fixed DHB unittest for new Actions

Reviewed-on: fsfw/fsfw#681

.gitignore

@@ -10,5 +10,8 @@
 .settings
 .metadata
 
+# VSCode
+.vscode
+
 /build*
 /cmake-build*

CMakeLists.txt

@@ -80,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
     3
     CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
     CACHE STRING "Catch2 library exact version requirement")
 
 # Keep this off by default for now. See PR:
@@ -360,7 +360,8 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
+    )
     message(
       WARNING
         "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")

README.md

@@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using
 
 ```sh
-cmake --build . -j
+cmake --build . -- Sphinx -j
 ```
 
 You can find the generated documentation inside the `docs/sphinx` folder inside the build

automation/Dockerfile

@@ -5,16 +5,21 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
+
+RUN python3 -m pip install sphinx breathe
 
 RUN git clone https://github.com/catchorg/Catch2.git && \
-	cd Catch2 && \
-	git checkout v3.0.0-preview5 && \
-	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-	cmake --build build/ --target install
+        cd Catch2 && \
+        git checkout v3.1.0 && \
+        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+        cmake --build build/ --target install
 
 RUN git clone https://github.com/ETLCPP/etl.git && \
-	cd etl && \
-	git checkout 20.28.0 && \
-	cmake -B build . && \
-	cmake --install build/
+        cd etl && \
+        git checkout 20.28.0 && \
+        cmake -B build . && \
+        cmake --install build/
+
+#ssh needs a valid user to work
+RUN adduser --uid 114 jenkins

automation/Jenkinsfile

@@ -1,9 +1,13 @@
 pipeline {
     environment {
         BUILDDIR = 'cmake-build-tests'
+        DOCDDIR = 'cmake-build-documentation'
     }
     agent {
-        docker { image 'fsfw-ci:d3'}
+        docker { 
+            image 'fsfw-ci:d5'
+            args '--network host'
+        }
     }
     stages {
         stage('Clean') {
@@ -39,5 +43,47 @@ pipeline {
                 }
             }
         }
+        stage('Documentation') {
+            when {
+                branch 'development'
+            }
+            steps {
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/development/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/development/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/development'
+                    }
+                }
+            }
+        }
+        stage('Master Documentation') {
+            when {
+                branch 'master'
+            }
+            steps {
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/master/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r docs/sphinx/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'ssh -o StrictHostKeyChecking=no buildfix@documentation.intra.irs.uni-stuttgart.de rm -rf /mnt/data/www/html/fsfw/coverage/master/*'
+                        sh 'scp -o StrictHostKeyChecking=no -r fsfw-tests_coverage/* buildfix@documentation.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/coverage/master'
+                    }
+                }
+            }
+        }
     }
 }

misc/defaultcfg/fsfwconfig/FSFWConfig.h

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

src/fsfw/CMakeLists.txt

@@ -15,6 +15,7 @@ add_subdirectory(globalfunctions)
 add_subdirectory(health)
 add_subdirectory(housekeeping)
 add_subdirectory(internalerror)
+add_subdirectory(introspection)
 add_subdirectory(ipc)
 add_subdirectory(memory)
 add_subdirectory(modes)

src/fsfw/action/Action.cpp

@@ -0,0 +1,62 @@
+#include "Action.h"
+
+#include <fsfw/serialize/SerializeAdapter.h>
+
+#undef Action
+
+#ifdef FSFW_INTROSPECTION
+
+Action::Action() {}
+
+void Action::setEnum(EnumIF *theEnum) {
+  id = theEnum->getValue();
+  name = theEnum->getDescription();
+}
+
+const char *Action::getName() { return name; }
+#else
+Action::Action(ActionId_t id) : id(id) {}
+#endif
+ActionId_t Action::getId() { return id; }
+
+void Action::registerParameter(ParameterIF *parameter) { parameterList.push_back(parameter); }
+
+std::vector<ParameterIF *> const *Action::getParameters() const { return &parameterList; }
+
+size_t Action::getSerializedSize() const {
+  size_t size = SerializeAdapter::getSerializedSize(&id);
+  for (auto parameter : *getParameters()) {
+    size += parameter->getSerializedSize();
+  }
+  return size;
+}
+
+ReturnValue_t Action::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                Endianness streamEndianness) const {
+  ReturnValue_t result = SerializeAdapter::serialize(&id, buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  for (auto parameter : *getParameters()) {
+    result = parameter->serialize(buffer, size, maxSize, streamEndianness);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t Action::deSerialize(const uint8_t **buffer, size_t *size,
+                                  Endianness streamEndianness) {
+  ReturnValue_t result = returnvalue::OK;/* TODO not needed as must have been read before to find this action = SerializeAdapter::deSerialize(&id, buffer, size, streamEndianness);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }*/
+  for (auto parameter : *getParameters()) {
+    result = parameter->deSerialize(buffer, size, streamEndianness);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return result;
+}

src/fsfw/action/Action.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <stdint.h>
+
+#include <vector>
+
+#include <fsfw/serialize/SerializeIF.h>
+#include "ActionMessage.h"
+#include "ParameterIF.h"
+
+
+#ifdef FSFW_INTROSPECTION
+#include "../introspection/Enum.h"
+#endif
+
+class Action: public SerializeIF {
+ public:
+#ifdef FSFW_INTROSPECTION
+  Action();
+  void setEnum(EnumIF* id);
+  const char *getName();
+#else
+  Action(ActionId_t id);
+#endif
+  ActionId_t getId();
+
+  MessageQueueId_t commandedBy;
+
+  [[nodiscard]] virtual ReturnValue_t handle() = 0;
+
+  void registerParameter(ParameterIF *parameter);
+
+  std::vector<ParameterIF *> const *getParameters() const;
+
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                  Endianness streamEndianness) const override;
+
+  size_t getSerializedSize() const override;
+
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                                    Endianness streamEndianness) override;
+
+ private:
+  ActionId_t id;
+  
+#ifdef FSFW_INTROSPECTION
+  const char *name;
+#endif
+  std::vector<ParameterIF *> parameterList;
+};

src/fsfw/action/ActionHelper.cpp

@@ -57,6 +57,10 @@ void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t co
 
 void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
+MessageQueueIF const * ActionHelper::getQueue() const {
+  return queueToUse;
+}
+
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
   const uint8_t* dataPtr = nullptr;
@@ -66,9 +70,29 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
     return;
   }
-  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+  auto actionIter = actionMap.find(actionId);
+  if (actionIter == actionMap.end()){
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  Action* action = actionIter->second;
+  result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
+  if ((result != returnvalue::OK) or (size != 0)){
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  //TODO call action->check()
+  action->commandedBy = commandedBy;
+  result = owner->executeAction(action);
   ipcStore->deleteData(dataAddress);
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
@@ -163,3 +187,11 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   }
   return result;
 }
+
+void ActionHelper::registerAction(Action* action) {
+  //TODO error handling
+  ActionId_t id = action->getId();
+  actionMap.emplace(id, action);
+}
+
+std::map<ActionId_t, Action*> const* ActionHelper::getActionMap() { return &actionMap; }

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,13 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
+#include <map>
+
+#include "Action.h"
 #include "ActionMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/serialize/SerializeIF.h"
+
 /**
  * @brief Action Helper is a helper class which handles action messages
  *
@@ -98,6 +102,16 @@ class ActionHelper {
    */
   void setQueueToUse(MessageQueueIF* queue);
 
+  /**
+   * Needed so templateAction can check if actionHelper was
+   * contructed already to aid in debuggig a nasty coding error.
+   */
+  MessageQueueIF const * getQueue() const;
+
+  void registerAction(Action* action);
+
+  std::map<ActionId_t, Action*> const* getActionMap();
+
  protected:
   //! Increase of value of this per step
   static const uint8_t STEP_OFFSET = 1;
@@ -108,6 +122,8 @@ class ActionHelper {
   MessageQueueIF* queueToUse;
   //! Pointer to an IPC Store, initialized during construction or
   StorageManagerIF* ipcStore = nullptr;
+  //! Map of all implemented Actions
+  std::map<ActionId_t, Action*> actionMap;
 
   /**
    * Internal function called by handleActionMessage

src/fsfw/action/CMakeLists.txt

@@ -1,3 +1,3 @@
 target_sources(
-  ${LIB_FSFW_NAME} PRIVATE ActionHelper.cpp ActionMessage.cpp
+  ${LIB_FSFW_NAME} PRIVATE Action.cpp ActionHelper.cpp ActionMessage.cpp
                            CommandActionHelper.cpp SimpleActionHelper.cpp)

src/fsfw/action/HasActionsIF.h

@@ -44,8 +44,12 @@ class HasActionsIF {
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
+   *
    */
   [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
+
+  [[nodiscard]] virtual ActionHelper* getActionHelper() = 0;
+
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently
@@ -55,8 +59,7 @@ class HasActionsIF {
    * -@c EXECUTION_FINISHED Finish reply will be generated
    * -@c Not returnvalue::OK Step failure reply will be generated
    */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) = 0;
+  virtual ReturnValue_t executeAction(Action* action) = 0;
 };
 
 #endif /* FSFW_ACTION_HASACTIONSIF_H_ */

src/fsfw/action/MinMaxParameter.h

@@ -0,0 +1,40 @@
+#pragma once
+
+#include "Parameter.h"
+
+template <typename T>
+class MinMaxParameter : public Parameter<T> {
+#ifdef FSFW_INTROSPECTION
+ private:
+  MinMaxParameter(Action *owner, const char *name, T min, T max)
+      : Parameter<T>(owner, name), min(min), max(max) {}
+
+ public:
+  static MinMaxParameter createMinMaxParameter(Action *owner, const char *name, T min, T max) {
+    return MinMaxParameter(owner, name, min, max);
+  }
+  virtual double getMinFloating() override { return static_cast<double>(min); }
+  virtual int64_t getMinSigned() override { return static_cast<int64_t>(min); }
+
+  virtual double getMaxFloating() override { return static_cast<double>(max); }
+  virtual int64_t getMaxSigned() override { return static_cast<int64_t>(max); }
+
+#else
+ private:
+  MinMaxParameter(Action *owner, T min, T max) : Parameter<T>(owner), min(min), max(max) {}
+
+ public:
+  static MinMaxParameter createMinMaxParameter(Action *owner, T min, T max) {
+    return MinMaxParameter(owner, min, max);
+  }
+#endif
+ private:
+  T min;
+  T max;
+};
+
+#ifdef FSFW_INTROSPECTION
+#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p2, p3, p4)
+#else
+#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p3, p4)
+#endif

src/fsfw/action/Parameter.h

@@ -0,0 +1,120 @@
+#pragma once
+
+#include <stdio.h>
+
+#include "Action.h"
+#include <fsfw/introspection/Types.h>
+#include <fsfw/introspection/TypesHelper.h>
+#include "ParameterIF.h"
+// TODO: ifdef introspection stuff
+
+
+
+template <typename T>
+class Parameter : public ParameterIF {
+ protected:
+#ifdef FSFW_INTROSPECTION
+  Parameter(Action *owner, const char *name)
+      : name(name)
+#else
+  Parameter(Action *owner)
+#endif
+  {
+    owner->registerParameter(this);
+  }
+
+ public:
+#ifdef FSFW_INTROSPECTION
+  static Parameter createParameter(Action *owner, const char *name) {
+    return Parameter(owner, name);
+  }
+#else
+  static Parameter createParameter(Action *owner) { return Parameter(owner); }
+#endif
+
+  bool isValid() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::isValid(&value);
+  }
+
+  operator T(){
+    return value;
+  }
+
+  Parameter& operator =(const T& newValue){
+    value = newValue;
+    return *this;
+  }
+
+#ifdef FSFW_INTROSPECTION
+  Types::ParameterType getType() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getType<T>();
+  }
+#endif
+
+  T value;
+
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) const override {
+    return SerializeAdapter::serialize(&value, buffer, size, maxSize, streamEndianness);
+  }
+
+  size_t getSerializedSize() const override { return SerializeAdapter::getSerializedSize(&value); }
+
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override {
+    return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
+  }
+
+#ifdef FSFW_INTROSPECTION
+  double getFloating() override { return (double)value; }
+  int64_t getSigned() override { return (int64_t)value; }
+
+  bool setFloating(double value) override {
+    if (getType() != Types::FLOATING) {
+      return false;
+    }
+    this->value = T(value);
+    return true;
+  }
+
+  bool setSigned(int64_t value) override {
+    if ((getType() != Types::SIGNED) && (getType() != Types::ENUM)) {
+      return false;
+    }
+    this->value = T(value);
+    return true;
+  }
+
+  double getMinFloating() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
+  }
+  int64_t getMinSigned() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
+  }
+
+  double getMaxFloating() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
+  }
+  int64_t getMaxSigned() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
+  }
+
+  std::vector<int64_t> getEnumValues() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumValues(&value);
+  }
+  const char *const *getEnumDescriptions() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumDescriptions(&value);
+  }
+
+  const char *getName() override { return name; }
+
+ private:
+  const char *name;
+#endif
+};
+
+#ifdef FSFW_INTROSPECTION
+#define createParameter(p1, p2) createParameter(p1, p2)
+#else
+#define createParameter(p1, p2) createParameter(p1)
+#endif

