Merge remote-tracking branch 'ksat/mueller/master' into mueller/master

Reviewed-on: #422

CMakeLists.txt

@@ -18,6 +18,13 @@ add_library(${LIB_FSFW_NAME})
 
 set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
 
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
+endif()
+
 if(NOT OS_FSFW)
 	message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
 	# Assume host OS and autodetermine from OS_FSFW

README.md

@@ -38,11 +38,12 @@ a starting point. The [configuration section](doc/README-config.md#top) provides
 
 [1. High-level overview](doc/README-highlevel.md#top) <br>
 [2. Core components](doc/README-core.md#top) <br>
-[3. OSAL overview](doc/README-osal.md#top) <br>
+[3. Configuration](doc/README-config.md#top) <br>
-[4. PUS services](doc/README-pus.md#top) <br>
+[4. OSAL overview](doc/README-osal.md#top) <br>
-[5. Device Handler overview](doc/README-devicehandlers.md#top) <br>
+[5. PUS services](doc/README-pus.md#top) <br>
-[6. Controller overview](doc/README-controllers.md#top) <br>
+[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
-[7. Local Data Pools](doc/README-localpools.md#top) <br>
+[7. Controller overview](doc/README-controllers.md#top) <br>
+[8. Local Data Pools](doc/README-localpools.md#top) <br>
 
 
 

controller/ExtendedControllerBase.h

@@ -66,6 +66,10 @@ protected:
     virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
             LocalDataPoolManager& poolManager) override = 0;
     virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+
+    // Mode abstract functions
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) override = 0;
 };
 
 

datalinklayer/DataLinkLayer.h

@@ -19,7 +19,8 @@ class VirtualChannelReception;
 class DataLinkLayer : public CCSDSReturnValuesIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
-	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
+	//! [EXPORT] : [COMMENT] A RF available signal was detected. P1: raw RFA state, P2: 0
+	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO);
 	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
 	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
 	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0

defaultcfg/fsfwconfig/CMakeLists.txt

@@ -1,15 +1,23 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	ipc/missionMessageTypes.cpp
-	objects/FsfwFactory.cpp
-	pollingsequence/PollingSequenceFactory.cpp
-)
-
-# Should be added to include path
 target_include_directories(${TARGET_NAME} PRIVATE
-	${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-if(NOT FSFW_CONFIG_PATH)
+target_sources(${TARGET_NAME} PRIVATE
-	set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+    ipc/missionMessageTypes.cpp
+    pollingsequence/PollingSequenceFactory.cpp
+    objects/FsfwFactory.cpp
+)
+
+# If a special translation file for object IDs exists, compile it.
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+    target_sources(${TARGET_NAME} PRIVATE
+        objects/translateObjects.cpp
+    )
 endif()
 
+# If a special translation file for events exists, compile it.
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+    target_sources(${TARGET_NAME} PRIVATE
+        events/translateEvents.cpp
+    )
+endif()

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -17,6 +17,8 @@
 	#define FSFW_DISABLE_PRINTOUT 	0
 #endif
 
+#define FSFW_USE_PUS_C_TELEMETRY    1
+
 //! Can be used to disable the ANSI color sequences for C stdio.
 #define FSFW_COLORED_OUTPUT 		1
 
@@ -48,9 +50,9 @@
 #define FSFW_USE_REALTIME_FOR_LINUX 1
 
 namespace fsfwconfig {
-//! Default timestamp size. The default timestamp will be an eight byte CDC
+
-//! short timestamp.
+//! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.
-static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
 
 //! Configure the allocated pool sizes for the event manager.
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;

doc/README-config.md

@@ -1,12 +1,30 @@
-
+Configuring the FSFW
-## Configuring the FSFW
+======
 
 The FSFW can be configured via the `fsfwconfig` folder. A template folder has
 been provided to have a starting point for this. The folder should be added
-to the include path.
+to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
+of the available options will be explained in more detail here.
 
+# Auto-Translation of Events
 
-### Configuring the Event Manager
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the 
+   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
+3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
+   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
+4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
+   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
+   
+An example implementations of these translation file generators can be found as part
+of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
+or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
+
+## Configuring the Event Manager
 
 The number of allowed subscriptions can be modified with the following
 parameters:
@@ -18,4 +36,5 @@ static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
 static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 }
-```
+```
+

doc/README-core.md

@@ -19,8 +19,9 @@ A nullptr check of the returning Pointer must be done. This function is based on
 ```cpp
 template <typename T> T* ObjectManagerIF::get( object_id_t id )
 ```
-* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
+* A typical way to create all objects on startup is a handing a static produce function to the
-By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
+  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
+  called and all SystemObjects will be initialized afterwards.
 
 ### Event Manager
 
@@ -36,14 +37,19 @@ By calling objectManager->initialize() the produce function will be called and a
 
 ### Stores
 
-* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can 
+* The message based communication can only exchange a few bytes of information inside the message
-  be exchanged with Stores. With this, only the store address must be exchanged in the message.
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
-* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
+  store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
 * All of them should use the Thread Safe Class storagemanager/PoolManager
 
 ### Tasks
 
 There are two different types of tasks:
- * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
- * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
+   insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+   DeviceHandlers, where polling should be in a defined order. An example can be found in 
+   `defaultcfg/fsfwconfig/pollingSequence` folder
 

doc/README-highlevel.md

@@ -1,99 +1,135 @@
-# High-level overview
+High-level overview
+======
 
-## Structure
+# Structure
 
 The general structure is driven by the usage of interfaces provided by objects. 
-The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
 The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
 This simplifies the instantiation of objects and allows the usage of some standard containers. 
-Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
-The fsfw uses run-time type information but exceptions are not allowed.
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
 
-### Failure Handling
+# Failure Handling
 
-Functions should return a defined ReturnValue_t to signal to the caller that something has gone wrong. 
+Functions should return a defined `ReturnValue_t` to signal to the caller that something has
-Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
-The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
+or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
+See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
+`fsfwconfig` folder.
 
-### OSAL
+# OSAL
 
 The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
 The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
-The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components and how to use them.
+The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
+and how to use them.
 
-### Core Components 
+# Core Components 
 
 The FSFW has following core components. More detailed informations can be found in the
 [core component section](doc/README-core.md#top):
 
-1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks with fixed timeslots
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
-2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID to the object handles.
+   with fixed timeslots
-3. Static Stores: Different stores are provided to store data of variable size (like telecommands or small telemetry) in a pool structure without
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
-   using dynamic memory allocation. These pools are allocated up front.
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
 3. Clock: This module provided common time related functions
 4. EventManager: This module allows routing of events generated by `SystemObjects`
 5. HealthTable: A component which stores the health states of objects
 
-### Static IDs in the framework
+# Static IDs in the framework
 
 Some parts of the framework use a static routing address for communication. 
-An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
+An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
+ inside the function `Factory::setStaticFrameworkObjectIds()`.
 
-### Events
+# Events
 
-Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
-Every object that needs own EventIds has to get a unique SUBSYSTEM_ID. 
+This works analog to the returnvalues. Every object that needs own EventIds has to get a
-Every SystemObject can call triggerEvent from the parent class.
+unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
-Therefore, event messages contain the specific EventId and the objectId of the object that has triggered.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
 
-### Internal Communication
+# Internal Communication
 
-Components communicate mostly over Message through Queues. 
+Components communicate mostly via Messages through Queues. 
-Those queues are created by calling the singleton QueueFactory::instance()->create(). 
+Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
+will create `MessageQueue` instances for the used OSAL.
 
-### External Communication
+# External Communication
 
 The external communication with the mission control system is mostly up to the user implementation.
 The FSFW provides PUS Services which can be used to but don't need to be used. 
 The services can be seen as a conversion from a TC to a message based communication and back.
 
-#### CCSDS Frames, CCSDS Space Packets and PUS
+## TMTC Communication
 
-If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution. 
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
-If Space Packets are used, a timestamper must be created. 
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
-An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
+files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
+and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
+the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
+while the `fsfw_example` application is running.
 
-#### Device Handlers
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the `TmTcBridge` implementation.
+
+## CCSDS Frames, CCSDS Space Packets and PUS
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
+If Space Packets are used, a timestamper has to be provided by the user. 
+An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
+
+# Device Handlers
 
 DeviceHandlers are another important component of the FSFW. 
-The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
+The idea is, to have a software counterpart of every physical device to provide a simple mode,
-By separating the underlying Communication Interface with DeviceCommunicationIF, a device handler (DH) can be tested on different hardware.
+health and commanding interface. By separating the underlying Communication Interface with 
-The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. 
+`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
-Device Handlers can be created by overriding `DeviceHandlerBase`. 
+The DH has mechanisms to monitor the communication with the physical device which allow
-A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
+for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
-More information on DeviceHandlers can be found in the related [documentation section](doc/README-devicehandlers.md#top).
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related [documentation section](doc/README-devicehandlers.md#top).
 
-#### Modes, Health
+# Modes and Health
 
-The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
+The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
-On-board Mode Management is implement in hierarchy system. 
+of components. On-board Mode Management is implement in hierarchy system. 
 DeviceHandlers and Controllers are the lowest part of the hierarchy. 
-The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers. 
+The next layer are Assemblies. Those assemblies act as a component which handle
-Assemblies share a common core with the next level which are the Subsystems. 
+redundancies of handlers. Assemblies share a common core with the next level which
+are the Subsystems. 
 
-Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes. 
+Those Assemblies are intended to act as auto-generated components from a database which describes
-The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
-Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. 
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component. 
 The target table is used to describe the state that is checked continuously by the subsystem. 
 All of this allows System Modes to be generated as Subsystem object as well from the same database. 
 This System contains list of subsystem modes in the transition and target tables. 
-Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded.
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
 
 The health state represents if the component is able to perform its tasks. 
 This can be used to signal the system to avoid using this component instead of a redundant one.
 The on-board FDIR uses the health state for isolation and recovery. 
 
-## Unit Tests
+# Unit Tests
 
-Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. More information on how to run these tests can be found in the separate
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
+catch2 itself. More information on how to run these tests can be found in the separate
 [`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

events/EventManager.cpp

@@ -1,8 +1,6 @@
 #include "EventManager.h"
 #include "EventMessage.h"
 
-#include <FSFWConfig.h>
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
 
@@ -115,53 +113,6 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#if FSFW_OBJ_EVENT_TRANSLATION == 1
-
-void EventManager::printEvent(EventMessage* message) {
-	const char *string = 0;
-	switch (message->getSeverity()) {
-	case severity::INFO:
-#if DEBUG_INFO_EVENT == 1
-		string = translateObject(message->getReporter());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::info << "EVENT: ";
-		if (string != 0) {
-			sif::info << string;
-		} else {
-			sif::info << "0x" << std::hex << message->getReporter() << std::dec;
-		}
-		sif::info << " reported " << translateEvents(message->getEvent()) << " ("
-				<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
-				<< message->getParameter1() << " P2: 0x"
-				<< message->getParameter2() << std::dec << std::endl;
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* DEBUG_INFO_EVENT == 1 */
-		break;
-	default:
-		string = translateObject(message->getReporter());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::debug << "EventManager: ";
-		if (string != 0) {
-			sif::debug << string;
-		}
-		else {
-			sif::debug << "0x" << std::hex << message->getReporter() << std::dec;
-		}
-		sif::debug << " reported " << translateEvents(message->getEvent())
-				<< " (" << std::dec << message->getEventId() << ") "
-				<< std::endl;
-		sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
-				<< ", P1 Dec: " << std::dec << message->getParameter1()
-				<< std::endl;
-		sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
-				<< ", P2 Dec: " <<  std::dec << message->getParameter2()
-				<< std::endl;
-#endif
-		break;
-	}
-}
-#endif
-
 void EventManager::lockMutex() {
 	mutex->lockMutex(timeoutType, timeoutMs);
 }
@@ -175,3 +126,85 @@ void EventManager::setMutexTimeout(MutexIF::TimeoutType timeoutType,
 	this->timeoutType = timeoutType;
 	this->timeoutMs = timeoutMs;
 }
+
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
+
+void EventManager::printEvent(EventMessage* message) {
+    switch (message->getSeverity()) {
+    case severity::INFO: {
+#if FSFW_DEBUG_INFO == 1
+        printUtility(sif::OutputTypes::OUT_INFO, message);
+#endif /* DEBUG_INFO_EVENT == 1 */
+        break;
+    }
+    default:
+        printUtility(sif::OutputTypes::OUT_DEBUG, message);
+        break;
+    }
+}
+
+void EventManager::printUtility(sif::OutputTypes printType, EventMessage *message) {
+    const char *string = 0;
+    if(printType == sif::OutputTypes::OUT_INFO) {
+        string = translateObject(message->getReporter());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "EventManager: ";
+        if (string != 0) {
+            sif::info << string;
+        }
+        else {
+            sif::info << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
+                    message->getReporter() << std::setfill(' ') << std::dec;
+        }
+        sif::info << " report event with ID " << message->getEventId() << std::endl;
+        sif::info << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
+                " | P1 Dec: " << std::dec << message->getParameter1() <<  std::hex <<
+                " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<  std::dec <<
+                message->getParameter2() << std::endl;
+#else
+        if (string != 0) {
+            sif::printInfo("Event Manager: %s reported event with ID %d\n", string,
+                    message->getEventId());
+        }
+        else {
+            sif::printInfo("Event Manager: Reporter ID 0x%08x reported event with ID %d\n",
+                    message->getReporter(), message->getEventId());
+        }
+        sif::printInfo("P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n",
+                message->getParameter1(), message->getParameter1(),
+                message->getParameter2(), message->getParameter2());
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+    }
+    else {
+        string = translateObject(message->getReporter());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::debug << "EventManager: ";
+        if (string != 0) {
+            sif::debug << string;
+        }
+        else {
+            sif::debug << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
+                    message->getReporter() << std::setfill(' ') << std::dec;
+        }
+        sif::debug << " report event with ID " << message->getEventId() << std::endl;
+        sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
+                " | P1 Dec: " << std::dec << message->getParameter1() <<  std::hex <<
+                " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<  std::dec <<
+                message->getParameter2() << std::endl;
+#else
+        if (string != 0) {
+            sif::printDebug("Event Manager: %s reported event with ID %d\n", string,
+                    message->getEventId());
+        }
+        else {
+            sif::printDebug("Event Manager: Reporter ID 0x%08x reported event with ID %d\n",
+                    message->getReporter(), message->getEventId());
+        }
+        sif::printDebug("P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n",
+                message->getParameter1(), message->getParameter1(),
+                message->getParameter2(), message->getParameter2());
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+    }
+}
+
+#endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

events/EventManager.h

@@ -6,6 +6,7 @@
 
 #include <FSFWConfig.h>
 
+#include "../serviceinterface/ServiceInterface.h"
 #include "../objectmanager/SystemObject.h"
 #include "../storagemanager/LocalPool.h"
 #include "../tasks/ExecutableObjectIF.h"
@@ -67,6 +68,7 @@ protected:
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 	void printEvent(EventMessage *message);
+	void printUtility(sif::OutputTypes printType, EventMessage* message);
 #endif
 
 	void lockMutex();

events/fwSubsystemIdRanges.h

@@ -1,30 +1,37 @@
 #ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 #define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 
+#include <cstdint>
+
 namespace SUBSYSTEM_ID {
-enum {
+enum: uint8_t {
-	MEMORY = 22,
+    MEMORY = 22,
-	OBSW = 26,
+    OBSW = 26,
-	CDH = 28,
+    CDH = 28,
-	TCS_1 = 59,
+    TCS_1 = 59,
-	PCDU_1 = 42,
+    PCDU_1 = 42,
-	PCDU_2 = 43,
+    PCDU_2 = 43,
-	HEATER = 50,
+    HEATER = 50,
-	T_SENSORS = 52,
+    T_SENSORS = 52,
-	FDIR = 70,
+    FDIR = 70,
-	FDIR_1 = 71,
+    FDIR_1 = 71,
-	FDIR_2 = 72,
+    FDIR_2 = 72,
-	HK = 73,
+    HK = 73,
-	SYSTEM_MANAGER = 74,
+    SYSTEM_MANAGER = 74,
-	SYSTEM_MANAGER_1 = 75,
+    SYSTEM_MANAGER_1 = 75,
-	SYSTEM_1 = 79,
+    SYSTEM_1 = 79,
-	PUS_SERVICE_1 = 80,
+    PUS_SERVICE_1 = 80,
-	PUS_SERVICE_9 = 89,
+    PUS_SERVICE_2 = 82,
-	PUS_SERVICE_17 = 97,
+    PUS_SERVICE_3 = 83,
-	FW_SUBSYSTEM_ID_RANGE
+    PUS_SERVICE_5 = 85,
+    PUS_SERVICE_6 = 86,
+    PUS_SERVICE_8 = 88,
+    PUS_SERVICE_9 = 89,
+    PUS_SERVICE_17 = 97,
+    PUS_SERVICE_23 = 103,
+
+    FW_SUBSYSTEM_ID_RANGE
 };
 }
 
