example compiles again

src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h

@@ -70,6 +70,15 @@ class ProvidesDataPoolSubscriptionIF {
   virtual ReturnValue_t subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams params) = 0;
 
+  [[deprecated(
+      "Please use the new API which takes all arguments as one wrapper "
+      "struct")]] virtual ReturnValue_t
+  subscribeForPeriodicPacket(sid_t sid, bool enableReporting, float collectionInterval,
+                             bool isDiagnostics) {
+    return subscribeForPeriodicPacket(sid, enableReporting, collectionInterval, isDiagnostics,
+                                      objects::NO_OBJECT);
+  }
+
   [[deprecated(
       "Please use the new API which takes all arguments as one wrapper "
       "struct")]] virtual ReturnValue_t
@@ -97,6 +106,12 @@ class ProvidesDataPoolSubscriptionIF {
   virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
   virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
 
+  [[deprecated(
+      "Please use the new API which takes all arguments as one wrapper "
+      "struct")]] virtual ReturnValue_t
+  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
+    return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
+  }
   [[deprecated(
       "Please use the new API which takes all arguments as one wrapper "
       "struct")]] virtual ReturnValue_t

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -74,8 +74,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
     TO_TIMETAG = 3
   };
 
-  Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                                 AcceptsTelecommandsIF* tcRecipient,
+  Service11TelecommandScheduling(PsbParams params, AcceptsTelecommandsIF* tcRecipient,
                                  uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
                                  bool debugMode = false);
 
@@ -159,7 +158,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
    * @param data The Application data of the TC (get via getApplicationData()).
    * @return requestId
    */
-  uint64_t getRequestIdFromDataTC(const uint8_t* data) const;
+  [[nodiscard]] uint64_t getRequestIdFromTc() const;
 
   /**
    * @brief Extracts the Request ID from the Application Data directly, assuming it is packed

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -11,9 +11,9 @@ static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
 template <size_t MAX_NUM_TCS>
 inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduling(
-    object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient,
-    uint16_t releaseTimeMarginSeconds, bool debugMode)
-    : PusServiceBase(objectId, apid, serviceId),
+    PsbParams params, AcceptsTelecommandsIF *tcRecipient, uint16_t releaseTimeMarginSeconds,
+    bool debugMode)
+    : PusServiceBase(params),
       RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
       debugMode(debugMode),
       tcRecipient(tcRecipient) {}
@@ -32,8 +32,8 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
 #endif
   }
   // Get de-serialized Timestamp
-  const uint8_t *data = currentPacket.getApplicationData();
-  size_t size = currentPacket.getApplicationDataSize();
+  const uint8_t *data = currentPacket.getUserData();
+  size_t size = currentPacket.getUserDataLen();
   if (data == nullptr) {
     return handleInvalidData("handleRequest");
   }
@@ -82,7 +82,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
       if (schedulingEnabled) {
         // release tc
         TmTcMessage releaseMsg(it->second.storeAddr);
-        auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
+        auto sendRet = psbParams.reqQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
 
         if (sendRet != HasReturnvaluesIF::RETURN_OK) {
           return sendRet;
@@ -175,7 +175,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != RETURN_OK ||
-      addr.raw == storeId::INVALID_STORE_ADDRESS) {
+      addr.raw == store_address_t::INVALID_RAW) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
                << std::endl;
@@ -190,8 +190,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   TelecommandStruct tc;
   tc.seconds = timestamp;
   tc.storeAddr = addr;
-  tc.requestId =
-      getRequestIdFromDataTC(data);  // TODO: Missing sanity check of the returned request id
+  tc.requestId = getRequestIdFromTc();  // TODO: Missing sanity check of the returned request id
 
   auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
   if (it == telecommandMap.end()) {
@@ -455,13 +454,10 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimesh
 }
 
 template <size_t MAX_NUM_TCS>
-inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromDataTC(
-    const uint8_t *data) const {
-  TcPacketPus mask(data);
-
-  uint32_t sourceId = mask.getSourceId();
-  uint16_t apid = mask.getAPID();
-  uint16_t sequenceCount = mask.getPacketSequenceCount();
+inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromTc() const {
+  uint32_t sourceId = currentPacket.getSourceId();
+  uint16_t apid = currentPacket.getApid();
+  uint16_t sequenceCount = currentPacket.getSequenceCount();
 
