ping works now

example/controller/FsfwTestController.cpp

@@ -137,7 +137,7 @@ void FsfwTestController::handleChangedDataset(sid_t sid,
 
   if (verboseLevel >= 1) {
     char const *printout = nullptr;
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+    if (storeId == store_address_t::invalid()) {
       printout = "Notification";
     } else {
       printout = "Snapshot";
@@ -156,7 +156,7 @@ void FsfwTestController::handleChangedDataset(sid_t sid,
         printout, sid.objectId, sid.ownerSetId);
 #endif
 
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+    if (storeId == store_address_t::invalid()) {
       if (sid.objectId == device0Id) {
         PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
         float floatVec[3];
@@ -189,7 +189,7 @@ void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId,
 
   if (verboseLevel >= 1) {
     char const *printout = nullptr;
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+    if (storeId == store_address_t::invalid()) {
       printout = "Notification";
     } else {
       printout = "Snapshot";
@@ -209,7 +209,7 @@ void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId,
                    printout, globPoolId.objectId, globPoolId.localPoolId);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
-    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+    if (storeId == store_address_t::invalid()) {
       if (globPoolId.objectId == device0Id) {
         PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
 #if FSFW_CPP_OSTREAM_ENABLED == 1

example/core/GenericFactory.cpp

@@ -21,9 +21,10 @@
 #include "fsfw/pus/Service8FunctionManagement.h"
 #include "fsfw/pus/Service9TimeManagement.h"
 #include "fsfw/tcdistribution/CCSDSDistributor.h"
-#include "fsfw/tcdistribution/PUSDistributor.h"
-#include "fsfw/timemanager/TimeStamper.h"
+#include "fsfw/tcdistribution/PusDistributor.h"
+#include "fsfw/timemanager/CdsShortTimeStamper.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/VerificationReporter.h"
 #include "fsfw_tests/integration/assemblies/TestAssembly.h"
 #include "fsfw_tests/integration/controller/TestController.h"
 #include "fsfw_tests/integration/devices/TestCookie.h"
@@ -39,12 +40,13 @@ void ObjectFactory::produceGenericObjects() {
   new EventManager(objects::EVENT_MANAGER);
   new HealthTable(objects::HEALTH_TABLE);
   new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
-  new TimeStamper(objects::TIME_STAMPER);
+  auto* stamperAndReader = new CdsShortTimeStamper(objects::TIME_STAMPER);
+  new VerificationReporter(nullptr);
   auto *ccsdsDistrib =
       new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR);
-  new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR,
-                     objects::CCSDS_DISTRIBUTOR);
-  new TmFunnel(objects::TM_FUNNEL);
+  new PusDistributor(apid::APID, objects::PUS_DISTRIBUTOR,
+                     ccsdsDistrib);
+  new TmFunnel(*stamperAndReader, objects::TM_FUNNEL);
 #endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
 
   /* PUS stack */
@@ -56,19 +58,19 @@ void ObjectFactory::produceGenericObjects() {
                            pus::PUS_SERVICE_2, 3, 10);
   new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID,
                            pus::PUS_SERVICE_3);
-  new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::APID,
-                             pus::PUS_SERVICE_5, 50);
+  new Service5EventReporting(PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::APID,
+                                           pus::PUS_SERVICE_5), 20 , 40);
   new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT,
                                  apid::APID, pus::PUS_SERVICE_8, 3, 10);
-  new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::APID,
-                             pus::PUS_SERVICE_9);
-  new Service17Test(objects::PUS_SERVICE_17_TEST, apid::APID,
-                    pus::PUS_SERVICE_17);
+  new Service9TimeManagement(PsbParams(objects::PUS_SERVICE_9_TIME_MGMT, apid::APID,
+                             pus::PUS_SERVICE_9));
+  new Service17Test(PsbParams(objects::PUS_SERVICE_17_TEST, apid::APID,
+                    pus::PUS_SERVICE_17));
   new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS,
                                    apid::APID, pus::PUS_SERVICE_20);
 #if OBSW_ADD_CORE_COMPONENTS == 1
   new Service11TelecommandScheduling<cfg::OBSW_MAX_SCHEDULED_TCS>(
-      objects::PUS_SERVICE_11_TC_SCHEDULER, apid::APID, pus::PUS_SERVICE_11,
+      PsbParams(objects::PUS_SERVICE_11_TC_SCHEDULER, apid::APID, pus::PUS_SERVICE_11),
       ccsdsDistrib);
 #endif
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::APID,
@@ -151,13 +153,14 @@ void Factory::setStaticFrameworkObjectIds() {
   // No storage object for now.
   TmFunnel::storageDestination = objects::NO_OBJECT;
 