src/fsfw/action/ParameterIF.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include <fsfw/serialize/SerializeIF.h>
+#include <fsfw/introspection/Types.h>
+
+#ifdef FSFW_INTROSPECTION
+#include <vector>
+#endif
+
+class ParameterIF : public SerializeIF {
+ public:
+  virtual bool isValid() = 0;
+#ifdef FSFW_INTROSPECTION
+
+  
+
+  virtual const char *getName() = 0;
+
+  virtual Types::ParameterType getType() = 0;
+
+  virtual double getFloating() = 0;
+  virtual int64_t getSigned() = 0;
+
+  virtual bool setFloating(double value) = 0;
+  virtual bool setSigned(int64_t value) = 0;
+
+  virtual double getMinFloating() = 0;
+  virtual int64_t getMinSigned() = 0;
+
+  virtual double getMaxFloating() = 0;
+  virtual int64_t getMaxSigned() = 0;
+
+  virtual std::vector<int64_t> getEnumValues() = 0;
+  virtual const char *const * getEnumDescriptions() = 0;
+
+  // ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+  //                                 Endianness streamEndianness) const override = 0;
+
+  // size_t getSerializedSize() const override = 0;
+
+  // ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+  //                                   Endianness streamEndianness) override = 0;
+
+#endif
+};

src/fsfw/action/SimpleActionHelper.cpp

@@ -44,11 +44,27 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
   if (result != returnvalue::OK) {
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
     return;
   }
-  lastCommander = commandedBy;
-  lastAction = actionId;
-  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+  auto actionIter = actionMap.find(actionId);
+  if (actionIter == actionMap.end()){
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  Action* action = actionIter->second;
+  result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
+  if ((result != returnvalue::OK) or (size != 0)) {
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  result = action->handle();
   ipcStore->deleteData(dataAddress);
   switch (result) {
     case returnvalue::OK:

src/fsfw/action/TemplateAction.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include "Action.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+template <class owner, class action, class ActionEnum>
+class TemplateAction : public Action {
+ public:
+#ifdef FSFW_INTROSPECTION
+  TemplateAction(owner *myOwner, ActionEnum id) : Action(), myOwner(myOwner) {
+    Action::setEnum(&id);
+    if (myOwner->getActionHelper() == nullptr) {
+      sif::error
+          << "TemplateAction::TemplateAction: Action instances need to be created (ie located) after the actionHelper instance."
+          << "Program will segfault now..." << std::endl;
+    }
+    myOwner->getActionHelper()->registerAction(this);
+  }
+#else
+  TemplateAction(owner *myOwner, ActionEnum id) : Action((uint32_t)id), myOwner(myOwner) {
+    myOwner->getActionHelper()->registerAction(this);
+  }
+#endif
+
+  ReturnValue_t handle() override { return myOwner->handleAction(dynamic_cast<action *>(this)); }
+
+ private:
+  owner *myOwner;
+};

src/fsfw/cfdp/tlv/Lv.cpp

@@ -21,7 +21,7 @@ cfdp::Lv& cfdp::Lv::operator=(const Lv& other) {
   if (value == nullptr or otherSize == 0) {
     this->zeroLen = true;
   }
-  this->value.setBuffer(value, otherSize);
+  this->value.setConstBuffer(value, otherSize);
   return *this;
 }
 
@@ -70,7 +70,7 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setBuffer(const_cast<uint8_t*>(*buffer + 1), lengthField);
+  value.setConstBuffer(*buffer + 1, lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;

src/fsfw/cfdp/tlv/Tlv.cpp

@@ -75,7 +75,7 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setBuffer(const_cast<uint8_t *>(*buffer + 1), lengthField);
+  value.setConstBuffer(*buffer + 1, lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;
@@ -96,7 +96,7 @@ void cfdp::Tlv::setValue(uint8_t *value, size_t len) {
   if (len > 0) {
     zeroLen = false;
   }
-  this->value.setBuffer(value, len);
+  this->value.setConstBuffer(value, len);
 }
 
 uint8_t cfdp::Tlv::getLengthField() const { return this->value.getSerializedSize() - 1; }

src/fsfw/controller/ControllerBase.cpp

@@ -103,6 +103,10 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 
 void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
 
+const ModeHelper * ControllerBase::getModeHelper() const {
+  return &modeHelper;
+}
+
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
     case HEALTHY:

src/fsfw/controller/ControllerBase.h

@@ -3,6 +3,7 @@
 
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
+#include "fsfw/introspection/ClasslessEnum.h"
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/modes/ModeHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -20,7 +21,9 @@ class ControllerBase : public HasModesIF,
                        public ExecutableObjectIF,
                        public SystemObject {
  public:
-  static const Mode_t MODE_NORMAL = 2;
+  FSFW_CLASSLESS_ENUM(ControllerModes, Mode_t,
+                      ((CONTROLLER_MODE_ON, MODE_ON, "On"))((CONTROLLER_MODE_OFF, MODE_OFF,
+                                                             "Off"))((MODE_NORMAL, 2, "Normal")))
 
   ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
@@ -39,6 +42,9 @@ class ControllerBase : public HasModesIF,
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
+  /** HasModeIF override */
+  const ModeHelper *getModeHelper() const override;
+
  protected:
   /**
    * Implemented by child class. Handle command messages which are not

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -8,11 +8,12 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
 
 ExtendedControllerBase::~ExtendedControllerBase() = default;
 
-ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
-                                                    MessageQueueId_t commandedBy,
-                                                    const uint8_t *data, size_t size) {
-  /* Needs to be overriden and implemented by child class. */
-  return returnvalue::OK;
+ActionHelper *ExtendedControllerBase::getActionHelper() {
+  return &actionHelper;
+}
+
+ReturnValue_t ExtendedControllerBase::executeAction(Action *action) {
+  return action->handle();
 }
 
 object_id_t ExtendedControllerBase::getObjectId() const { return SystemObject::getObjectId(); }

src/fsfw/controller/ExtendedControllerBase.h

@@ -29,6 +29,10 @@ class ExtendedControllerBase : public ControllerBase,
   ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
+  /* HasActionsIF overrides */
+  ActionHelper* getActionHelper() override;
+  ReturnValue_t executeAction(Action* actionId) override;
+
  protected:
   LocalDataPoolManager poolManager;
   ActionHelper actionHelper;
@@ -49,10 +53,6 @@ class ExtendedControllerBase : public ControllerBase,
   /* Handle the four messages mentioned above */
   void handleQueue() override;
 
-  /* HasActionsIF overrides */
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
-
   /* HasLocalDatapoolIF overrides */
   LocalDataPoolManager* getHkManagerHandle() override;
   [[nodiscard]] object_id_t getObjectId() const override;

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -48,12 +48,12 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
   if (hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
-               << std::dec << "  does not exist or does not implement the correct interface "
+               << std::dec << " did not implement the correct interface "
                << "HasLocalDataPoolIF" << std::endl;
 #else
     sif::printError(
-        "LocalPoolVariable: The supplied pool owner 0x%08x does not exist or does not implement "
-        "the correct interface HasLocalDataPoolIF\n",
+        "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
+        "interface HasLocalDataPoolIF\n",
         poolOwner);
 #endif
     return;

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1324,29 +1324,26 @@ void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommand
   }
 }
 
-ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                               const uint8_t* data, size_t size) {
+ActionHelper* DeviceHandlerBase::getActionHelper() { return &actionHelper; }
+
+ReturnValue_t DeviceHandlerBase::executeAction(Action* action) {
   ReturnValue_t result = acceptExternalDeviceCommands();
   if (result != returnvalue::OK) {
     return result;
   }
-  DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
-  MessageQueueId_t prevRecipient = MessageQueueIF::NO_QUEUE;
+  DeviceCommandMap::iterator iter = deviceCommandMap.find(action->getId());
   if (iter == deviceCommandMap.end()) {
     result = COMMAND_NOT_SUPPORTED;
   } else if (iter->second.isExecuting) {
     result = COMMAND_ALREADY_SENT;
   } else {
-    prevRecipient = iter->second.sendReplyTo;
-    iter->second.sendReplyTo = commandedBy;
-    result = buildCommandFromCommand(actionId, data, size);
+    iter->second.sendReplyTo = action->commandedBy;
+    result = action->handle();
   }
   if (result == returnvalue::OK) {
     iter->second.isExecuting = true;
     cookieInfo.pendingCommand = iter;
     cookieInfo.state = COOKIE_WRITE_READY;
-  } else {
-    iter->second.sendReplyTo = prevRecipient;
   }
   return result;
 }
@@ -1605,3 +1602,10 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
     }
   }
 }
+
+ModeHelper const* DeviceHandlerBase::getModeHelper() const { return &modeHelper; }
+
+ModeDefinitionHelper DeviceHandlerBase::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<DeviceHandlerMode, DefaultSubmode>();
+}
+

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -204,13 +204,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
-  /** @brief  Implementation required for HasActionIF */
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t *data, size_t size) override;
+  /** @brief  Implementations required for HasActionIF */
+  ActionHelper* getActionHelper() override;
+  ReturnValue_t executeAction(Action *action) override;
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  void getMode(Mode_t *mode, Submode_t *submode) override;
+  ModeHelper const * getModeHelper() const override;
+  ModeDefinitionHelper getModeDefinitionHelper() override;
   HealthState getHealth();
   ReturnValue_t setHealth(HealthState health);
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
@@ -314,6 +316,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    *    - Anything else triggers an even with the returnvalue as a parameter
    */
   virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) = 0;
+  
+  //TODO Remove and update documentation
   /**
    * @brief 	Build a device command packet from data supplied by a direct
    *          command (PUS Service 8)
@@ -340,7 +344,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                 const uint8_t *commandData,
-                                                size_t commandDataLen) = 0;
+                                                size_t commandDataLen) {return returnvalue::FAILED;}
 
   /* Reply handling */
   /**
@@ -1070,8 +1074,23 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   bool isAwaitingReply();
 
+  /**
+   * Wrapper function for @handleDeviceTm which wraps the raw buffer with @SerialBufferAdapter.
+   * For interpreted data, prefer the other function.
+   * @param rawData
+   * @param rawDataLen
+   * @param replyId
+   * @param forceDirectTm
+   */
   void handleDeviceTm(const uint8_t *rawData, size_t rawDataLen, DeviceCommandId_t replyId,
                       bool forceDirectTm = false);
+  /**
+   * Can be used to handle Service 8 data replies. This will also generate the TM wiretapping
+   * packets accordingly.
+   * @param dataSet
+   * @param replyId
+   * @param forceDirectTm
+   */
   void handleDeviceTm(const SerializeIF &dataSet, DeviceCommandId_t replyId,
                       bool forceDirectTm = false);
 

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -4,6 +4,7 @@
 #include "../action/HasActionsIF.h"
 #include "../datapoollocal/localPoolDefinitions.h"
 #include "../events/Event.h"
+#include "../introspection/ClasslessEnum.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../modes/HasModesIF.h"
 #include "DeviceHandlerMessage.h"
@@ -37,23 +38,30 @@ class DeviceHandlerIF {
    * The mode of the device itself is transparent to the user but related to the mode of the
    * handler. MODE_ON and MODE_OFF are included in hasModesIF.h
    */
+  FSFW_CLASSLESS_ENUM(
+      DeviceHandlerMode, Mode_t,
+      //! The device is powered and ready to perform operations. In this mode, no
+      //! commands are sent by the device handler itself, but direct commands can be
+      //! commanded and will be executed/forwarded to the device
+      //! This is an alias of MODE_ON to have the FSFW_ENUM complete for introspection
+      ((DEVICEHANDLER_MODE_ON, HasModesIF::MODE_ON, "On"))
+      //! The device is powered off. The only command accepted in this
+      //! mode is a mode change to on.
+      //! This is an alias of MODE_OFF to have the FSFW_ENUM complete for introspection
+      ((DEVICEHANDLER_MODE_OFF, HasModesIF::MODE_OFF, "Off"))
+      //! The device is powered on and the device handler periodically sends
+      //! commands. The commands to be sent are selected by the handler
+      //! according to the submode.
+      ((MODE_NORMAL, 2, "Normal"))
+      //! The device is powered on and ready to perform operations. In this mode,
+      //! raw commands can be sent. The device handler will send all replies
+      //! received from the command back to the commanding object as raw TM
+      ((MODE_RAW, 3, "Raw"))
+      //! The device is shut down but the switch could not be turned off, so the
+      //! device still is powered. In this mode, only a mode change to @c MODE_OFF
+      //! can be commanded, which tries to switch off the device again.
+      ((MODE_ERROR_ON, 4, "Error")))
 
-  // MODE_ON = 0, //!< 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 MODE_OFF = 1, //!< The device is powered off. The only command accepted in this
-  // mode is a mode change to on.
-  //! The device is powered on and the device handler periodically sends
-  //! commands. The commands to be sent are selected by the handler
-  //! according to the submode.
-  static const Mode_t MODE_NORMAL = 2;
-  //! The device is powered on and ready to perform operations. In this mode,
-  //! raw commands can be sent. The device handler will send all replies
-  //! received from the command back to the commanding object.
-  static const Mode_t MODE_RAW = 3;
-  //! The device is shut down but the switch could not be turned off, so the
-  //! device still is powered. In this mode, only a mode change to @c MODE_OFF
-  //! can be commanded, which tries to switch off the device again.
-  static const Mode_t MODE_ERROR_ON = 4;
   //! This is a transitional state which can not be commanded. The device
   //! handler performs all commands to get the device in a state ready to
   //! perform commands. When this is completed, the mode changes to @c MODE_ON.

