bump common_tmtc

.clang-format

@@ -0,0 +1,7 @@
+---
+BasedOnStyle: Google
+IndentWidth: 2
+---
+Language: Cpp
+ColumnLimit: 100
+---

.gitignore

@@ -1,8 +1,12 @@
+# PyCharm
+/.idea/*
+!/.idea/runConfigurations
+!/.idea/cmake.xml
+!/.idea/codeStyles
+
 # Python 
-**/.idea/*
-!**/.idea/runConfigurations
 __pycache__
-venv
+/venv
 
 
 # Eclipse
@@ -17,6 +21,7 @@ venv
 
 # Build folders
 /build*
+/cmake-build*
 
 _dep
 _obj

.gitmodules

@@ -7,12 +7,6 @@
 [submodule "fsfw"]
 	path = fsfw
 	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git
-[submodule "tmtc/tmtccmd"]
-	path = tmtc/tmtccmd
-	url = https://github.com/robamu-org/tmtccmd.git
 [submodule "tmtc/common_tmtc"]
 	path = tmtc/common_tmtc
 	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-tmtc-common.git
-[submodule "tmtc/spacepackets"]
-	path = tmtc/spacepackets
-	url = https://github.com/robamu-org/py-spacepackets.git

.idea/cmake.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeSharedSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
+      <configuration PROFILE_NAME="Debug Linux" ENABLED="true" GENERATION_DIR="cmake-build-debug-linux" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_OSAL=linux" NO_GENERATOR="true" />
+      <configuration PROFILE_NAME="Release" ENABLED="true" CONFIG_NAME="Release" NO_GENERATOR="true" />
+      <configuration PROFILE_NAME="Debug Clang" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DCMAKE_TOOLCHAIN_FILE=cmake/ClangToolchain.cmake" />
+    </configurations>
+  </component>
+</project>

.idea/codeStyles/Project.xml

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

.idea/codeStyles/codeStyleConfig.xml

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

.idea/runConfigurations/example.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="example" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-example-hosted" TARGET_NAME="fsfw-example-hosted" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="fsfw-example-hosted" RUN_TARGET_NAME="fsfw-example-hosted">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

CMakeLists.txt

@@ -1,37 +1,47 @@
-################################################################################
+# ##############################################################################
 # CMake support for the Flight Software Framework
-# 
+#
 # Developed in an effort to replace Make with a modern build system.
-# 
+#
 # Author: R. Mueller
-################################################################################
+# ##############################################################################
 
-################################################################################
+# ##############################################################################
 # Pre-Project preparation
-################################################################################
+# ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
 # set(CMAKE_VERBOSE TRUE)
 
-set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+set(OBSW_MAX_SCHEDULED_TCS 200)
 
 if(NOT FSFW_OSAL)
-    set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
+  set(FSFW_OSAL
+      host
+      CACHE STRING "OS for the FSFW.")
 endif()
 
 # Project Name
 project(fsfw-example-hosted C CXX)
 
-################################################################################
+option(OBSW_ENABLE_IPO "Enable IPO/LTO optimization" ON)
+
+if(OBSW_ENABLE_IPO)
+  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
+endif()
+
+# ##############################################################################
 # Pre-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Specify the C++ standard
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
 # Set names and variables
-set(TARGET_NAME ${CMAKE_PROJECT_NAME}) 
+set(TARGET_NAME ${CMAKE_PROJECT_NAME})
 set(LIB_FSFW_NAME fsfw)
 set(LIB_FSFW_HAL_NAME fsfw_hal)
 
@@ -43,12 +53,9 @@ set(LIB_FSFW_HAL_PATH fsfw_hal)
 set(BSP_PATH "bsp_hosted")
 set(COMMON_CONFIG_PATH "${COMMON_PATH}/config")
 set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
-set(FSFW_ADDITIONAL_INC_PATHS 
-    "${COMMON_CONFIG_PATH}"
-    "${CMAKE_CURRENT_BINARY_DIR}"
-    CACHE STRING
-    "FSFW configuration paths"
-)
+set(FSFW_ADDITIONAL_INC_PATHS
+    "${COMMON_CONFIG_PATH}" "${CMAKE_CURRENT_BINARY_DIR}"
+    CACHE STRING "FSFW configuration paths")
 
