODE:
-    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
      // We'll try a recovery as long as defined in MAX_REBOOT.
      // Might cause some AssemblyBase cycles, so keep number low.
      handleRecovery(event->getEvent());
--- a/src/fsfw/devicehandlers/DeviceHandlerIF.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerIF.h
@ -109,7 +109,6 @@ class DeviceHandlerIF {
  static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
  static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
  static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-  static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);

  static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;

--- a/src/fsfw/devicehandlers/DeviceTmReportingWrapper.h
+++ b/src/fsfw/devicehandlers/DeviceTmReportingWrapper.h
@ -1,10 +1,9 @@
 #ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 #define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_

-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/serialize/SerializeIF.h"
-#include "fsfw/util/dataWrapper.h"
+#include "../action/HasActionsIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../serialize/SerializeIF.h"

 class DeviceTmReportingWrapper : public SerializeIF {
 public:
--- a/src/fsfw/devicehandlers/HealthDevice.cpp
+++ b/src/fsfw/devicehandlers/HealthDevice.cpp
@ -8,9 +8,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
      parentQueue(parentQueue),
      commandQueue(),
      healthHelper(this, setObjectId) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }

 HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@ -18,12 +18,12 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
 EventManager::EventManager(object_id_t setObjectId)
    : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
  mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  eventReportQueue = QueueFactory::instance()->createMessageQueue(
-      MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
+                                                                  EventMessage::EVENT_MESSAGE_SIZE);
 }

 EventManager::~EventManager() {
+  listenerList.clear();
  QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
  MutexFactory::instance()->deleteMutex(mutex);
 }
@ -47,20 +47,9 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {

 void EventManager::notifyListeners(EventMessage* message) {
  lockMutex();
-  for (auto& listener : listenerList) {
-    if (listener.second.match(message)) {
-      ReturnValue_t result =
-          MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
-      if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
-                   << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
-                   << result << std::setfill(' ') << std::endl;
-#else
-        sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
-                        listener.first, result);
-#endif
-      }
+  for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+    if (iter->second.match(message)) {
+      MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
    }
  }
  unlockMutex();
@ -73,9 +62,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
  if (!result.second) {
    return returnvalue::FAILED;
  }
+
  return returnvalue::OK;
 }

+ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
+  return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
+}
+
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
  return subscribeToEventRange(listener, event);
 }
@ -206,19 +200,4 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
  }
 }

-void EventManager::printListeners() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
-  for (auto& listener : listenerList) {
-    sif::info << "0x" << std::setw(8) << listener.first << std::endl;
-  }
-  sif::info << std::dec << std::setfill(' ');
-#else
-  sif::printInfo("Event manager listener MQ IDs:\n");
-  for (auto& listener : listenerList) {
-    sif::printInfo("0x%08x\n", listener.first);
-  }
-#endif
-}
-
 #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */
--- a/src/fsfw/events/EventManager.h
+++ b/src/fsfw/events/EventManager.h
@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
  MessageQueueId_t getEventReportQueue();

  ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
+  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
  ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
@ -43,7 +44,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                          object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                          bool reporterInverted = false);
  ReturnValue_t performOperation(uint8_t opCode);
-  void printListeners();

 protected:
  MessageQueueIF* eventReportQueue = nullptr;
--- a/src/fsfw/events/EventManagerIF.h
+++ b/src/fsfw/events/EventManagerIF.h
@ -18,6 +18,7 @@ class EventManagerIF {

  virtual ReturnValue_t registerListener(MessageQueueId_t listener,
                                         bool forwardAllButSelected = false) = 0;
+  virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
  virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
  virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
  virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
--- a/src/fsfw/fdir/FailureIsolationBase.cpp
+++ b/src/fsfw/fdir/FailureIsolationBase.cpp
@ -9,9 +9,8 @@
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
                                           uint8_t messageDepth, uint8_t parameterDomainBase)
    : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-  auto mqArgs = MqArgs(owner, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
 }

 FailureIsolationBase::~FailureIsolationBase() {
@ -24,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
    return;
  }
-  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
+  manager->unregisterListener(eventQueue->getId());
  QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }

@ -63,11 +62,10 @@ ReturnValue_t FailureIsolationBase::initialize() {
    if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "FailureIsolationBase::intialize: Parent object"
-                 << "invalid" << std::endl;
-      sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
-#else
-      sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
-      sif::printError("Make sure it implements ConfirmsFailuresIF\n");
+                 << "invalid." << std::endl;
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
 #endif
      return ObjectManagerIF::CHILD_INIT_FAILED;
      return returnvalue::FAILED;
--- a/src/fsfw/fdir/FailureIsolationBase.h
+++ b/src/fsfw/fdir/FailureIsolationBase.h
@ -12,12 +12,13 @@
 class FailureIsolationBase : public ConfirmsFailuresIF, public HasParametersIF {
 public:
  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-  //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-  static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
-  //! FDIR tries to restart device. Par1: event that caused recovery.
-  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
-  //! FDIR turns off device. Par1: event that caused recovery.
-  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
+  static const Event FDIR_CHANGED_STATE =
+      MAKE_EVENT(1, severity::INFO);  //!< FDIR has an internal state, which changed from par2
+                                      //!< (oldState) to par1 (newState).
+  static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(
+      2, severity::MEDIUM);  //!< FDIR tries to restart device. Par1: event that caused recovery.
+  static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(
+      3, severity::MEDIUM);  //!< FDIR turns off device. Par1: event that caused recovery.

  FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
                       uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
--- a/src/fsfw/globalfunctions/DleParser.cpp
+++ b/src/fsfw/globalfunctions/DleParser.cpp
@ -3,159 +3,94 @@
 #include <fsfw/serviceinterface/ServiceInterface.h>

 #include <cstdio>
+#include <fstream>
+#include <iostream>

 DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-                     BufPair decodedBuf, UserHandler handler, void* args)
+                     BufPair decodedBuf)
    : decodeRingBuf(decodeRingBuf),
      decoder(decoder),
      encodedBuf(encodedBuf),
-      decodedBuf(decodedBuf),
-      handler(handler),
-      ctx(args) {
-  if (handler == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
-#else
-    sif::printError("DleParser::DleParser: Invalid user handler\n");
-#endif
-  }
-}
+      decodedBuf(decodedBuf) {}

-ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
-  if (data == nullptr or len == 0 or handler == nullptr) {
+ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
+  if (data == nullptr or len == 0) {
    return returnvalue::FAILED;
  }
-  size_t copyIntoRingBufFromHere = 0;
-  size_t copyAmount = len;
-  size_t startIdx = 0;
-  ReturnValue_t result = returnvalue::OK;
-  bool startFoundInThisPacket = false;
-  for (size_t idx = 0; idx < len; idx++) {
-    if (data[idx] == DleEncoder::STX_CHAR) {
-      if (not startFound and not startFoundInThisPacket) {
-        startIdx = idx;
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
-      } else {
-        // Maybe print warning, should not happen
-        decodeRingBuf.clear();
-        ErrorInfo info;
-        info.len = idx;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
-        handler(ctx);
-        copyIntoRingBufFromHere = idx;
-        copyAmount = len - idx;
+  return decodeRingBuf.writeData(data, len);
 }
-      startFound = true;
-      startFoundInThisPacket = true;
-    } else if (data[idx] == DleEncoder::ETX_CHAR) {
-      if (startFoundInThisPacket) {
-        size_t readLen = 0;
+
+ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
+  ctx.setType(DleParser::ContextType::NONE);
+  size_t availableData = decodeRingBuf.getAvailableReadData();
+  if (availableData == 0) {
+    return NO_PACKET_FOUND;
+  }
+  if (availableData > encodedBuf.second) {
+    ErrorInfo info;
+    info.len = decodeRingBuf.getAvailableReadData();
+    setErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = decodeRingBuf.readData(encodedBuf.first, availableData);
+  if (result != returnvalue::OK) {
+    ErrorInfo info;
+    info.res = result;
+    setErrorContext(ErrorTypes::RING_BUF_ERROR, info);
+    return result;
+  }
+  bool stxFound = false;
+  size_t stxIdx = 0;
+  for (size_t vectorIdx = 0; vectorIdx < availableData; vectorIdx++) {
+    // handle STX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::STX_CHAR) {
+      if (not stxFound) {
+        stxFound = true;
+        stxIdx = vectorIdx;
+      } else {
+        // might be lost packet, so we should advance the read pointer
+        // without skipping the STX
+        readSize = vectorIdx;
+        ErrorInfo info;
+        setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
+      }
+    }
+    // handle ETX char
+    if (encodedBuf.first[vectorIdx] == DleEncoder::ETX_CHAR) {
+      if (stxFound) {
+        // This is propably a packet, so we decode it.
        size_t decodedLen = 0;
-        result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
-                                decodedBuf.second, &decodedLen);
+        size_t dummy = 0;
+
+        ReturnValue_t result =
+            decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
+                           decodedBuf.first, decodedBuf.second, &decodedLen);
        if (result == returnvalue::OK) {
          ctx.setType(ContextType::PACKET_FOUND);
          ctx.decodedPacket.first = decodedBuf.first;
          ctx.decodedPacket.second = decodedLen;
-          this->handler(ctx);
-        } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        } else {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-          handler(ctx);
-        }
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      } else if (startFound) {
-        // ETX found but STX was found in another mini packet. Reconstruct the full packet
-        // to decode it
-        result = decodeRingBuf.writeData(data, idx + 1);
-        if (result != returnvalue::OK) {
-          ErrorInfo info;
-          info.res = result;
-          prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-          handler(ctx);
-        }
-        size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
-        if (fullEncodedLen > encodedBuf.second) {
-          ErrorInfo info;
-          info.len = fullEncodedLen;
-          prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
-          handler(ctx);
-          decodeRingBuf.clear();
-        } else {
-          size_t decodedLen = 0;
-          size_t readLen = 0;
-          decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
-          result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
-                                  decodedBuf.second, &decodedLen);
-          if (result == returnvalue::OK) {
-            if (this->handler != nullptr) {
-              ctx.setType(ContextType::PACKET_FOUND);
-              ctx.decodedPacket.first = decodedBuf.first;
-              ctx.decodedPacket.second = decodedLen;
-              this->handler(ctx);
-            }
-          } else if (result == DleEncoder::STREAM_TOO_SHORT) {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
-            handler(ctx);
-          } else {
-            ErrorInfo info;
-            info.res = result;
-            prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
-            handler(ctx);
-          }
-          decodeRingBuf.clear();
-          startFound = false;
-          startFoundInThisPacket = false;
-          if ((idx + 1) < len) {
-            copyIntoRingBufFromHere = idx + 1;
-            copyAmount = len - idx - 1;
-          } else {
-            copyAmount = 0;
-          }
-        }
-      } else {
-        // End data without preceeding STX
-        ErrorInfo info;
-        info.len = idx + 1;
-        prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
-        handler(ctx);
-        decodeRingBuf.clear();
-        if ((idx + 1) < len) {
-          copyIntoRingBufFromHere = idx + 1;
-          copyAmount = len - idx - 1;
-        } else {
-          copyAmount = 0;
-        }
-      }
-      startFoundInThisPacket = false;
-      startFound = false;
-    }
-  }
-  if (copyAmount > 0) {
-    result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
-    if (result != returnvalue::OK) {
-      ErrorInfo info;
-      info.res = result;
-      prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
-      handler(ctx);
-    }
-  }
+          readSize = ++vectorIdx;
          return returnvalue::OK;
+        } else {
+          // invalid packet, skip.
+          readSize = ++vectorIdx;
+          ErrorInfo info;
+          info.res = result;
+          setErrorContext(ErrorTypes::DECODE_ERROR, info);
+          return POSSIBLE_PACKET_LOSS;
+        }
+      } else {
+        // might be lost packet, so we should advance the read pointer
+        readSize = ++vectorIdx;
+        ErrorInfo info;
+        info.len = 0;
+        setErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
+        return POSSIBLE_PACKET_LOSS;
+      }
+    }
+  }
+  return NO_PACKET_FOUND;
 }

 void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
@ -169,8 +104,12 @@ void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* arg
 #endif
 }

-void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
-  switch (err) {
+void DleParser::defaultErrorHandler() {
+  if (ctx.getType() != DleParser::ContextType::ERROR) {
+    errorPrinter("No error");
+    return;
+  }
+  switch (ctx.error.first) {
    case (ErrorTypes::NONE): {
      errorPrinter("No error");
      break;
@ -186,8 +125,9 @@ void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
    case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
    case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
      char opt[64];
-      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len);
-      if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
+      snprintf(opt, sizeof(opt), ": Too small for packet with length %zu",
+               ctx.decodedPacket.second);
+      if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
        errorPrinter("Encoded buf too small", opt);
      } else {
        errorPrinter("Decoding buf too small", opt);
@ -218,13 +158,16 @@ void DleParser::errorPrinter(const char* str, const char* opt) {
 #endif
 }

-void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
+void DleParser::setErrorContext(ErrorTypes err, ErrorInfo info) {
  ctx.setType(ContextType::ERROR);
  ctx.error.first = err;
  ctx.error.second = info;
 }

-void DleParser::reset() {
-  startFound = false;
-  decodeRingBuf.clear();
+ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
+  return decodeRingBuf.deleteData(bytesRead);
 }
+
+const DleParser::Context& DleParser::getContext() { return ctx; }
+
+void DleParser::reset() { decodeRingBuf.clear(); }
--- a/src/fsfw/globalfunctions/DleParser.h
+++ b/src/fsfw/globalfunctions/DleParser.h
@ -18,9 +18,11 @@
 */
 class DleParser {
 public:
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
  using BufPair = std::pair<uint8_t*, size_t>;

-  enum class ContextType { PACKET_FOUND, ERROR };
+  enum class ContextType { NONE, PACKET_FOUND, ERROR };

  enum class ErrorTypes {
    NONE,
@ -41,7 +43,7 @@ class DleParser {

  struct Context {
   public:
-    Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
+    Context() { setType(ContextType::PACKET_FOUND); }

    void setType(ContextType type) {
      this->type = type;
@ -58,14 +60,11 @@ class DleParser {

    BufPair decodedPacket = {};
    ErrorPair error;
-    void* userArgs;

   private:
    ContextType type;
  };

-  using UserHandler = void (*)(const Context& ctx);
-
  /**
   * Base class constructor
   * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
@ -79,7 +78,7 @@ class DleParser {
   * @param args Arbitrary user argument
   */
  DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
-            BufPair decodedBuf, UserHandler handler, void* args);
+            BufPair decodedBuf);

  /**
   * This function allows to pass new data into the parser. It then scans for DLE packets
@ -88,8 +87,13 @@ class DleParser {
   * @param len
   * @return
   */
-  ReturnValue_t passData(uint8_t* data, size_t len);
+  ReturnValue_t passData(const uint8_t* data, size_t len);

+  ReturnValue_t parseRingBuf(size_t& bytesRead);
+
+  ReturnValue_t confirmBytesRead(size_t bytesRead);
+
+  const Context& getContext();
  /**
   * Example found packet handler
   * function call
@ -104,11 +108,11 @@ class DleParser {
   *  - For buffer length errors, will be set to the detected packet length which is too large
   *  - For decode or ring buffer errors, will be set to the result returned from the failed call
   */
-  static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx);
+  void defaultErrorHandler();

  static void errorPrinter(const char* str, const char* opt = nullptr);

-  void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
+  void setErrorContext(ErrorTypes err, ErrorInfo ctx);
  /**
   * Resets the parser by resetting the internal states and clearing the decoding ring buffer
   */
@ -119,7 +123,5 @@ class DleParser {
  DleEncoder& decoder;
  BufPair encodedBuf;
  BufPair decodedBuf;
-  UserHandler handler = nullptr;
  Context ctx;
-  bool startFound = false;
 };
--- a/src/fsfw/globalfunctions/matching/MatchTree.h
+++ b/src/fsfw/globalfunctions/matching/MatchTree.h
@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
  MatchTree(iterator root, uint8_t maxDepth = -1)
      : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
  MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
-  virtual ~MatchTree() {}
+  virtual ~MatchTree() { clear(); }
  virtual bool match(T number) override { return matchesTree(number); }
  bool matchesTree(T number) {
    iterator iter = this->begin();
@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
    return cleanUpElement(position);
  }