src/fsfw/events/Event.h

@@ -4,8 +4,6 @@
 #include <stdint.h>
 
 #include "fwSubsystemIdRanges.h"
-// could be moved to more suitable location
-#include <events/subsystemIdRanges.h>
 
 using EventId_t = uint16_t;
 using EventSeverity_t = uint8_t;

src/fsfw/globalfunctions/DleParser.h

@@ -44,7 +44,6 @@ class DleParser {
     Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
 
     void setType(ContextType type) {
-      this->type = type;
       if (type == ContextType::PACKET_FOUND) {
         error.first = ErrorTypes::NONE;
         error.second.len = 0;

src/fsfw/introspection/CMakeLists.txt

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

src/fsfw/introspection/ClasslessEnum.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#include <fsfw/returnvalues/returnvalue.h>
+
+#include <boost/preprocessor.hpp>
+
+// TODO ifdef EnumIF, consistent naming of functions arrays and macros (probably enum values and
+// descriptions)
+
+#include "EnumIF.h"
+#include "EnumCommon.h"
+
+#ifdef FSFW_INTROSPECTION
+
+#define FSFW_CLASSLESS_ENUM(name, type, elements)                                            \
+  enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) };   \
+                                                                                             \
+  class name : public EnumIF {                                                               \
+   public:                                                                                   \
+    enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) }; \
+    name(type value) : value(value) {}                                                       \
+    name() : value(-1) {}                                                                    \
+    name(const name &other) : value(other.value) {}                                          \
+    int64_t getValue() const override { return value; }                                      \
+    operator type() { return value; }                                                        \
+    name &operator=(name other) {                                                            \
+      value = other.value;                                                                   \
+      return *this;                                                                          \
+    }                                                                                        \
+    name &operator=(type value) {                                                            \
+      this->value = value;                                                                   \
+      return *this;                                                                          \
+    }                                                                                        \
+    CREATE_KEY_ARRAY(elements, type)                                                         \
+    VALUE_CHECK(type)                                                                        \
+    GET_INDEX()                                                                              \
+    CREATE_DESCRIPTION_ARRAY(elements)                                                       \
+    GET_DESCRIPTION_FUNC()                                                                   \
+   private:                                                                                  \
+    type value;                                                                              \
+  };
+
+#else
+
+#define FSFW_CLASSLESS_ENUM(name, type, elements) \
+  enum name : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) };
+
+#endif

src/fsfw/introspection/Enum.h

@@ -0,0 +1,64 @@
+#pragma once
+
+#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/serialize/SerializeAdapter.h>
+
+#include <boost/preprocessor.hpp>
+
+// TODO ifdef EnumIF, consistent naming of functions arrays and macros (probably enum values and
+// descriptions)
+
+#include "EnumIF.h"
+#include "EnumCommon.h"
+
+
+#ifdef FSFW_INTROSPECTION
+
+#define FSFW_ENUM(name, type, elements)                                                      \
+  class name : public EnumIF, public SerializeIF {                                           \
+   public:                                                                                   \
+    enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) }; \
+    name(type value) : value(value) {}                                                       \
+    name() : value(-1) {}                                                                    \
+    name(const name &other) : value(other.value) {}                                          \
+    int64_t getValue() const override { return value; }                                      \
+    operator type() { return value; }                                                        \
+    name &operator=(name other) {                                                            \
+      value = other.value;                                                                   \
+      return *this;                                                                          \
+    }                                                                                        \
+    name &operator=(type value) {                                                            \
+      this->value = value;                                                                   \
+      return *this;                                                                          \
+    }                                                                                        \
+    CREATE_KEY_ARRAY(elements, type)                                                         \
+    VALUE_CHECK(type)                                                                        \
+    GET_INDEX()                                                                              \
+    CREATE_DESCRIPTION_ARRAY(elements)                                                       \
+    GET_DESCRIPTION_FUNC()                                                                   \
+    virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,          \
+                                    Endianness streamEndianness) const override {            \
+      return SerializeAdapter::serialize<>(&value, buffer, size, maxSize, streamEndianness); \
+    }                                                                                        \
+    virtual size_t getSerializedSize() const override {                                      \
+      return SerializeAdapter::getSerializedSize<>(&value);                                  \
+    }                                                                                        \
+    virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,                  \
+                                      Endianness streamEndianness) override {                \
+      return SerializeAdapter::deSerialize<>(&value, buffer, size, streamEndianness);        \
+    }                                                                                        \
+                                                                                             \
+   private:                                                                                  \
+    type value;                                                                              \
+  };
+
+
+#else
+
+#define FSFW_ENUM(name, type, elements)                                     \
+  enum class name : type {                                                  \
+    BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) \
+  };
+
+
+#endif

src/fsfw/introspection/EnumCommon.h

@@ -0,0 +1,62 @@
+#define CLEAN_ENUM_ITEM(r, data, element)                                          \
+  BOOST_PP_IF(BOOST_PP_SUB(BOOST_PP_TUPLE_SIZE(element), 2),                       \
+              (BOOST_PP_TUPLE_ELEM(0, element) = BOOST_PP_TUPLE_ELEM(1, element)), \
+              (BOOST_PP_TUPLE_ELEM(0, element)))
+
+#if defined FSFW_ENUM_VALUE_CHECKS || defined FSFW_INTROSPECTION
+
+
+#define GET_KEY(r, data, element) (BOOST_PP_TUPLE_ELEM(0, element))
+#define GET_DESCRIPTION(r, data, element)                                                       \
+  BOOST_PP_IF(BOOST_PP_SUB(BOOST_PP_TUPLE_SIZE(element), 2), (BOOST_PP_TUPLE_ELEM(2, element)), \
+              (BOOST_PP_TUPLE_ELEM(1, element)))
+
+#define CREATE_KEY_ARRAY(enum_elements, type)                                                \
+  /*was static constexpr, but clang won't compile that*/                                     \
+  int64_t elements[BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements))] = { \
+      BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements))};                 \
+  const int64_t *getElements() const override { return elements; }                           \
+  size_t getSize() const override {                                                          \
+    return BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements));             \
+  }
+#define VALUE_CHECK(type)                                                 \
+  bool isValid() const override {                                         \
+    for (size_t i = 0; i < sizeof(elements) / sizeof(elements[0]); i++) { \
+      if (value == elements[i]) {                                         \
+        return true;                                                      \
+      }                                                                   \
+    }                                                                     \
+    return false;                                                         \
+  }
+
+#ifdef FSFW_INTROSPECTION
+#define CREATE_DESCRIPTION_ARRAY(elements)                                                       \
+  /*was static constexpr, but clang won't compile that*/                                         \
+  const char                                                                                     \
+      *descriptions[BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_DESCRIPTION, "", elements))] = { \
+          BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(GET_DESCRIPTION, "", elements))};              \
+  const char *const *getDescriptions() const override { return descriptions; }
+#define GET_INDEX()                                                       \
+  size_t getIndex(int64_t value) const override {                         \
+    for (size_t i = 0; i < sizeof(elements) / sizeof(elements[0]); i++) { \
+      if (value == elements[i]) {                                         \
+        return i;                                                         \
+      }                                                                   \
+    }                                                                     \
+    return -1;                                                            \
+  }
+#define GET_DESCRIPTION_FUNC()                        \
+  const char *getDescription() const override {       \
+    if (getIndex(value) == static_cast<size_t>(-1)) { \
+      return nullptr;                                      \
+    } else {                                          \
+      return descriptions[getIndex(value)];           \
+    }                                                 \
+  }
+#else
+#define GET_INDEX()
+#define CREATE_DESCRIPTION_ARRAY(elements)
+#define GET_DESCRIPTION_FUNC()
+#endif
+
+#endif

src/fsfw/introspection/EnumIF.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+class EnumIF {
+ public:
+  virtual ~EnumIF() {}
+  virtual int64_t getValue() const = 0;
+  virtual bool isValid() const = 0;
+  virtual size_t getSize() const = 0;
+  virtual size_t getIndex(int64_t value) const = 0;
+  virtual const int64_t *getElements() const = 0;
+  virtual const char *const *getDescriptions() const = 0;
+  virtual const char *getDescription() const = 0;
+};

src/fsfw/introspection/ParameterTypeSelector.cpp

@@ -0,0 +1,56 @@
+#include "ParameterTypeSelector.h"
+
+#include <stdint.h>
+
+#include "Types.h"
+
+#ifdef FSFW_INTROSPECTION
+
+template <typename T>
+Types::ParameterType ParameterTypeSelector::getType() {
+    return Types::UNSUPPORTED;
+  }
+
+template <>
+Types::ParameterType ParameterTypeSelector::getType<uint8_t>() {
+  return Types::SIGNED;
+}
+template <>
+Types::ParameterType ParameterTypeSelector::getType<int8_t>() {
+  return Types::SIGNED;
+}
+
+template <>
+Types::ParameterType ParameterTypeSelector::getType<uint16_t>() {
+  return Types::SIGNED;
+}
+template <>
+Types::ParameterType ParameterTypeSelector::getType<int16_t>() {
+  return Types::SIGNED;
+}
+template <>
+Types::ParameterType ParameterTypeSelector::getType<uint32_t>() {
+  return Types::SIGNED;
+}
+template <>
+Types::ParameterType ParameterTypeSelector::getType<int32_t>() {
+  return Types::SIGNED;
+}
+// template <>
+// Types::ParameterType ParameterTypeSelector::getType<uint64_t>() {
+//   return Types::UNSIGNED;
+// }
+template <>
+Types::ParameterType ParameterTypeSelector::getType<int64_t>() {
+  return Types::SIGNED;
+}
+template <>
+Types::ParameterType ParameterTypeSelector::getType<float>() {
+  return Types::FLOATING;
+}
+template <>
+Types::ParameterType ParameterTypeSelector::getType<double>() {
+  return Types::FLOATING;
+}
+
+#endif

src/fsfw/introspection/ParameterTypeSelector.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include "Types.h"
+
+#ifdef FSFW_INTROSPECTION
+
+class ParameterTypeSelector {
+ public:
+  template <typename T>
+  static Types::ParameterType getType();
+};
+
+#endif

src/fsfw/introspection/Types.h

@@ -0,0 +1,8 @@
+#pragma once
+
+//maybe call them MIB types as these are the ones exposed to the MIB?
+// Note: some DBs (Postgress, Mongo) only support signed 64bit integers. To have a common denominator, all integers are int64_t.
+// As such, ther is no unsigned Type, as there can not be a uint64_t and uint32_t completely fits into int64_t
+namespace Types {
+enum ParameterType { SIGNED, FLOATING, ENUM, STRING, BYTEARRAY, UNSUPPORTED };
+}  // namespace Types

src/fsfw/introspection/TypesHelper.h

@@ -0,0 +1,74 @@
+#pragma once
+
+#include <limits>
+#include <vector>
+
+#include "Enum.h"
+#include "Types.h"
+#include "ParameterTypeSelector.h"
+
+template <bool>
+class enumHelper;
+
+template <>
+class enumHelper<true> {
+ public:
+  static bool isValid(EnumIF *anEnum) { return anEnum->isValid(); }
+
+#ifdef FSFW_INTROSPECTION
+  template <typename T>
+  static Types::ParameterType getType() {
+    return Types::ENUM;
+  }
+
+  template <typename T>
+  static T getMin() {
+    return 0;
+  }
+
+  template <typename T>
+  static T getMax() {
+    return 0;
+  }
+
+  static std::vector<int64_t> getEnumValues() { return std::vector<int64_t>(); }
+
+  static std::vector<int64_t> getEnumValues(EnumIF *anEnum) {
+    std::vector<int64_t> vector;
+    for (size_t i = 0; i < anEnum->getSize(); i++) {
+      vector.push_back(anEnum->getElements()[i]);
+    }
+    return vector;
+  }
+
+  static const char *const *getEnumDescriptions(EnumIF *anEnum) {
+    return anEnum->getDescriptions();
+  }
+#endif
+};
+
+template <>
+class enumHelper<false> {
+ public:
+  static bool isValid(void *) { return true; }
+
+#ifdef FSFW_INTROSPECTION
+  template <typename T>
+  static Types::ParameterType getType() {
+    return ParameterTypeSelector::getType<T>();
+  }
+
+  template <typename T>
+  static T getMin() {
+    return std::numeric_limits<T>::lowest();
+  }
+  template <typename T>
+  static T getMax() {
+    return std::numeric_limits<T>::max();
+  }
+
+  static std::vector<int64_t> getEnumValues(void *) { return std::vector<int64_t>(); }
+
+  static const char *const *getEnumDescriptions(void *) { return nullptr; }
+#endif
+};

src/fsfw/modes/HasModesIF.h

@@ -4,7 +4,9 @@
 #include <cstdint>
 
 #include "../events/Event.h"
+#include "../introspection/ClasslessEnum.h"
 #include "../returnvalues/returnvalue.h"
+#include "ModeDefinitionHelper.h"
 #include "ModeHelper.h"
 #include "ModeMessage.h"
 
@@ -35,7 +37,7 @@ class HasModesIF {
   static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
 