-
-
 #endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */

globalfunctions/arrayprinter.cpp

@@ -5,6 +5,15 @@
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
         bool printInfo, size_t maxCharPerLine) {
+    if(size == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "Size is zero, nothing to print" << std::endl;
+#else
+        sif::printInfo("Size is zero, nothing to print\n");
+#endif
+        return;
+    }
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     if(printInfo) {
          sif::info << "Printing data with size " << size << ": " << std::endl;

ipc/MessageQueueIF.h

@@ -22,11 +22,11 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
 	//! No new messages on the queue
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
-	//! No space left for more messages
+	//! [EXPORT] : [COMMENT] No space left for more messages
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
-	//! Returned if a reply method was called without partner
+	//! [EXPORT] : [COMMENT] Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
-	//! Returned if the target destination is invalid.
+	//! [EXPORT] : [COMMENT] Returned if the target destination is invalid.
 	static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}

memory/CMakeLists.txt

@@ -1,5 +1,5 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
+    MemoryHelper.cpp
-		MemoryHelper.cpp
+    MemoryMessage.cpp
-		MemoryMessage.cpp
+    GenericFileSystemMessage.cpp
 )

memory/GenericFileSystemMessage.cpp

@@ -0,0 +1,132 @@
+#include "GenericFileSystemMessage.h"
+
+
+void GenericFileSystemMessage::setCreateFileCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_CREATE_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setDeleteFileCommand(
+        CommandMessage* message, store_address_t storeId) {
+    message->setCommand(CMD_DELETE_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setCreateDirectoryCommand(
+        CommandMessage* message, store_address_t storeId) {
+    message->setCommand(CMD_CREATE_DIRECTORY);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReportFileAttributesCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_REPORT_FILE_ATTRIBUTES);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReportFileAttributesReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_REPORT_FILE_ATTRIBUTES);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setDeleteDirectoryCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_DELETE_DIRECTORY);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setLockFileCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_LOCK_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setUnlockFileCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_UNLOCK_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setSuccessReply(CommandMessage *message) {
+    message->setCommand(COMPLETION_SUCCESS);
+}
+
+void GenericFileSystemMessage::setFailureReply(CommandMessage *message,
+        ReturnValue_t errorCode, uint32_t errorParam) {
+    message->setCommand(COMPLETION_FAILED);
+    message->setParameter(errorCode);
+    message->setParameter2(errorParam);
+}
+
+store_address_t GenericFileSystemMessage::getStoreId(const CommandMessage* message) {
+    store_address_t temp;
+    temp.raw = message->getParameter2();
+    return temp;
+}
+
+ReturnValue_t GenericFileSystemMessage::getFailureReply(
+        const CommandMessage *message, uint32_t* errorParam) {
+    if(errorParam != nullptr) {
+        *errorParam = message->getParameter2();
+    }
+    return message->getParameter();
+}
+
+void GenericFileSystemMessage::setFinishStopWriteCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_FINISH_APPEND_TO_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setFinishStopWriteReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_FINISH_APPEND);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setCopyCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_COPY_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setWriteCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_APPEND_TO_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReadCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_READ_FROM_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setFinishAppendReply(CommandMessage* message,
+        store_address_t storageID) {
+    message->setCommand(REPLY_FINISH_APPEND);
+    message->setParameter2(storageID.raw);
+}
+
+void GenericFileSystemMessage::setReadReply(CommandMessage* message,
+        bool readFinished, store_address_t storeId) {
+    message->setCommand(REPLY_READ_FROM_FILE);
+    message->setParameter(readFinished);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReadFinishedReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_READ_FINISHED_STOP);
+    message->setParameter2(storeId.raw);
+}
+
+bool GenericFileSystemMessage::getReadReply(const CommandMessage *message,
+        store_address_t *storeId) {
+    if(storeId != nullptr) {
+        (*storeId).raw = message->getParameter2();
+    }
+    return message->getParameter();
+}

memory/GenericFileSystemMessage.h

@@ -0,0 +1,113 @@
+#ifndef MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
+#define MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
+
+#include <cstdint>
+
+#include <fsfw/ipc/CommandMessageIF.h>
+#include <fsfw/ipc/FwMessageTypes.h>
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/storagemanager/storeAddress.h>
+
+/**
+ * @brief   These messages are sent to an object implementing HasFilesystemIF.
+ * @details
+ * Enables a message-based file management. The user can add custo commands be implementing
+ * this generic class.
+ * @author  Jakob Meier, R. Mueller
+ */
+class GenericFileSystemMessage {
+public:
+    /* Instantiation forbidden */
+    GenericFileSystemMessage() = delete;
+
+    static const uint8_t MESSAGE_ID = messagetypes::FILE_SYSTEM_MESSAGE;
+    /* PUS standard  (ECSS-E-ST-70-41C15 2016 p.654) */
+    static const Command_t CMD_CREATE_FILE = MAKE_COMMAND_ID(1);
+    static const Command_t CMD_DELETE_FILE = MAKE_COMMAND_ID(2);
+    /** Report file attributes */
+    static const Command_t CMD_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(3);
+    static const Command_t REPLY_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(4);
+    /** Command to lock a file, setting it read-only */
+    static const Command_t CMD_LOCK_FILE = MAKE_COMMAND_ID(5);
+    /** Command to unlock a file, enabling further operations on it */
+    static const Command_t CMD_UNLOCK_FILE = MAKE_COMMAND_ID(6);
+    /**
+     * Find file in repository, using a search pattern.
+     * Please note that * is the wildcard character.
+     * For example, when looking for all files which start with have the
+     * structure tm<something>.bin, tm*.bin can be used.
+     */
+    static const Command_t CMD_FIND_FILE = MAKE_COMMAND_ID(7);
+    static const Command_t CMD_CREATE_DIRECTORY = MAKE_COMMAND_ID(9);
+    static const Command_t CMD_DELETE_DIRECTORY = MAKE_COMMAND_ID(10);
+    static const Command_t CMD_RENAME_DIRECTORY = MAKE_COMMAND_ID(11);
+
+    /** Dump contents of a repository */
+    static const Command_t CMD_DUMP_REPOSITORY = MAKE_COMMAND_ID(12);
+    /** Repository dump reply */
+    static const Command_t REPLY_DUMY_REPOSITORY = MAKE_COMMAND_ID(13);
+    static constexpr Command_t CMD_COPY_FILE = MAKE_COMMAND_ID(14);
+    static constexpr Command_t CMD_MOVE_FILE = MAKE_COMMAND_ID(15);
+
+    static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(128);
+    static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(129);
+
+    // These command IDs will remain until CFDP has been introduced and consolidated.
+    /** Append operation commands */
+    static const Command_t CMD_APPEND_TO_FILE = MAKE_COMMAND_ID(130);
+    static const Command_t CMD_FINISH_APPEND_TO_FILE = MAKE_COMMAND_ID(131);
+    static const Command_t REPLY_FINISH_APPEND = MAKE_COMMAND_ID(132);
+
+    static const Command_t CMD_READ_FROM_FILE = MAKE_COMMAND_ID(140);
+    static const Command_t REPLY_READ_FROM_FILE = MAKE_COMMAND_ID(141);
+    static const Command_t CMD_STOP_READ = MAKE_COMMAND_ID(142);
+    static const Command_t REPLY_READ_FINISHED_STOP = MAKE_COMMAND_ID(143);
+
+    static void setLockFileCommand(CommandMessage* message, store_address_t storeId);
+    static void setUnlockFileCommand(CommandMessage* message, store_address_t storeId);
+
+    static void setCreateFileCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setDeleteFileCommand(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setReportFileAttributesCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setReportFileAttributesReply(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setCreateDirectoryCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setDeleteDirectoryCommand(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setSuccessReply(CommandMessage* message);
+    static void setFailureReply(CommandMessage* message,
+            ReturnValue_t errorCode, uint32_t errorParam = 0);
+    static void setCopyCommand(CommandMessage* message, store_address_t storeId);
+
+    static void setWriteCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishStopWriteCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishStopWriteReply(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishAppendReply(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setReadCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setReadFinishedReply(CommandMessage* message,
+            store_address_t storeId);
+    static void setReadReply(CommandMessage* message, bool readFinished,
+            store_address_t storeId);
+    static bool getReadReply(const CommandMessage* message,
+            store_address_t* storeId);
+
+    static store_address_t getStoreId(const CommandMessage* message);
+    static ReturnValue_t getFailureReply(const CommandMessage* message,
+            uint32_t* errorParam = nullptr);
+
+};
+
+#endif /* MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ */

objectmanager/ObjectManager.cpp

@@ -108,9 +108,9 @@ void ObjectManager::initialize() {
 		result = it.second->checkObjectConnections();
 		if ( result != RETURN_OK ) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
+			sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex <<
-					(int) it.first  << " connection check failed with code 0x"
+					(int) it.first  << " connection check failed with code 0x" << result <<
-					<< result << std::dec << std::endl;
+					std::dec << std::endl;
 #endif
 			errorCount++;
 		}

objectmanager/ObjectManagerIF.h

@@ -4,7 +4,7 @@
 #include "frameworkObjects.h"
 #include "SystemObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 /**
  * @brief	This class provides an interface to the global object manager.

objectmanager/frameworkObjects.h

@@ -1,8 +1,9 @@
 #ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 #define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 
-#include <fsfw/objectmanager/SystemObjectIF.h>
+#include "SystemObjectIF.h"
 
+// The objects will be instantiated in the ID order
 namespace objects {
 enum framework_objects: object_id_t {
     FSFW_OBJECTS_START = 0x53000000,
@@ -16,6 +17,7 @@ enum framework_objects: object_id_t {
     PUS_SERVICE_17_TEST = 0x53000017,
     PUS_SERVICE_20_PARAMETERS = 0x53000020,
     PUS_SERVICE_200_MODE_MGMT = 0x53000200,
+    PUS_SERVICE_201_HEALTH = 0x53000201,
 
     //Generic IDs for IPC, modes, health, events
     HEALTH_TABLE = 0x53010000,

osal/FreeRTOS/CMakeLists.txt

@@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
 		TaskFactory.cpp
 		Timekeeper.cpp
 		TaskManagement.cpp
+		QueueMapManager.cpp
 )
 
 # FreeRTOS is required to link the FSFW now. It is recommended to compile 

osal/FreeRTOS/MessageQueue.cpp

@@ -1,26 +1,23 @@
 #include "MessageQueue.h"
+#include "QueueMapManager.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-// TODO I guess we should have a way of checking if we are in an ISR and then
-// use the "fromISR" versions of all calls
-// As a first step towards this, introduces system context variable which needs
-// to be switched manually
-// Haven't found function to find system context.
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 		maxMessageSize(maxMessageSize) {
 	handle = xQueueCreate(messageDepth, maxMessageSize);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 	if (handle == nullptr) {
-		sif::error << "MessageQueue::MessageQueue:"
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-		        << " Creation failed." << std::endl;
+		sif::error << "MessageQueue::MessageQueue: Creation failed" << std::endl;
-		sif::error << "Specified Message Depth: " << messageDepth
+		sif::error << "Specified Message Depth: " << messageDepth << std::endl;
-		        << std::endl;
+		sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
-		sif::error << "Specified Maximum Message Size: "
+#else
-		        << maxMessageSize << std::endl;
+		sif::printError("MessageQueue::MessageQueue: Creation failed\n");
-
+		sif::printError("Specified Message Depth: %d\n", messageDepth);
-	}
+		sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
 #endif
+	}
+    QueueMapManager::instance()->addMessageQueue(handle, &queueId);
 }
 
 MessageQueue::~MessageQueue() {
@@ -62,13 +59,15 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 	        callContext);
 }
 
+QueueHandle_t MessageQueue::getNativeQueueHandle() {
+    return handle;
+}
 
 ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
 	if (result != pdPASS) {
 		if (not ignoreFault) {
 			InternalErrorReporterIF* internalErrorReporter = objectManager->
-					get<InternalErrorReporterIF>(
+			        get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-					objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != nullptr) {
 				internalErrorReporter->queueMessageNotSent();
 			}
@@ -110,7 +109,7 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 }
 
 MessageQueueId_t MessageQueue::getId() const {
-	return reinterpret_cast<MessageQueueId_t>(handle);
+	return queueId;
 }
 
 void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
@@ -132,29 +131,24 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault, CallContext callContext) {
 	BaseType_t result = pdFALSE;
-	QueueHandle_t destination = nullptr;
+	if(sendTo == MessageQueueIF::NO_QUEUE) {
-
+        return MessageQueueIF::DESTINATION_INVALID;
-	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
-		return MessageQueueIF::DESTINATION_INVALID;
 	}
-	else  {
+
-		destination = reinterpret_cast<QueueHandle_t>(sendTo);
+	QueueHandle_t destination = QueueMapManager::instance()->getMessageQueue(sendTo);
+	if(destination == nullptr) {
+        return MessageQueueIF::DESTINATION_INVALID;
 	}
 
     message->setSender(sentFrom);
-
-
     if(callContext == CallContext::TASK) {
-        result = xQueueSendToBack(destination,
+        result = xQueueSendToBack(destination, static_cast<const void*>(message->getBuffer()), 0);
-                static_cast<const void*>(message->getBuffer()), 0);
     }
     else {
-        /* If the call context is from an interrupt,
+        /* If the call context is from an interrupt, request a context switch if a higher priority
-         * request a context switch if a higher priority task
+        task was blocked by the interrupt. */
-         * was blocked by the interrupt. */
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
+        result = xQueueSendFromISR(destination, static_cast<const void*>(message->getBuffer()),
-                static_cast<const void*>(message->getBuffer()),
                 &xHigherPriorityTaskWoken);
         if(xHigherPriorityTaskWoken == pdTRUE) {
             TaskManagement::requestContextSwitch(callContext);

osal/FreeRTOS/MessageQueue.h

@@ -11,11 +11,6 @@
 #include <freertos/queue.h>
 #include <fsfw/ipc/MessageQueueMessage.h>
 
-// TODO: this class assumes that MessageQueueId_t is the same size as void*
-// (the FreeRTOS handle type), compiler will catch this but it might be nice
-// to have something checking or even an always working solution
-// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
-
 /**
  * @brief		This class manages sending and receiving of
  * 				message queue messages.
@@ -112,6 +107,8 @@ public:
 
 	bool isDefaultDestinationSet() const override;
 