   return buildRequestId(sourceId, apid, sequenceCount);
 }

src/fsfw/returnvalues/HasReturnvaluesIF.h

@@ -33,8 +33,7 @@ class HasReturnvaluesIF {
    * @param number
    * @return
    */
-  [[deprecated("Use retval::makeCode instead")]] static constexpr ReturnValue_t makeReturnCode(
-      uint8_t classId, uint8_t number) {
+  static constexpr ReturnValue_t makeReturnCode(uint8_t classId, uint8_t number) {
     return retval::makeCode(classId, number);
   }
 };

src/fsfw/tcdistribution/PusDistributor.cpp

@@ -8,8 +8,8 @@
 
 #define PUS_DISTRIBUTOR_DEBUGGING 0
 
-PusDistributor::PusDistributor(StorageManagerIF* store_, uint16_t setApid, object_id_t setObjectId,
-                               object_id_t setPacketSource)
+PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
+                               object_id_t setPacketSource, StorageManagerIF* store_)
     : TcDistributor(setObjectId),
       store(store_),
       checker(setApid, ccsds::PacketType::TC),
@@ -151,5 +151,11 @@ ReturnValue_t PusDistributor::initialize() {
 #endif
     return RETURN_FAILED;
   }
+  if (store == nullptr) {
+    store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+    if (store == nullptr) {
+      return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+  }
   return ccsdsDistributor->registerApplication(this);
 }

src/fsfw/tcdistribution/PusDistributor.h

@@ -27,8 +27,8 @@ class PusDistributor : public TcDistributor, public PUSDistributorIF, public Acc
    * @param setPacketSource Object ID of the source of TC packets.
    * Must implement CCSDSDistributorIF.
    */
-  PusDistributor(StorageManagerIF* store, uint16_t setApid, object_id_t setObjectId,
-                 object_id_t setPacketSource);
+  PusDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource,
+                 StorageManagerIF* store = nullptr);
   /**
    * The destructor is empty.
    */

src/fsfw/tmtcpacket/ccsds/header.cpp

@@ -17,7 +17,7 @@ uint16_t ccsds::getPacketLen(const PrimaryHeader &header) {
 }
 
 void ccsds::setPacketId(PrimaryHeader &header, uint16_t packetId) {
-  header.packetIdHAndVersion = (packetId >> 8) & 0x1F;
+  header.packetIdHAndVersion |= (packetId >> 8) & 0x1F;
   header.packetIdL = packetId & 0xff;
 }
 
@@ -27,3 +27,8 @@ void ccsds::setApid(PrimaryHeader &header, uint16_t apid) {
   packetIdRaw |= apid & 0x7FF;
   setPacketId(header, packetIdRaw);
 }
+
+void ccsds::setSequenceCount(PrimaryHeader &header, uint16_t seqCount) {
+  header.packetSeqCtrlH |= (seqCount >> 8) & 0x3F;
+  header.packetSeqCtrlL = seqCount & 0xFF;
+}

src/fsfw/tmtcpacket/ccsds/header.h

@@ -24,6 +24,7 @@ uint16_t getPacketLen(const PrimaryHeader& header);
 
 void setPacketId(PrimaryHeader& header, uint16_t packetId);
 void setApid(PrimaryHeader& header, uint16_t apid);
+void setSequenceCount(PrimaryHeader& header, uint16_t seqCount);
 
 }  // namespace ccsds
 

src/fsfw/tmtcpacket/pus/tm.h

@@ -3,5 +3,6 @@
 
 #include "tm/PusTmCreator.h"
 #include "tm/PusTmReader.h"
+#include "tm/PusTmZcWriter.h"
 
 #endif /* FSFW_TMTCPACKET_PUS_TM_H_ */

src/fsfw/tmtcpacket/pus/tm/CMakeLists.txt

@@ -1,2 +1,2 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE PusTmCreator.cpp PusTmReader.cpp
-                                        PusTmMinimal.cpp)
+                                        PusTmMinimal.cpp PusTmZcWriter.cpp)

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

@@ -83,8 +83,11 @@ ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t max
       return result;
     }
   }
-  uint16_t crc16 = CRC::crc16ccitt(start, getFullPacketLen() - sizeof(ecss::PusChecksumT));
-  return SerializeAdapter::serialize(&crc16, buffer, size, maxSize, streamEndianness);
+  if (calculateCrcOnSerialization) {
+    uint16_t crc16 = CRC::crc16ccitt(start, getFullPacketLen() - sizeof(ecss::PusChecksumT));
+    return SerializeAdapter::serialize(&crc16, buffer, size, maxSize, streamEndianness);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t PusTmCreator::getSerializedSize() const { return getFullPacketLen(); }
@@ -108,10 +111,6 @@ void PusTmCreator::updateSpLengthField() {
 
 void PusTmCreator::setApid(uint16_t apid) { spCreator.setApid(apid); }
 
-ReturnValue_t PusTmCreator::serialize(uint8_t** buffer, size_t* size, size_t maxSize) const {
-  return serialize(buffer, size, maxSize, SerializeIF::Endianness::NETWORK);
-}
-
 void PusTmCreator::setup() {
   updateSpLengthField();
   spCreator.setPacketType(ccsds::PacketType::TM);