+  void clear() {
+    Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
+
+    if (localRoot == nullptr) {
+      return;
+    }
+
+    Node* node = localRoot->left;
+
+    while (true) {
+      if (node->left != nullptr) {
+        node = node->left;
+        continue;
+      }
+      if (node->right != nullptr) {
+        node = node->right;
+        continue;
+      }
+      if (node->parent == nullptr) {
+        // this is the root node with no children
+        if (node->value != nullptr) {
+          cleanUpElement(iterator(node));
+        }
+        return;
+      }
+      // leaf
+      {
+        Node* parent = node->parent;
+        if (parent->left == node) {
+          parent->left = nullptr;
+        } else {
+          parent->right = nullptr;
+        }
+        cleanUpElement(iterator(node));
+        node = parent;
+      }
+    }
+  }
+
  virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }

  bool matchSubtree(iterator iter, T number) {
--- a/src/fsfw/globalfunctions/timevalOperations.cpp
+++ b/src/fsfw/globalfunctions/timevalOperations.cpp
@ -1,8 +1,8 @@
 #include "fsfw/globalfunctions/timevalOperations.h"

 timeval& operator+=(timeval& lhs, const timeval& rhs) {
-  int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-  sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
+  int64_t sum = static_cast<int64_t>(lhs.tv_sec) * 1000000. + lhs.tv_usec;
+  sum += static_cast<int64_t>(rhs.tv_sec) * 1000000. + rhs.tv_usec;
  lhs.tv_sec = sum / 1000000;
  lhs.tv_usec = sum - lhs.tv_sec * 1000000;
  return lhs;
--- a/src/fsfw/health/HealthHelper.cpp
+++ b/src/fsfw/health/HealthHelper.cpp
@ -5,7 +5,11 @@
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
    : objectId(objectId), owner(owner) {}

-HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
+HealthHelper::~HealthHelper() {
+  if (healthTable != nullptr) {
+    healthTable->removeObject(objectId);
+  }
+}

 ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
  switch (message->getCommand()) {
--- a/src/fsfw/health/HealthTable.cpp
+++ b/src/fsfw/health/HealthTable.cpp
@ -6,8 +6,6 @@

 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
  mutex = MutexFactory::instance()->createMutex();
-  ;
-
  mapIterator = healthMap.begin();
 }

--- a/src/fsfw/health/HealthTable.h
+++ b/src/fsfw/health/HealthTable.h
@ -8,6 +8,8 @@
 #include "HealthTableIF.h"

 class HealthTable : public HealthTableIF, public SystemObject {
+  friend class CServiceHealthCommanding;
+
 public:
  explicit HealthTable(object_id_t objectid);
  ~HealthTable() override;
--- a/src/fsfw/internalerror/InternalErrorReporter.cpp
+++ b/src/fsfw/internalerror/InternalErrorReporter.cpp
@ -10,13 +10,14 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
      poolManager(this, commandQueue),
      internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
      internalErrorDataset(this) {
+  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
  mutex = MutexFactory::instance()->createMutex();
-  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }

-InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
+InternalErrorReporter::~InternalErrorReporter() {
+  MutexFactory::instance()->deleteMutex(mutex);
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}

 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
  this->diagnosticPrintout = enable;
@ -38,14 +39,15 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
    if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::debug << "InternalErrorReporter::performOperation: Errors "
-                 << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
-                 << newStoreHits << std::endl;
+                 << "occured!" << std::endl;
+      sif::debug << "Queue errors: " << newQueueHits << std::endl;
+      sif::debug << "TM errors: " << newTmHits << std::endl;
+      sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-      sif::printDebug(
-          "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
-          "| %lu\n",
-          static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
-          static_cast<unsigned int>(newStoreHits));
+      sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+      sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+      sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+      sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
    }
  }
--- a/src/fsfw/ipc/CommandMessageIF.h
+++ b/src/fsfw/ipc/CommandMessageIF.h
@ -34,7 +34,7 @@ class CommandMessageIF {
  static const Command_t CMD_NONE = MAKE_COMMAND_ID(0);
  static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID(1);
  //! Reply indicating that the current command was rejected,
-  //! Parameter 1 should contain the error code
+  //! par1 should contain the error code
  static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2);

  virtual ~CommandMessageIF(){};
--- a/src/fsfw/modes/HasModesIF.h
+++ b/src/fsfw/modes/HasModesIF.h
@ -19,33 +19,32 @@ class HasModesIF {
  static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-  //! An object announces changing the mode. p1: target mode. p2: target submode
-  static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
-  //! An Object announces its mode; parameter1 is mode, parameter2 is submode
-  static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
+  static const Event CHANGING_MODE =
+      MAKE_EVENT(0, severity::INFO);  //!< An object announces changing the mode. p1: target mode.
+                                      //!< p2: target submode
+  static const Event MODE_INFO = MAKE_EVENT(
+      1,
+      severity::INFO);  //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
  static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
  static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
  static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
-  //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
-  static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
-  //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
-  //! p1: target mode. p2: target submode
-  static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
-  //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
-  static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
+  static const Event OBJECT_IN_INVALID_MODE =
+      MAKE_EVENT(5, severity::LOW);  //!< Indicates a bug or configuration failure: Object is in a
+                                     //!< mode it should never be in.
+  static const Event FORCING_MODE = MAKE_EVENT(
+      6, severity::MEDIUM);  //!< The mode is changed, but for some reason, the change is forced,
+                             //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+  static const Event MODE_CMD_REJECTED =
+      MAKE_EVENT(7, severity::LOW);  //!< A mode command was rejected by the called object. Par1:
+                                     //!< called object id, Par2: return code.

-  //! The device is powered and ready to perform operations. In this mode, no commands are
-  //! sent by the device handler itself, but direct commands van be commanded and will be
-  //! interpreted
-  static constexpr Mode_t MODE_ON = 1;
-  //! The device is powered off. The only command accepted in this mode is a mode change to on.
-  static constexpr Mode_t MODE_OFF = 0;
-
-  static constexpr Mode_t MODE_INVALID = -1;
-  static constexpr Mode_t MODE_UNDEFINED = -2;
-
-  //! To avoid checks against magic number "0".
-  static const Submode_t SUBMODE_NONE = 0;
+  static const Mode_t MODE_ON =
+      1;  //!< The device is powered and ready to perform operations. In this mode, no commands are
+          //!< sent by the device handler itself, but direct commands van be commanded and will be
+          //!< interpreted
+  static const Mode_t MODE_OFF = 0;  //!< The device is powered off. The only command accepted in
+                                     //!< this mode is a mode change to on.
+  static const Submode_t SUBMODE_NONE = 0;  //!< To avoid checks against magic number "0".

  virtual ~HasModesIF() {}
  virtual MessageQueueId_t getCommandQueue() const = 0;
--- a/src/fsfw/modes/ModeMessage.cpp
+++ b/src/fsfw/modes/ModeMessage.cpp
@ -24,3 +24,19 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
  message->setParameter(reason);
  message->setParameter2(0);
 }
+
+void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
+  Command_t cmd;
+  if (recursive) {
+    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
+  } else {
+    cmd = CMD_MODE_ANNOUNCE;
+  }
+  message.setCommand(cmd);
+}
+
+void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
+  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
+}
+
+void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); }
--- a/src/fsfw/modes/ModeMessage.h
+++ b/src/fsfw/modes/ModeMessage.h
@ -45,6 +45,9 @@ class ModeMessage {

  static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                             Submode_t submode);
+  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
+  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
+  static void setModeReadMessage(CommandMessage& message);
  static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
  static void clear(CommandMessage* message);
 };
--- a/src/fsfw/objectmanager/ObjectManager.cpp
+++ b/src/fsfw/objectmanager/ObjectManager.cpp
@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,

 ObjectManager::ObjectManager() = default;

+void ObjectManager::clear() {
+  if (objManagerInstance != nullptr) {
+    delete objManagerInstance;
+    objManagerInstance = nullptr;
+  }
+}
+
 ObjectManager::~ObjectManager() {
-  for (auto const& iter : objectList) {
-    delete iter.second;
+  teardown = true;
+  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
+    delete iter->second;
  }
 }

@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }

 ReturnValue_t ObjectManager::remove(object_id_t id) {
+  // this function is called during destruction of System Objects
+  // disabeld for teardown to avoid iterator invalidation and
+  // double free
+  if (teardown) {
+    return returnvalue::OK;
+  }
  if (this->getSystemObject(id) != nullptr) {
    this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -95,16 +109,13 @@ void ObjectManager::initialize() {
  for (auto const& it : objectList) {
    result = it.second->initialize();
    if (result != returnvalue::OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
+      object_id_t var = it.first;
      sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
-                 << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
-                 << std::dec << std::setfill(' ') << std::endl;
-#else
-      sif::printError(
-          "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
-          it.first);
-#endif
+                 << std::setfill('0') << var
+                 << " failed to "
+                    "initialize with code 0x"
+                 << result << std::dec << std::setfill(' ') << std::endl;
 #endif
      errorCount++;
    }
--- a/src/fsfw/objectmanager/ObjectManager.h
+++ b/src/fsfw/objectmanager/ObjectManager.h
@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
  using produce_function_t = void (*)(void* args);