+	QueueHandle_t getNativeQueueHandle();
+
 protected:
 	/**
 	 * @brief 	Implementation to be called from any send Call within
@@ -141,6 +138,8 @@ protected:
 private:
 	bool defaultDestinationSet = false;
 	QueueHandle_t handle;
+	MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
+
 	MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
 	MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
 	const size_t maxMessageSize;

osal/FreeRTOS/QueueMapManager.cpp

@@ -0,0 +1,58 @@
+#include "QueueMapManager.h"
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexGuard.h"
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
+
+QueueMapManager* QueueMapManager::instance() {
+    if (mqManagerInstance == nullptr){
+        mqManagerInstance = new QueueMapManager();
+    }
+    return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id) {
+    MutexGuard lock(mapLock);
+    uint32_t currentId = queueCounter++;
+    auto returnPair = queueMap.emplace(currentId, queue);
+    if(not returnPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "QueueMapManager::addMessageQueue This ID is already "
+                "inside the map!" << std::endl;
+#else
+        sif::printError("QueueMapManager::addMessageQueue This ID is already "
+                "inside the map!\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if (id != nullptr) {
+        *id = currentId;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+QueueHandle_t QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId) const {
+    auto queueIter = queueMap.find(messageQueueId);
+    if(queueIter != queueMap.end()) {
+        return queueIter->second;
+    }
+    else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
+                " does not exists in the map!" << std::endl;
+#else
+        sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
+                messageQueueId);
+#endif
+    }
+    return nullptr;
+}
+
+QueueMapManager::~QueueMapManager() {
+    MutexFactory::instance()->deleteMutex(mapLock);
+}

osal/FreeRTOS/QueueMapManager.h

@@ -0,0 +1,50 @@
+#ifndef FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
+#define FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
+
+#include "../../ipc/MutexIF.h"
+#include "../../ipc/messageQueueDefinitions.h"
+#include "../../ipc/MessageQueueIF.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+
+#include <map>
+
+using QueueMap = std::map<MessageQueueId_t, QueueHandle_t>;
+
+class QueueMapManager {
+public:
+
+    //! Returns the single instance of QueueMapManager
+    static QueueMapManager* instance();
+
+    /**
+     * Insert a message queue and the corresponding QueueHandle into the map
+     * @param queue The message queue to insert.
+     * @param id The passed value will be set unless a nullptr is passed
+     * @return
+     */
+    ReturnValue_t addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id);
+
+    /**
+     * Get the message queue handle by providing a message queue ID. Returns nullptr
+     * if the queue ID does not exist in the internal map.
+     * @param messageQueueId
+     * @return
+     */
+    QueueHandle_t getMessageQueue(MessageQueueId_t messageQueueId) const;
+
+private:
+    //! External instantiation forbidden. Constructor still required for singleton instantiation.
+    QueueMapManager();
+    ~QueueMapManager();
+
+    uint32_t queueCounter = 0;
+    MutexIF* mapLock;
+    QueueMap queueMap;
+    static QueueMapManager* mqManagerInstance;
+};
+
+
+
+#endif /* FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_ */

osal/common/CMakeLists.txt

@@ -5,6 +5,7 @@ if(DEFINED WIN32 OR DEFINED UNIX)
         UdpTcPollingTask.cpp
         UdpTmTcBridge.cpp
         TcpTmTcServer.cpp
+        TcpTmTcBridge.cpp
     )
 endif()
 

osal/common/TcpIpBase.cpp

@@ -1,10 +1,9 @@
 #include "TcpIpBase.h"
+#include "../../platform.h"
 
-#ifdef __unix__
+#ifdef PLATFORM_UNIX
-
 #include <errno.h>
 #include <unistd.h>
-
 #endif
 
 TcpIpBase::TcpIpBase() {
@@ -37,17 +36,17 @@ TcpIpBase::~TcpIpBase() {
 }
 
 int TcpIpBase::closeSocket(socket_t socket) {
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
     return closesocket(socket);
-#elif defined(__unix__)
+#elif defined(PLATFORM_UNIX)
     return close(socket);
 #endif
 }
 
 int TcpIpBase::getLastSocketError() {
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
     return WSAGetLastError();
-#elif defined(__unix__)
+#elif defined(PLATFORM_UNIX)
     return errno;
 #endif
 }

osal/common/TcpIpBase.h

@@ -1,28 +1,25 @@
 #ifndef FSFW_OSAL_COMMON_TCPIPIF_H_
 #define FSFW_OSAL_COMMON_TCPIPIF_H_
 
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
-
+#include "../../platform.h"
-#ifdef _WIN32
 
+#ifdef PLATFORM_WIN
 #include <winsock2.h>
-
+#elif defined(PLATFORM_UNIX)
-#elif defined(__unix__)
-
 #include <sys/socket.h>
-
 #endif
 
 class TcpIpBase {
 protected:
 
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
     static constexpr int SHUT_RECV = SD_RECEIVE;
     static constexpr int SHUT_SEND = SD_SEND;
     static constexpr int SHUT_BOTH = SD_BOTH;
 
     using socket_t = SOCKET;
-#elif defined(__unix__)
+#elif defined(PLATFORM_UNIX)
     using socket_t = int;
 
     static constexpr int INVALID_SOCKET = -1;

osal/common/TcpTmTcBridge.cpp

@@ -0,0 +1,77 @@
+#include "TcpTmTcBridge.h"
+#include "tcpipHelpers.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/osal/common/TcpTmTcBridge.h>
+
+#ifdef _WIN32
+
+#include <ws2tcpip.h>
+
+#elif defined(__unix__)
+
+#include <netdb.h>
+#include <arpa/inet.h>
+
+#endif
+
+const std::string TcpTmTcBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
+
+TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+        object_id_t tmStoreId, object_id_t tcStoreId):
+        TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
+    mutex = MutexFactory::instance()->createMutex();
+    // Connection is always up, TM is requested by connecting to server and receiving packets
+    registerCommConnect();
+}
+
+ReturnValue_t TcpTmTcBridge::initialize() {
+    ReturnValue_t result = TmTcBridge::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TcpTmTcBridge::initialize: TmTcBridge initialization failed!"
+                << std::endl;
+#else
+        sif::printError("TcpTmTcBridge::initialize: TmTcBridge initialization failed!\n");
+#endif
+        return result;
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+TcpTmTcBridge::~TcpTmTcBridge() {
+    if(mutex != nullptr) {
+        MutexFactory::instance()->deleteMutex(mutex);
+    }
+}
+
+ReturnValue_t TcpTmTcBridge::handleTm() {
+    // Simply store the telemetry in the FIFO, the server will use it to access the TM
+    MutexGuard guard(mutex, timeoutType, mutexTimeoutMs);
+    TmTcMessage message;
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+    for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
+         result == HasReturnvaluesIF::RETURN_OK;
+         result = tmTcReceptionQueue->receiveMessage(&message))
+    {
+        status = storeDownlinkData(&message);
+        if(status != HasReturnvaluesIF::RETURN_OK) {
+            break;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
+    // Not used. The Server uses the FIFO to access and send the telemetry.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+void TcpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
+        dur_millis_t timeoutMs) {
+    this->timeoutType = timeoutType;
+    this->mutexTimeoutMs = timeoutMs;
+}

osal/common/TcpTmTcBridge.h

@@ -0,0 +1,71 @@
+#ifndef FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_
+#define FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_
+
+#include "TcpIpBase.h"
+#include "../../tmtcservices/TmTcBridge.h"
+
+#ifdef _WIN32
+
+#include <ws2tcpip.h>
+
+#elif defined(__unix__)
+
+#include <sys/socket.h>
+
+#endif
+
+#include <string>
+
+/**
+ * @brief   This class should be used with the TcpTmTcServer to implement a TCP server
+ *          for receiving and sending PUS telemetry and telecommands (TMTC)
+ * @details
+ * This bridge tasks takes care of filling a FIFO which generated telemetry. The TcpTmTcServer
+ * will take care of sending the telemetry stored in the FIFO if a client connects to the
+ * server. This bridge will also be the default destination for telecommands, but the telecommands
+ * will be relayed to a specified tcDestination directly.
+ */
+class TcpTmTcBridge:
+        public TmTcBridge {
+    friend class TcpTmTcServer;
+public:
+    /* The ports chosen here should not be used by any other process. */
+    static const std::string DEFAULT_UDP_SERVER_PORT;
+
+    /**
+     * Constructor
+     * @param objectId  Object ID of the TcpTmTcBridge.
+     * @param tcDestination Destination for received TC packets. Any received telecommands will
+     *                      be sent there directly. The destination object needs to implement
+     *                      AcceptsTelecommandsIF.
+     * @param tmStoreId TM store object ID. It is recommended to the default object ID
+     * @param tcStoreId TC store object ID. It is recommended to the default object ID
+     */
+    TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+            object_id_t tmStoreId = objects::TM_STORE,
+            object_id_t tcStoreId = objects::TC_STORE);
+    virtual~ TcpTmTcBridge();
+
+    /**
+     * Set properties of internal mutex.
+     */
+    void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs);
+
+    ReturnValue_t initialize() override;
+
+
+protected:
+    ReturnValue_t handleTm() override;
+    virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+
+private:
+
+    //! Access to the FIFO needs to be mutex protected because it is used by the bridge and
+    //! the server.
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    dur_millis_t mutexTimeoutMs = 20;
+    MutexIF* mutex;
+};
+
+#endif /* FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_ */
+

osal/common/TcpTmTcServer.cpp

@@ -1,23 +1,33 @@
 #include "TcpTmTcServer.h"
+#include "TcpTmTcBridge.h"
 #include "tcpipHelpers.h"
-#include "../../serviceinterface/ServiceInterface.h"
 
-#ifdef _WIN32
+#include "../../platform.h"
+#include "../../container/SharedRingBuffer.h"
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../ipc/MutexGuard.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../tmtcservices/TmTcMessage.h"
+
+#ifdef PLATFORM_WIN
 #include <winsock2.h>
 #include <ws2tcpip.h>
-
+#elif defined(PLATFORM_UNIX)
-#elif defined(__unix__)
-
 #include <netdb.h>
-
 #endif
 
-const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT =  "7301";
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
-const std::string TcpTmTcServer::DEFAULT_TCP_CLIENT_PORT =  "7302";
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
+#endif
 
-TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT =  "7303";
-        std::string customTcpServerPort):
+
-        SystemObject(objectId), tcpPort(customTcpServerPort) {
+TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
+        size_t receptionBufferSize, std::string customTcpServerPort):
+        SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge),
+        tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) {
     if(tcpPort == "") {
         tcpPort = DEFAULT_TCP_SERVER_PORT;
     }
@@ -31,6 +41,18 @@ ReturnValue_t TcpTmTcServer::initialize() {
         return result;
     }
 
+    tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+    if (tcStore == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TcpTmTcServer::initialize: TC store uninitialized!" << std::endl;
+#else
+        sif::printError("TcpTmTcServer::initialize: TC store uninitialized!\n");
+#endif
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+
+    tmtcBridge = objectManager->get<TcpTmTcBridge>(tmtcBridgeId);
+
     int retval = 0;
     struct addrinfo *addrResult = nullptr;
     struct addrinfo hints = {};
@@ -40,34 +62,25 @@ ReturnValue_t TcpTmTcServer::initialize() {
     hints.ai_protocol = IPPROTO_TCP;
     hints.ai_flags = AI_PASSIVE;
 
+    // Listen to all addresses (0.0.0.0) by using AI_PASSIVE in the hint flags
     retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult);
     if (retval != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "TcWinTcpServer::TcpTmTcServer: Retrieving address info failed!" <<
-                std::endl;
-#endif
         handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    /* Open TCP (stream) socket */
+    // Open TCP (stream) socket
     listenerTcpSocket = socket(addrResult->ai_family, addrResult->ai_socktype,
             addrResult->ai_protocol);
     if(listenerTcpSocket == INVALID_SOCKET) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "TcWinTcpServer::TcWinTcpServer: Socket creation failed!" << std::endl;
-#endif
         freeaddrinfo(addrResult);
         handleError(Protocol::TCP, ErrorSources::SOCKET_CALL);
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
+    // Bind to the address found by getaddrinfo
     retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
     if(retval == SOCKET_ERROR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "TcWinTcpServer::TcpTmTcServer: Binding socket failed!" <<
-                std::endl;
-#endif
         freeaddrinfo(addrResult);
         handleError(Protocol::TCP, ErrorSources::BIND_CALL);
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -84,49 +97,130 @@ TcpTmTcServer::~TcpTmTcServer() {
 
 ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
     using namespace tcpip;
-    /* If a connection is accepted, the corresponding socket will be assigned to the new socket */
+    // If a connection is accepted, the corresponding socket will be assigned to the new socket
-    socket_t clientSocket = 0;
+    socket_t connSocket = 0;
-    sockaddr clientSockAddr = {};
+    // sockaddr clientSockAddr = {};
-    socklen_t connectorSockAddrLen = 0;
+    // socklen_t connectorSockAddrLen = 0;
     int retval = 0;
 
-    /* Listen for connection requests permanently for lifetime of program */
+    // Listen for connection requests permanently for lifetime of program
     while(true) {
-        retval = listen(listenerTcpSocket, currentBacklog);
+        retval = listen(listenerTcpSocket, tcpBacklog);
         if(retval == SOCKET_ERROR) {
             handleError(Protocol::TCP, ErrorSources::LISTEN_CALL, 500);
             continue;
         }
 
-        clientSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
+        //connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
+        connSocket = accept(listenerTcpSocket, nullptr, nullptr);
 
-        if(clientSocket == INVALID_SOCKET) {
+        if(connSocket == INVALID_SOCKET) {
             handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
-            closeSocket(clientSocket);
+            closeSocket(connSocket);
             continue;
         };
 
-        retval = recv(clientSocket, reinterpret_cast<char*>(receptionBuffer.data()),
+        handleServerOperation(connSocket);
-                receptionBuffer.size(), 0);
-        if(retval > 0) {
-#if FSFW_TCP_RCV_WIRETAPPING_ENABLED == 1
-            sif::info << "TcpTmTcServer::performOperation: Received " << retval << " bytes."
-                    std::endl;
-#endif
-            handleError(Protocol::TCP, ErrorSources::RECV_CALL, 500);
-        }
-        else if(retval == 0) {
 
+        // Done, shut down connection and go back to listening for client requests
+        retval = shutdown(connSocket, SHUT_SEND);
+        if(retval != 0) {
+            handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
         }
-        else {
+        closeSocket(connSocket);
-
-        }
-
-        /* Done, shut down connection */
-        retval = shutdown(clientSocket, SHUT_SEND);
-        closeSocket(clientSocket);
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
+    if(tmtcBridge == nullptr) {
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+    /* Initialize the destination after task creation. This ensures
+    that the destination has already been set in the TMTC bridge. */
+    targetTcDestination = tmtcBridge->getRequestQueue();
+    tcStore = tmtcBridge->tcStore;
+    tmStore = tmtcBridge->tmStore;
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
+void TcpTmTcServer::handleServerOperation(socket_t connSocket) {
+    int retval = 0;
+    do {
+        // Read all telecommands sent by the client
+        retval = recv(connSocket,
+                reinterpret_cast<char*>(receptionBuffer.data()),
+                receptionBuffer.capacity(),
+                tcpFlags);
+        if (retval > 0) {
+            handleTcReception(retval);
+        }
+        else if(retval == 0) {
+            // Client has finished sending telecommands, send telemetry now
+            handleTmSending(connSocket);
+        }
+        else {
+            // Should not happen
+            tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::RECV_CALL);
+        }
+    } while(retval > 0);
+}
+
+ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) {
+#if FSFW_TCP_RECV_WIRETAPPING_ENABLED == 1
+    arrayprinter::print(receptionBuffer.data(), bytesRead);
+#endif
+    store_address_t storeId;
+    ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRecvd);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning<< "TcpTmTcServer::handleServerOperation: Data storage failed." << std::endl;
+        sif::warning << "Packet size: " << bytesRecvd << std::endl;
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    }
+
+    TmTcMessage message(storeId);
+
+    result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: "
+                " Sending message to queue failed" << std::endl;
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        tcStore->deleteData(storeId);
+    }
+    return result;
+}
+
+void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) {
+    this->tcpBacklog = tcpBacklog;
+}
+
+ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
+    // Access to the FIFO is mutex protected because it is filled by the bridge
+    MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
+    store_address_t storeId;
+    while((not tmtcBridge->tmFifo->empty()) and
+            (tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
+        tmtcBridge->tmFifo->retrieve(&storeId);
+
+        // Using the store accessor will take care of deleting TM from the store automatically
+        ConstStorageAccessor storeAccessor(storeId);
+        ReturnValue_t result = tmStore->getData(storeId, storeAccessor);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+        int retval = send(connSocket,
+                reinterpret_cast<const char*>(storeAccessor.data()),
+                storeAccessor.size(),
+                tcpTmFlags);
+        if(retval != static_cast<int>(storeAccessor.size())) {
+            tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::SEND_CALL);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

osal/common/TcpTmTcServer.h

@@ -1,24 +1,40 @@
-#ifndef FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
+#ifndef FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_
-#define FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
+#define FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_
 