   //! 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
+  //! sent by the device handler itself, but direct commands can 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.
@@ -44,11 +46,14 @@ class HasModesIF {
   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;
+  FSFW_CLASSLESS_ENUM(DefaultSubmode, Submode_t,
+                      ((SUBMODE_NONE, 0,
+                        "Default")))  //!< To avoid checks against magic number "0".
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;
+  virtual const ModeHelper * getModeHelper() const = 0;
+  virtual ModeDefinitionHelper getModeDefinitionHelper() = 0;
   virtual void getMode(Mode_t *mode, Submode_t *submode) = 0;
 
  protected:

src/fsfw/modes/ModeDefinitionHelper.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <fsfw/introspection/EnumIF.h>
+
+class ModeDefinitionHelper {
+ public:
+#ifdef FSFW_INTROSPECTION
+  ModeDefinitionHelper(EnumIF *mode, EnumIF *submode) : mode(mode), submode(submode) {}
+#else
+  ModeDefinitionHelper(void *mode, void *submode) {};
+#endif
+  template <typename Mode, typename Submode>
+  static ModeDefinitionHelper create() {
+#ifdef FSFW_INTROSPECTION
+    EnumIF *mode = new Mode();
+    EnumIF *submode = new Submode();
+    return ModeDefinitionHelper(mode, submode);
+#else
+    return ModeDefinitionHelper(nullptr, nullptr);
+#endif
+  }
+
+  void free() {
+#ifdef FSFW_INTROSPECTION
+    delete mode;
+    delete submode;
+#endif
+  }
+#ifdef FSFW_INTROSPECTION
+  EnumIF *mode;
+  EnumIF *submode;
+#endif
+};

src/fsfw/modes/ModeHelper.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-ModeHelper::ModeHelper(HasModesIF* owner)
+ModeHelper::ModeHelper(HasModesIF *owner)
     : commandedMode(HasModesIF::MODE_OFF),
       commandedSubmode(HasModesIF::SUBMODE_NONE),
       owner(owner),
@@ -12,7 +12,7 @@ ModeHelper::ModeHelper(HasModesIF* owner)
 
 ModeHelper::~ModeHelper() {}
 
-ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
+ReturnValue_t ModeHelper::handleModeCommand(CommandMessage *command) {
   CommandMessage reply;
   Mode_t mode;
   Submode_t submode;
@@ -106,3 +106,33 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
 bool ModeHelper::isForced() { return forced; }
 
 void ModeHelper::setForced(bool forced) { this->forced = forced; }
+
+#ifdef FSFW_INTROSPECTION
+std::vector<std::pair<Mode_t, const char *>> ModeHelper::getModes() const {
+  std::vector<std::pair<Mode_t, const char *>> modeVector;
+  auto modeDefinitionHelper = owner->getModeDefinitionHelper();
+  EnumIF *mode = modeDefinitionHelper.mode;
+  for (size_t i = 0; i < mode->getSize(); i++) {
+    modeVector.push_back(
+        std::pair<Mode_t, const char *>(mode->getElements()[i], mode->getDescriptions()[i]));
+  }
+  modeDefinitionHelper.free();
+  return modeVector;
+}
+
+std::vector<std::pair<Submode_t, const char *>> ModeHelper::getSubmodes(Mode_t mode) const {
+  auto modeDefinitionHelper = owner->getModeDefinitionHelper();
+  EnumIF *submode = modeDefinitionHelper.submode;
+  std::vector<std::pair<Submode_t, const char *>> submodeVector;
+  for (size_t i = 0; i < submode->getSize(); i++) {
+    uint32_t ignored;
+    if (owner->checkModeCommand(mode, submode->getElements()[i], &ignored) ==
+        HasReturnvaluesIF::RETURN_OK) {
+      submodeVector.push_back(std::pair<Submode_t, const char *>(submode->getElements()[i],
+                                                                 submode->getDescriptions()[i]));
+    }
+  }
+  modeDefinitionHelper.free();
+  return submodeVector;
+}
+#endif

src/fsfw/modes/ModeHelper.h

@@ -1,6 +1,8 @@
 #ifndef FSFW_MODES_MODEHELPER_H_
 #define FSFW_MODES_MODEHELPER_H_
 
+#include <vector>
+
 #include "ModeMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/returnvalues/returnvalue.h"
@@ -39,6 +41,12 @@ class ModeHelper {
 
   void setForced(bool forced);
 
+#ifdef FSFW_INTROSPECTION
+  std::vector<std::pair<Mode_t, const char *>> getModes() const;
+
+  std::vector<std::pair<Submode_t, const char *>> getSubmodes(Mode_t mode) const;
+#endif
+
  protected:
   HasModesIF *owner;
   MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -8,7 +8,7 @@
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../serialize/SerializeElement.h"
 #include "../serviceinterface/ServiceInterface.h"
-#include "../timemanager/TimeStamperIF.h"
+#include "../timemanager/TimeWriterIF.h"
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
 #include "monitoringConf.h"
@@ -34,9 +34,9 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   SerializeElement<T> limitValue;
   SerializeElement<ReturnValue_t> oldState;
   SerializeElement<ReturnValue_t> newState;
-  uint8_t rawTimestamp[TimeStamperIF::MAXIMUM_TIMESTAMP_LEN] = {};
+  uint8_t rawTimestamp[TimeWriterIF::MAXIMUM_TIMESTAMP_LEN] = {};
   SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
-  TimeStamperIF* timeStamper;
+  TimeWriterIF* timeStamper;
   MonitoringReportContent()
       : SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
         monitorId(0),
@@ -79,7 +79,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   }
   bool checkAndSetStamper() {
     if (timeStamper == nullptr) {
-      timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
+      timeStamper = ObjectManager::instance()->get<TimeWriterIF>(timeStamperId);
       if (timeStamper == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "MonitoringReportContent::checkAndSetStamper: "

src/fsfw/objectmanager/ObjectManager.cpp

@@ -78,7 +78,7 @@ SystemObjectIF* ObjectManager::getSystemObject(object_id_t id) {
   }
 }
 
-void ObjectManager::initialize() {
+void ObjectManager::produce() {
   if (objectFactoryFunction == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "ObjectManager::initialize: Passed produceObjects "
@@ -90,6 +90,10 @@ void ObjectManager::initialize() {
     return;
   }
   objectFactoryFunction(factoryArgs);
+}
+
+void ObjectManager::initialize() {
+  produce();
   ReturnValue_t result = returnvalue::FAILED;
   uint32_t errorCount = 0;
   for (auto const& it : objectList) {
@@ -143,3 +147,7 @@ void ObjectManager::printList() {
   }
 #endif
 }
+
+const std::map<object_id_t, SystemObjectIF*> * ObjectManager::getObjectList(){
+  return &objectList;
+}

src/fsfw/objectmanager/ObjectManager.h

@@ -42,7 +42,9 @@ class ObjectManager : public ObjectManagerIF {
   ReturnValue_t insert(object_id_t id, SystemObjectIF* object) override;
   ReturnValue_t remove(object_id_t id) override;
   void initialize() override;
+  void produce() override;
   void printList() override;
+  const std::map<object_id_t, SystemObjectIF*> * getObjectList() override;
 
  protected:
   SystemObjectIF* getSystemObject(object_id_t id) override;

src/fsfw/objectmanager/ObjectManagerIF.h

@@ -1,6 +1,8 @@
 #ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 #define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
+#include <map>
+
 #include "../returnvalues/returnvalue.h"
 #include "../serviceinterface/ServiceInterface.h"
 #include "SystemObjectIF.h"
@@ -58,12 +60,14 @@ class ObjectManagerIF {
    * 			@li returnvalue::OK in case the object was successfully removed
    */
   virtual ReturnValue_t remove(object_id_t id) = 0;
+  virtual void produce() = 0;
   virtual void initialize() = 0;
   /**
    * @brief	This is a debug function, that prints the current content of the
    * 			object list.
    */
   virtual void printList() = 0;
+  virtual const std::map<object_id_t, SystemObjectIF*>* getObjectList() = 0;
 };
 
 #endif /* OBJECTMANAGERIF_H_ */

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -568,11 +568,13 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
         return INVALID_TIME_WINDOW;
       }
       itBegin = telecommandMap.begin();
-      itEnd = telecommandMap.begin();
 
       while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
         itBegin++;
       }
+
+      // start looking for end beginning at begin
+      itEnd = itBegin;
       while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
         itEnd++;
       }

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -11,7 +11,7 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
                                                                  uint16_t apid, uint8_t serviceId,
                                                                  object_id_t targetDestination,
                                                                  uint16_t messageQueueDepth,
-                                                                 TimeStamperIF* timeStamper)
+                                                                 TimeWriterIF* timeStamper)
     : SystemObject(objectId),
       apid(apid),
       serviceId(serviceId),
@@ -134,7 +134,7 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
     storeHelper.setTmStore(*tmStore);
   }
   if (timeStamper == nullptr) {
-    timeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
+    timeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
     if (timeStamper == nullptr) {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }

src/fsfw/pus/Service1TelecommandVerification.h

@@ -47,7 +47,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
 
   Service1TelecommandVerification(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                                   object_id_t targetDestination, uint16_t messageQueueDepth,
-                                  TimeStamperIF* timeStamper = nullptr);
+                                  TimeWriterIF* timeStamper = nullptr);
   ~Service1TelecommandVerification() override;
 
   /**
@@ -87,7 +87,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
   TmStoreHelper storeHelper;
   TmStoreAndSendWrapper tmHelper;
   InternalErrorReporterIF* errReporter = nullptr;
-  TimeStamperIF* timeStamper = nullptr;
+  TimeWriterIF* timeStamper = nullptr;
   StorageManagerIF* tmStore = nullptr;
   MessageQueueIF* tmQueue = nullptr;
 

src/fsfw/returnvalues/returnvalue.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_RETURNVALUES_RETURNVALUE_H_
 #define FSFW_RETURNVALUES_RETURNVALUE_H_
 
-#include <returnvalues/classIds.h>
-
 #include <cstdint>
 
 #include "FwClassIds.h"

src/fsfw/serialize/SerialBufferAdapter.cpp

@@ -21,7 +21,7 @@ SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer, count_t buffe
       bufferLength(bufferLength) {}
 
 template <typename count_t>
-SerialBufferAdapter<count_t>::~SerialBufferAdapter() {}
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() = default;
 
 template <typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer, size_t* size,
@@ -119,10 +119,10 @@ const uint8_t* SerialBufferAdapter<count_t>::getConstBuffer() const {
 }
 
 template <typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer, count_t bufferLength) {
-  this->buffer = buffer;
-  this->constBuffer = buffer;
-  this->bufferLength = bufferLength;
+void SerialBufferAdapter<count_t>::setConstBuffer(const uint8_t* buf, count_t bufLen) {
+  this->buffer = nullptr;
+  this->bufferLength = bufLen;
+  this->constBuffer = buf;
 }
 
 // forward Template declaration for linker

src/fsfw/serialize/SerialBufferAdapter.h

@@ -21,6 +21,7 @@
 template <typename count_t>
 class SerialBufferAdapter : public SerializeIF {
  public:
+  SerialBufferAdapter() = default;
   /**
    * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
    * Type of length can be supplied as template type.
@@ -40,12 +41,12 @@ class SerialBufferAdapter : public SerializeIF {
    */
   SerialBufferAdapter(uint8_t* buffer, count_t bufferLength, bool serializeLength = false);
 
-  virtual ~SerialBufferAdapter();
+  ~SerialBufferAdapter() override;
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const override;
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          Endianness streamEndianness) const override;
 
-  virtual size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;
 
   /**
    * @brief This function deserializes a buffer into the member buffer.
@@ -59,12 +60,12 @@ class SerialBufferAdapter : public SerializeIF {
    * @param bigEndian
    * @return
    */
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    Endianness streamEndianness) override;
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            Endianness streamEndianness) override;
 
   uint8_t* getBuffer();
-  const uint8_t* getConstBuffer() const;
-  void setBuffer(uint8_t* buffer, count_t bufferLength);
+  [[nodiscard]] const uint8_t* getConstBuffer() const;
+  void setConstBuffer(const uint8_t* buf, count_t bufLen);
 
  private:
   bool serializeLength = false;

src/fsfw/serviceinterface/ServiceInterfaceBuffer.cpp

@@ -1,8 +1,8 @@
-#include "fsfw/serviceinterface/ServiceInterfaceBuffer.h"
+#include "ServiceInterfaceBuffer.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
-#include <inttypes.h>
+#include <cinttypes>
 
 #include <cstring>
 
@@ -16,8 +16,6 @@
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);
 
-#ifndef UT699
-
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
                                                bool buffered, bool errStream, uint16_t port)
     : isActive(true),
@@ -58,6 +56,9 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addC
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+  if (not isActive) {
+    return;
+  }
   char array[BUF_SIZE];
   uint32_t length = end - begin;
   if (length > sizeof(array)) {
@@ -74,8 +75,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
   }
 }
 
-#endif
-
 int ServiceInterfaceBuffer::overflow(int c) {
   if (not buffered and this->isActive) {
     if (c != Traits::eof()) {
@@ -169,89 +168,4 @@ void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
 }
 #endif
 