  /**
-   * Returns the single instance of TaskFactory.
+   * Returns the single instance of ObjectManager.
   * The implementation of #instance is found in its subclasses.
   * Thus, we choose link-time variability of the  instance.
   */
  static ObjectManager* instance();

+  /**
+   * Deletes the single instance of ObjectManager
+   */
+  static void clear();
+
  void setObjectFactoryFunction(produce_function_t prodFunc, void* args);

  template <typename T>
@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
   */
  std::map<object_id_t, SystemObjectIF*> objectList;
  static ObjectManager* objManagerInstance;
+  // used when the OM itself is deleted to modify behaviour of remove()
+  // to avoid iterator invalidation and double free
+  bool teardown = false;
 };

 // Documentation can be found in the class method declaration above
--- a/src/fsfw/osal/CMakeLists.txt
+++ b/src/fsfw/osal/CMakeLists.txt
@ -1,10 +1,13 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
  add_subdirectory(freertos)
+  set(FSFW_OSAL_FREERTOS 1)
 elseif(FSFW_OSAL MATCHES "rtems")
  add_subdirectory(rtems)
+  set(FSFW_OSAL_RTEMS 1)
 elseif(FSFW_OSAL MATCHES "linux")
  add_subdirectory(linux)
+  set(FSFW_OSAL_LINUX 1)
 elseif(FSFW_OSAL MATCHES "host")
  add_subdirectory(host)
  if(WIN32)
@ -13,18 +16,20 @@ elseif(FSFW_OSAL MATCHES "host")
    # We still need to pull in some Linux specific sources
    target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
  endif()
-
+  set(FSFW_OSAL_HOST 1)
 else()
-
  message(
    WARNING
      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
+
  # Not set. Assumuing this is a host build, try to determine host OS
  if(WIN32)
    add_subdirectory(host)
    add_subdirectory(windows)
+    set(FSFW_OSAL_HOST 1)
  elseif(UNIX)
    add_subdirectory(linux)
+    set(FSFW_OSAL_LINUX 1)
  else()
    # MacOS or other OSes have not been tested yet / are not supported.
    message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@ -33,3 +38,5 @@ else()
 endif()

 add_subdirectory(common)
+
+configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)
--- a/src/fsfw/osal/common/TcpTmTcServer.cpp
+++ b/src/fsfw/osal/common/TcpTmTcServer.cpp
@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;

 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             size_t receptionBufferSize, size_t ringBufferSize,
-                             std::string customTcpServerPort, ReceptionModes receptionMode)
+                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
+                             size_t ringBufferSize, ReceptionModes receptionMode)
    : SystemObject(objectId),
      tmtcBridgeId(tmtcTcpBridge),
      receptionMode(receptionMode),
-      tcpConfig(std::move(customTcpServerPort)),
+      tcpConfig(cfg),
      receptionBuffer(receptionBufferSize),
      ringBuffer(ringBufferSize, true) {}

@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() {
    return returnvalue::FAILED;
  }

+  if (tcpConfig.reuseAddr) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
+  }
+  if (tcpConfig.reusePort) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
+  }
+
  // Bind to the address found by getaddrinfo
  retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
  if (retval == SOCKET_ERROR) {
--- a/src/fsfw/osal/common/TcpTmTcServer.h
+++ b/src/fsfw/osal/common/TcpTmTcServer.h
@ -41,11 +41,11 @@ class SpacePacketParser;
 */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
 public:
-  enum class ReceptionModes { SPACE_PACKETS };
-
  struct TcpConfig {
   public:
-    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
+    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
+    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
+        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}

    /**
     * Passed to the recv call
@ -63,8 +63,23 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
     */
    int tcpTmFlags = 0;

-    const std::string tcpPort;
+    std::string tcpPort = DEFAULT_SERVER_PORT;
+
+    /**
+     * Sets the SO_REUSEADDR option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
+     * especially useful in a debugging and development environment where an OBSW image might be
+     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
+     * port.
+     */
+    bool reuseAddr = false;
+    /**
+     * Sets the SO_REUSEPORT option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
+     */
+    bool reusePort = false;
  };
+  enum class ReceptionModes { SPACE_PACKETS };

  static const std::string DEFAULT_SERVER_PORT;

@ -80,10 +95,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   *                              size will be the Ethernet MTU size
   * @param customTcpServerPort   The user can specify another port than the default (7301) here.
   */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
                size_t receptionBufferSize = RING_BUFFER_SIZE,
                size_t ringBufferSize = RING_BUFFER_SIZE,
-                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
  ~TcpTmTcServer() override;

--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
  attributes.mq_msgsize = maxMessageSize;
  attributes.mq_flags = 0;  // Flags are ignored on Linux during mq_open
  // Set the name of the queue. The slash is mandatory!
-  sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u", queueCounter++);

  // Create a nonblocking queue if the name is available (the queue is read
  // and writable for the owner as well as the group)
--- a/src/fsfw/osal/osal.h.in
+++ b/src/fsfw/osal/osal.h.in
@ -0,0 +1,36 @@
+#pragma once
+
+namespace osal {
+    enum osalTarget{
+        HOST,
+        LINUX,
+        WINDOWS,
+        FREERTOS,
+        RTEMS,
+    };
+
+#cmakedefine FSFW_OSAL_HOST
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_WINDOWS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_RTEMS
+
+
+    constexpr osalTarget getTarget() {
+#ifdef FSFW_OSAL_HOST
+  return HOST;
+#endif
+#ifdef FSFW_OSAL_LINUX
+  return LINUX;
+#endif
+#ifdef FSFW_OSAL_WINDOWS
+  return WINDOWS;
+#endif
+#ifdef FSFW_OSAL_FREERTOS
+  return FREERTOS;
+#endif
+#ifdef FSFW_OSAL_RTEMS
+  return RTEMS;
+#endif
+    }
+};
--- a/src/fsfw/parameters/HasParametersIF.h
+++ b/src/fsfw/parameters/HasParametersIF.h
@ -66,8 +66,7 @@ class HasParametersIF {
   * @param newValues
   * @param startAtIndex Linear index, runs left to right, top to bottom for
   * matrix indexes.
-   * @return returnvalue::OK if parameter is valid and a set function of the parameter wrapper was
-   * called.
+   * @return
   */
  virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                                     ParameterWrapper *parameterWrapper,
--- a/src/fsfw/parameters/ParameterWrapper.cpp
+++ b/src/fsfw/parameters/ParameterWrapper.cpp
@ -211,13 +211,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (data == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or "
-                    "data pointer not set"
-                 << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
 #else
-    sif::printWarning(
-        "ParameterWrapper::copyFrom: Called on read-only variable "
-        "or data pointer not set\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return READONLY;
@ -226,9 +222,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (from->readonlyData == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Source not set\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return SOURCE_NOT_SET;
@ -237,9 +233,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (type != from->type) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return DATATYPE_MISSMATCH;
@ -249,9 +245,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
  if (rows == 0 or columns == 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl;
+    sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
 #else
-    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n");
+    sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return COLUMN_OR_ROWS_ZERO;
--- a/src/fsfw/power/PowerSwitchIF.h
+++ b/src/fsfw/power/PowerSwitchIF.h
@ -29,9 +29,9 @@ class PowerSwitchIF {
  static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
  static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
-  //!< Someone detected that a switch went off which shouldn't. Severity:
+  static const Event SWITCH_WENT_OFF = MAKE_EVENT(
+      0, severity::LOW);  //!< Someone detected that a switch went off which shouldn't. Severity:
                          //!< Low, Parameter1: switchId1, Parameter2: switchId2
-  static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
  /**
   * send a direct command to the Power Unit to enable/disable the specified switch.
   *
--- a/src/fsfw/pus/CMakeLists.txt
+++ b/src/fsfw/pus/CMakeLists.txt
@ -9,4 +9,4 @@ target_sources(
          Service17Test.cpp
          Service20ParameterManagement.cpp
          CService200ModeCommanding.cpp
-          CService201HealthCommanding.cpp)
+          CServiceHealthCommanding.cpp)
--- a/src/fsfw/pus/CService200ModeCommanding.cpp
+++ b/src/fsfw/pus/CService200ModeCommanding.cpp
@ -19,7 +19,8 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
  switch (subservice) {
    case (Subservice::COMMAND_MODE_COMMAND):
    case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_ANNCOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
      return returnvalue::OK;
    default:
      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@ -53,6 +54,9 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                        const uint8_t *tcData, size_t tcDataLen,
                                                        uint32_t *state, object_id_t objectId) {
+  bool recursive = false;
+  switch (subservice) {
+    case (Subservice::COMMAND_MODE_COMMAND): {
      ModePacket modeCommandPacket;
      ReturnValue_t result =
          modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
@ -60,9 +64,22 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message,
        return result;
      }