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@@ -57,121 +64,97 @@ configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
 set(FSFW_ADD_MONITORING ON)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    set(WARNING_FLAGS
-        -Wall
-        -Wextra
-        -Wimplicit-fallthrough=1
-        -Wno-unused-parameter
-        -Wno-psabi
-    )
+  set(WARNING_FLAGS -Wall -Wextra -Wimplicit-fallthrough=1
+                    -Wno-unused-parameter -Wno-psabi)
 
-    set(FSFW_WARNING_FLAGS ${WARNING_FLAGS})
+  set(FSFW_WARNING_FLAGS ${WARNING_FLAGS})
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-    add_compile_options(/permissive- /d2SSAOptimizer-)
-    # To avoid nameclashes with min and max macro
-    add_compile_definitions(NOMINMAX)
+  add_compile_options(/permissive- /d2SSAOptimizer-)
+  # To avoid nameclashes with min and max macro
+  add_compile_definitions(NOMINMAX)
 endif()
 
 if(FSFW_OSAL MATCHES linux)
-    find_package(Threads REQUIRED)
-# Hosted
+  find_package(Threads REQUIRED)
+  # Hosted
 else()
 
-    if(WIN32)
-    elseif(UNIX)
-        find_package(Threads REQUIRED)
-    endif()
+  if(WIN32)
+
+  elseif(UNIX)
+    find_package(Threads REQUIRED)
+  endif()
 endif()
 
-
-################################################################################
+# ##############################################################################
 # Executable and Sources
-################################################################################
+# ##############################################################################
 
 # Add executable
-add_executable(${TARGET_NAME})
+add_executable(${TARGET_NAME} example_common/config/common/definitions.h)
 
 # Add subdirectories
 if(LIB_OS_NAME)
-    add_subdirectory(${LIB_OS_NAME})
+  add_subdirectory(${LIB_OS_NAME})
 endif()
 add_subdirectory(${BSP_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${COMMON_PATH})
 
-################################################################################
+# ##############################################################################
 # Post-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Add libraries for all sources.
-target_link_libraries(${TARGET_NAME} PRIVATE
-    ${LIB_FSFW_NAME} 
-    ${LIB_OS_NAME} 
-    # ${LIB_FSFW_HAL_NAME}
-)
+target_link_libraries(${TARGET_NAME} PRIVATE ${LIB_FSFW_NAME} ${LIB_OS_NAME})
 
 # Add include paths for all sources.
-target_include_directories(${TARGET_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_CURRENT_BINARY_DIR}
-    ${FSFW_CONFIG_PATH}
-)    
-
+target_include_directories(
+  ${TARGET_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
+                         ${CMAKE_CURRENT_BINARY_DIR} ${FSFW_CONFIG_PATH})
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    target_link_options(${TARGET_NAME} PRIVATE
-        "-Wl,-Map=${TARGET_NAME}.map"
-    )
+  target_link_options(${TARGET_NAME} PRIVATE "-Wl,-Map=${TARGET_NAME}.map")
 
-    # Remove unused sections.
-    target_compile_options(${TARGET_NAME} PRIVATE
-        "-ffunction-sections"
-        "-fdata-sections"
-    )
+  # Remove unused sections.
+  target_compile_options(${TARGET_NAME} PRIVATE "-ffunction-sections"
+                                                "-fdata-sections")
 
-    # Removed unused sections.
-    target_link_options(${TARGET_NAME} PRIVATE
-        "-Wl,--gc-sections"
-    )
+  # Removed unused sections.
+  target_link_options(${TARGET_NAME} PRIVATE "-Wl,--gc-sections")
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+
 endif()
 
 if(CMAKE_VERBOSE)
-    message(STATUS "Warning flags: ${WARNING_FLAGS}")
+  message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
-         
 