 #include "TcpIpBase.h"
+
+#include "../../platform.h"
+#include "../../ipc/messageQueueDefinitions.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../objectmanager/frameworkObjects.h"
 #include "../../objectmanager/SystemObject.h"
+#include "../../storagemanager/StorageManagerIF.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
-#ifdef __unix__
+#ifdef PLATFORM_UNIX
 #include <sys/socket.h>
 #endif
 
 #include <string>
 #include <vector>
 
-//! Debugging preprocessor define.
+class TcpTmTcBridge;
-#define FSFW_TCP_RCV_WIRETAPPING_ENABLED    0
 
 /**
- * @brief   Windows TCP server used to receive telecommands on a Windows Host
+ * @brief   TCP server implementation
  * @details
- * Based on: https://docs.microsoft.com/en-us/windows/win32/winsock/complete-server-code
+ * This server will run for the whole program lifetime and will take care of serving client
+ * requests on a specified TCP server port. This server was written in a generic way and
+ * can be used on Unix and on Windows systems.
+ *
+ * If a connection is accepted, the server will read all telecommands sent by a client and then
+ * send all telemetry currently found in the TMTC bridge FIFO.
+ *
+ * Reading telemetry without sending telecommands is possible by connecting, shutting down the
+ * send operation immediately and then reading the telemetry. It is therefore recommended to
+ * connect to the server regularly, even if no telecommands need to be sent.
+ *
+ * The server will listen to a specific port on all addresses (0.0.0.0).
  */
 class TcpTmTcServer:
         public SystemObject,
@@ -27,27 +43,51 @@ class TcpTmTcServer:
 public:
     /* The ports chosen here should not be used by any other process. */
     static const std::string DEFAULT_TCP_SERVER_PORT;
-    static const std::string DEFAULT_TCP_CLIENT_PORT;
 
-    TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+    static constexpr  size_t ETHERNET_MTU_SIZE = 1500;
+
+    /**
+     * TCP Server Constructor
+     * @param objectId              Object ID of the TCP Server
+     * @param tmtcTcpBridge         Object ID of the TCP TMTC Bridge object
+     * @param receptionBufferSize   This will be the size of the reception buffer. Default buffer
+     *                              size will be the Ethernet MTU size
+     * @param customTcpServerPort   The user can specify another port than the default (7301) here.
+     */
+    TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
+            size_t receptionBufferSize = ETHERNET_MTU_SIZE + 1,
             std::string customTcpServerPort = "");
     virtual~ TcpTmTcServer();
 
+    void setTcpBacklog(uint8_t tcpBacklog);
+
     ReturnValue_t initialize() override;
     ReturnValue_t performOperation(uint8_t opCode) override;
+    ReturnValue_t initializeAfterTaskCreation() override;
 
+protected:
+    StorageManagerIF* tcStore = nullptr;
+    StorageManagerIF* tmStore = nullptr;
 private:
+    //! TMTC bridge is cached.
+    object_id_t tmtcBridgeId = objects::NO_OBJECT;
+    TcpTmTcBridge* tmtcBridge = nullptr;
 
     std::string tcpPort;
+    int tcpFlags = 0;
     socket_t listenerTcpSocket = 0;
     struct sockaddr tcpAddress;
+    MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
     int tcpAddrLen = sizeof(tcpAddress);
-    int currentBacklog = 3;
+    int tcpBacklog = 3;
 
     std::vector<uint8_t> receptionBuffer;
     int tcpSockOpt = 0;
+    int tcpTmFlags = 0;
 
-
+    void handleServerOperation(socket_t connSocket);
+    ReturnValue_t handleTcReception(size_t bytesRecvd);
+    ReturnValue_t handleTmSending(socket_t connSocket);
 };
 
-#endif /* FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_ */
+#endif /* FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_ */

osal/common/UdpTcPollingTask.cpp

@@ -1,26 +1,23 @@
 #include "UdpTcPollingTask.h"
 #include "tcpipHelpers.h"
+#include "../../platform.h"
 #include "../../globalfunctions/arrayprinter.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
-
 #include <winsock2.h>
-
+#elif defined(PLATFORM_UNIX)
-#else
-
 #include <sys/types.h>
 #include <sys/socket.h>
-
 #endif
 
 //! Debugging preprocessor define.
 #define FSFW_UDP_RECV_WIRETAPPING_ENABLED    0
 
 UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId,
-        object_id_t tmtcUnixUdpBridge, size_t maxRecvSize,
+        object_id_t tmtcUdpBridge, size_t maxRecvSize,
         double timeoutSeconds): SystemObject(objectId),
-        tmtcBridgeId(tmtcUnixUdpBridge) {
+        tmtcBridgeId(tmtcUdpBridge) {
     if(frameSize > 0) {
         this->frameSize = frameSize;
     }
@@ -155,7 +152,7 @@ ReturnValue_t UdpTcPollingTask::initializeAfterTaskCreation() {
 }
 
 void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
     DWORD timeoutMs = timeoutSeconds * 1000.0;
     int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO,
             reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
@@ -165,7 +162,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
                 "receive timeout failed with " << strerror(errno) << std::endl;
 #endif
     }
-#elif defined(__unix__)
+#elif defined(PLATFORM_UNIX)
     timeval tval;
     tval = timevalOperations::toTimeval(timeoutSeconds);
     int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO,

osal/common/UdpTcPollingTask.h

@@ -1,5 +1,5 @@
-#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+#ifndef FSFW_OSAL_COMMON_UDPTCPOLLINGTASK_H_
-#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+#define FSFW_OSAL_COMMON_UDPTCPOLLINGTASK_H_
 
 #include "UdpTmTcBridge.h"
 #include "../../objectmanager/SystemObject.h"
@@ -9,8 +9,11 @@
 #include <vector>
 
 /**
- * @brief   This class should be used with the UdpTmTcBridge to implement a UDP server
+ * @brief   This class can be used with the UdpTmTcBridge to implement a UDP server
  *          for receiving and sending PUS TMTC.
+ * @details
+ * This task is exclusively used to poll telecommands from a given socket and transfer them
+ * to the FSFW software bus. It used the blocking recvfrom call to do this.
  */
 class UdpTcPollingTask:
         public TcpIpBase,
@@ -22,7 +25,7 @@ public:
 	//! 0.5  default milliseconds timeout for now.
 	static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
 
-	UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+	UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge,
 			size_t maxRecvSize = 0, double timeoutSeconds = -1);
 	virtual~ UdpTcPollingTask();
 
@@ -45,8 +48,6 @@ private:
 	object_id_t tmtcBridgeId = objects::NO_OBJECT;
 	UdpTmTcBridge* tmtcBridge = nullptr;
 	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
-
-	//! See: https://docs.microsoft.com/en-us/windows/win32/api/winsock/nf-winsock-recvfrom
 	int receptionFlags = 0;
 
 	std::vector<uint8_t> receptionBuffer;
@@ -57,4 +58,4 @@ private:
 	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
 };
 
-#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
+#endif /* FSFW_OSAL_COMMON_UDPTCPOLLINGTASK_H_ */

osal/common/UdpTmTcBridge.cpp

@@ -1,27 +1,26 @@
+#include "UdpTmTcBridge.h"
 #include "tcpipHelpers.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include "../../platform.h"
-#include <fsfw/ipc/MutexGuard.h>
+#include "../../serviceinterface/ServiceInterface.h"
-#include <fsfw/osal/common/UdpTmTcBridge.h>
+#include "../../ipc/MutexGuard.h"
-
-#ifdef _WIN32
 
+#ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
-
+#elif defined(PLATFORM_UNIX)
-#elif defined(__unix__)
-
 #include <netdb.h>
 #include <arpa/inet.h>
-
 #endif
 
 //! Debugging preprocessor define.
+#ifndef FSFW_UDP_SEND_WIRETAPPING_ENABLED
 #define FSFW_UDP_SEND_WIRETAPPING_ENABLED    0
+#endif
 
 const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-        object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
+        std::string udpServerPort, object_id_t tmStoreId, object_id_t tcStoreId):
         TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
     if(udpServerPort == "") {
         this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
@@ -38,7 +37,7 @@ ReturnValue_t UdpTmTcBridge::initialize() {
     ReturnValue_t result = TmTcBridge::initialize();
     if(result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmTcUdpBridge::initialize: TmTcBridge initialization failed!"
+        sif::error << "UdpTmTcBridge::initialize: TmTcBridge initialization failed!"
                 << std::endl;
 #endif
         return result;
@@ -54,10 +53,10 @@ ReturnValue_t UdpTmTcBridge::initialize() {
         /* Tell the user that we could not find a usable */
         /* Winsock DLL.                                  */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: " <<
+        sif::error << "UdpTmTcBridge::UdpTmTcBridge: WSAStartup failed with error: " <<
                 err << std::endl;
 #else
-        sif::printError("TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: %d\n",
+        sif::printError("UdpTmTcBridge::UdpTmTcBridge: WSAStartup failed with error: %d\n",
                 err);
 #endif
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -78,19 +77,12 @@ ReturnValue_t UdpTmTcBridge::initialize() {
     getaddrinfo to assign the address 0.0.0.0 (any address) */
     int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
     if (retval != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::GETADDRINFO_CALL);
-        sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Retrieving address info failed!" <<
-                std::endl;
-#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
     if(serverSocket == INVALID_SOCKET) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Could not open UDP socket!" <<
-                std::endl;
-#endif
         freeaddrinfo(addrResult);
         tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SOCKET_CALL);
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -102,10 +94,6 @@ ReturnValue_t UdpTmTcBridge::initialize() {
 
     retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
     if(retval != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmTcUdpBridge::TmTcUdpBridge: Could not bind "
-                "local port (" << udpServerPort << ") to server socket!" << std::endl;
-#endif
         freeaddrinfo(addrResult);
         tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::BIND_CALL);
         return HasReturnvaluesIF::RETURN_FAILED;

osal/common/UdpTmTcBridge.h

@@ -1,24 +1,26 @@
-#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+#ifndef FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_
-#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+#define FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_
 
 #include "TcpIpBase.h"
+#include "../../platform.h"
 #include "../../tmtcservices/TmTcBridge.h"
 
-#ifdef _WIN32
+#ifdef PLATFORM_WIN
-
 #include <ws2tcpip.h>
-
+#elif defined(PLATFORM_UNIX)
-#elif defined(__unix__)
-
 #include <sys/socket.h>
-
 #endif
 
 #include <string>
 
 /**
- * @brief   This class should be used with the UdpTcPollingTask to implement a UDP server
+ * @brief   This class can be used with the UdpTcPollingTask to implement a UDP server
  *          for receiving and sending PUS TMTC.
+ * @details
+ * This bridge task will take care of sending telemetry back to a UDP client if a connection
+ * was established and store them in a FIFO if this was not done yet. It is also be the default
+ * destination for telecommands, but the telecommands will be relayed to a specified tcDestination
+ * directly.
  */
 class UdpTmTcBridge:
         public TmTcBridge,
@@ -29,7 +31,8 @@ public:
     static const std::string DEFAULT_UDP_SERVER_PORT;
 
     UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
-            object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort = "");
+            std::string udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
+            object_id_t tcStoreId = objects::TC_STORE);
     virtual~ UdpTmTcBridge();
 
     /**
@@ -56,5 +59,5 @@ private:
     MutexIF* mutex;
 };
 
-#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */
+#endif /* FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_ */
 

osal/common/tcpipCommon.cpp

@@ -32,9 +32,18 @@ void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std:
     else if(errorSrc == ErrorSources::RECVFROM_CALL) {
         srcString = "recvfrom call";
     }
+    else if(errorSrc == ErrorSources::SEND_CALL) {
+        srcString = "send call";
+    }
+    else if(errorSrc == ErrorSources::SENDTO_CALL) {
+        srcString = "sendto call";
+    }
     else if(errorSrc == ErrorSources::GETADDRINFO_CALL) {
         srcString = "getaddrinfo call";
     }
+    else if(errorSrc == ErrorSources::SHUTDOWN_CALL) {
+        srcString = "shutdown call";
+    }
     else {
         srcString = "unknown call";
     }

osal/common/tcpipCommon.h

@@ -29,7 +29,9 @@ enum class ErrorSources {
     RECVFROM_CALL,
     LISTEN_CALL,
     ACCEPT_CALL,
-    SENDTO_CALL
+    SEND_CALL,
+    SENDTO_CALL,
+    SHUTDOWN_CALL
 };
 
 void determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string& protStr,

osal/host/Clock.cpp

@@ -1,10 +1,12 @@
 #include "../../serviceinterface/ServiceInterface.h"
 #include "../../timemanager/Clock.h"
+#include "../../platform.h"
 
 #include <chrono>
-#if defined(WIN32)
+
+#if defined(PLATFORM_WIN)
 #include <sysinfoapi.h>
-#elif defined(LINUX)
+#elif defined(PLATFORM_UNIX)
 #include <fstream>
 #endif
 
@@ -46,7 +48,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 }
 
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
-#if defined(WIN32)
+#if defined(PLATFORM_WIN)
 	auto now  = std::chrono::system_clock::now();
 	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
 	auto epoch = now.time_since_epoch();
@@ -54,7 +56,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 	auto fraction = now - secondsChrono;
 	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(fraction).count();
 	return HasReturnvaluesIF::RETURN_OK;
-#elif defined(LINUX)
+#elif defined(PLATFORM_UNIX)
 	timespec timeUnix;
 	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
 	if(status!=0){
@@ -85,14 +87,14 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 
 timeval Clock::getUptime() {
 	timeval timeval;
-#if defined(WIN32)
+#if defined(PLATFORM_WIN)
 	auto uptime  = std::chrono::milliseconds(GetTickCount64());
 	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
 	timeval.tv_sec = secondsChrono.count();
 	auto fraction = uptime - secondsChrono;
 	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
 	            fraction).count();
-#elif defined(LINUX)
+#elif defined(PLATFORM_UNIX)
 	double uptimeSeconds;
 	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
 	{
@@ -119,7 +121,6 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 	/* Do some magic with chrono (C++20!) */
 	/* Right now, the library doesn't have the new features to get the required values yet.

osal/host/FixedTimeslotTask.cpp

@@ -1,4 +1,5 @@
 #include "taskHelpers.h"
+#include "../../platform.h"
 #include "../../osal/host/FixedTimeslotTask.h"
 #include "../../ipc/MutexFactory.h"
 #include "../../osal/host/Mutex.h"
@@ -9,10 +10,10 @@
 #include <thread>
 #include <chrono>
 
-#if defined(WIN32)
+#if defined(PLATFORM_WIN)
 #include <windows.h>
 #include "../windows/winTaskHelpers.h"
-#elif defined(LINUX)
+#elif defined(PLATFORM_UNIX)
 #include <pthread.h>
 #endif
 

osal/host/MessageQueue.cpp

@@ -5,6 +5,8 @@
 #include "../../ipc/MutexFactory.h"
 #include "../../ipc/MutexGuard.h"
 
+#include <cstring>
+
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 		messageSize(maxMessageSize), messageDepth(messageDepth) {
 	queueLock = MutexFactory::instance()->createMutex();
@@ -126,8 +128,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 				internalErrorReporter->queueMessageNotSent();
 			}
 		}
-		// TODO: Better returnvalue
+		return MessageQueueIF::DESTINATION_INVALID;
-		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
 		MutexGuard mutexLock(targetQueue->queueLock, MutexIF::TimeoutType::WAITING, 20);

osal/host/MessageQueue.h

@@ -217,15 +217,15 @@ private:
 	 * @brief	The class stores the queue id it got assigned.
 	 * 			If initialization fails, the queue id is set to zero.
 	 */
-	MessageQueueId_t mqId = 0;
+	MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE;
 	size_t messageSize = 0;
 	size_t messageDepth = 0;
 
 	MutexIF* queueLock;
 
 	bool defaultDestinationSet = false;
-	MessageQueueId_t defaultDestination = 0;
+	MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
-	MessageQueueId_t lastPartner = 0;
+	MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

osal/host/PeriodicTask.cpp

@@ -2,6 +2,7 @@
 #include "PeriodicTask.h"
 #include "taskHelpers.h"
 