-  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-                              modeCommandPacket.getSubmode());
-  return result;
+      ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND,
+                                  modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
+      return returnvalue::OK;
+    }
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
+      recursive = true;
+      [[fallthrough]];
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
+      ModeMessage::setModeAnnounceMessage(*message, recursive);
+      return EXECUTION_COMPLETE;
+    case (Subservice::COMMAND_MODE_READ):
+      ModeMessage::setModeReadMessage(*message);
+      return returnvalue::OK;
+    default:
+      return CommandingServiceBase::INVALID_SUBSERVICE;
+  }
 }

 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
@ -73,8 +90,10 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
  ReturnValue_t result = returnvalue::FAILED;
  switch (replyId) {
    case (ModeMessage::REPLY_MODE_REPLY): {
-      result = prepareModeReply(reply, objectId);
-      break;
+      if (previousCommand != ModeMessage::CMD_MODE_COMMAND) {
+        return prepareModeReply(reply, objectId);
+      }
+      return returnvalue::OK;
    }
    case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
      result = prepareWrongModeReply(reply, objectId);
--- a/src/fsfw/pus/CService200ModeCommanding.h
+++ b/src/fsfw/pus/CService200ModeCommanding.h
@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
    COMMAND_MODE_READ = 3,
    //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
    //! This command does NOT have a reply
-    COMMAND_MODE_ANNCOUNCE = 4,
+    COMMAND_MODE_ANNOUNCE = 4,
    //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
    //! command to every child. This command does NOT have a reply.
    COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
--- a/src/fsfw/pus/CService201HealthCommanding.cpp
+++ b/src/fsfw/pus/CService201HealthCommanding.cpp
@ -1,106 +0,0 @@
-#include "fsfw/pus/CService201HealthCommanding.h"
-
-#include "fsfw/health/HasHealthIF.h"
-#include "fsfw/health/HealthMessage.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/pus/servicepackets/Service201Packets.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
-                                                         uint8_t serviceId,
-                                                         uint8_t numParallelCommands,
-                                                         uint16_t commandTimeoutSeconds)
-    : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
-                            commandTimeoutSeconds) {}
-
-ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
-      return returnvalue::OK;
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Invalid Subservice" << std::endl;
-#endif
-      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-  }
-}
-
-ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
-                                                                    const uint8_t *tcData,
-                                                                    size_t tcDataLen,
-                                                                    MessageQueueId_t *id,
-                                                                    object_id_t *objectId) {
-  if (tcDataLen < sizeof(object_id_t)) {
-    return CommandingServiceBase::INVALID_TC;
-  }
-  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-
-  return checkInterfaceAndAcquireMessageQueue(id, objectId);
-}
-
-ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
-  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
-  if (destination == nullptr) {
-    return CommandingServiceBase::INVALID_OBJECT;
-  }
-
-  *messageQueueToSet = destination->getCommandQueue();
-  return returnvalue::OK;
-}
-
-ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
-                                                          uint8_t subservice, const uint8_t *tcData,
-                                                          size_t tcDataLen, uint32_t *state,
-                                                          object_id_t objectId) {
-  ReturnValue_t result = returnvalue::OK;
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH): {
-      HealthSetCommand healthCommand;
-      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        break;
-      }
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
-                                      healthCommand.getHealth());
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
-      break;
-    }
-    default: {
-      // Should never happen, subservice was already checked
-      result = returnvalue::FAILED;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
-                                                       Command_t previousCommand, uint32_t *state,
-                                                       CommandMessage *optionalNextCommand,
-                                                       object_id_t objectId, bool *isStep) {
-  Command_t replyId = reply->getCommand();
-  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
-    return EXECUTION_COMPLETE;
-  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
-    return reply->getReplyRejectedReason();
-  }
-  return CommandingServiceBase::INVALID_REPLY;
-}
-
-// Not used for now, health state already reported by event
-[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
-    const CommandMessage *reply) {
-  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
-  HealthSetReply healthSetReply(health, oldHealth);
-  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
-}
--- a/src/fsfw/pus/CServiceHealthCommanding.cpp
+++ b/src/fsfw/pus/CServiceHealthCommanding.cpp
@ -0,0 +1,158 @@
+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/pus/CServiceHealthCommanding.h>
+
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthMessage.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/pus/servicepackets/Service201Packets.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
+    : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
+                            args.numParallelCommands, args.commandTimeoutSeconds),
+      healthTableId(args.table),
+      maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
+
+ReturnValue_t CServiceHealthCommanding::initialize() {
+  ReturnValue_t result = CommandingServiceBase::initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
+  if (healthTable == nullptr) {
+    return returnvalue::FAILED;
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
+      return returnvalue::OK;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Invalid Subservice" << std::endl;
+#endif
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
+                                                                 const uint8_t *tcData,
+                                                                 size_t tcDataLen,
+                                                                 MessageQueueId_t *id,
+                                                                 object_id_t *objectId) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      if (tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+      }
+      SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+
+      return checkInterfaceAndAcquireMessageQueue(id, objectId);
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      return returnvalue::OK;
+    }
+    default: {
+      return returnvalue::FAILED;
+    }
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+  if (destination == nullptr) {
+    return CommandingServiceBase::INVALID_OBJECT;
+  }
+
+  *messageQueueToSet = destination->getCommandQueue();
+  return returnvalue::OK;
+}
+
+ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
+                                                       const uint8_t *tcData, size_t tcDataLen,
+                                                       uint32_t *state, object_id_t objectId) {
+  ReturnValue_t result = returnvalue::OK;
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH): {
+      HealthSetCommand healthCommand;
+      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        break;
+      }
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
+                                      healthCommand.getHealth());
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      ReturnValue_t result = iterateHealthTable(true);
+      if (result == returnvalue::OK) {
+        reportAllHealth = true;
+        return EXECUTION_COMPLETE;
+      }
+      return result;
+    }
+    default: {
+      // Should never happen, subservice was already checked
+      result = returnvalue::FAILED;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
+                                                    Command_t previousCommand, uint32_t *state,
+                                                    CommandMessage *optionalNextCommand,
+                                                    object_id_t objectId, bool *isStep) {
+  Command_t replyId = reply->getCommand();
+  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
+    return EXECUTION_COMPLETE;
+  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
+    return reply->getReplyRejectedReason();
+  }
+  return CommandingServiceBase::INVALID_REPLY;
+}
+
+void CServiceHealthCommanding::doPeriodicOperation() {
+  if (reportAllHealth) {
+    for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
+      ReturnValue_t result = iterateHealthTable(false);
+      if (result != returnvalue::OK) {
+        reportAllHealth = false;
+        break;
+      }
+    }
+  }
+}
+
+// Not used for now, health state already reported by event
+[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply(
+    const CommandMessage *reply) {
+  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+  HealthSetReply healthSetReply(health, oldHealth);
+  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
+}
+
+ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
+  std::pair<object_id_t, HasHealthIF::HealthState> pair;
+
+  ReturnValue_t result = healthTable->iterate(&pair, reset);
+  if (result != returnvalue::OK) {
+    return result;
+  } else {
+    EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
+    return returnvalue::OK;
+  }
+}
--- a/src/fsfw/pus/CService201HealthCommanding.h
+++ b/src/fsfw/pus/CService201HealthCommanding.h
@ -1,8 +1,26 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_

+#include <fsfw/health/HealthTable.h>
+
 #include "fsfw/tmtcservices/CommandingServiceBase.h"

+struct HealthServiceCfg {
+  HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable,
+                   uint16_t maxNumHealthInfoPerCycle)
+      : objectId(objectId),
+        apid(apid),
+        table(healthTable),
+        maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
+  object_id_t objectId;
+  uint16_t apid;
+  object_id_t table;
+  uint16_t maxNumHealthInfoPerCycle;
+  uint8_t service = 201;
+  uint8_t numParallelCommands = 4;
+  uint16_t commandTimeoutSeconds = 60;
+};
+
 /**
 * @brief   Custom PUS service to set health of all objects
 *          implementing hasHealthIF.
@ -17,11 +35,12 @@
 * child class like this service
 *
 */
-class CService201HealthCommanding : public CommandingServiceBase {
+class CServiceHealthCommanding : public CommandingServiceBase {
 public:
-  CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  ~CService201HealthCommanding() override = default;
+  CServiceHealthCommanding(HealthServiceCfg args);
+  ~CServiceHealthCommanding() override = default;
+
+  ReturnValue_t initialize() override;

 protected:
  /* CSB abstract function implementations */
@ -37,7 +56,14 @@ class CService201HealthCommanding : public CommandingServiceBase {
                            CommandMessage *optionalNextCommand, object_id_t objectId,
                            bool *isStep) override;