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

@@ -63,7 +63,6 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
   uint8_t getScTimeRefStatus() override;
   uint16_t getMessageTypeCounter() override;
   uint16_t getDestId() override;
-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize) const;
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override;
   [[nodiscard]] size_t getSerializedSize() const override;
@@ -76,6 +75,7 @@ class PusTmCreator : public SerializeIF, public PusTmIF, public CustomUserDataIF
  private:
   void setup();
   PusTmParams pusParams{};
+  bool calculateCrcOnSerialization = true;
   SpacePacketCreator spCreator;
 };
 #endif  // FSFW_TMTCPACKET_TMPACKETCREATOR_H

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

@@ -38,13 +38,15 @@ class PusTmReader : public PusTmIF,
   uint16_t getMessageTypeCounter() override;
   uint16_t getDestId() override;
 
- private:
-  ReturnValue_t setData(uint8_t* dataPtr, size_t size, void* args) override;
-  ReturnValue_t parseData(bool crcCheck);
+ protected:
+  ecss::PusPointers pointers{};
   SpacePacketReader spReader{};
   size_t sourceDataLen = 0;
   TimeReaderIF* timeReader{};
-  ecss::PusPointers pointers{};
+  ReturnValue_t setData(uint8_t* dataPtr, size_t size, void* args) override;
+  ReturnValue_t parseData(bool crcCheck);
+
+ private:
 };
 
 #endif  // FSFW_TMTCPACKET_PUSTMREADER_H

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

@@ -0,0 +1,18 @@
+#include "PusTmZcWriter.h"
+
+#include "fsfw/globalfunctions/CRC.h"
+
+PusTmZeroCopyWriter::PusTmZeroCopyWriter(uint8_t* data, size_t size) : PusTmReader(data, size) {}
+
+void PusTmZeroCopyWriter::setSequenceCount(uint16_t seqCount) {
+  auto* spHeader =
+      reinterpret_cast<ccsds::PrimaryHeader*>(const_cast<uint8_t*>((pointers.spHeaderStart)));
+  ccsds::setSequenceCount(*spHeader, seqCount);
+}
+void PusTmZeroCopyWriter::updateErrorControl() {
+  auto* crcStart = reinterpret_cast<uint8_t*>(const_cast<uint8_t*>((pointers.spHeaderStart)));
+  uint16_t crc16 =
+      CRC::crc16ccitt(PusTmReader::getFullData(), getFullPacketLen() - sizeof(ecss::PusChecksumT));
+  crcStart[0] = (crc16 >> 8) & 0xff;
+  crcStart[1] = crc16 & 0xff;
+}

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

@@ -0,0 +1,14 @@
+#ifndef FSFW_EXAMPLE_HOSTED_PUSTMZCWRITER_H
+#define FSFW_EXAMPLE_HOSTED_PUSTMZCWRITER_H
+
+#include "PusTmReader.h"
+class PusTmZeroCopyWriter : public PusTmReader {
+ public:
+  PusTmZeroCopyWriter(uint8_t* data, size_t size);
+
+  void setSequenceCount(uint16_t seqCount);
+  void updateErrorControl();
+
+ private:
+};
+#endif  // FSFW_EXAMPLE_HOSTED_PUSTMZCWRITER_H

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -27,7 +27,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
   if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "PusService " << psbParams.serviceId << ": performService returned with "
-               <<  static_cast<uint16_t>(result) << std::endl;
+               << static_cast<uint16_t>(result) << std::endl;
 #endif
     return RETURN_FAILED;
   }

src/fsfw_tests/integration/devices/TestDeviceHandler.cpp

@@ -645,7 +645,7 @@ ReturnValue_t TestDevice::initializeLocalDataPool(localpool::DataPool& localData
   sid_t sid(this->getObjectId(), td::TEST_SET_ID);
   /* Subscribe for periodic HK packets but do not enable reporting for now.
   Non-diangostic with a period of one second */
-  poolManager.subscribeForPeriodicPacket(sid, false, 1.0, false);
+  poolManager.subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams(sid, false, 1.0));
   return HasReturnvaluesIF::RETURN_OK;
 }