+#include "../../platform.h"
 #include "../../ipc/MutexFactory.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../tasks/ExecutableObjectIF.h"
@@ -9,10 +10,10 @@
 #include <thread>
 #include <chrono>
 
-#if defined(WIN32)
+#if defined(PLATFORM_WIN)
 #include <processthreadsapi.h>
 #include <fsfw/osal/windows/winTaskHelpers.h>
-#elif defined(__unix__)
+#elif defined(PLATFORM_UNIX)
 #include <pthread.h>
 #endif
 
@@ -24,9 +25,9 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
     // It is probably possible to set task priorities by using the native
     // task handles for Windows / Linux
 	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
-#if defined(_WIN32)
+#if defined(PLATFORM_WIN)
 	tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
-#elif defined(__unix__)
+#elif defined(PLATFORM_UNIX)
     // TODO: We could reuse existing code here.
 #endif
     tasks::insertTaskName(mainThread.get_id(), taskName);

osal/host/QueueMapManager.cpp

@@ -15,52 +15,49 @@ QueueMapManager::~QueueMapManager() {
 }
 
 QueueMapManager* QueueMapManager::instance() {
-	if (mqManagerInstance == nullptr){
+    if (mqManagerInstance == nullptr){
-		mqManagerInstance = new QueueMapManager();
+        mqManagerInstance = new QueueMapManager();
-	}
+    }
-	return QueueMapManager::mqManagerInstance;
+    return QueueMapManager::mqManagerInstance;
 }
 
 ReturnValue_t QueueMapManager::addMessageQueue(
-		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+        MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
-	/* Not thread-safe, but it is assumed all message queues are created at software initialization
+    MutexGuard lock(mapLock);
-	now. If this is to be made thread-safe in the future, it propably would be sufficient to lock
+    uint32_t currentId = queueCounter++;
-	the increment operation here. */
+    auto returnPair = queueMap.emplace(currentId, queueToInsert);
-	uint32_t currentId = queueCounter++;
+    if(not returnPair.second) {
-	auto returnPair = queueMap.emplace(currentId, queueToInsert);
+        /* This should never happen for the atomic variable. */
-	if(not returnPair.second) {
-		/* This should never happen for the atomic variable. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "QueueMapManager::addMessageQueue This ID is already "
+        sif::error << "QueueMapManager::addMessageQueue This ID is already "
-		        "inside the map!" << std::endl;
+                "inside the map!" << std::endl;
 #else
-		sif::printError("QueueMapManager::addMessageQueue This ID is already "
+        sif::printError("QueueMapManager::addMessageQueue This ID is already "
                 "inside the map!\n");
 #endif
-		return HasReturnvaluesIF::RETURN_FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
-	}
+    }
-	if (id != nullptr) {
+    if (id != nullptr) {
-		*id = currentId;
+        *id = currentId;
-	}
+    }
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 MessageQueueIF* QueueMapManager::getMessageQueue(
-		MessageQueueId_t messageQueueId) const {
+        MessageQueueId_t messageQueueId) const {
-	MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50);
+    auto queueIter = queueMap.find(messageQueueId);
-	auto queueIter = queueMap.find(messageQueueId);
+    if(queueIter != queueMap.end()) {
-	if(queueIter != queueMap.end()) {
+        return queueIter->second;
-		return queueIter->second;
+    }
-	}
+    else {
-	else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
+        sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
-		        " does not exists in the map!" << std::endl;
+                " does not exists in the map!" << std::endl;
 #else
-		sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
+        sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
-		        messageQueueId);
+                messageQueueId);
 #endif
-		return nullptr;
+    }
-	}
+    return nullptr;
 }
 

osal/host/QueueMapManager.h

@@ -15,33 +15,36 @@ using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
  */
 class QueueMapManager {
 public:
-	//! Returns the single instance of SemaphoreFactory.
-	static QueueMapManager* instance();
 
-	/**
+
-	 * Insert a message queue into the map and returns a message queue ID
+    //! Returns the single instance of QueueMapManager.
-	 * @param queue The message queue to insert.
+    static QueueMapManager* instance();
-	 * @param id The passed value will be set unless a nullptr is passed
+
-	 * @return
+    /**
-	 */
+     * Insert a message queue into the map and returns a message queue ID
-	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
+     * @param queue The message queue to insert.
-			id = nullptr);
+     * @param id The passed value will be set unless a nullptr is passed
-	/**
+     * @return
-	 * Get the message queue handle by providing a message queue ID.
+     */
-	 * @param messageQueueId
+    ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
-	 * @return
+            id = nullptr);
-	 */
+    /**
-	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
+     * Get the message queue handle by providing a message queue ID. Returns nullptr
+     * if the queue ID is not contained inside the internal map.
+     * @param messageQueueId
+     * @return
+     */
+    MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
 
 private:
-	//! External instantiation is forbidden.
+    //! External instantiation is forbidden. Constructor still required for singleton instantiation.
-	QueueMapManager();
+    QueueMapManager();
-	~QueueMapManager();
+    ~QueueMapManager();
 
-	uint32_t queueCounter = 0;
+    uint32_t queueCounter = 0;
-	MutexIF* mapLock;
+    MutexIF* mapLock;
-	QueueMap queueMap;
+    QueueMap queueMap;
-	static QueueMapManager* mqManagerInstance;
+    static QueueMapManager* mqManagerInstance;
 };
 
 

osal/windows/tcpipHelpers.cpp

@@ -50,8 +50,8 @@ void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t s
     sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString <<
             " | " << infoString << std::endl;
 #else
-    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString,
+    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(),
-            errorSrcString, infoString);
+            errorSrcString.c_str(), infoString.c_str());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */

platform.h

@@ -0,0 +1,10 @@
+#ifndef FSFW_PLATFORM_H_
+#define FSFW_PLATFORM_H_
+
+#if defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))
+#define PLATFORM_UNIX
+#elif defined(_WIN32)
+#define PLATFORM_WIN
+#endif
+
+#endif /* FSFW_PLATFORM_H_ */

pus/Service17Test.cpp

@@ -1,6 +1,7 @@
 #include "Service17Test.h"
+#include <FSFWConfig.h>
 
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 #include "../objectmanager/SystemObject.h"
 #include "../tmtcpacket/pus/TmPacketStored.h"
 
@@ -17,15 +18,25 @@ Service17Test::~Service17Test() {
 ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
 	switch(subservice) {
 	case Subservice::CONNECTION_TEST: {
-		TmPacketStored connectionPacket(apid, serviceId,
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+		TmPacketStoredPusA connectionPacket(apid, serviceId,
 		        Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+#else
+		TmPacketStoredPusC connectionPacket(apid, serviceId,
+		        Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+#endif
 		connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
 				requestQueue->getId());
 		return HasReturnvaluesIF::RETURN_OK;
 	}
     case Subservice::EVENT_TRIGGER_TEST: {
-        TmPacketStored connectionPacket(apid, serviceId,
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+        TmPacketStoredPusA connectionPacket(apid, serviceId,
                 Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+#else
+        TmPacketStoredPusC connectionPacket(apid, serviceId,
+                Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+#endif
         connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
                 requestQueue->getId());
         triggerEvent(TEST, 1234, 5678);

pus/Service1TelecommandVerification.cpp

@@ -68,8 +68,13 @@ ReturnValue_t Service1TelecommandVerification::generateFailureReport(
 			message->getTcSequenceControl(), message->getStep(),
 			message->getErrorCode(), message->getParameter1(),
 			message->getParameter2());
-	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+	TmPacketStoredPusA tmPacket(apid, serviceId, message->getReportId(),
 	        packetSubCounter++, &report);
+#else
+    TmPacketStoredPusC tmPacket(apid, serviceId, message->getReportId(),
+            packetSubCounter++, &report);
+#endif
 	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
 			tmQueue->getId());
 	return result;
@@ -79,8 +84,13 @@ ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
         PusVerificationMessage *message) {
 	SuccessReport report(message->getReportId(),message->getTcPacketId(),
 			message->getTcSequenceControl(),message->getStep());
-	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+	TmPacketStoredPusA tmPacket(apid, serviceId, message->getReportId(),
 	        packetSubCounter++, &report);
+#else
+    TmPacketStoredPusC tmPacket(apid, serviceId, message->getReportId(),
+            packetSubCounter++, &report);
+#endif
 	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
 			tmQueue->getId());
 	return result;

pus/Service5EventReporting.cpp

@@ -52,8 +52,13 @@ ReturnValue_t Service5EventReporting::generateEventReport(
 {
 	EventReport report(message.getEventId(),message.getReporter(),
 			message.getParameter1(),message.getParameter2());
-	TmPacketStored tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+	TmPacketStoredPusA tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
 			message.getSeverity(), packetSubCounter++, &report);
+#else
+    TmPacketStoredPusC tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
+            message.getSeverity(), packetSubCounter++, &report);
+#endif
 	ReturnValue_t result = tmPacket.sendPacket(
 	        requestQueue->getDefaultDestination(),requestQueue->getId());
 	if(result != HasReturnvaluesIF::RETURN_OK) {

returnvalues/FwClassIds.h

@@ -1,72 +1,78 @@
 #ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_
 #define FSFW_RETURNVALUES_FWCLASSIDS_H_
 
+#include <cstdint>
+
+// The comment block at the end is used by the returnvalue exporter.
+// It is recommended to add it as well for mission returnvalues
 namespace CLASS_ID {
-enum {
+enum: uint8_t {
-	OPERATING_SYSTEM_ABSTRACTION = 1,  //OS
+    FW_CLASS_ID_START = 0, // [EXPORT] : [START]
-	OBJECT_MANAGER_IF, //OM
+    OPERATING_SYSTEM_ABSTRACTION,  //OS
-	DEVICE_HANDLER_BASE, //DHB
+    OBJECT_MANAGER_IF, //OM
-	RMAP_CHANNEL, //RMP
+    DEVICE_HANDLER_BASE, //DHB
-	POWER_SWITCH_IF, //PS
+    RMAP_CHANNEL, //RMP
-	HAS_MEMORY_IF, //PP
+    POWER_SWITCH_IF, //PS
-	DEVICE_STATE_MACHINE_BASE, //DSMB
+    HAS_MEMORY_IF, //PP
-	DATA_SET_CLASS, //DPS
+    DEVICE_STATE_MACHINE_BASE, //DSMB
-	POOL_RAW_ACCESS_CLASS, //DPR
+    DATA_SET_CLASS, //DPS
-	CONTROLLER_BASE, //CTR
+    POOL_RAW_ACCESS_CLASS, //DPR
-	SUBSYSTEM_BASE, //SB
+    CONTROLLER_BASE, //CTR
-	MODE_STORE_IF, //MS
+    SUBSYSTEM_BASE, //SB
-	SUBSYSTEM, //SS
+    MODE_STORE_IF, //MS
-	HAS_MODES_IF, //HM
+    SUBSYSTEM, //SS
-	COMMAND_MESSAGE, //CM
+    HAS_MODES_IF, //HM
-	CCSDS_TIME_HELPER_CLASS, //TIM
+    COMMAND_MESSAGE, //CM
-	ARRAY_LIST, //AL
+    CCSDS_TIME_HELPER_CLASS, //TIM
-	ASSEMBLY_BASE, //AB
+    ARRAY_LIST, //AL
-	MEMORY_HELPER, //MH
+    ASSEMBLY_BASE, //AB
-	SERIALIZE_IF, //SE
+    MEMORY_HELPER, //MH
-	FIXED_MAP, //FM
+    SERIALIZE_IF, //SE
-	FIXED_MULTIMAP, //FMM
+    FIXED_MAP, //FM
-	HAS_HEALTH_IF, //HHI
+    FIXED_MULTIMAP, //FMM
-	FIFO_CLASS, //FF
+    HAS_HEALTH_IF, //HHI
-	MESSAGE_PROXY, //MQP
+    FIFO_CLASS, //FF
-	TRIPLE_REDUNDACY_CHECK, //TRC
+    MESSAGE_PROXY, //MQP
-	TC_PACKET_CHECK, //TCC
+    TRIPLE_REDUNDACY_CHECK, //TRC
-	PACKET_DISTRIBUTION, //TCD
+    TC_PACKET_CHECK, //TCC
-	ACCEPTS_TELECOMMANDS_IF, //PUS
+    PACKET_DISTRIBUTION, //TCD
-	DEVICE_SERVICE_BASE, //DSB
+    ACCEPTS_TELECOMMANDS_IF, //PUS
-	COMMAND_SERVICE_BASE, //CSB
+    DEVICE_SERVICE_BASE, //DSB
-	TM_STORE_BACKEND_IF, //TMB
+    COMMAND_SERVICE_BASE, //CSB
-	TM_STORE_FRONTEND_IF, //TMF
+    TM_STORE_BACKEND_IF, //TMB
-	STORAGE_AND_RETRIEVAL_SERVICE, //SR
+    TM_STORE_FRONTEND_IF, //TMF
-	MATCH_TREE_CLASS, //MT
+    STORAGE_AND_RETRIEVAL_SERVICE, //SR
-	EVENT_MANAGER_IF, //EV
+    MATCH_TREE_CLASS, //MT
-	HANDLES_FAILURES_IF, //FDI
+    EVENT_MANAGER_IF, //EV
-	DEVICE_HANDLER_IF, //DHI
+    HANDLES_FAILURES_IF, //FDI
-	STORAGE_MANAGER_IF, //SM
+    DEVICE_HANDLER_IF, //DHI
-	THERMAL_COMPONENT_IF, //TC
+    STORAGE_MANAGER_IF, //SM
-	INTERNAL_ERROR_CODES, //IEC
+    THERMAL_COMPONENT_IF, //TC
-	TRAP, //TRP
+    INTERNAL_ERROR_CODES, //IEC
-	CCSDS_HANDLER_IF, //CCS
+    TRAP, //TRP
-	PARAMETER_WRAPPER, //PAW
+    CCSDS_HANDLER_IF, //CCS
-	HAS_PARAMETERS_IF, //HPA
+    PARAMETER_WRAPPER, //PAW
-	ASCII_CONVERTER, //ASC
+    HAS_PARAMETERS_IF, //HPA
-	POWER_SWITCHER, //POS
+    ASCII_CONVERTER, //ASC
-	LIMITS_IF, //LIM
+    POWER_SWITCHER, //POS
-	COMMANDS_ACTIONS_IF, //CF
+    LIMITS_IF, //LIM
-	HAS_ACTIONS_IF, //HF
+    COMMANDS_ACTIONS_IF, //CF
-	DEVICE_COMMUNICATION_IF, //DC
+    HAS_ACTIONS_IF, //HF
-	BSP, //BSP
+    DEVICE_COMMUNICATION_IF, //DC
-	TIME_STAMPER_IF, //TSI 53
+    BSP, //BSP
-	SGP4PROPAGATOR_CLASS, //SGP4 54
+    TIME_STAMPER_IF, //TSI
-	MUTEX_IF, //MUX 55
+    SGP4PROPAGATOR_CLASS, //SGP4
-	MESSAGE_QUEUE_IF,//MQI 56
+    MUTEX_IF, //MUX
-	SEMAPHORE_IF, //SPH 57
+    MESSAGE_QUEUE_IF,//MQI
-	LOCAL_POOL_OWNER_IF, //LPIF 58
+    SEMAPHORE_IF, //SPH
-	POOL_VARIABLE_IF, //PVA 59
+    LOCAL_POOL_OWNER_IF, //LPIF
-	HOUSEKEEPING_MANAGER, //HKM 60
+    POOL_VARIABLE_IF, //PVA
-	DLE_ENCODER, //DLEE 61
+    HOUSEKEEPING_MANAGER, //HKM
-	PUS_SERVICE_9, //PUS9 62
+    DLE_ENCODER, //DLEE
-	FILE_SYSTEM, //FILS 63
+    PUS_SERVICE_3, //PUS3
-	FW_CLASS_ID_COUNT //is actually count + 1 !
+    PUS_SERVICE_9, //PUS9
+    FILE_SYSTEM, //FILS
+    FW_CLASS_ID_COUNT // [EXPORT] : [END]
 