-#ifdef UT699
-#include "../osal/rtems/Interrupt.h"
-
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
-  this->log_message = set_message;
-  this->isActive = true;
-  setp(buf, buf + BUF_SIZE);
-}
-
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-  char array[BUF_SIZE];
-  uint32_t length = end - begin;
-  if (length > sizeof(array)) {
-    length = sizeof(array);
-  }
-  memcpy(array, begin, length);
-
-  if (!Interrupt::isInterruptInProgress()) {
-    std::cout << array;
-  } else {
-    // Uncomment the following line if you need ISR debug output.
-    //		printk(array);
-  }
-}
-#endif  // UT699
-
-#ifdef ML505
-#include <bsp_flp/network/networkconfig.h>
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port)
-    : isActive(true),
-      log_message(set_message),
-      udpSocket(0),
-      remoteAddressLength(sizeof(remoteAddress)) {
-  setp(buf, buf + BUF_SIZE);
-  memset((uint8_t*)&remoteAddress, 0, sizeof(remoteAddress));
-  remoteAddress.sin_family = AF_INET;
-  remoteAddress.sin_port = htons(port);
-  remoteAddress.sin_addr.s_addr = htonl(inet_addr("192.168.250.100"));
-}
-
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-  char array[BUF_SIZE];
-  uint32_t length = end - begin;
-  if (length > sizeof(array)) {
-    length = sizeof(array);
-  }
-  memcpy(array, begin, length);
-
-  if (udpSocket <= 0) {
-    initSocket();
-  }
-
-  if (udpSocket > 0) {
-    sendto(udpSocket, array, length, 0, (sockaddr*)&remoteAddress, sizeof(remoteAddress));
-  }
-}
-
-void ServiceInterfaceBuffer::initSocket() {
-  sockaddr_in address;
-  memset((uint8_t*)&address, 0, sizeof(address));
-  address.sin_family = AF_INET;
-  address.sin_port = htons(0);
-  address.sin_addr.s_addr = htonl(INADDR_ANY);
-
-  udpSocket = socket(PF_INET, SOCK_DGRAM, 0);
-  if (socket < 0) {
-    printf("Error opening socket!\n");
-    return;
-  }
-  timeval timeout = {0, 20};
-  if (setsockopt(udpSocket, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)) < 0) {
-    printf("Error setting SO_RCVTIMEO socket options!\n");
-    return;
-  }
-  if (setsockopt(udpSocket, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout)) < 0) {
-    printf("Error setting SO_SNDTIMEO socket options!\n");
-    return;
-  }
-  if (bind(udpSocket, (sockaddr*)&address, sizeof(address)) < 0) {
-    printf("Error binding socket!\n");
-  }
-}
-
-#endif  // ML505
-
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif

src/fsfw/serviceinterface/ServiceInterfaceBuffer.h

@@ -1,9 +1,8 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
-#include <FSFWConfig.h>
-
-#include "../returnvalues/returnvalue.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/returnvalues/returnvalue.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
@@ -11,8 +10,6 @@
 #include <iostream>
 #include <sstream>
 
-#ifndef UT699
-
 /**
  * @brief 	This is the underlying stream buffer which implements the
  * 			streambuf class and overloads the overflow() and sync() methods
@@ -77,85 +74,6 @@ class ServiceInterfaceBuffer : public std::streambuf {
   bool crAdditionEnabled() const;
 };
 
-#endif
-
-#ifdef UT699
-class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
-  friend class ServiceInterfaceStream;
-
- public:
-  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
-
- protected:
-  bool isActive;
-  // This is called when buffer becomes full. If
-  // buffer is not used, then this is called every
-  // time when characters are put to stream.
-  virtual int overflow(int c = Traits::eof());
-
-  // This function is called when stream is flushed,
-  // for example when std::endl is put to stream.
-  virtual int sync(void);
-
- private:
-  // For additional message information
-  std::string log_message;
-  // For EOF detection
-  typedef std::char_traits<char> Traits;
-
-  // Work in buffer mode. It is also possible to work without buffer.
-  static size_t const BUF_SIZE = 128;
-  char buf[BUF_SIZE];
-
-  // In this function, the characters are parsed.
-  void putChars(char const* begin, char const* end);
-};
-#endif  // UT699
-
-#ifdef ML505
-#include <arpa/inet.h>
-#include <netinet/in.h>
-#include <netinet/udp.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-
-class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
-  friend class ServiceInterfaceStream;
-
- public:
-  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
-
- protected:
-  bool isActive;
-  // This is called when buffer becomes full. If
-  // buffer is not used, then this is called every
-  // time when characters are put to stream.
-  virtual int overflow(int c = Traits::eof());
-
-  // This function is called when stream is flushed,
-  // for example when std::endl is put to stream.
-  virtual int sync(void);
-
- private:
-  // For additional message information
-  std::string log_message;
-  // For EOF detection
-  typedef std::char_traits<char> Traits;
-
-  // Work in buffer mode. It is also possible to work without buffer.
-  static size_t const BUF_SIZE = 128;
-  char buf[BUF_SIZE];
-
-  // In this function, the characters are parsed.
-  void putChars(char const* begin, char const* end);
-
-  int udpSocket;
-  sockaddr_in remoteAddress;
-  socklen_t remoteAddressLength;
-  void initSocket();
-};
-#endif  // ML505
-
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */

src/fsfw/subsystem/SubsystemBase.cpp

@@ -327,3 +327,7 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
 
 void SubsystemBase::modeChanged() {}
+
+const ModeHelper * SubsystemBase::getModeHelper() const {
+  return &modeHelper;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -40,7 +40,9 @@ class SubsystemBase : public SystemObject,
                 uint16_t commandQueueDepth = 8);
   virtual ~SubsystemBase();
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  MessageQueueId_t getCommandQueue() const override;
+
+  const ModeHelper * getModeHelper() const override;
 
   /**
    * Function to register the child objects.
@@ -55,13 +57,13 @@ class SubsystemBase : public SystemObject,
    */
   ReturnValue_t registerChild(object_id_t objectId);
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
  protected:
   struct ChildInfo {

src/fsfw/timemanager/CdsShortTimeStamper.cpp

@@ -6,11 +6,6 @@
 
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
 
-ReturnValue_t CdsShortTimeStamper::addTimeStamp(uint8_t *buffer, const uint8_t maxSize) {
-  size_t serLen = 0;
-  return serialize(&buffer, &serLen, maxSize, SerializeIF::Endianness::NETWORK);
-}
-
 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                              SerializeIF::Endianness streamEndianness) const {
   if (*size + getSerializedSize() > maxSize) {
@@ -33,15 +28,22 @@ size_t CdsShortTimeStamper::getSerializedSize() const { return getTimestampSize(
 
 ReturnValue_t CdsShortTimeStamper::deSerialize(const uint8_t **buffer, size_t *size,
                                                SerializeIF::Endianness streamEndianness) {
-  return returnvalue::FAILED;
-}
-
-ReturnValue_t CdsShortTimeStamper::readTimeStamp(const uint8_t *buffer, size_t maxSize) {
-  if (maxSize < getTimestampSize()) {
+  if (size == nullptr or buffer == nullptr) {
+    return returnvalue::FAILED;
+  }
+  if (*size < getTimestampSize()) {
     return SerializeIF::STREAM_TOO_SHORT;
   }
   size_t foundLen = 0;
-  return CCSDSTime::convertFromCcsds(&readTime, buffer, &foundLen, maxSize);
+  if (((**buffer >> 4) & 0b111) != CCSDSTime::TimeCodeIdentification::CDS) {
+    return BAD_TIMESTAMP;
+  }
+  auto res = CCSDSTime::convertFromCcsds(&readTime, *buffer, &foundLen, *size);
+  if (res == returnvalue::OK) {
+    *size -= getSerializedSize();
+    *buffer += getSerializedSize();
+  }
+  return res;
 }
 
 timeval &CdsShortTimeStamper::getTime() { return readTime; }

src/fsfw/timemanager/CdsShortTimeStamper.h

@@ -3,7 +3,7 @@
 
 #include "CCSDSTime.h"
 #include "TimeReaderIF.h"
-#include "TimeStamperIF.h"
+#include "TimeWriterIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
 /**
@@ -15,7 +15,7 @@
  * overriding the #addTimeStamp function.
  * @ingroup utility
  */
-class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public SystemObject {
+class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
  public:
   static constexpr size_t TIMESTAMP_LEN = 7;
   /**
@@ -25,20 +25,11 @@ class CdsShortTimeStamper : public TimeStamperIF, public TimeReaderIF, public Sy
    */
   explicit CdsShortTimeStamper(object_id_t objectId);
 
-  /**
-   * Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
-   * This function can be overriden to use a custom timestamp.
-   * @param buffer
-   * @param maxSize
-   * @return
-   */
-  ReturnValue_t addTimeStamp(uint8_t *buffer, uint8_t maxSize) override;
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                           Endianness streamEndianness) const override;
   [[nodiscard]] size_t getSerializedSize() const override;
   ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
                             Endianness streamEndianness) override;
-  ReturnValue_t readTimeStamp(const uint8_t *buffer, size_t maxSize) override;
   timeval &getTime() override;
   [[nodiscard]] size_t getTimestampSize() const override;
 

src/fsfw/timemanager/TimeReaderIF.h

@@ -5,12 +5,28 @@
 
 #include "TimeStampIF.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serialize/SerializeIF.h"
 
-class TimeReaderIF : public TimeStampIF {
+class TimeReaderIF : public SerializeIF, public TimeStampIF {
  public:
   ~TimeReaderIF() override = default;
-  virtual ReturnValue_t readTimeStamp(const uint8_t* buffer, size_t maxSize) = 0;
   virtual timeval& getTime() = 0;
+
+  [[nodiscard]] size_t getSerializedSize() const override { return getTimestampSize(); }
+
+  ReturnValue_t readTimeStamp(const uint8_t* buf, size_t maxSize) {
+    size_t dummy = 0;
+    return deSerialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
+  }
+
+ private:
+  /**
+   *   Forbidden, use dedicated IF @TimeWriterIF
+   */
+  [[nodiscard]] ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                        Endianness streamEndianness) const override {
+    return returnvalue::FAILED;
+  }
 };
 
 #endif  // FSFW_TIMEMANAGER_TIMEREADERIF_H

src/fsfw/timemanager/TimeStamperIF.h

@@ -1,23 +0,0 @@
-#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
-#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
-
-#include "TimeStampIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw/serialize/SerializeIF.h"
-
-/**
- * A class implementing this IF provides facilities to add a time stamp to the
- * buffer provided.
- * Implementors need to ensure that calling the method is thread-safe, i.e.
- * addTimeStamp may be called in parallel from a different context.
- */
-class TimeStamperIF : public SerializeIF, public TimeStampIF {
- public:
-  virtual ReturnValue_t addTimeStamp(uint8_t* buffer, uint8_t maxSize) = 0;
-  ~TimeStamperIF() override = default;
-  size_t getTimestampSize() const override { return getSerializedSize(); }
-
- protected:
-};
-
-#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

src/fsfw/timemanager/TimeWriterIF.h

@@ -0,0 +1,34 @@
+#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
+#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
+
+#include "TimeStampIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serialize/SerializeIF.h"
+
+/**
+ * A class implementing this IF provides facilities to add a time stamp to the
+ * buffer provided.
+ * Implementors need to ensure that calling the method is thread-safe, i.e.
+ * addTimeStamp may be called in parallel from a different context.
+ */
+class TimeWriterIF : public SerializeIF, public TimeStampIF {
+ public:
+  ~TimeWriterIF() override = default;
+  [[nodiscard]] size_t getTimestampSize() const override { return getSerializedSize(); }
+
+  ReturnValue_t addTimeStamp(uint8_t *buf, size_t maxSize) {
+    size_t dummy = 0;
+    return serialize(buf, dummy, maxSize, SerializeIF::Endianness::NETWORK);
+  }
+
+ private:
+  /**
+   *   Forbidden, use dedicated IF @TimeReaderIF
+   */
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override {
+    return returnvalue::FAILED;
+  }
+};
+
+#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */

src/fsfw/tmstorage/TmStorePackets.h

@@ -7,7 +7,7 @@
 #include "fsfw/serialize/SerialLinkedListAdapter.h"
 #include "fsfw/serialize/SerializeElement.h"
 #include "fsfw/timemanager/CCSDSTime.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 #include "fsfw/tmtcpacket/pus/tm/PusTmMinimal.h"
 #include "tmStorageConf.h"
 

src/fsfw/tmtcpacket/pus/CustomUserDataIF.h

@@ -7,6 +7,6 @@ class CustomUserDataIF {
  public:
   virtual ~CustomUserDataIF() = default;
   virtual ReturnValue_t setRawUserData(const uint8_t* data, size_t len) = 0;
-  virtual ReturnValue_t setSerializableUserData(SerializeIF& serializable) = 0;
+  virtual ReturnValue_t setSerializableUserData(const SerializeIF& serializable) = 0;
 };
 #endif  // FSFW_TMTCPACKET_CREATORDATAIF_H