+  void doPeriodicOperation() override;
+
 private:
+  const object_id_t healthTableId;
+  HealthTable *healthTable;
+  uint16_t maxNumHealthInfoPerCycle = 0;
+  bool reportAllHealth = false;
+  ReturnValue_t iterateHealthTable(bool reset);
  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
                                                            const object_id_t *objectId);

--- a/src/fsfw/pus/Service11TelecommandScheduling.h
+++ b/src/fsfw/pus/Service11TelecommandScheduling.h
@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
  static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
  static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
  static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5);
+  static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6);

  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;

--- a/src/fsfw/pus/Service11TelecommandScheduling.tpp
+++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp
@ -2,9 +2,11 @@

 #include <cstddef>

+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"

 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@ -77,7 +79,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
  // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
  // does not work in this case as we are deleting the current element here.
  for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
-    if (it->first <= static_cast<uint32_t>(tNow.tv_sec)) {
+    if (it->first <= tNow.tv_sec) {
      if (schedulingEnabled) {
        // release tc
        TmTcMessage releaseMsg(it->second.storeAddr);
@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
    return returnvalue::FAILED;
  }

+  if (size < PusTcIF::MIN_SIZE) {
+    return CONTAINED_TC_TOO_SMALL;
+  }
+
+  if (CRC::crc16ccitt(data, size) != 0) {
+    return CONTAINED_TC_CRC_MISSMATCH;
+  }
+
  // store currentPacket and receive the store address
  store_address_t addr{};
  if (tcStore->addData(&addr, data, size) != returnvalue::OK ||
--- a/src/fsfw/pus/Service20ParameterManagement.cpp
+++ b/src/fsfw/pus/Service20ParameterManagement.cpp
@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
               << "MessageQueue: Can't access object" << std::endl;
-    sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
+    sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
+    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
 #else
    sif::printError(
        "Service20ParameterManagement::checkInterfaceAndAcquire"
        "MessageQueue: Can't access object\n");
    sif::printError("Object ID: 0x%08x\n", *objectId);
-    sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
+    sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
 #endif

    return CommandingServiceBase::INVALID_OBJECT;
--- a/src/fsfw/pus/Service3Housekeeping.cpp
+++ b/src/fsfw/pus/Service3Housekeeping.cpp
@ -208,17 +208,17 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
      ReturnValue_t error = returnvalue::FAILED;
      HousekeepingMessage::getHkRequestFailureReply(reply, &error);
      failureParameter2 = error;
-      return returnvalue::FAILED;
+      return CommandingServiceBase::EXECUTION_COMPLETE;
    }

    default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
-                   << "reply command " << command << std::endl;
+                   << "reply command " << command << "!" << std::endl;
 #else
      sif::printWarning(
          "Service3Housekeeping::handleReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
          command);
 #endif
      return CommandingServiceBase::INVALID_REPLY;
@ -248,28 +248,19 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
    case (HousekeepingMessage::HK_REQUEST_FAILURE): {
      break;
    }
-    case (CommandMessage::REPLY_REJECTED): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply "
-                      "rejected with error code"
-                   << reply->getParameter() << std::endl;
-#else
-#endif
-      break;
-    }

    default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
                      "command "
-                   << command << "" << std::endl;
+                   << command << "!" << std::endl;
 #else
      sif::printWarning(
          "Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
-          "reply command %hu\n",
+          "reply command %hu!\n",
          command);
 #endif
-      break;
+      return;
    }
  }

@ -284,7 +275,6 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) {
        "Could not generate reply!\n");
 #endif
  }
-  CommandingServiceBase::handleUnrequestedReply(reply);
 }

 MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); }
--- a/src/fsfw/pus/Service5EventReporting.cpp
+++ b/src/fsfw/pus/Service5EventReporting.cpp
@ -13,10 +13,8 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
      storeHelper(params.apid),
      tmHelper(params.serviceId, storeHelper, sendHelper),
      maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
  psbParams.name = "PUS 5 Event Reporting";
-  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth,
-    MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }

 Service5EventReporting::~Service5EventReporting() {
@ -40,6 +38,9 @@ ReturnValue_t Service5EventReporting::performService() {
      }
    }
  }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+#endif
  return returnvalue::OK;
 }

--- a/src/fsfw/pus/Service9TimeManagement.cpp
+++ b/src/fsfw/pus/Service9TimeManagement.cpp
@ -1,5 +1,7 @@
 #include "fsfw/pus/Service9TimeManagement.h"

+#include <cmath>
+
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;

 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
  switch (subservice) {
-    case SUBSERVICE::SET_TIME: {
+    case Subservice::SET_TIME: {
      return setTime();
    }
+    case Subservice::DUMP_TIME: {
+      timeval newTime;
+      Clock::getClock_timeval(&newTime);
+      uint32_t subsecondMs =
+          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
+      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
+      return returnvalue::OK;
+    }
    default:
      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
  }
@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
    return result;
  }

-  uint32_t formerUptime;
-  Clock::getUptime(&formerUptime);
+  timeval time;
+  Clock::getClock_timeval(&time);
  result = Clock::setClock(&timeToSet);

  if (result == returnvalue::OK) {
-    uint32_t newUptime;
-    Clock::getUptime(&newUptime);
-    triggerEvent(CLOCK_SET, newUptime, formerUptime);
+    timeval newTime;
+    Clock::getClock_timeval(&newTime);
+    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
    return returnvalue::OK;
  } else {
    triggerEvent(CLOCK_SET_FAILURE, result, 0);
--- a/src/fsfw/pus/Service9TimeManagement.h
+++ b/src/fsfw/pus/Service9TimeManagement.h
@ -6,10 +6,13 @@
 class Service9TimeManagement : public PusServiceBase {
 public:
  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+
+  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
+  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);

  static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;

@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase {
  virtual ReturnValue_t setTime();

 private:
-  enum SUBSERVICE {
-    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+  enum Subservice {
+    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    DUMP_TIME = 129,
  };
 };

--- a/src/fsfw/storagemanager/LocalPool.cpp
+++ b/src/fsfw/storagemanager/LocalPool.cpp
@ -31,9 +31,8 @@ LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,

 LocalPool::~LocalPool() = default;

-ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size,
-                                 bool ignoreFault) {
-  ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+ReturnValue_t LocalPool::addData(store_address_t* storageId, const uint8_t* data, size_t size) {
+  ReturnValue_t status = reserveSpace(size, storageId);
  if (status == returnvalue::OK) {
    write(*storageId, data, size);
  }
@ -49,8 +48,8 @@ ReturnValue_t LocalPool::getData(store_address_t packetId, const uint8_t** packe
 }

 ReturnValue_t LocalPool::getFreeElement(store_address_t* storageId, const size_t size,
-                                        uint8_t** pData, bool ignoreFault) {
-  ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+                                        uint8_t** pData) {
+  ReturnValue_t status = reserveSpace(size, storageId);
  if (status == returnvalue::OK) {
    *pData = &store[storageId->poolIndex][getRawPosition(*storageId)];
  } else {
@ -167,7 +166,7 @@ void LocalPool::clearStore() {
  }
 }

-ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId, bool ignoreFault) {
+ReturnValue_t LocalPool::reserveSpace(size_t size, store_address_t* storeId) {
  ReturnValue_t status = getSubPoolIndex(size, &storeId->poolIndex);
  if (status != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -318,27 +317,3 @@ bool LocalPool::hasDataAtId(store_address_t storeId) const {
  }
  return false;
 }
-
-ReturnValue_t LocalPool::getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) {
-  return StorageManagerIF::getFreeElement(storeId, size, pData);
-}
-
-ConstAccessorPair LocalPool::getData(store_address_t storeId) {
-  return StorageManagerIF::getData(storeId);
-}
-
-ReturnValue_t LocalPool::addData(store_address_t* storeId, const uint8_t* data, size_t size) {
-  return StorageManagerIF::addData(storeId, data, size);
-}
-
-ReturnValue_t LocalPool::getData(store_address_t storeId, ConstStorageAccessor& accessor) {
-  return StorageManagerIF::getData(storeId, accessor);
-}
-
-ReturnValue_t LocalPool::modifyData(store_address_t storeId, StorageAccessor& accessor) {
-  return StorageManagerIF::modifyData(storeId, accessor);
-}
-
-AccessorPair LocalPool::modifyData(store_address_t storeId) {
-  return StorageManagerIF::modifyData(storeId);
-}
--- a/src/fsfw/storagemanager/LocalPool.h
+++ b/src/fsfw/storagemanager/LocalPool.h
@ -86,21 +86,13 @@ class LocalPool : public SystemObject, public StorageManagerIF {
  /**
   * Documentation: See StorageManagerIF.h
   */
-  ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size,
-                        bool ignoreFault) override;
  ReturnValue_t addData(store_address_t* storeId, const uint8_t* data, size_t size) override;

  ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData) override;
-  ReturnValue_t getFreeElement(store_address_t* storeId, size_t size, uint8_t** pData,
-                               bool ignoreFault) override;

-  ConstAccessorPair getData(store_address_t storeId) override;
-  ReturnValue_t getData(store_address_t storeId, ConstStorageAccessor& accessor) override;
  ReturnValue_t getData(store_address_t storeId, const uint8_t** packet_ptr, size_t* size) override;

-  AccessorPair modifyData(store_address_t storeId) override;
  ReturnValue_t modifyData(store_address_t storeId, uint8_t** packet_ptr, size_t* size) override;
-  ReturnValue_t modifyData(store_address_t storeId, StorageAccessor& accessor) override;

  ReturnValue_t deleteData(store_address_t storeId) override;
  ReturnValue_t deleteData(uint8_t* ptr, size_t size, store_address_t* storeId) override;
@ -136,6 +128,12 @@ class LocalPool : public SystemObject, public StorageManagerIF {
  [[nodiscard]] max_subpools_t getNumberOfSubPools() const override;
  [[nodiscard]] bool hasDataAtId(store_address_t storeId) const override;

+  // Using functions provided by StorageManagerIF requires either a fully qualified path
+  // like for example localPool.StorageManagerIF::getFreeElement(...) or re-exporting
+  // the fully qualified path with the using directive.
+  using StorageManagerIF::getData;
+  using StorageManagerIF::modifyData;
+
 protected:
  /**
   * With this helper method, a free element of @c size is reserved.
@ -144,7 +142,7 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   * @return	- returnvalue::OK on success,
   * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
   */
-  virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault);
+  virtual ReturnValue_t reserveSpace(size_t size, store_address_t* address);

 private:
  /**
@ -188,6 +186,8 @@ class LocalPool : public SystemObject, public StorageManagerIF {
  std::vector<std::vector<size_type>> sizeLists =
      std::vector<std::vector<size_type>>(NUMBER_OF_SUBPOOLS);

+  bool ignoreFault = false;
+
  //! A variable to determine whether higher n pools are used if
  //! the store is full.
  bool spillsToHigherPools = false;
--- a/src/fsfw/storagemanager/PoolManager.cpp
+++ b/src/fsfw/storagemanager/PoolManager.cpp
@ -9,10 +9,9 @@ PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPo

 PoolManager::~PoolManager() { MutexFactory::instance()->deleteMutex(mutex); }

-ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address,
-                                        bool ignoreFault) {
+ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address) {
  MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeoutMs);
-  ReturnValue_t status = LocalPool::reserveSpace(size, address, ignoreFault);
+  ReturnValue_t status = LocalPool::reserveSpace(size, address);
  return status;
 }

--- a/src/fsfw/storagemanager/PoolManager.h
+++ b/src/fsfw/storagemanager/PoolManager.h
@ -57,7 +57,7 @@ class PoolManager : public LocalPool {
  //! Default mutex timeout value to prevent permanent blocking.
  uint32_t mutexTimeoutMs = 20;

-  ReturnValue_t reserveSpace(size_t size, store_address_t* address, bool ignoreFault) override;
+  ReturnValue_t reserveSpace(size_t size, store_address_t* address) override;

  /**
   * @brief	The mutex is created in the constructor and makes
--- a/src/fsfw/storagemanager/StorageManagerIF.h
+++ b/src/fsfw/storagemanager/StorageManagerIF.h
@ -55,7 +55,7 @@ class StorageManagerIF {
  /**
   * @brief This is the empty virtual destructor as required for C++ interfaces.
   */
-  ~StorageManagerIF() = default;
+  virtual ~StorageManagerIF() = default;
  /**
   * @brief	With addData, a free storage position is allocated and data
   * 			stored there.
@ -66,12 +66,7 @@ class StorageManagerIF {
   * @return	Returns @returnvalue::OK if data was added.
   * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
   */
-  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size,
-                                bool ignoreFault) = 0;
-
-  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) {
-    return addData(storageId, data, size, false);
-  }
+  virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size) = 0;

  /**
   * @brief	With deleteData, the storageManager frees the memory region
@ -186,12 +181,8 @@ class StorageManagerIF {
   * @return	Returns @returnvalue::OK if data was added.
   * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
   */
-  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr,
-                                       bool ignoreFault) = 0;
-
-  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** dataPtr) {
-    return getFreeElement(storageId, size, dataPtr, false);
-  }
+  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size,
+                                       uint8_t** dataPtr) = 0;

  [[nodiscard]] virtual bool hasDataAtId(store_address_t storeId) const = 0;

--- a/src/fsfw/subsystem/Subsystem.h
+++ b/src/fsfw/subsystem/Subsystem.h
@ -33,12 +33,8 @@ struct SequenceEntry : public TableSequenceBase {
 };

 /**
- * @brief   This class extends the SubsystemBase to perform the management of mode tables
- *          and mode sequences
+ * @brief   TODO: documentation missing
 * @details
- * This class is able to use mode tables and sequences to command all its children into the
- * right mode. Fallback sequences can be used to handle failed transitions or have a fallback
- * in case a component can't keep its current mode.
 */
 class Subsystem : public SubsystemBase, public HasModeSequenceIF {
 public:
--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@ -8,13 +8,11 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
                             uint16_t commandQueueDepth)
    : SystemObject(setObjectId),
      mode(initialMode),
+      commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+                                                                CommandMessage::MAX_MESSAGE_SIZE)),
      healthHelper(this, setObjectId),
      modeHelper(this),
-      parentId(parent) {
-  auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
+      parentId(parent) {}

 SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

@ -33,9 +31,8 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
      info.mode = MODE_OFF;
    }
  } else {
-    // intentional to force an initial command during system startup
    info.commandQueue = child->getCommandQueue();
-    info.mode = HasModesIF::MODE_UNDEFINED;
+    info.mode = -1;  // intentional to force an initial command during system startup
  }

  info.submode = SUBMODE_NONE;
--- a/src/fsfw/subsystem/SubsystemBase.h
+++ b/src/fsfw/subsystem/SubsystemBase.h
@ -15,14 +15,7 @@

 /**
 * @defgroup subsystems Subsystem Objects
- * All Subsystem and Assemblies can derive from this class. It contains helper classes to
- * perform mode and health handling, which allows OBSW developers to build a mode tree for
- * the whole satellite.
- *
- * Aside from setting up a mode tree and being able to executing mode tables, this class does not
- * provide an implementation on what to do with the features. To build a mode tree, helper classes
- * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
- * class.
+ * Contains all Subsystem and Assemblies
 */
 class SubsystemBase : public SystemObject,
                      public HasModesIF,
@ -102,7 +95,6 @@ class SubsystemBase : public SystemObject,
                                       Submode_t targetSubmode);

  /**
-   * This function takes care of sending all according mode commands specified inside a mode table.
   * We need to know the target Submode, as children are able to inherit the submode
   * Still, we have a default for all child implementations which do not use submode inheritance
   */
--- a/src/fsfw/thermal/AbstractTemperatureSensor.cpp
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.cpp
@ -4,13 +4,14 @@

 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
                                                     ThermalModuleIF *thermalModule)
-    : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
-  if (thermalModule != nullptr) {
+    : SystemObject(setObjectid),
+      commandQueue(NULL),
+      healthHelper(this, setObjectid),
+      parameterHelper(this) {
+  if (thermalModule != NULL) {
    thermalModule->registerSensor(this);
  }
-  auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  commandQueue = QueueFactory::instance()->createMessageQueue();
 }