 };
 }

serialize/SerializeIF.h

@@ -19,7 +19,10 @@
 class SerializeIF {
 public:
 	enum class Endianness : uint8_t {
-		BIG, LITTLE, MACHINE
+		BIG,
+		LITTLE,
+		MACHINE,
+		NETWORK = BIG // Added for convenience like htons on sockets
 	};
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;

serviceinterface/ServiceInterface.h

@@ -5,9 +5,9 @@
 #include "serviceInterfaceDefintions.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include "ServiceInterfaceStream.h"
 #else
-#include <fsfw/serviceinterface/ServiceInterfacePrinter.h>
+#include "ServiceInterfacePrinter.h"
 #endif
 
 #endif /* FSFW_SERVICEINTERFACE_SERVICEINTERFACE_H_ */

timemanager/TimeStamperIF.h

@@ -1,7 +1,9 @@
 #ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
 #define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
 
+#include <FSFWConfig.h>
 #include "../returnvalues/HasReturnvaluesIF.h"
+#include <FSFWConfig.h>
 
 /**
  * A class implementing this IF provides facilities to add a time stamp to the
@@ -16,8 +18,8 @@ public:
 
 	//! This is a mission-specific constant and determines the total
 	//! size reserved for timestamps.
-	//! TODO: Default define in FSFWConfig ?
+	static const uint8_t MISSION_TIMESTAMP_SIZE = fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE;
-	static const uint8_t MISSION_TIMESTAMP_SIZE = 8;
+
 	virtual ReturnValue_t addTimeStamp(uint8_t* buffer,
 	        const uint8_t maxSize) = 0;
 	virtual ~TimeStamperIF() {}

tmtcpacket/pus/CMakeLists.txt

@@ -4,5 +4,9 @@ target_sources(${LIB_FSFW_NAME}
 		TcPacketStored.cpp
 		TmPacketBase.cpp
 		TmPacketMinimal.cpp
-		TmPacketStored.cpp
+		TmPacketStoredPusA.cpp
+		TmPacketStoredPusC.cpp
+		TmPacketPusA.cpp
+		TmPacketPusC.cpp
+		TmPacketStoredBase.cpp
 )

tmtcpacket/pus/TmPacketBase.cpp

@@ -3,119 +3,66 @@
 #include "../../globalfunctions/CRC.h"
 #include "../../globalfunctions/arrayprinter.h"
 #include "../../objectmanager/ObjectManagerIF.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../timemanager/CCSDSTime.h"
 
 #include <cstring>
 
 TimeStamperIF* TmPacketBase::timeStamper = nullptr;
-object_id_t TmPacketBase::timeStamperId = 0;
+object_id_t TmPacketBase::timeStamperId = objects::NO_OBJECT;
 
-TmPacketBase::TmPacketBase(uint8_t* setData) :
+TmPacketBase::TmPacketBase(uint8_t* setData):
-		SpacePacketBase(setData) {
+        SpacePacketBase(setData) {
-	tmData = reinterpret_cast<TmPacketPointer*>(setData);
 }
 
 TmPacketBase::~TmPacketBase() {
-	//Nothing to do.
+    //Nothing to do.
 }
 
-uint8_t TmPacketBase::getService() {
-	return tmData->data_field.service_type;
-}
-
-uint8_t TmPacketBase::getSubService() {
-	return tmData->data_field.service_subtype;
-}
-
-uint8_t* TmPacketBase::getSourceData() {
-	return &tmData->data;
-}
 
 uint16_t TmPacketBase::getSourceDataSize() {
-	return getPacketDataLength() - sizeof(tmData->data_field)
+    return getPacketDataLength() - getDataFieldSize() - CRC_SIZE + 1;
-			- CRC_SIZE + 1;
 }
 
 uint16_t TmPacketBase::getErrorControl() {
-	uint32_t size = getSourceDataSize() + CRC_SIZE;
+    uint32_t size = getSourceDataSize() + CRC_SIZE;
-	uint8_t* p_to_buffer = &tmData->data;
+    uint8_t* p_to_buffer = getSourceData();
-	return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
+    return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
 }
 
 void TmPacketBase::setErrorControl() {
-	uint32_t full_size = getFullSize();
+    uint32_t full_size = getFullSize();
-	uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
+    uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
-	uint32_t size = getSourceDataSize();
+    uint32_t size = getSourceDataSize();
-	getSourceData()[size] = (crc & 0XFF00) >> 8;	// CRCH
+    getSourceData()[size] = (crc & 0XFF00) >> 8;	// CRCH
-	getSourceData()[size + 1] = (crc) & 0X00FF; 		// CRCL
+    getSourceData()[size + 1] = (crc) & 0X00FF; 		// CRCL
 }
 
-void TmPacketBase::setData(const uint8_t* p_Data) {
+ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
-	SpacePacketBase::setData(p_Data);
+    size_t tempSize = 0;
-	tmData = (TmPacketPointer*) p_Data;
+    return CCSDSTime::convertFromCcsds(timestamp, getPacketTimeRaw(),
+            &tempSize, getTimestampSize());
 }
 
 void TmPacketBase::print() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	 sif::debug << "TmPacketBase::print: " << std::endl;
+    sif::debug << "TmPacketBase::print: " << std::endl;
 #endif
-	 arrayprinter::print(getWholeData(), getFullSize());
+    arrayprinter::print(getWholeData(), getFullSize());
 }
 
 bool TmPacketBase::checkAndSetStamper() {
-	if (timeStamper == NULL) {
+    if (timeStamper == NULL) {
-		timeStamper = objectManager->get<TimeStamperIF>(timeStamperId);
+        timeStamper = objectManager->get<TimeStamperIF>(timeStamperId);
-		if (timeStamper == NULL) {
+        if (timeStamper == NULL) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "TmPacketBase::checkAndSetStamper: Stamper not found!"
+            sif::warning << "TmPacketBase::checkAndSetStamper: Stamper not found!" << std::endl;
-					<< std::endl;
+#else
+            sif::printWarning("TmPacketBase::checkAndSetStamper: Stamper not found!\n");
 #endif
-			return false;
+            return false;
-		}
+        }
-	}
+    }
-	return true;
+    return true;
 }
 
-ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
-	size_t tempSize = 0;
-	return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
-			&tempSize, sizeof(tmData->data_field.time));
-}
-
-uint8_t* TmPacketBase::getPacketTimeRaw() const{
-	return tmData->data_field.time;
-
-}
-
-void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service,
-        uint8_t subservice, uint8_t packetSubcounter) {
-	//Set primary header:
-	initSpacePacketHeader(false, true, apid);
-	//Set data Field Header:
-	//First, set to zero.
-	memset(&tmData->data_field, 0, sizeof(tmData->data_field));
-
-	// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
-	// The other 4 bits of the first byte are the spacecraft time reference
-	// status. To change to PUS-C, set 0b00100000.
-    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
-    // to 0000
-	tmData->data_field.version_type_ack = 0b00010000;
-	tmData->data_field.service_type = service;
-	tmData->data_field.service_subtype = subservice;
-	tmData->data_field.subcounter = packetSubcounter;
-	//Timestamp packet
-	if (checkAndSetStamper()) {
-		timeStamper->addTimeStamp(tmData->data_field.time,
-		        sizeof(tmData->data_field.time));
-	}
-}
-
-void TmPacketBase::setSourceDataSize(uint16_t size) {
-	setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
-}
-
-size_t TmPacketBase::getTimestampSize() const {
-	return sizeof(tmData->data_field.time);
-}

tmtcpacket/pus/TmPacketBase.h

@@ -10,32 +10,6 @@ namespace Factory{
 void setStaticFrameworkObjectIds();
 }
 
-/**
- * This struct defines a byte-wise structured PUS TM Data Field Header.
- * Any optional fields in the header must be added or removed here.
- * Currently, no Destination field is present, but an eigth-byte representation
- * for a time tag.
- * @ingroup tmtcpackets
- */
-struct PUSTmDataFieldHeader {
-	uint8_t version_type_ack;
-	uint8_t service_type;
-	uint8_t service_subtype;
-	uint8_t subcounter;
-//	uint8_t destination;
-	uint8_t time[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
-};
-
-/**
- * This struct defines the data structure of a PUS Telecommand Packet when
- * accessed via a pointer.
- * @ingroup tmtcpackets
- */
-struct TmPacketPointer {
-	CCSDSPrimaryHeader primary;
-	PUSTmDataFieldHeader data_field;
-	uint8_t data;
-};
 
 /**
  * This class is the basic data handler for any ECSS PUS Telemetry packet.
@@ -49,61 +23,83 @@ struct TmPacketPointer {
  * @ingroup tmtcpackets
  */
 class TmPacketBase : public SpacePacketBase {
-	friend void (Factory::setStaticFrameworkObjectIds)();
+    friend void (Factory::setStaticFrameworkObjectIds)();
 public:
-	/**
-	 * This constant defines the minimum size of a valid PUS Telemetry Packet.
-	 */
-	static const uint32_t  TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
-	        sizeof(PUSTmDataFieldHeader) + 2);
-	//! Maximum size of a TM Packet in this mission.
-	//! TODO: Make this dependant on a config variable.
-	static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
-	//! First byte of secondary header for PUS-A packets.
-	//! TODO: Maybe also support PUS-C via config?
-	static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000;
 
-	/**
+    //! Maximum size of a TM Packet in this mission.
-	 * This is the default constructor.
+    //! TODO: Make this dependant on a config variable.
-	 * It sets its internal data pointer to the address passed and also
+    static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
-	 * forwards the data pointer to the parent SpacePacketBase class.
+    //! First four bits of first byte of secondary header
-	 * @param set_address	The position where the packet data lies.
+    static const uint8_t VERSION_NUMBER_BYTE = 0b00010000;
-	 */
-	TmPacketBase( uint8_t* setData );
-	/**
-	 * This is the empty default destructor.
-	 */
-	virtual ~TmPacketBase();
 
-	/**
+    /**
-	 * This is a getter for the packet's PUS Service ID, which is the second
+     * This is the default constructor.
-	 * byte of the Data Field Header.
+     * It sets its internal data pointer to the address passed and also
-	 * @return	The packet's PUS Service ID.
+     * forwards the data pointer to the parent SpacePacketBase class.
-	 */
+     * @param set_address	The position where the packet data lies.
-	uint8_t getService();
+     */
-	/**
+    TmPacketBase( uint8_t* setData );
-	 * This is a getter for the packet's PUS Service Subtype, which is the
+    /**
-	 * third byte of the Data Field Header.
+     * This is the empty default destructor.
-	 * @return	The packet's PUS Service Subtype.
+     */
-	 */
+    virtual ~TmPacketBase();
-	uint8_t getSubService();
-	/**
-	 * This is a getter for a pointer to the packet's Source data.
-	 *
-	 * These are the bytes that follow after the Data Field Header. They form
-	 * the packet's source data.
-	 * @return	A pointer to the PUS Source Data.
-	 */
-	uint8_t* getSourceData();
-	/**
-	 * This method calculates the size of the PUS Source data field.
-	 *
-	 * It takes the information stored in the CCSDS Packet Data Length field
-	 * and subtracts the Data Field Header size and the CRC size.
-	 * @return	The size of the PUS Source Data (without Error Control field)
-	 */
-	uint16_t getSourceDataSize();
 
+    /**
+     * This is a getter for the packet's PUS Service ID, which is the second
+     * byte of the Data Field Header.
+     * @return	The packet's PUS Service ID.
+     */
+    virtual uint8_t getService() = 0;
+    /**
+     * This is a getter for the packet's PUS Service Subtype, which is the
+     * third byte of the Data Field Header.
+     * @return	The packet's PUS Service Subtype.
+     */
+    virtual uint8_t getSubService() = 0;
+    /**
+     * This is a getter for a pointer to the packet's Source data.
+     *
+     * These are the bytes that follow after the Data Field Header. They form
+     * the packet's source data.
+     * @return	A pointer to the PUS Source Data.
+     */
+    virtual uint8_t* getSourceData() = 0;
+    /**
+     * This method calculates the size of the PUS Source data field.
+     *
+     * It takes the information stored in the CCSDS Packet Data Length field
+     * and subtracts the Data Field Header size and the CRC size.
+     * @return	The size of the PUS Source Data (without Error Control field)
+     */
+    virtual uint16_t getSourceDataSize() = 0;
+
+    /**
+     * Get size of data field which can differ based on implementation
+     * @return
+     */
+    virtual uint16_t getDataFieldSize() = 0;
+
+    virtual size_t getPacketMinimumSize() const = 0;
+
+    /**
+     * Interprets the "time"-field in the secondary header and returns it in
+     * timeval format.
+     * @return Converted timestamp of packet.
+     */
+    virtual ReturnValue_t getPacketTime(timeval* timestamp) const;
+    /**
+     * Returns a raw pointer to the beginning of the time field.
+     * @return Raw pointer to time field.
+     */
+    virtual uint8_t* getPacketTimeRaw() const = 0;
+
+    virtual size_t getTimestampSize() const = 0;
+
+    /**
+     * This is a debugging helper method that prints the whole packet content
+     * to the screen.
+     */
+    void print();
     /**
      * With this method, the Error Control Field is updated to match the
      * current content of the packet. This method is not protected because
@@ -111,79 +107,24 @@ public:
      * like the sequence count.
      */
     void setErrorControl();
-
+    /**
-	/**
+     * This getter returns the Error Control Field of the packet.
-	 * This getter returns the Error Control Field of the packet.
+     *
-	 *
+     * The field is placed after any possible Source Data. If no
-	 * The field is placed after any possible Source Data. If no
+     * Source Data is present there's still an Error Control field. It is
-	 * Source Data is present there's still an Error Control field. It is
+     * supposed to be a 16bit-CRC.
-	 * supposed to be a 16bit-CRC.
+     * @return  The PUS Error Control
-	 * @return	The PUS Error Control
+     */
-	 */
+    uint16_t getErrorControl();
-	uint16_t getErrorControl();
-
-	/**
-	 * This is a debugging helper method that prints the whole packet content
-	 * to the screen.
-	 */
-	void print();
-	/**
-	 * Interprets the "time"-field in the secondary header and returns it in
-	 * timeval format.
-	 * @return Converted timestamp of packet.
-	 */
-	ReturnValue_t getPacketTime(timeval* timestamp) const;
-	/**
-	 * Returns a raw pointer to the beginning of the time field.
-	 * @return Raw pointer to time field.
-	 */
-	uint8_t* getPacketTimeRaw() const;
-
-	size_t getTimestampSize() const;
 
 protected:
-	/**
-	 * A pointer to a structure which defines the data structure of
-	 * the packet's data.
-	 *
-	 * To be hardware-safe, all elements are of byte size.
-	 */
-	TmPacketPointer* tmData;
-	/**
-	 * The timeStamper is responsible for adding a timestamp to the packet.
-	 * It is initialized lazy.
-	 */
-	static TimeStamperIF* timeStamper;
-	//! The ID to use when looking for a time stamper.
-	static object_id_t timeStamperId;
-
     /**
-     * Initializes the Tm Packet header.
+     * The timeStamper is responsible for adding a timestamp to the packet.
-     * Does set the timestamp (to now), but not the error control field.
+     * It is initialized lazy.
-     * @param apid APID used.
-     * @param service   PUS Service
-     * @param subservice PUS Subservice
-     * @param packetSubcounter Additional subcounter used.
      */
-    void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
+    static TimeStamperIF* timeStamper;
-            uint8_t packetSubcounter);
+    //! The ID to use when looking for a time stamper.
-
+    static object_id_t timeStamperId;
-    /**
-     * With this method, the packet data pointer can be redirected to another
-     * location.
-     *
-     * This call overwrites the parent's setData method to set both its
-     * @c tc_data pointer and the parent's @c data pointer.
-     *
-     * @param p_data    A pointer to another PUS Telemetry Packet.
-     */
-    void setData( const uint8_t* pData );
-
-    /**
-     * In case data was filled manually (almost never the case).
-     * @param size Size of source data (without CRC and data filed header!).
-     */
-    void setSourceDataSize(uint16_t size);
 
     /**
      * Checks if a time stamper is available and tries to set it if not.