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp

@@ -14,7 +14,6 @@ PusTcCreator::PusTcCreator(SpacePacketParams spParams, PusTcParams pusParams)
 ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
                                       SerializeIF::Endianness streamEndianness) const {
   const uint8_t *start = *buffer;
-  size_t userDataLen = pusParams.dataWrapper.getLength();
   if (*size + getSerializedSize() > maxSize) {
     return SerializeIF::BUFFER_TOO_SHORT;
   }
@@ -37,17 +36,8 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
   if (result != returnvalue::OK) {
     return result;
   }
-  if (pusParams.dataWrapper.type == util::DataTypes::RAW) {
-    const uint8_t *data = pusParams.dataWrapper.dataUnion.raw.data;
-    if (data != nullptr and userDataLen > 0) {
-      std::memcpy(*buffer, data, userDataLen);
-      *buffer += userDataLen;
-      *size += userDataLen;
-    }
-  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
-             pusParams.dataWrapper.dataUnion.serializable != nullptr) {
-    result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
-                                                                     streamEndianness);
+  if (pusParams.appData != nullptr) {
+    result = pusParams.appData->serialize(buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -58,8 +48,11 @@ ReturnValue_t PusTcCreator::serialize(uint8_t **buffer, size_t *size, size_t max
 }
 
 void PusTcCreator::updateSpLengthField() {
-  spCreator.setDataLen(ecss::PusTcDataFieldHeader::MIN_SIZE + pusParams.dataWrapper.getLength() +
-                       1);
+  size_t len = ecss::PusTcDataFieldHeader::MIN_SIZE + 1;
+  if (pusParams.appData != nullptr) {
+    len += pusParams.appData->getSerializedSize();
+  }
+  spCreator.setDataLen(len);
 }
 
 size_t PusTcCreator::getSerializedSize() const { return spCreator.getFullPacketLen(); }
@@ -91,14 +84,15 @@ SpacePacketParams &PusTcCreator::getSpParams() { return spCreator.getParams(); }
 
 ReturnValue_t PusTcCreator::setRawUserData(const uint8_t *data, size_t len) {
   // TODO: Check length field?
-  pusParams.dataWrapper.setRawData({data, len});
+  pusParams.bufAdapter.setConstBuffer(data, len);
+  pusParams.appData = &pusParams.bufAdapter;
   updateSpLengthField();
   return returnvalue::OK;
 }
 
-ReturnValue_t PusTcCreator::setSerializableUserData(SerializeIF &serializable) {
+ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializable) {
   // TODO: Check length field?
-  pusParams.dataWrapper.setSerializable(serializable);
+  pusParams.appData = &serializable;
   updateSpLengthField();
   return returnvalue::OK;
 }

src/fsfw/tmtcpacket/pus/tc/PusTcCreator.h

@@ -1,22 +1,30 @@
 #ifndef FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
 #define FSFW_TMTCPACKET_TCPACKETDESERIALIZER_H
 
+#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/tmtcpacket/RedirectableDataPointerIF.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
 #include "fsfw/tmtcpacket/pus/defs.h"
 #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 struct PusTcParams {
   PusTcParams(uint8_t service_, uint8_t subservice_) : service(service_), subservice(subservice_) {}
 
+  void setRawAppData(const uint8_t *data, size_t len) {
+    bufAdapter.setConstBuffer(data, len);
+    appData = &bufAdapter;
+  }
+
+  void setSerializableAppData(const SerializeIF &serializable) { appData = &serializable; }
+
   uint8_t service;
   uint8_t subservice;
   uint8_t ackFlags = ecss::ACK_ALL;
   uint16_t sourceId = 0;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> bufAdapter;
+  const SerializeIF *appData = nullptr;
   uint8_t pusVersion = ecss::PusVersion::PUS_C;
 };
 
@@ -52,7 +60,7 @@ class PusTcCreator : public PusTcIF, public SerializeIF, public CustomUserDataIF
   [[nodiscard]] uint8_t getSubService() const override;
   [[nodiscard]] uint16_t getSourceId() const override;
   ReturnValue_t setRawUserData(const uint8_t *data, size_t len) override;
-  ReturnValue_t setSerializableUserData(SerializeIF &serializable) override;
+  ReturnValue_t setSerializableUserData(const SerializeIF &serializable) override;
 
   // Load all big endian helpers into the class namespace
   using SerializeIF::serializeBe;

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

@@ -3,7 +3,7 @@
 #include <utility>
 
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 
 PusTmCreator::PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams)
     : pusParams(initPusParams), spCreator(std::move(initSpParams)) {
@@ -30,7 +30,7 @@ uint8_t PusTmCreator::getSubService() const { return pusParams.secHeader.subserv
 
 PusTmParams& PusTmCreator::getParams() { return pusParams; }
 
-void PusTmCreator::setTimeStamper(TimeStamperIF& timeStamper_) {
+void PusTmCreator::setTimeStamper(TimeWriterIF& timeStamper_) {
   pusParams.secHeader.timeStamper = &timeStamper_;
   updateSpLengthField();
 }
@@ -51,7 +51,6 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
   if (result != returnvalue::OK) {
     return result;
   }
-  size_t userDataLen = pusParams.dataWrapper.getLength();
   **buffer =
       ((pusParams.secHeader.pusVersion << 4) & 0xF0) | (pusParams.secHeader.scTimeRefStatus & 0x0F);
   *buffer += 1;
@@ -77,15 +76,8 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
     }
   }
 
-  if (pusParams.dataWrapper.type == util::DataTypes::RAW and
-      pusParams.dataWrapper.dataUnion.raw.data != nullptr) {
-    std::memcpy(*buffer, pusParams.dataWrapper.dataUnion.raw.data, userDataLen);
-    *buffer += userDataLen;
-    *size += userDataLen;
-  } else if (pusParams.dataWrapper.type == util::DataTypes::SERIALIZABLE and
-             pusParams.dataWrapper.dataUnion.serializable != nullptr) {
-    result = pusParams.dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize,
-                                                                     streamEndianness);
+  if (pusParams.sourceData != nullptr) {
+    result = pusParams.sourceData->serialize(buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -106,13 +98,15 @@ ReturnValue_t PusTmCreator::deSerialize(const uint8_t** buffer, size_t* size,
   return returnvalue::FAILED;
 }
 
-TimeStamperIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
+TimeWriterIF* PusTmCreator::getTimestamper() const { return pusParams.secHeader.timeStamper; }
 
 SpacePacketParams& PusTmCreator::getSpParams() { return spCreator.getParams(); }
 
 void PusTmCreator::updateSpLengthField() {
-  size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + pusParams.dataWrapper.getLength() +
-                     sizeof(ecss::PusChecksumT) - 1;
+  size_t headerLen = PusTmIF::MIN_SEC_HEADER_LEN + sizeof(ecss::PusChecksumT) - 1;
+  if (pusParams.sourceData != nullptr) {
+    headerLen += pusParams.sourceData->getSerializedSize();
+  }
   if (pusParams.secHeader.timeStamper != nullptr) {
     headerLen += pusParams.secHeader.timeStamper->getSerializedSize();
   }
@@ -134,12 +128,17 @@ void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {
 void PusTmCreator::setDestId(uint16_t destId) { pusParams.secHeader.destId = destId; }
 
 ReturnValue_t PusTmCreator::setRawUserData(const uint8_t* data, size_t len) {
-  pusParams.dataWrapper.setRawData({data, len});
+  if (data == nullptr or len == 0) {
+    pusParams.sourceData = nullptr;
+  } else {
+    pusParams.adapter.setConstBuffer(data, len);
+    pusParams.sourceData = &pusParams.adapter;
+  }
   updateSpLengthField();
   return returnvalue::OK;
 }
-ReturnValue_t PusTmCreator::setSerializableUserData(SerializeIF& serializable) {
-  pusParams.dataWrapper.setSerializable(serializable);
+ReturnValue_t PusTmCreator::setSerializableUserData(const SerializeIF& serializable) {
+  pusParams.sourceData = &serializable;
   updateSpLengthField();
   return returnvalue::OK;
 }

src/fsfw/tmtcpacket/pus/tm/PusTmCreator.h

@@ -2,18 +2,18 @@
 #define FSFW_TMTCPACKET_TMPACKETCREATOR_H
 
 #include "PusTmIF.h"
+#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcpacket/pus/CustomUserDataIF.h"
-#include "fsfw/util/dataWrapper.h"
 
 struct PusTmSecHeader {
   PusTmSecHeader() = default;
-  PusTmSecHeader(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
+  PusTmSecHeader(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
       : service(service), subservice(subservice), timeStamper(timeStamper) {}
 
   uint8_t service = 0;
   uint8_t subservice = 0;
-  TimeStamperIF* timeStamper = nullptr;
+  TimeWriterIF* timeStamper = nullptr;
   uint8_t pusVersion = ecss::PusVersion::PUS_C;
   uint8_t scTimeRefStatus = 0;
   uint16_t messageTypeCounter = 0;
@@ -23,22 +23,28 @@ struct PusTmSecHeader {
 struct PusTmParams {
   PusTmParams() = default;
   explicit PusTmParams(PusTmSecHeader secHeader) : secHeader(secHeader){};
-  PusTmParams(PusTmSecHeader secHeader, util::DataWrapper dataWrapper)
-      : secHeader(secHeader), dataWrapper(dataWrapper) {}
-
-  PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper)
+  PusTmParams(PusTmSecHeader secHeader, const SerializeIF& data)
+      : secHeader(secHeader), sourceData(&data) {}
+  PusTmParams(PusTmSecHeader secHeader, const uint8_t* data, size_t dataLen)
+      : secHeader(secHeader), adapter(data, dataLen), sourceData(&adapter) {}
+  PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper)
       : secHeader(service, subservice, timeStamper) {}
 
-  PusTmParams(uint8_t service, uint8_t subservice, TimeStamperIF* timeStamper,
-              util::DataWrapper dataWrapper_)
+  PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper,
+              const SerializeIF& data_)
       : PusTmParams(service, subservice, timeStamper) {
-    dataWrapper = dataWrapper_;
+    sourceData = &data_;
   }
+
+  PusTmParams(uint8_t service, uint8_t subservice, TimeWriterIF* timeStamper, const uint8_t* data,
+              size_t dataLen)
+      : secHeader(service, subservice, timeStamper), adapter(data, dataLen), sourceData(&adapter) {}
   PusTmSecHeader secHeader;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> adapter;
+  const SerializeIF* sourceData = nullptr;
 };
 
-class TimeStamperIF;
+class TimeWriterIF;
 
 /**
  * This class provides a high-level interface to create PUS TM packets and then @serialize
@@ -56,7 +62,7 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
   PusTmCreator(SpacePacketParams initSpParams, PusTmParams initPusParams);
   ~PusTmCreator() override = default;
 
-  void setTimeStamper(TimeStamperIF& timeStamper);
+  void setTimeStamper(TimeWriterIF& timeStamper);
   /**
    * This function disables the CRC16 calculation on serialization. This is useful to avoid
    * duplicate calculation if some lower level component needs to update fields like the sequence
@@ -86,9 +92,9 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
   [[nodiscard]] size_t getSerializedSize() const override;
-  [[nodiscard]] TimeStamperIF* getTimestamper() const;
+  [[nodiscard]] TimeWriterIF* getTimestamper() const;
   ReturnValue_t setRawUserData(const uint8_t* data, size_t len) override;
-  ReturnValue_t setSerializableUserData(SerializeIF& serializable) override;
+  ReturnValue_t setSerializableUserData(const SerializeIF& serializable) override;
 
   // Load all big endian (network endian) helpers into scope
   using SerializeIF::serializeBe;

src/fsfw/tmtcpacket/pus/tm/PusTmIF.h

@@ -4,7 +4,7 @@
 #include <cstddef>
 #include <cstdint>
 
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 #include "fsfw/tmtcpacket/pus/PusIF.h"
 #include "fsfw/tmtcpacket/pus/defs.h"
 

src/fsfw/tmtcservices/CommandingServiceBase.cpp

@@ -106,7 +106,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
   // This avoids duplicate calculation of the CRC16
   tmStoreHelper.disableCrcCalculation();
   if (tmTimeStamper == nullptr) {
-    tmTimeStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
+    tmTimeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
     if (tmTimeStamper == nullptr) {
       return ObjectManagerIF::CHILD_INIT_FAILED;
     }

src/fsfw/tmtcservices/CommandingServiceBase.h

@@ -272,7 +272,7 @@ class CommandingServiceBase : public SystemObject,
   MessageQueueIF* commandQueue = nullptr;
   MessageQueueIF* requestQueue = nullptr;
 
-  TimeStamperIF* tmTimeStamper = nullptr;
+  TimeWriterIF* tmTimeStamper = nullptr;
   VerificationReporterIF* verificationReporter;
 
   InternalErrorReporterIF* errReporter = nullptr;

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -178,7 +178,7 @@ ReturnValue_t PusServiceBase::initializeTmStoreHelper(TmStoreHelper& tmStoreHelp
   }
 
   if (psbParams.timeStamper == nullptr) {
-    auto timerStamper = ObjectManager::instance()->get<TimeStamperIF>(objects::TIME_STAMPER);
+    auto timerStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
     if (timerStamper != nullptr) {
       tmStoreHelper.setTimeStamper(*timerStamper);
     }

src/fsfw/tmtcservices/PusServiceBase.h

@@ -65,7 +65,7 @@ struct PsbParams {
    * register itself at that object.
    */
   PUSDistributorIF* pusDistributor = nullptr;
-  TimeStamperIF* timeStamper = nullptr;
+  TimeWriterIF* timeStamper = nullptr;
 };
 
 namespace Factory {

src/fsfw/tmtcservices/TmStoreHelper.cpp

@@ -11,7 +11,7 @@ TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore) :
 }
 