 # Compile options for all sources.
-target_compile_options(${TARGET_NAME} PRIVATE
-    ${WARNING_FLAGS}
-)
+target_compile_options(${TARGET_NAME} PRIVATE ${WARNING_FLAGS})
 
 if(NOT CMAKE_SIZE)
-    set(CMAKE_SIZE size)
-    if(WIN32)
-        set(FILE_SUFFIX ".exe")
-    endif()
+  set(CMAKE_SIZE size)
+  if(WIN32)
+    set(FILE_SUFFIX ".exe")
+  endif()
 endif()
 
 if(TGT_BSP)
-    set(TARGET_STRING "Target BSP: ${TGT_BSP}")
+  set(TARGET_STRING "Target BSP: ${TGT_BSP}")
 else()
-    set(TARGET_STRING "Target BSP: Hosted")
+  set(TARGET_STRING "Target BSP: Hosted")
 endif()
 
-string(CONCAT POST_BUILD_COMMENT
-    "Build directory: ${CMAKE_BINARY_DIR}\n"
-    "Target OSAL: ${FSFW_OSAL}\n"
-    "Target Build Type: ${CMAKE_BUILD_TYPE}\n"
-    "${TARGET_STRING}"
-)
+string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
+              "Target OSAL: ${FSFW_OSAL}\n"
+              "Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")
 
 add_custom_command(
-   TARGET ${TARGET_NAME}
-   POST_BUILD
-   COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
-   COMMENT ${POST_BUILD_COMMENT}
-)
+  TARGET ${TARGET_NAME}
+  POST_BUILD
+  COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
+  COMMENT ${POST_BUILD_COMMENT})
 
-include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
+include(BuildType)
 set_build_type()

Dockerfile

@@ -1,18 +0,0 @@
-FROM ubuntu:latest
-# FROM alpine:latest
-
-RUN apt-get update && apt-get install -y cmake g++
-# RUN apk add cmake make g++
-
-WORKDIR /usr/src/app
-COPY . .
-
-RUN set -ex; \
-    rm -rf build-hosted; \
-    mkdir build-hosted; \
-    cd build-hosted; \
-    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=host ..;
-
-ENTRYPOINT ["cmake", "--build", "build-hosted"]
-CMD ["-j"]
-# CMD ["bash"]

README.md

@@ -1,4 +1,4 @@
-<img align="center" src="https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/raw/branch/master/doc/images/FSFW_Logo_V3_bw.png" width="50%">
+<img align="center" src="https://egit.irs.uni-stuttgart.de/fsfw/fsfw/raw/branch/master/misc/logo/FSFW_Logo_V3_bw.png" width="50%">
 
 # <a id="top"></a> <a name="linux"></a> FSFW Example Application
 
@@ -52,8 +52,17 @@ the host abstraction layer of the FSFW.
 This demo provides the opportunity to to test functionality of the
 FSFW on a host computer without the need of setting up external embedded hardware.
 
+After cloning, make sure to clone and initialize the submodules
+
+```sh
+git submodule update --init
+```
+
 ## Prerequisites
 
+If you need to set up these prerequisites, you can find some more information in the dedicated
+[chapter](#prereqsetup).
+
 1. Makefile build: make installed (bundled with MSYS2 on Windows or via [xPacks Windows Build Tools](https://xpack.github.io/windows-build-tools/install/)). Natively installed on Linux.
 2. Recommended for application code development: [Eclipse for C/C++](https://www.eclipse.org/downloads/packages/) . 
    Project files and launch configuration are provided for Eclipse to ease development.
@@ -62,6 +71,28 @@ FSFW on a host computer without the need of setting up external embedded hardwar
 4. Recommended: Python 3 and [just](https://github.com/casey/just) installed for easy build
    generation
 