tmtcpacket/pus/TmPacketPusA.cpp

@@ -0,0 +1,87 @@
+#include "TmPacketPusA.h"
+#include "TmPacketBase.h"
+
+#include "../../globalfunctions/CRC.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/CCSDSTime.h"
+
+#include <cstring>
+
+
+TmPacketPusA::TmPacketPusA(uint8_t* setData) : TmPacketBase(setData) {
+    tmData = reinterpret_cast<TmPacketPointerPusA*>(setData);
+}
+
+TmPacketPusA::~TmPacketPusA() {
+    //Nothing to do.
+}
+
+uint8_t TmPacketPusA::getService() {
+    return tmData->data_field.service_type;
+}
+
+uint8_t TmPacketPusA::getSubService() {
+    return tmData->data_field.service_subtype;
+}
+
+uint8_t* TmPacketPusA::getSourceData() {
+    return &tmData->data;
+}
+
+uint16_t TmPacketPusA::getSourceDataSize() {
+    return getPacketDataLength() - sizeof(tmData->data_field)
+            - CRC_SIZE + 1;
+}
+
+void TmPacketPusA::setData(const uint8_t* p_Data) {
+    SpacePacketBase::setData(p_Data);
+    tmData = (TmPacketPointerPusA*) p_Data;
+}
+
+
+size_t TmPacketPusA::getPacketMinimumSize() const {
+    return TM_PACKET_MIN_SIZE;
+}
+
+uint16_t TmPacketPusA::getDataFieldSize() {
+    return sizeof(PUSTmDataFieldHeaderPusA);
+}
+
+uint8_t* TmPacketPusA::getPacketTimeRaw() const {
+    return tmData->data_field.time;
+
+}
+
+void TmPacketPusA::initializeTmPacket(uint16_t apid, uint8_t service,
+        uint8_t subservice, uint8_t packetSubcounter) {
+    //Set primary header:
+    initSpacePacketHeader(false, true, apid);
+    //Set data Field Header:
+    //First, set to zero.
+    memset(&tmData->data_field, 0, sizeof(tmData->data_field));
+
+    // NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
+    // The other 4 bits of the first byte are the spacecraft time reference
+    // status. To change to PUS-C, set 0b00100000.
+    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
+    // to 0000
+    tmData->data_field.version_type_ack = 0b00010000;
+    tmData->data_field.service_type = service;
+    tmData->data_field.service_subtype = subservice;
+    tmData->data_field.subcounter = packetSubcounter;
+    //Timestamp packet
+    if (TmPacketBase::checkAndSetStamper()) {
+        timeStamper->addTimeStamp(tmData->data_field.time,
+                sizeof(tmData->data_field.time));
+    }
+}
+
+void TmPacketPusA::setSourceDataSize(uint16_t size) {
+    setPacketDataLength(size + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+}
+
+size_t TmPacketPusA::getTimestampSize() const {
+    return sizeof(tmData->data_field.time);
+}

tmtcpacket/pus/TmPacketPusA.h

@@ -0,0 +1,129 @@
+#ifndef FSFW_TMTCPACKET_PUS_TMPACKETPUSA_H_
+#define FSFW_TMTCPACKET_PUS_TMPACKETPUSA_H_
+
+#include "TmPacketBase.h"
+#include "../SpacePacketBase.h"
+#include "../../timemanager/TimeStamperIF.h"
+#include "../../timemanager/Clock.h"
+#include "../../objectmanager/SystemObjectIF.h"
+
+namespace Factory{
+void setStaticFrameworkObjectIds();
+}
+
+/**
+ * This struct defines a byte-wise structured PUS TM Data Field Header.
+ * Any optional fields in the header must be added or removed here.
+ * Currently, no Destination field is present, but an eigth-byte representation
+ * for a time tag.
+ * @ingroup tmtcpackets
+ */
+struct PUSTmDataFieldHeaderPusA {
+    uint8_t version_type_ack;
+    uint8_t service_type;
+    uint8_t service_subtype;
+    uint8_t subcounter;
+//  uint8_t destination;
+    uint8_t time[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
+};
+
+/**
+ * This struct defines the data structure of a PUS Telecommand Packet when
+ * accessed via a pointer.
+ * @ingroup tmtcpackets
+ */
+struct TmPacketPointerPusA {
+    CCSDSPrimaryHeader primary;
+    PUSTmDataFieldHeaderPusA data_field;
+    uint8_t data;
+};
+
+/**
+ * PUS A packet implementation
+ * @ingroup tmtcpackets
+ */
+class TmPacketPusA: public TmPacketBase {
+    friend void (Factory::setStaticFrameworkObjectIds)();
+public:
+    /**
+     * This constant defines the minimum size of a valid PUS Telemetry Packet.
+     */
+    static const uint32_t  TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
+            sizeof(PUSTmDataFieldHeaderPusA) + 2);
+    //! Maximum size of a TM Packet in this mission.
+    //! TODO: Make this dependant on a config variable.
+    static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
+
+    /**
+     * This is the default constructor.
+     * It sets its internal data pointer to the address passed and also
+     * forwards the data pointer to the parent SpacePacketBase class.
+     * @param set_address   The position where the packet data lies.
+     */
+    TmPacketPusA( uint8_t* setData );
+    /**
+     * This is the empty default destructor.
+     */
+    virtual ~TmPacketPusA();
+
+    /* TmPacketBase implementations */
+    uint8_t getService() override;
+    uint8_t getSubService() override;
+    uint8_t* getSourceData() override;
+    uint16_t getSourceDataSize() override;
+    uint16_t getDataFieldSize() override;
+
+    /**
+     * Returns a raw pointer to the beginning of the time field.
+     * @return Raw pointer to time field.
+     */
+    uint8_t* getPacketTimeRaw() const override;
+    size_t getTimestampSize() const override;
+
+    size_t getPacketMinimumSize() const override;
+
+protected:
+    /**
+     * A pointer to a structure which defines the data structure of
+     * the packet's data.
+     *
+     * To be hardware-safe, all elements are of byte size.
+     */
+    TmPacketPointerPusA* tmData;
+
+    /**
+     * Initializes the Tm Packet header.
+     * Does set the timestamp (to now), but not the error control field.
+     * @param apid APID used.
+     * @param service   PUS Service
+     * @param subservice PUS Subservice
+     * @param packetSubcounter Additional subcounter used.
+     */
+    void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
+            uint8_t packetSubcounter);
+
+    /**
+     * With this method, the packet data pointer can be redirected to another
+     * location.
+     *
+     * This call overwrites the parent's setData method to set both its
+     * @c tc_data pointer and the parent's @c data pointer.
+     *
+     * @param p_data    A pointer to another PUS Telemetry Packet.
+     */
+    void setData( const uint8_t* pData );
+
+    /**
+     * In case data was filled manually (almost never the case).
+     * @param size Size of source data (without CRC and data filed header!).
+     */
+    void setSourceDataSize(uint16_t size);
+
+    /**
+     * Checks if a time stamper is available and tries to set it if not.
+     * @return Returns false if setting failed.
+     */
+    bool checkAndSetStamper();
+};
+
+#endif /* FSFW_TMTCPACKET_PUS_TMPACKETPUSA_H_ */

tmtcpacket/pus/TmPacketPusC.cpp

@@ -0,0 +1,87 @@
+#include "TmPacketPusC.h"
+#include "TmPacketBase.h"
+
+#include "../../globalfunctions/CRC.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/CCSDSTime.h"
+
+#include <cstring>
+
+
+TmPacketPusC::TmPacketPusC(uint8_t* setData) : TmPacketBase(setData) {
+    tmData = reinterpret_cast<TmPacketPointerPusC*>(setData);
+}
+
+TmPacketPusC::~TmPacketPusC() {
+    //Nothing to do.
+}
+
+uint8_t TmPacketPusC::getService() {
+    return tmData->dataField.serviceType;
+}
+
+uint8_t TmPacketPusC::getSubService() {
+    return tmData->dataField.serviceSubtype;
+}
+
+uint8_t* TmPacketPusC::getSourceData() {
+    return &tmData->data;
+}
+
+uint16_t TmPacketPusC::getSourceDataSize() {
+    return getPacketDataLength() - sizeof(tmData->dataField) - CRC_SIZE + 1;
+}
+
+void TmPacketPusC::setData(const uint8_t* p_Data) {
+    SpacePacketBase::setData(p_Data);
+    tmData = (TmPacketPointerPusC*) p_Data;
+}
+
+
+size_t TmPacketPusC::getPacketMinimumSize() const {
+    return TM_PACKET_MIN_SIZE;
+}
+
+uint16_t TmPacketPusC::getDataFieldSize() {
+    return sizeof(PUSTmDataFieldHeaderPusC);
+}
+
+uint8_t* TmPacketPusC::getPacketTimeRaw() const{
+    return tmData->dataField.time;
+
+}
+
+void TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
+        uint8_t subservice, uint16_t packetSubcounter, uint16_t destinationId,
+        uint8_t timeRefField) {
+    //Set primary header:
+    initSpacePacketHeader(false, true, apid);
+    //Set data Field Header:
+    //First, set to zero.
+    memset(&tmData->dataField, 0, sizeof(tmData->dataField));
+
+    /* Only account for last 4 bytes for time reference field */
+    timeRefField &= 0b1111;
+    tmData->dataField.versionTimeReferenceField = VERSION_NUMBER_BYTE | timeRefField;
+    tmData->dataField.serviceType = service;
+    tmData->dataField.serviceSubtype = subservice;
+    tmData->dataField.subcounterMsb = packetSubcounter << 8 & 0xff;
+    tmData->dataField.subcounterLsb = packetSubcounter & 0xff;
+    tmData->dataField.destinationIdMsb = destinationId << 8 & 0xff;
+    tmData->dataField.destinationIdLsb = destinationId & 0xff;
+    //Timestamp packet
+    if (TmPacketBase::checkAndSetStamper()) {
+        timeStamper->addTimeStamp(tmData->dataField.time,
+                sizeof(tmData->dataField.time));
+    }
+}
+
+void TmPacketPusC::setSourceDataSize(uint16_t size) {
+    setPacketDataLength(size + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
+}
+
+size_t TmPacketPusC::getTimestampSize() const {
+    return sizeof(tmData->dataField.time);
+}

tmtcpacket/pus/TmPacketPusC.h

@@ -0,0 +1,126 @@
+#ifndef FSFW_TMTCPACKET_PUS_TMPACKETPUSC_H_
+#define FSFW_TMTCPACKET_PUS_TMPACKETPUSC_H_
+
+#include "TmPacketBase.h"
+#include "../SpacePacketBase.h"
+#include "../../timemanager/TimeStamperIF.h"
+#include "../../timemanager/Clock.h"
+#include "../../objectmanager/SystemObjectIF.h"
+
+namespace Factory{
+void setStaticFrameworkObjectIds();
+}
+
+/**
+ * This struct defines a byte-wise structured PUS TM Data Field Header.
+ * Any optional fields in the header must be added or removed here.
+ * Currently, no Destination field is present, but an eigth-byte representation
+ * for a time tag.
+ * @ingroup tmtcpackets
+ */
+struct PUSTmDataFieldHeaderPusC {
+    uint8_t versionTimeReferenceField;
+    uint8_t serviceType;
+    uint8_t serviceSubtype;
+    uint8_t subcounterMsb;
+    uint8_t subcounterLsb;
+    uint8_t destinationIdMsb;
+    uint8_t destinationIdLsb;
+    uint8_t time[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
+};
+
+/**
+ * This struct defines the data structure of a PUS Telecommand Packet when
+ * accessed via a pointer.
+ * @ingroup tmtcpackets
+ */
+struct TmPacketPointerPusC {
+    CCSDSPrimaryHeader primary;
+    PUSTmDataFieldHeaderPusC dataField;
+    uint8_t data;
+};
+
+/**
+ * PUS A packet implementation
+ * @ingroup tmtcpackets
+ */
+class TmPacketPusC: public TmPacketBase {
+    friend void (Factory::setStaticFrameworkObjectIds)();
+public:
+    /**
+     * This constant defines the minimum size of a valid PUS Telemetry Packet.
+     */
+    static const uint32_t  TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
+            sizeof(PUSTmDataFieldHeaderPusC) + 2);
+    //! Maximum size of a TM Packet in this mission.
+    //! TODO: Make this dependant on a config variable.
+    static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
+
+    /**
+     * This is the default constructor.
+     * It sets its internal data pointer to the address passed and also
+     * forwards the data pointer to the parent SpacePacketBase class.
+     * @param set_address   The position where the packet data lies.
+     */
+    TmPacketPusC( uint8_t* setData );
+    /**
+     * This is the empty default destructor.
+     */
+    virtual ~TmPacketPusC();
+
+    /* TmPacketBase implementations */
+    uint8_t getService() override;
+    uint8_t getSubService() override;
+    uint8_t* getSourceData() override;
+    uint16_t getSourceDataSize() override;
+    uint16_t getDataFieldSize() override;
+
+    /**
+     * Returns a raw pointer to the beginning of the time field.
+     * @return Raw pointer to time field.
+     */
+    uint8_t* getPacketTimeRaw() const override;
+    size_t getTimestampSize() const override;
+
+    size_t getPacketMinimumSize() const override;
+
+protected:
+    /**
+     * A pointer to a structure which defines the data structure of
+     * the packet's data.
+     *
+     * To be hardware-safe, all elements are of byte size.
+     */
+    TmPacketPointerPusC* tmData;
+
+    /**
+     * Initializes the Tm Packet header.
+     * Does set the timestamp (to now), but not the error control field.
+     * @param apid APID used.
+     * @param service   PUS Service
+     * @param subservice PUS Subservice
+     * @param packetSubcounter Additional subcounter used.
+     */
+    void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
+            uint16_t packetSubcounter, uint16_t destinationId = 0, uint8_t timeRefField = 0);
+
+    /**
+     * With this method, the packet data pointer can be redirected to another
+     * location.
+     *
+     * This call overwrites the parent's setData method to set both its
+     * @c tc_data pointer and the parent's @c data pointer.
+     *
+     * @param p_data    A pointer to another PUS Telemetry Packet.
+     */
+    void setData( const uint8_t* pData );
+
+    /**
+     * In case data was filled manually (almost never the case).
+     * @param size Size of source data (without CRC and data filed header!).
+     */
+    void setSourceDataSize(uint16_t size);
+
+};
+
+#endif /* FSFW_TMTCPACKET_PUS_TMPACKETPUSC_H_ */

tmtcpacket/pus/TmPacketStored.cpp

@@ -1,147 +0,0 @@
-#include "TmPacketStored.h"
-
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../tmtcservices/TmTcMessage.h"
-
-#include <cstring>
-
-StorageManagerIF *TmPacketStored::store = nullptr;
-InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr;
-
-TmPacketStored::TmPacketStored(store_address_t setAddress) :
-		TmPacketBase(nullptr), storeAddress(setAddress) {
-	setStoreAddress(storeAddress);
-}
-
-TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
-		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
-		TmPacketBase(NULL) {
-	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (not checkAndSetStore()) {
-		return;
-	}
-	uint8_t *pData = nullptr;
-	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-			(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
-
-	if (returnValue != store->RETURN_OK) {
-		checkAndReportLostTm();
-		return;
-	}
-	setData(pData);
-	initializeTmPacket(apid, service, subservice, packetSubcounter);
-	memcpy(getSourceData(), headerData, headerSize);
-	memcpy(getSourceData() + headerSize, data, size);
-	setPacketDataLength(
-			size + headerSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
-}
-
-TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
-		SerializeIF *header) :
-		TmPacketBase(NULL) {
-	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (not checkAndSetStore()) {
-		return;
-	}
-	size_t sourceDataSize = 0;
-	if (content != NULL) {
-		sourceDataSize += content->getSerializedSize();
-	}
-	if (header != NULL) {
-		sourceDataSize += header->getSerializedSize();
-	}
-	uint8_t *p_data = NULL;
-	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-			(TmPacketBase::TM_PACKET_MIN_SIZE + sourceDataSize), &p_data);
-	if (returnValue != store->RETURN_OK) {
-		checkAndReportLostTm();
-	}
-	setData(p_data);
-	initializeTmPacket(apid, service, subservice, packetSubcounter);
-	uint8_t *putDataHere = getSourceData();
-	size_t size = 0;
-	if (header != NULL) {
-		header->serialize(&putDataHere, &size, sourceDataSize,
-				SerializeIF::Endianness::BIG);
-	}
-	if (content != NULL) {
-		content->serialize(&putDataHere, &size, sourceDataSize,
-				SerializeIF::Endianness::BIG);
-	}
-	setPacketDataLength(
-			sourceDataSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
-}
-
-store_address_t TmPacketStored::getStoreAddress() {
-	return storeAddress;
-}
-
-void TmPacketStored::deletePacket() {
-	store->deleteData(storeAddress);
-	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	setData(nullptr);
-}
-
-void TmPacketStored::setStoreAddress(store_address_t setAddress) {
-	storeAddress = setAddress;
-	const uint8_t* tempData = nullptr;
-	size_t tempSize;
-	if (not checkAndSetStore()) {
-		return;
-	}
-	ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
-	if (status == StorageManagerIF::RETURN_OK) {
-		setData(tempData);
-	} else {
-		setData(nullptr);
-		storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	}
-}
-
-bool TmPacketStored::checkAndSetStore() {
-	if (store == nullptr) {
-		store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
-		if (store == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
-					<< std::endl;
-#endif
-			return false;
-		}
-	}
-	return true;
-}
-
-ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
-		MessageQueueId_t sentFrom, bool doErrorReporting) {
-	if (getWholeData() == nullptr) {
-		//SHOULDDO: More decent code.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	TmTcMessage tmMessage(getStoreAddress());
-	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination,
-			&tmMessage, sentFrom);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		deletePacket();
-		if (doErrorReporting) {
-			checkAndReportLostTm();
-		}
-		return result;
-	}
-	//SHOULDDO: In many cases, some counter is incremented for successfully sent packets. The check is often not done, but just incremented.
-	return HasReturnvaluesIF::RETURN_OK;
-
-}
-
-void TmPacketStored::checkAndReportLostTm() {
-	if (internalErrorReporter == nullptr) {
-		internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
-				objects::INTERNAL_ERROR_REPORTER);
-	}
-	if (internalErrorReporter != nullptr) {
-		internalErrorReporter->lostTm();
-	}
-}

tmtcpacket/pus/TmPacketStored.h

@@ -1,108 +1,13 @@
 #ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_
 #define FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_
 