 TmStoreHelper::TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore,
-                             TimeStamperIF& timeStamper)
+                             TimeWriterIF& timeStamper)
     : tmStore(&tmStore) {
   creator.setApid(defaultApid);
   creator.setTimeStamper(timeStamper);
@@ -59,7 +59,7 @@ ReturnValue_t TmStoreHelper::addPacketToStore() {
                            SerializeIF::Endianness::NETWORK);
 }
 
-void TmStoreHelper::setTimeStamper(TimeStamperIF& timeStamper_) {
+void TmStoreHelper::setTimeStamper(TimeWriterIF& timeStamper_) {
   creator.setTimeStamper(timeStamper_);
 }
 
@@ -67,7 +67,7 @@ void TmStoreHelper::setApid(uint16_t apid) { creator.setApid(apid); }
 
 PusTmCreator& TmStoreHelper::getCreatorRef() { return creator; }
 
-TimeStamperIF* TmStoreHelper::getTimeStamper() const { return creator.getTimestamper(); }
+TimeWriterIF* TmStoreHelper::getTimeStamper() const { return creator.getTimestamper(); }
 
 uint16_t TmStoreHelper::getApid() const { return creator.getApid(); }
 

src/fsfw/tmtcservices/TmStoreHelper.h

@@ -4,14 +4,14 @@
 #include "fsfw/internalerror/InternalErrorReporterIF.h"
 #include "fsfw/ipc/MessageQueueMessageIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 #include "fsfw/tmtcpacket/pus/tm/PusTmCreator.h"
 
 class TmStoreHelper {
  public:
   explicit TmStoreHelper(uint16_t defaultApid);
   TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore);
-  TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore, TimeStamperIF& timeStamper);
+  TmStoreHelper(uint16_t defaultApid, StorageManagerIF& tmStore, TimeWriterIF& timeStamper);
 
   void disableCrcCalculation();
   [[nodiscard]] bool crcCalculationEnabled() const;
@@ -20,8 +20,8 @@ class TmStoreHelper {
 
   PusTmCreator& getCreatorRef();
 
-  void setTimeStamper(TimeStamperIF& timeStamper);
-  [[nodiscard]] TimeStamperIF* getTimeStamper() const;
+  void setTimeStamper(TimeWriterIF& timeStamper);
+  [[nodiscard]] TimeWriterIF* getTimeStamper() const;
 
   [[nodiscard]] StorageManagerIF* getTmStore() const;
   void setTmStore(StorageManagerIF& store);

src/fsfw/tmtcservices/tmHelpers.h

@@ -10,48 +10,33 @@ namespace telemetry {
 class DataWithObjectIdPrefix : public SerializeIF {
  public:
   DataWithObjectIdPrefix(object_id_t objectId, const uint8_t* srcData, size_t srcDataLen)
-      : objectId(objectId) {
-    dataWrapper.type = util::DataTypes::RAW;
-    dataWrapper.dataUnion.raw.data = srcData;
-    dataWrapper.dataUnion.raw.len = srcDataLen;
-  }
+      : objectId(objectId), bufAdapter(srcData, srcDataLen), userData(&bufAdapter) {}
 
-  DataWithObjectIdPrefix(object_id_t objectId, SerializeIF& serializable) : objectId(objectId) {
-    dataWrapper.type = util::DataTypes::SERIALIZABLE;
-    dataWrapper.dataUnion.serializable = &serializable;
-  }
+  DataWithObjectIdPrefix(object_id_t objectId, const SerializeIF& serializable)
+      : objectId(objectId), userData(&serializable) {}
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override {
     if (*size + getSerializedSize() > maxSize) {
       return SerializeIF::BUFFER_TOO_SHORT;
     }
-    if (dataWrapper.type != util::DataTypes::RAW) {
-      if ((dataWrapper.dataUnion.raw.data == nullptr) and (dataWrapper.dataUnion.raw.len > 0)) {
-        return returnvalue::FAILED;
-      }
-    } else if (dataWrapper.type == util::DataTypes::SERIALIZABLE) {
-      if (dataWrapper.dataUnion.serializable == nullptr) {
-        return returnvalue::FAILED;
-      }
-    }
     ReturnValue_t result =
         SerializeAdapter::serialize(&objectId, buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
-    if (dataWrapper.type != util::DataTypes::RAW) {
-      std::memcpy(*buffer, dataWrapper.dataUnion.raw.data, dataWrapper.dataUnion.raw.len);
-      *buffer += dataWrapper.dataUnion.raw.len;
-      *size += dataWrapper.dataUnion.raw.len;
-    } else {
-      return dataWrapper.dataUnion.serializable->serialize(buffer, size, maxSize, streamEndianness);
+    if (userData != nullptr) {
+      return userData->serialize(buffer, size, maxSize, streamEndianness);
     }
     return returnvalue::OK;
   }
 
   [[nodiscard]] size_t getSerializedSize() const override {
-    return sizeof(objectId) + dataWrapper.getLength();
+    size_t len = 0;
+    if (userData != nullptr) {
+      len += userData->getSerializedSize();
+    }
+    return len;
   }
 
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
@@ -63,7 +48,8 @@ class DataWithObjectIdPrefix : public SerializeIF {
 
  private:
   object_id_t objectId;
-  util::DataWrapper dataWrapper{};
+  SerialBufferAdapter<uint8_t> bufAdapter;
+  const SerializeIF* userData = nullptr;
 };
 
 }  // namespace telemetry

src/fsfw_hal/common/CMakeLists.txt

@@ -1 +1,3 @@
 add_subdirectory(gpio)
+
+target_sources(${LIB_FSFW_NAME} PRIVATE printChar.c)

src/fsfw_hal/common/printChar.c

@@ -0,0 +1,10 @@
+#include <stdio.h>
+#include <stdbool.h>
+
+void __attribute__((weak)) printChar(const char* character, bool errStream) {
+  if (errStream) {
+    fprintf(stderr, "%c", *character);
+  } else {
+    printf("%c", *character);
+  }
+}

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -2,7 +2,6 @@
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
-#include "events/subsystemIdRanges.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 

unittests/CMakeLists.txt

@@ -18,6 +18,7 @@ add_subdirectory(power)
 add_subdirectory(util)
 add_subdirectory(container)
 add_subdirectory(osal)
+add_subdirectory(pus)
 add_subdirectory(serialize)
 add_subdirectory(datapoollocal)
 add_subdirectory(storagemanager)

unittests/action/TestActionHelper.cpp

@@ -9,38 +9,35 @@
 #include "mocks/MessageQueueMock.h"
 
 TEST_CASE("Action Helper", "[ActionHelper]") {
-  ActionHelperOwnerMockBase testDhMock;
   // TODO: Setting another number here breaks the test. Find out why
   MessageQueueMock testMqMock(MessageQueueIF::NO_QUEUE);
-  ActionHelper actionHelper = ActionHelper(&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
+  ActionHelperOwnerMockBase testDhMock(&testMqMock);
   CommandMessage actionMessage;
-  ActionId_t testActionId = 777;
+  ActionId_t testActionId = (ActionId_t)TestActions::TEST_ACTION;
   std::array<uint8_t, 3> testParams{1, 2, 3};
   store_address_t paramAddress;
   StorageManagerIF* ipcStore = tglob::getIpcStoreHandle();
   REQUIRE(ipcStore != nullptr);
   ipcStore->addData(&paramAddress, testParams.data(), 3);
-  REQUIRE(actionHelper.initialize() == returnvalue::OK);
+  REQUIRE(testDhMock.getActionHelper()->initialize() == returnvalue::OK);
 
   SECTION("Simple tests") {
     ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
     CHECK(not testDhMock.executeActionCalled);
-    REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
+    REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) == returnvalue::OK);
     CHECK(testDhMock.executeActionCalled);
     // No message is sent if everything is alright.
     CHECK(not testMqMock.wasMessageSent());
     store_address_t invalidAddress;
     ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
-    actionHelper.handleActionMessage(&actionMessage);
+    testDhMock.getActionHelper()->handleActionMessage(&actionMessage);
     CHECK(testMqMock.wasMessageSent());
     const uint8_t* ptr = nullptr;
     size_t size = 0;
     REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) ==
             static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
     REQUIRE(ptr == nullptr);
-    REQUIRE(size == 0);
-    testDhMock.getBuffer(&ptr, &size);
-    REQUIRE(size == 3);
+    testDhMock.getBuffer(&ptr);
     for (uint8_t i = 0; i < 3; i++) {
       REQUIRE(ptr[i] == (i + 1));
     }
@@ -49,12 +46,12 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
 
   SECTION("Handle failures") {
     actionMessage.setCommand(1234);
-    REQUIRE(actionHelper.handleActionMessage(&actionMessage) ==
+    REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) ==
             static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
     CHECK(not testMqMock.wasMessageSent());
     uint16_t step = 5;
     ReturnValue_t status = 0x1234;
-    actionHelper.step(step, testMqMock.getId(), testActionId, status);
+    testDhMock.getActionHelper()->step(step, testMqMock.getId(), testActionId, status);
     step += 1;
     CHECK(testMqMock.wasMessageSent());
     CommandMessage testMessage;
@@ -69,7 +66,7 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
   SECTION("Handle finish") {
     CHECK(not testMqMock.wasMessageSent());
     ReturnValue_t status = 0x9876;
-    actionHelper.finish(false, testMqMock.getId(), testActionId, status);
+    testDhMock.getActionHelper()->finish(false, testMqMock.getId(), testActionId, status);
     CHECK(testMqMock.wasMessageSent());
     CommandMessage testMessage;
     REQUIRE(testMqMock.getNextSentMessage(testMessage) == returnvalue::OK);
@@ -84,13 +81,13 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
     REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == returnvalue::OK);
     ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
     CHECK(not testDhMock.executeActionCalled);
-    REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
+    REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) == returnvalue::OK);
     REQUIRE(ipcStore->getData(toLongParamAddress).first ==
             static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
     CommandMessage testMessage;
     REQUIRE(testMqMock.getNextSentMessage(testMessage) == returnvalue::OK);
     REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-    REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
+    REQUIRE(ActionMessage::getReturnCode(&testMessage) == HasActionsIF::INVALID_PARAMETERS);
     REQUIRE(ActionMessage::getStep(&testMessage) == 0);
     REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
   }
@@ -98,7 +95,7 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
   SECTION("Missing IPC Data") {
     ActionMessage::setCommand(&actionMessage, testActionId, store_address_t::invalid());
     CHECK(not testDhMock.executeActionCalled);
-    REQUIRE(actionHelper.handleActionMessage(&actionMessage) == returnvalue::OK);
+    REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) == returnvalue::OK);
     CommandMessage testMessage;
     REQUIRE(testMqMock.getNextSentMessage(testMessage) == returnvalue::OK);
     REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));

unittests/action/TestActionHelper.h

@@ -2,12 +2,27 @@
 #define UNITTEST_HOSTED_TESTACTIONHELPER_H_
 
 #include <fsfw/action/HasActionsIF.h>
+#include <fsfw/action/Parameter.h>
+#include <fsfw/action/TemplateAction.h>
+#include <fsfw/introspection/Enum.h>
 #include <fsfw/ipc/MessageQueueIF.h>
 
 #include <cstring>
 
 #include "CatchDefinitions.h"
 
+class ActionHelperOwnerMockBase;
+
+FSFW_ENUM(TestActions, ActionId_t, ((TEST_ACTION, "Test Action")))
+
+class TestAction : public TemplateAction < ActionHelperOwnerMockBase, TestAction, TestActions> {
+ public:
+  TestAction(ActionHelperOwnerMockBase* owner) : TemplateAction(owner, TestActions::TEST_ACTION) {}
+  Parameter<uint8_t> p1 = Parameter<uint8_t>::createParameter(this, "An uint8_t");
+  Parameter<uint8_t> p2 = Parameter<uint8_t>::createParameter(this, "An uint8_t");
+  Parameter<uint8_t> p3 = Parameter<uint8_t>::createParameter(this, "An uint8_t");
+};
+
 class ActionHelperOwnerMockBase : public HasActionsIF {
  public:
   bool getCommandQueueCalled = false;
@@ -16,16 +31,26 @@ class ActionHelperOwnerMockBase : public HasActionsIF {
   uint8_t buffer[MAX_SIZE] = {0, 0, 0};
   size_t size = 0;
 
+  ActionHelperOwnerMockBase(MessageQueueIF* useThisQueue) : actionHelper(this, useThisQueue) {}
+
   MessageQueueId_t getCommandQueue() const override { return tconst::testQueueId; }
 
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override {
+  ActionHelper* getActionHelper() override { return &actionHelper; }
+
+  ReturnValue_t executeAction(Action* action) override {
     executeActionCalled = true;
     if (size > MAX_SIZE) {
       return 0xAFFE;
     }
     this->size = size;
-    memcpy(buffer, data, size);
+    return action->handle();
+  }
+
+  ReturnValue_t handleAction(TestAction *action){
+    executeActionCalled = true;
+    buffer[0] = action->p1;
+    buffer[1] = action->p2;
+    buffer[2] = action->p3;
     return returnvalue::OK;
   }
 
@@ -36,14 +61,15 @@ class ActionHelperOwnerMockBase : public HasActionsIF {
     }
   }
 