 AbstractTemperatureSensor::~AbstractTemperatureSensor() {
--- a/src/fsfw/thermal/AbstractTemperatureSensor.h
+++ b/src/fsfw/thermal/AbstractTemperatureSensor.h
@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
  HasHealthIF::HealthState getHealth();

 protected:
-  MessageQueueIF* commandQueue = nullptr;
+  MessageQueueIF* commandQueue;
  HealthHelper healthHelper;
  ParameterHelper parameterHelper;

--- a/src/fsfw/thermal/Heater.cpp
+++ b/src/fsfw/thermal/Heater.cpp
@ -12,9 +12,7 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
      switch1(switch1),
      heaterOnCountdown(10800000) /*about two orbits*/,
      parameterHelper(this) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  eventQueue = QueueFactory::instance()->createMessageQueue(
-      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+  eventQueue = QueueFactory::instance()->createMessageQueue();
 }

 Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }
--- a/src/fsfw/thermal/ThermalComponentIF.h
+++ b/src/fsfw/thermal/ThermalComponentIF.h
@ -13,9 +13,9 @@ class ThermalComponentIF : public HasParametersIF {
  static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, severity::LOW);
  static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, severity::LOW);
  static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, severity::LOW);
-  //!< Is thrown when a device should start-up, but the temperature is out
+  static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(
+      5, severity::LOW);  //!< Is thrown when a device should start-up, but the temperature is out
                          //!< of OP range. P1: thermalState of the component, P2: 0
-  static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, severity::LOW);

  static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_COMPONENT_IF;
  static const ReturnValue_t INVALID_TARGET_STATE = MAKE_RETURN_CODE(1);
--- a/src/fsfw/timemanager/CdsShortTimeStamper.cpp
+++ b/src/fsfw/timemanager/CdsShortTimeStamper.cpp
@ -4,6 +4,8 @@

 #include "fsfw/timemanager/Clock.h"

+CdsShortTimeStamper::CdsShortTimeStamper() : SystemObject(0, false) {}
+
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}

 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
--- a/src/fsfw/timemanager/CdsShortTimeStamper.h
+++ b/src/fsfw/timemanager/CdsShortTimeStamper.h
@ -18,6 +18,7 @@
 class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
 public:
  static constexpr size_t TIMESTAMP_LEN = 7;
+  CdsShortTimeStamper();
  /**
   * @brief   Default constructor which also registers the time stamper as a
   *          system object so it can be found with the #objectManager.
--- a/src/fsfw/timemanager/Countdown.cpp
+++ b/src/fsfw/timemanager/Countdown.cpp
@ -1,11 +1,7 @@
 #include "fsfw/timemanager/Countdown.h"

-Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
-  if (startImmediately) {
+Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
  setTimeout(initialTimeout);
-  } else {
-    timeout = initialTimeout;
-  }
 }

 Countdown::~Countdown() {}
--- a/src/fsfw/timemanager/Countdown.h
+++ b/src/fsfw/timemanager/Countdown.h
@ -26,9 +26,8 @@ class Countdown {
   * Otherwise a call to hasTimedOut might return True.
   *
   * @param initialTimeout Countdown duration in milliseconds
-   * @param startImmediately  Set to false if countdown should not be started immediately
   */
-  Countdown(uint32_t initialTimeout = 0, bool startImmediately = true);
+  Countdown(uint32_t initialTimeout = 0);
  ~Countdown();
  /**
   * Call to set a new countdown duration.
--- a/src/fsfw/timemanager/TimeReaderIF.h
+++ b/src/fsfw/timemanager/TimeReaderIF.h
@ -1,6 +1,7 @@
 #ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H
 #define FSFW_TIMEMANAGER_TIMEREADERIF_H

+#include <cstdio>
 #include <cstdlib>

 #include "fsfw/platform.h"
--- a/src/fsfw/tmstorage/TmStoreBackendIF.h
+++ b/src/fsfw/tmstorage/TmStoreBackendIF.h
@ -33,47 +33,50 @@ class TmStoreBackendIF : public HasParametersIF {
  static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
-  //! Initiating sending data to store failed. Low, par1:
-  //! returnCode, par2: integer (debug info)
-  static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
-  //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW);
-  //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW);
-  //! Data was requested, but access failed. Low, par1: returnCode, par2: 0
-  static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW);
-  //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
-  static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW);
-  //! Storing data failed. May simply be a full store. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW);
-  //! Dumping retrieved data failed. Low, par1: returnCode,
-  //! par2: integer (sequence count of failed packet).
-  static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW);
-  //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
-  //! Store was not initialized. Starts empty. Info, parameters both zero.
-  static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW);
-  //! Data was read out, but it is inconsistent. Low par1:
-  //! Memory address of corruption, par2: integer (debug info)
-  static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO);
-
-  static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW);
-  //! Info event indicating the store will be initialized, either at boot or after IOB switch.
-  //! Info. pars: 0
-  static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO);
-  //! Info event indicating the store was successfully initialized, either at boot or after
-  //! IOB switch. Info. pars: 0
-  static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO);
-  //! Info event indicating that dumping finished successfully.
-  //! par1: Number of dumped packets. par2: APID/SSC (16bits each)
-  static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO);
-  //! Info event indicating that deletion finished successfully.
-  //! par1:Number of deleted packets. par2: APID/SSC (16bits each)
-  static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO);
-  //! Info event indicating that something went wrong during deletion. pars: 0
-  static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW);
-  //! Info that the a auto catalog report failed
-  static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);
+  static const Event STORE_SEND_WRITE_FAILED =
+      MAKE_EVENT(0, severity::LOW);  //!< Initiating sending data to store failed. Low, par1:
+                                     //!< returnCode, par2: integer (debug info)
+  static const Event STORE_WRITE_FAILED = MAKE_EVENT(
+      1, severity::LOW);  //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+  static const Event STORE_SEND_READ_FAILED =
+      MAKE_EVENT(2, severity::LOW);  //!< Initiating reading data from store failed. Low, par1:
+                                     //!< returnCode, par2: 0
+  static const Event STORE_READ_FAILED = MAKE_EVENT(
+      3, severity::LOW);  //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
+  static const Event UNEXPECTED_MSG =
+      MAKE_EVENT(4, severity::LOW);  //!< An unexpected TM packet or data message occurred. Low,
+                                     //!< par1: 0, par2: integer (debug info)
+  static const Event STORING_FAILED = MAKE_EVENT(
+      5, severity::LOW);  //!< Storing data failed. May simply be a full store. Low, par1:
+                          //!< returnCode, par2: integer (sequence count of failed packet).
+  static const Event TM_DUMP_FAILED =
+      MAKE_EVENT(6, severity::LOW);  //!< Dumping retrieved data failed. Low, par1: returnCode,
+                                     //!< par2: integer (sequence count of failed packet).
+  static const Event STORE_INIT_FAILED =
+      MAKE_EVENT(7, severity::LOW);  //!< Corrupted init data or read error. Low, par1: returnCode,
+                                     //!< par2: integer (debug info)
+  static const Event STORE_INIT_EMPTY = MAKE_EVENT(
+      8, severity::INFO);  //!< Store was not initialized. Starts empty. Info, parameters both zero.
+  static const Event STORE_CONTENT_CORRUPTED =
+      MAKE_EVENT(9, severity::LOW);  //!< Data was read out, but it is inconsistent. Low par1:
+                                     //!< Memory address of corruption, par2: integer (debug info)
+  static const Event STORE_INITIALIZE =
+      MAKE_EVENT(10, severity::INFO);  //!< Info event indicating the store will be initialized,
+                                       //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event INIT_DONE = MAKE_EVENT(
+      11, severity::INFO);  //!< Info event indicating the store was successfully initialized,
+                            //!< either at boot or after IOB switch. Info. pars: 0
+  static const Event DUMP_FINISHED = MAKE_EVENT(
+      12, severity::INFO);  //!< Info event indicating that dumping finished successfully. par1:
+                            //!< Number of dumped packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FINISHED = MAKE_EVENT(
+      13, severity::INFO);  //!< Info event indicating that deletion finished successfully. par1:
+                            //!< Number of deleted packets. par2: APID/SSC (16bits each)
+  static const Event DELETION_FAILED = MAKE_EVENT(
+      14,
+      severity::LOW);  //!< Info event indicating that something went wrong during deletion. pars: 0
+  static const Event AUTO_CATALOGS_SENDING_FAILED =
+      MAKE_EVENT(15, severity::INFO);  //!< Info that the a auto catalog report failed

  virtual ~TmStoreBackendIF() {}

--- a/Show More
+++ b/Show More