+## Commanding the Software
+
+When the software is running, it opens a TCP oder UDP server, depending on the configuration,
+on port 7301. You can send PUS telecommands to that port to interactively command the
+software.
+
+The following steps set up a virtual environment, install all the dependencies, and then use
+the `tmtcc.py` utility to send a ping telecommand to the running OBSW
+
+```sh
+cd tmtc
+python3 -m venv venv
+cd deps/tmtccmd
+pip install .[gui]
+```
+
+Now you can command the software using the `tmtcc.py` command for the CLI mode and `tmtcc.py -g`
+for the GUI mode inside the virtual environment. For example, you can use `tmtcc.py -s 17 -o 0`
+to send a ping command.
+
+## <a id="prereqsetup"></a> Setting up Prerequisites
+
 ### Windows - MinGW64 build
 
 1. [MSYS2 and MinGW64](https://www.msys2.org/) installed
@@ -143,13 +174,13 @@ generation as a cross-platform solution.
 
 1. Create a new folder for the executable.
    ```sh
-   mkdir build-Debug
-   cd build-Debug
+   mkdir cmake-build-debug
+   cd cmake-build-debug
    ```
 
 2. Configure the build system 
    ```sh
-   cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=host ..
+   cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=host ..
    ```
    
    You can also use `-DOS_FSFW=linux` to use the Linux OSAL of the FSFW.
@@ -175,15 +206,15 @@ as well to have a convenient way to configure the CMake build.
 1. Open the MinGW64 terminal and navigate to the `fsfw_example` folder
 2. Create a new folder for the executable.
    ```sh
-   mkdir build-Debug
-   cd build-Debug
+   mkdir cmake-build-debug
+   cd cmake-build-debug
    ```
 
    The build options can be displayed with `cmake -L` . 
 
 3. Configure the project and generate the native MinGW64 buildsystem
    ```sh
-   cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=host ..
+   cmake -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=host ..
    ```
 
    The build configuration can also be performed with the shell scripts located
@@ -200,11 +231,15 @@ as well to have a convenient way to configure the CMake build.
    
 ## Setting up Eclipse for CMake projects
 
-The separate [Eclipse README](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-eclipse.md) specifies how to set up Eclipse to build CMake
+The separate [Eclipse README](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common/src/branch/master/doc/README-eclipse.md)
+specifies how to set up Eclipse to build CMake
 projects. Separate project files and launch configurations for the MinGW build were provided.
 The debug output is colored by default. It is recommended to install the
-`ANSI Escape in Console` plugin in Eclipse so the coloring works in the Eclipse console. On Windows,
-it is recommended to run the applicaton with the Windows command line for the printout to work
+`ANSI Escape in Console` plugin in Eclipse so the coloring works in the Eclipse console. 
+
+**Windows**
+
+On Windows, it is recommended to run the applicaton with the Windows command line for the printout
+to work 
 properly. You can do this by simply double-clicking the binary or using `start <Exe>` in the
 Windows command line
-

automation/Dockerfile

@@ -0,0 +1,8 @@
+FROM ubuntu:focal
+
+RUN apt-get update
+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

automation/Jenkinsfile

@@ -0,0 +1,29 @@
+pipeline {
+    environment {
+        BUILDDIR = 'cmake-build-debug'
+    }
+    agent {
+        docker { image 'fsfw-ci:d3'}
+    }
+    stages {
+        stage('Clean') {
+            steps {
+                sh 'rm -rf $BUILDDIR'
+            }
+        }
+        stage('Configure') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake -DFSFW_OSAL=host ..'
+                }
+            }
+        }
+        stage('Build') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -j4'
+                }
+            }
+        }
+    }
+}

bsp_hosted/CMakeLists.txt

@@ -1,13 +1,7 @@
-target_sources(${TARGET_NAME} 
-	PRIVATE
-		main.cpp
-)
+target_sources(${TARGET_NAME} PRIVATE main.cpp)
 
 add_subdirectory(core)
 add_subdirectory(fsfwconfig)
 add_subdirectory(utility)
 