-  void getBuffer(const uint8_t** ptr, size_t* size) {
-    if (size != nullptr) {
-      *size = this->size;
-    }
+  void getBuffer(const uint8_t** ptr) {
     if (ptr != nullptr) {
       *ptr = buffer;
     }
   }
+
+ private:
+  ActionHelper actionHelper;
+  TestAction testAction = TestAction(this);
 };
 
 #endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */

unittests/devicehandler/TestDeviceHandlerBase.cpp

@@ -23,7 +23,7 @@ TEST_CASE("Device Handler Base", "[DeviceHandlerBase]") {
   SECTION("Commanding nominal") {
     comIF.setTestCase(ComIFMock::TestCase::SIMPLE_COMMAND_NOMINAL);
     result = deviceHandlerCommander.sendCommand(objects::DEVICE_HANDLER_MOCK,
-                                                DeviceHandlerMock::SIMPLE_COMMAND);
+                                                static_cast<uint32_t>(MockCommands::SIMPLE_COMMAND));
     REQUIRE(result == returnvalue::OK);
     deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
     deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
@@ -43,7 +43,7 @@ TEST_CASE("Device Handler Base", "[DeviceHandlerBase]") {
     // Set the timeout to 0 to immediately timeout the reply
     deviceHandlerMock.changeSimpleCommandReplyCountdown(0);
     result = deviceHandlerCommander.sendCommand(objects::DEVICE_HANDLER_MOCK,
-                                                DeviceHandlerMock::SIMPLE_COMMAND);
+                                                static_cast<uint32_t>(MockCommands::SIMPLE_COMMAND));
     REQUIRE(result == returnvalue::OK);
     deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
     deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
@@ -60,7 +60,7 @@ TEST_CASE("Device Handler Base", "[DeviceHandlerBase]") {
 
   SECTION("Periodic reply nominal") {
     comIF.setTestCase(ComIFMock::TestCase::PERIODIC_REPLY_NOMINAL);
-    deviceHandlerMock.enablePeriodicReply(DeviceHandlerMock::PERIODIC_REPLY);
+    deviceHandlerMock.enablePeriodicReply(static_cast<uint32_t>(MockCommands::PERIODIC_REPLY));
     deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
     deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
     deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
@@ -73,7 +73,7 @@ TEST_CASE("Device Handler Base", "[DeviceHandlerBase]") {
     comIF.setTestCase(ComIFMock::TestCase::MISSED_REPLY);
     // Set the timeout to 0 to immediately timeout the reply
     deviceHandlerMock.changePeriodicReplyCountdown(0);
-    deviceHandlerMock.enablePeriodicReply(DeviceHandlerMock::PERIODIC_REPLY);
+    deviceHandlerMock.enablePeriodicReply(static_cast<uint32_t>(MockCommands::PERIODIC_REPLY));
     deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
     deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
     deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
@@ -82,7 +82,7 @@ TEST_CASE("Device Handler Base", "[DeviceHandlerBase]") {
     uint32_t missedReplies = deviceFdirMock.getMissedReplyCount();
     REQUIRE(missedReplies == 1);
     // Test if disabling of periodic reply
-    deviceHandlerMock.disablePeriodicReply(DeviceHandlerMock::PERIODIC_REPLY);
+    deviceHandlerMock.disablePeriodicReply(static_cast<uint32_t>(MockCommands::PERIODIC_REPLY));
     deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
     deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
     deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);

unittests/mocks/CdsShortTimestamperMock.h

@@ -4,9 +4,9 @@
 #include <array>
 
 #include "fsfw/timemanager/TimeReaderIF.h"
-#include "fsfw/timemanager/TimeStamperIF.h"
+#include "fsfw/timemanager/TimeWriterIF.h"
 
-class CdsShortTimestamperMock : public TimeStamperIF, public TimeReaderIF {
+class CdsShortTimestamperMock : public TimeWriterIF, public TimeReaderIF {
  public:
   unsigned int serializeCallCount = 0;
   unsigned int deserializeCallCount = 0;
@@ -61,7 +61,6 @@ class CdsShortTimestamperMock : public TimeStamperIF, public TimeReaderIF {
   }
 
   [[nodiscard]] size_t getTimestampSize() const override { return getSerializedSize(); }
-  ReturnValue_t addTimeStamp(uint8_t *buffer, uint8_t maxSize) override { return 0; }
 
   void reset() {
     serializeCallCount = 0;
@@ -75,9 +74,6 @@ class CdsShortTimestamperMock : public TimeStamperIF, public TimeReaderIF {
     serFailRetval = returnvalue::FAILED;
   }
 
-  ReturnValue_t readTimeStamp(const uint8_t *buffer, size_t maxSize) override {
-    return deSerialize(&buffer, &maxSize, SerializeIF::Endianness::NETWORK);
-  }
   timeval &getTime() override { return dummyTime; }
 
  private:

unittests/mocks/DeviceHandlerMock.cpp

@@ -25,17 +25,13 @@ ReturnValue_t DeviceHandlerMock::buildTransitionDeviceCommand(DeviceCommandId_t
 ReturnValue_t DeviceHandlerMock::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                          const uint8_t *commandData,
                                                          size_t commandDataLen) {
-  switch (deviceCommand) {
-    case SIMPLE_COMMAND: {
-      commandBuffer[0] = SIMPLE_COMMAND_DATA;
-      rawPacket = commandBuffer;
-      rawPacketLen = sizeof(SIMPLE_COMMAND_DATA);
-      break;
-    }
-    default:
-      WARN("DeviceHandlerMock::buildCommandFromCommand: Invalid device command");
-      break;
-  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t DeviceHandlerMock::handleAction(MockAction *action) {
+  commandBuffer[0] = SIMPLE_COMMAND_DATA;
+  rawPacket = commandBuffer;
+  rawPacketLen = sizeof(SIMPLE_COMMAND_DATA);
   return returnvalue::OK;
 }
 
@@ -43,13 +39,13 @@ ReturnValue_t DeviceHandlerMock::scanForReply(const uint8_t *start, size_t len,
                                               DeviceCommandId_t *foundId, size_t *foundLen) {
   switch (*start) {
     case SIMPLE_COMMAND_DATA: {
-      *foundId = SIMPLE_COMMAND;
+      *foundId = static_cast<uint32_t>(MockCommands::SIMPLE_COMMAND);
       *foundLen = sizeof(SIMPLE_COMMAND_DATA);
       return returnvalue::OK;
       break;
     }
     case PERIODIC_REPLY_DATA: {
-      *foundId = PERIODIC_REPLY;
+      *foundId = static_cast<uint32_t>(MockCommands::PERIODIC_REPLY);
       *foundLen = sizeof(PERIODIC_REPLY_DATA);
       return returnvalue::OK;
       break;
@@ -62,8 +58,8 @@ ReturnValue_t DeviceHandlerMock::scanForReply(const uint8_t *start, size_t len,
 
 ReturnValue_t DeviceHandlerMock::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   switch (id) {
-    case SIMPLE_COMMAND:
-    case PERIODIC_REPLY: {
+    case static_cast<uint32_t>(MockCommands::SIMPLE_COMMAND):
+    case static_cast<uint32_t>(MockCommands::PERIODIC_REPLY): {
       periodicReplyReceived = true;
       break;
     }
@@ -74,10 +70,10 @@ ReturnValue_t DeviceHandlerMock::interpretDeviceReply(DeviceCommandId_t id, cons
 }
 
 void DeviceHandlerMock::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(SIMPLE_COMMAND, 0, nullptr, 0, false, false, 0,
-                             &simpleCommandReplyTimeout);
-  insertInCommandAndReplyMap(PERIODIC_REPLY, 0, nullptr, 0, true, false, 0,
-                             &periodicReplyCountdown);
+  insertInCommandAndReplyMap(static_cast<uint32_t>(MockCommands::SIMPLE_COMMAND), 0, nullptr, 0,
+                             false, false, 0, &simpleCommandReplyTimeout);
+  insertInCommandAndReplyMap(static_cast<uint32_t>(MockCommands::PERIODIC_REPLY), 0, nullptr, 0,
+                             true, false, 0, &periodicReplyCountdown);
 }
 
 uint32_t DeviceHandlerMock::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }

unittests/mocks/DeviceHandlerMock.h

@@ -2,11 +2,22 @@
 #define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/introspection/Enum.h>
+#include <fsfw/action/TemplateAction.h>
+
+FSFW_ENUM(MockCommands, ActionId_t, ((SIMPLE_COMMAND, 1, "Simple Command")) ((PERIODIC_REPLY, 2, "Periodic Reply")))
+
+class DeviceHandlerMock;
+
+class MockAction : public TemplateAction<DeviceHandlerMock, MockAction, MockCommands> {
+  public:
+  MockAction(DeviceHandlerMock *owner): TemplateAction(owner, MockCommands::SIMPLE_COMMAND) {
+
+  }
+};
 
 class DeviceHandlerMock : public DeviceHandlerBase {
  public:
-  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
-  static const DeviceCommandId_t PERIODIC_REPLY = 2;
 
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
@@ -21,6 +32,8 @@ class DeviceHandlerMock : public DeviceHandlerBase {
   ReturnValue_t enablePeriodicReply(DeviceCommandId_t replyId);
   ReturnValue_t disablePeriodicReply(DeviceCommandId_t replyId);
 
+  ReturnValue_t handleAction(MockAction * action);
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -41,6 +54,8 @@ class DeviceHandlerMock : public DeviceHandlerBase {
   uint8_t commandBuffer[1];
 
   bool periodicReplyReceived = false;
+
+  MockAction mockAction = MockAction(this);
 };
 
 #endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_ */

unittests/pus/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+    testService11.cpp
+)

unittests/pus/testService11.cpp

@@ -0,0 +1,14 @@
+#include <fsfw/pus/Service11TelecommandScheduling.h>
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "objects/systemObjectList.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
+
+TEST_CASE("PUS Service 11", "[pus-srvc11]") {
+  Service11TelecommandScheduling<13> pusService11(
+      {objects::PUS_SERVICE_11_TC_SCHEDULER, apid::DEFAULT_APID, pus::PUS_SERVICE_11}, nullptr);
+
+  // TODO test something...
+}

unittests/serialize/testSerialBufferAdapter.cpp

@@ -64,7 +64,8 @@ TEST_CASE("Serial Buffer Adapter", "[single-file]") {
   SECTION("Test set buffer function") {
     SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter_loc =
         SerialBufferAdapter<uint8_t>((uint8_t*)nullptr, 0, true);
-    tv_serial_buffer_adapter_loc.setBuffer(test_serial_buffer.data(), test_serial_buffer.size());
+    tv_serial_buffer_adapter_loc.setConstBuffer(test_serial_buffer.data(),
+                                                test_serial_buffer.size());
     serialized_size = 0;
     arrayPtr = testArray.data();
     SerializeAdapter::serialize(&test_value_bool, &arrayPtr, &serialized_size, testArray.size(),

unittests/tmtcpacket/testPusTcCreator.cpp

@@ -71,7 +71,7 @@ TEST_CASE("PUS TC Creator", "[pus-tc-creator]") {
   SECTION("Test with Application Data Raw") {
     auto& params = creator.getPusParams();
     std::array<uint8_t, 3> data{1, 2, 3};
-    params.dataWrapper.setRawData({data.data(), data.size()});
+    params.setRawAppData(data.data(), data.size());
     // To get correct size information, the SP length field needs to be updated automatically
     REQUIRE(creator.getSerializedSize() == 13);
     creator.updateSpLengthField();

unittests/tmtcservices/testStoreAndSendHelper.cpp

@@ -44,9 +44,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(creator.getSubService() == 2);
     REQUIRE(creator.getService() == 17);
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
-    REQUIRE(params.dataWrapper.dataUnion.raw.data == nullptr);
-    REQUIRE(params.dataWrapper.dataUnion.raw.len == 0);
+    REQUIRE(params.sourceData == nullptr);
     REQUIRE(tmHelper.sendCounter == 0);
     REQUIRE(tmHelper.storeAndSendTmPacket() == returnvalue::OK);
     REQUIRE(tmHelper.sendCounter == 1);
@@ -65,9 +63,9 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, data.data(), data.size()) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::RAW);
-    REQUIRE(params.dataWrapper.dataUnion.raw.data == data.data());
-    REQUIRE(params.dataWrapper.dataUnion.raw.len == data.size());
+    REQUIRE(params.sourceData != nullptr);
+    REQUIRE(params.sourceData->getSerializedSize() == data.size());
+    REQUIRE(params.adapter.getConstBuffer() == data.data());
   }
 
   SECTION("Serializable Helper") {
@@ -75,8 +73,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, simpleSer) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
-    REQUIRE(params.dataWrapper.dataUnion.serializable == &simpleSer);
+    REQUIRE(params.sourceData == &simpleSer);
   }
 
   SECTION("Object ID prefix Helper") {
@@ -86,8 +83,7 @@ TEST_CASE("TM Store And Send Helper", "[tm-store-send-helper]") {
     REQUIRE(tmHelper.prepareTmPacket(2, dataWithObjId) == returnvalue::OK);
     auto& creator = storeHelper.getCreatorRef();
     auto& params = creator.getParams();
-    REQUIRE(params.dataWrapper.type == util::DataTypes::SERIALIZABLE);
-    REQUIRE(params.dataWrapper.dataUnion.serializable == &dataWithObjId);
+    REQUIRE(params.sourceData == &dataWithObjId);
   }
 
   // TODO: Error handling