-  PusServiceBase::packetSource = objects::PUS_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  VerificationReporter::DEFAULT_REPORTER = objects::TC_VERIFICATOR;
+  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  // TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }

example/utility/TmFunnel.cpp

@@ -1,6 +1,7 @@
 #include "TmFunnel.h"
 
 #include <fsfw/ipc/QueueFactory.h>
+#include "fsfw/tmtcpacket/pus/tm.h"
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tmtcpacket/pus/tm.h>
@@ -8,15 +9,15 @@
 object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
 object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
 
-TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth)
-    : SystemObject(objectId), messageDepth(messageDepth) {
+TmFunnel::TmFunnel(TimeReaderIF& timeReader, object_id_t objectId, uint32_t messageDepth)
+    : SystemObject(objectId), timeReader(timeReader), messageDepth(messageDepth) {
   tmQueue = QueueFactory::instance()->createMessageQueue(
       messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
   storageQueue = QueueFactory::instance()->createMessageQueue(
       messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
-TmFunnel::~TmFunnel() {}
+TmFunnel::~TmFunnel() = default;
 
 MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
   return tmQueue->getId();
@@ -28,6 +29,7 @@ ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
   while (status == HasReturnvaluesIF::RETURN_OK) {
     status = handlePacket(&currentMessage);
     if (status != HasReturnvaluesIF::RETURN_OK) {
+      sif::warning << "TmFunnel packet handling failed" << std::endl;
       break;
     }
     status = tmQueue->receiveMessage(&currentMessage);
@@ -48,19 +50,20 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage *message) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  TmPacketPusC packet(packetData);
-  packet.setPacketSequenceCount(this->sourceSequenceCount);
-  sourceSequenceCount++;
-  sourceSequenceCount =
-      sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT;
-  packet.setErrorControl();
+  PusTmZeroCopyWriter packet(&timeReader, packetData, size);
+  result = packet.parseDataWithoutCrcCheck();
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  packet.setSequenceCount(sourceSequenceCount++);
+  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
+  packet.updateErrorControl();
 
   result = tmQueue->sendToDefault(message);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     tmPool->deleteData(message->getStorageId());
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::handlePacket: Error sending to downlink handler"
-               << std::endl;
+    sif::error << "TmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
 #endif
     return result;
   }

example/utility/TmFunnel.h

@@ -7,6 +7,8 @@
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 
+#include "fsfw/timemanager/TimeReaderIF.h"
+
 namespace Factory {
 void setStaticFrameworkObjectIds();
 }
@@ -25,13 +27,12 @@ class TmFunnel : public AcceptsTelemetryIF,
   friend void(Factory::setStaticFrameworkObjectIds)();
 
 public:
-  TmFunnel(object_id_t objectId, uint32_t messageDepth = 20);
-  virtual ~TmFunnel();
+  explicit TmFunnel(TimeReaderIF& timeReader, object_id_t objectId, uint32_t messageDepth = 20);
+  ~TmFunnel() override;
 
-  virtual MessageQueueId_t
-  getReportReceptionQueue(uint8_t virtualChannel = 0) override;
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-  virtual ReturnValue_t initialize() override;
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
 
 protected:
   static object_id_t downlinkDestination;
@@ -39,6 +40,7 @@ protected:
 
 private:
   uint16_t sourceSequenceCount = 0;
+  TimeReaderIF& timeReader;
   MessageQueueIF *tmQueue = nullptr;
   MessageQueueIF *storageQueue = nullptr;