-target_include_directories(${TARGET_NAME} 
-	PRIVATE
-		${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${TARGET_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})

bsp_hosted/core/CMakeLists.txt

@@ -1,5 +1 @@
-target_sources(${TARGET_NAME} 
-	PRIVATE
-		InitMission.cpp
-		ObjectFactory.cpp
-)
+target_sources(${TARGET_NAME} PRIVATE InitMission.cpp ObjectFactory.cpp)

bsp_hosted/core/InitMission.cpp

@@ -1,311 +1,305 @@
 #include <OBSWConfig.h>
-
 #include <bsp_hosted/core/InitMission.h>
 #include <bsp_hosted/fsfwconfig/objects/systemObjectList.h>
 #include <bsp_hosted/fsfwconfig/pollingsequence/pollingSequenceFactory.h>
-#include "example/utility/TaskCreation.h"
-
-#include "fsfw_tests/integration/assemblies/TestAssembly.h"
-
 #include <fsfw/modes/HasModesIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/retval.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
 
+#include "example/utility/TaskCreation.h"
+#include "fsfw_tests/integration/assemblies/TestAssembly.h"
 
 #ifdef _WIN32
 #include <fsfw/osal/windows/winTaskHelpers.h>
 #endif
 
-
 void InitMission::createTasks() {
-    TaskFactory* taskFactory = TaskFactory::instance();
-    if(taskFactory == nullptr) {
-        return;
-    }
+  TaskFactory* taskFactory = TaskFactory::instance();
+  if (taskFactory == nullptr) {
+    return;
+  }
 
-    TaskPriority currPrio;
+  TaskPriority currPrio;
 #ifdef _WIN32
-    currPrio = tasks::makeWinPriority();
+  currPrio = tasks::makeWinPriority();
 #endif
 
-    TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
+  TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
 #if OBSW_PRINT_MISSED_DEADLINES == 1
-    deadlineMissedFunc = TaskFactory::printMissedDeadline;
+  deadlineMissedFunc = TaskFactory::printMissedDeadline;
 #endif
 
 #if OBSW_ADD_CORE_COMPONENTS == 1
 
 #ifdef __unix__
-    currPrio = 40;
+  currPrio = 40;
+#endif
+  /* TMTC Distribution */
+  PeriodicTaskIF* distributerTask = taskFactory->createPeriodicTask(
+      "DIST", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, deadlineMissedFunc);
+  ReturnValue_t result = distributerTask->addComponent(objects::CCSDS_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    task::printInitError("CCSDS distributor", objects::CCSDS_DISTRIBUTOR);
+  }
+  result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    task::printInitError("PUS distributor", objects::PUS_DISTRIBUTOR);
+  }
+  result = distributerTask->addComponent(objects::CFDP_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    task::printInitError("CFDP distributor", objects::CFDP_DISTRIBUTOR);
+  }
+  result = distributerTask->addComponent(objects::TM_FUNNEL);
+  if (result != returnvalue::OK) {
+    task::printInitError("TM funnel", objects::TM_FUNNEL);
+  }
+
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+#ifdef __unix__
+  currPrio = 50;
+#endif
+  PeriodicTaskIF* cfdpTask = taskFactory->createPeriodicTask(
+      "CFDP Handler", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, deadlineMissedFunc);
+  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
+  if (result != returnvalue::OK) {
+    task::printInitError("CFDP Handler", objects::CFDP_HANDLER);
+  }
 #endif
-    /* TMTC Distribution */
-    PeriodicTaskIF* distributerTask = taskFactory->createPeriodicTask(
-            "DIST", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, deadlineMissedFunc);
-    ReturnValue_t result = distributerTask->addComponent(
-            objects::CCSDS_DISTRIBUTOR);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        task::printInitError("CCSDS distributor", objects::CCSDS_DISTRIBUTOR);
-    }
-    result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
-    if (result!=HasReturnvaluesIF::RETURN_OK) {
-        task::printInitError("PUS distributor", objects::PUS_DISTRIBUTOR);
-    }
-    result = distributerTask->addComponent(objects::TM_FUNNEL);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        task::printInitError("TM funnel", objects::TM_FUNNEL);
-    }
 
 #ifdef __unix__
-    currPrio = 50;
+  currPrio = 50;
 #endif
-    /* UDP bridge */