-#include "TmPacketBase.h"
+#include <FSFWConfig.h>
 
-#include "../../serialize/SerializeIF.h"
+#if FSFW_USE_PUS_C_TELEMETRY == 1
-#include "../../storagemanager/StorageManagerIF.h"
+#include "TmPacketStoredPusC.h"
-#include "../../internalError/InternalErrorReporterIF.h"
+#else
-#include "../../ipc/MessageQueueSenderIF.h"
+#include "TmPacketStoredPusA.h"
-
+#endif
-/**
- *	This class generates a ECSS PUS Telemetry packet within a given
- *	intermediate storage.
- *	As most packets are passed between tasks with the help of a storage
- *	anyway, it seems logical to create a Packet-In-Storage access class
- *	which saves the user almost all storage handling operation.
- *	Packets can both be newly created with the class and be "linked" to
- *	packets in a store with the help of a storeAddress.
- *	@ingroup tmtcpackets
- */
-class TmPacketStored : public TmPacketBase {
-public:
-	/**
-	 * This is a default constructor which does not set the data pointer.
-	 * However, it does try to set the packet store.
-	 */
-	TmPacketStored( store_address_t setAddress );
-	/**
-	 * With this constructor, new space is allocated in the packet store and
-	 * a new PUS Telemetry Packet is created there.
-	 * Packet Application Data passed in data is copied into the packet.
-	 * The Application data is passed in two parts, first a header, then a
-	 * data field. This allows building a Telemetry Packet from two separate
-	 * data sources.
-	 * @param apid			Sets the packet's APID field.
-	 * @param service		Sets the packet's Service ID field.
-	 * 		This specifies the source service.
-	 * @param subservice	Sets the packet's Service Subtype field.
-	 * 		This specifies the source sub-service.
-	 * @param packet_counter	Sets the Packet counter field of this packet
-	 * @param data			The payload data to be copied to the
-	 * 						Application Data Field
-	 * @param size			The amount of data to be copied.
-	 * @param headerData 	The header Data of the Application field,
-	 * 						 will be copied in front of data
-	 * @param headerSize	The size of the headerDataF
-	 */
-	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice,
-			uint8_t packet_counter = 0, const uint8_t* data = nullptr,
-			uint32_t size = 0, const uint8_t* headerData = nullptr,
-			uint32_t headerSize = 0);
-	/**
-	 * Another ctor to directly pass structured content and header data to the
-	 * packet to avoid additional buffers.
-	 */
-	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice,
-			uint8_t packet_counter, SerializeIF* content,
-			SerializeIF* header = nullptr);
-	/**
-	 * This is a getter for the current store address of the packet.
-	 * @return	The current store address. The (raw) value is
-	 * 			@c StorageManagerIF::INVALID_ADDRESS if
-	 * 			the packet is not linked.
-	 */
-	store_address_t getStoreAddress();
-	/**
-	 * With this call, the packet is deleted.
-	 * It removes itself from the store and sets its data pointer to NULL.
-	 */
-	void deletePacket();
-	/**
-	 * With this call, a packet can be linked to another store. This is useful
-	 * if the packet is a class member and used for more than one packet.
-	 * @param setAddress	The new packet id to link to.
-	 */
-	void setStoreAddress( store_address_t setAddress );
-
-	ReturnValue_t sendPacket( MessageQueueId_t destination,
-			MessageQueueId_t sentFrom, bool doErrorReporting = true );
-private:
-	/**
-	 * This is a pointer to the store all instances of the class use.
-	 * If the store is not yet set (i.e. @c store is NULL), every constructor
-	 * call tries to set it and throws an error message in case of failures.
-	 * The default store is objects::TM_STORE.
-	 */
-	static StorageManagerIF* store;
-
-	static InternalErrorReporterIF *internalErrorReporter;
-
-	/**
-	 * The address where the packet data of the object instance is stored.
-	 */
-	store_address_t storeAddress;
-	/**
-	 * A helper method to check if a store is assigned to the class.
-	 * If not, the method tries to retrieve the store from the global
-	 * ObjectManager.
-	 * @return	@li	@c true if the store is linked or could be created.
-	 * 			@li @c false otherwise.
-	 */
-	bool checkAndSetStore();
-
-	void checkAndReportLostTm();
-};
 
 
 #endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_ */

tmtcpacket/pus/TmPacketStoredBase.cpp

@@ -0,0 +1,94 @@
+#include "TmPacketStoredBase.h"
+
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tmtcservices/TmTcMessage.h"
+
+#include <cstring>
+
+StorageManagerIF *TmPacketStoredBase::store = nullptr;
+InternalErrorReporterIF *TmPacketStoredBase::internalErrorReporter = nullptr;
+
+TmPacketStoredBase::TmPacketStoredBase(store_address_t setAddress): storeAddress(setAddress) {
+    setStoreAddress(storeAddress);
+}
+
+TmPacketStoredBase::TmPacketStoredBase() {
+}
+
+
+TmPacketStoredBase::~TmPacketStoredBase() {
+}
+
+store_address_t TmPacketStoredBase::getStoreAddress() {
+    return storeAddress;
+}
+
+void TmPacketStoredBase::deletePacket() {
+    store->deleteData(storeAddress);
+    storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    setDataPointer(nullptr);
+}
+
+void TmPacketStoredBase::setStoreAddress(store_address_t setAddress) {
+    storeAddress = setAddress;
+    const uint8_t* tempData = nullptr;
+    size_t tempSize;
+    if (not checkAndSetStore()) {
+        return;
+    }
+    ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
+    if (status == StorageManagerIF::RETURN_OK) {
+        setDataPointer(tempData);
+    } else {
+        setDataPointer(nullptr);
+        storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    }
+}
+
+bool TmPacketStoredBase::checkAndSetStore() {
+    if (store == nullptr) {
+        store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
+        if (store == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
+                    << std::endl;
+#endif
+            return false;
+        }
+    }
+    return true;
+}
+
+ReturnValue_t TmPacketStoredBase::sendPacket(MessageQueueId_t destination,
+        MessageQueueId_t sentFrom, bool doErrorReporting) {
+    if (getAllTmData() == nullptr) {
+        //SHOULDDO: More decent code.
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    TmTcMessage tmMessage(getStoreAddress());
+    ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination,
+            &tmMessage, sentFrom);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        deletePacket();
+        if (doErrorReporting) {
+            checkAndReportLostTm();
+        }
+        return result;
+    }
+    //SHOULDDO: In many cases, some counter is incremented for successfully sent packets. The check is often not done, but just incremented.
+    return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+void TmPacketStoredBase::checkAndReportLostTm() {
+    if (internalErrorReporter == nullptr) {
+        internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+                objects::INTERNAL_ERROR_REPORTER);
+    }
+    if (internalErrorReporter != nullptr) {
+        internalErrorReporter->lostTm();
+    }
+}
+
+

tmtcpacket/pus/TmPacketStoredBase.h

@@ -0,0 +1,89 @@
+#ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTOREDBASE_H_
+#define FSFW_TMTCPACKET_PUS_TMPACKETSTOREDBASE_H_
+
+#include "TmPacketBase.h"
+#include "TmPacketStoredBase.h"
+#include <FSFWConfig.h>
+
+#include "../../tmtcpacket/pus/TmPacketPusA.h"
+#include "../../serialize/SerializeIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueSenderIF.h"
+
+/**
+ *  This class generates a ECSS PUS Telemetry packet within a given
+ *  intermediate storage.
+ *  As most packets are passed between tasks with the help of a storage
+ *  anyway, it seems logical to create a Packet-In-Storage access class
+ *  which saves the user almost all storage handling operation.
+ *  Packets can both be newly created with the class and be "linked" to
+ *  packets in a store with the help of a storeAddress.
+ *  @ingroup tmtcpackets
+ */
+class TmPacketStoredBase {
+public:
+    /**
+     * This is a default constructor which does not set the data pointer.
+     * However, it does try to set the packet store.
+     */
+    TmPacketStoredBase( store_address_t setAddress );
+    TmPacketStoredBase();
+
+    virtual ~TmPacketStoredBase();
+
+    virtual uint8_t* getAllTmData() = 0;
+    virtual void setDataPointer(const uint8_t* newPointer) = 0;
+
+    /**
+     * This is a getter for the current store address of the packet.
+     * @return  The current store address. The (raw) value is
+     *          @c StorageManagerIF::INVALID_ADDRESS if
+     *          the packet is not linked.
+     */
+    store_address_t getStoreAddress();
+    /**
+     * With this call, the packet is deleted.
+     * It removes itself from the store and sets its data pointer to NULL.
+     */
+    void deletePacket();
+    /**
+     * With this call, a packet can be linked to another store. This is useful
+     * if the packet is a class member and used for more than one packet.
+     * @param setAddress    The new packet id to link to.
+     */
+    void setStoreAddress(store_address_t setAddress);
+
+    ReturnValue_t sendPacket(MessageQueueId_t destination, MessageQueueId_t sentFrom,
+            bool doErrorReporting = true);
+
+protected:
+    /**
+     * This is a pointer to the store all instances of the class use.
+     * If the store is not yet set (i.e. @c store is NULL), every constructor
+     * call tries to set it and throws an error message in case of failures.
+     * The default store is objects::TM_STORE.
+     */
+    static StorageManagerIF* store;
+
+    static InternalErrorReporterIF *internalErrorReporter;
+
+    /**
+     * The address where the packet data of the object instance is stored.
+     */
+    store_address_t storeAddress;
+    /**
+     * A helper method to check if a store is assigned to the class.
+     * If not, the method tries to retrieve the store from the global
+     * ObjectManager.
+     * @return  @li @c true if the store is linked or could be created.
+     *          @li @c false otherwise.
+     */
+    bool checkAndSetStore();
+
+    void checkAndReportLostTm();
+};
+
+
+#endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTOREDBASE_H_ */
+

tmtcpacket/pus/TmPacketStoredPusA.cpp

@@ -0,0 +1,79 @@
+#include "TmPacketStoredPusA.h"
+
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../tmtcservices/TmTcMessage.h"
+
+#include <cstring>
+
+TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress) :
+		TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){
+}
+
+TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
+		uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
+		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
+		TmPacketPusA(nullptr) {
+	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+	if (not TmPacketStoredBase::checkAndSetStore()) {
+		return;
+	}
+	uint8_t *pData = nullptr;
+	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+			(getPacketMinimumSize() + size + headerSize), &pData);
+
+	if (returnValue != store->RETURN_OK) {
+	    TmPacketStoredBase::checkAndReportLostTm();
+		return;
+	}
+	setData(pData);
+	initializeTmPacket(apid, service, subservice, packetSubcounter);
+	memcpy(getSourceData(), headerData, headerSize);
+	memcpy(getSourceData() + headerSize, data, size);
+	setPacketDataLength(
+			size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+}
+
+TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
+		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
+		SerializeIF *header) :
+		TmPacketPusA(nullptr) {
+	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+	if (not TmPacketStoredBase::checkAndSetStore()) {
+		return;
+	}
+	size_t sourceDataSize = 0;
+	if (content != NULL) {
+		sourceDataSize += content->getSerializedSize();
+	}
+	if (header != NULL) {
+		sourceDataSize += header->getSerializedSize();
+	}
+	uint8_t *p_data = NULL;
+	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+			(getPacketMinimumSize() + sourceDataSize), &p_data);
+	if (returnValue != store->RETURN_OK) {
+	    TmPacketStoredBase::checkAndReportLostTm();
+	}
+	setData(p_data);
+	initializeTmPacket(apid, service, subservice, packetSubcounter);
+	uint8_t *putDataHere = getSourceData();
+	size_t size = 0;
+	if (header != NULL) {
+		header->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
+	}
+	if (content != NULL) {
+		content->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
+	}
+	setPacketDataLength(
+			sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
+}
+
+uint8_t* TmPacketStoredPusA::getAllTmData() {
+    return getWholeData();
+}
+
+void TmPacketStoredPusA::setDataPointer(const uint8_t *newPointer) {
+    setData(newPointer);
+}

tmtcpacket/pus/TmPacketStoredPusA.h

@@ -0,0 +1,65 @@
+#ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTORED_PUSA_H_
+#define FSFW_TMTCPACKET_PUS_TMPACKETSTORED_PUSA_H_
+
+#include "TmPacketStoredBase.h"
+#include "TmPacketPusA.h"
+#include <FSFWConfig.h>
+
+/**
+ *	This class generates a ECSS PUS A Telemetry packet within a given
+ *	intermediate storage.
+ *	As most packets are passed between tasks with the help of a storage
+ *	anyway, it seems logical to create a Packet-In-Storage access class
+ *	which saves the user almost all storage handling operation.
+ *	Packets can both be newly created with the class and be "linked" to
+ *	packets in a store with the help of a storeAddress.
+ *	@ingroup tmtcpackets
+ */
+class TmPacketStoredPusA :
+        public TmPacketStoredBase,
+        public TmPacketPusA {
+public:
+	/**
+	 * This is a default constructor which does not set the data pointer.
+	 * However, it does try to set the packet store.
+	 */
+	TmPacketStoredPusA( store_address_t setAddress );
+	/**
+	 * With this constructor, new space is allocated in the packet store and
+	 * a new PUS Telemetry Packet is created there.
+	 * Packet Application Data passed in data is copied into the packet.
+	 * The Application data is passed in two parts, first a header, then a
+	 * data field. This allows building a Telemetry Packet from two separate
+	 * data sources.
+	 * @param apid			Sets the packet's APID field.
+	 * @param service		Sets the packet's Service ID field.
+	 * 		This specifies the source service.
+	 * @param subservice	Sets the packet's Service Subtype field.
+	 * 		This specifies the source sub-service.
+	 * @param packet_counter	Sets the Packet counter field of this packet
+	 * @param data			The payload data to be copied to the
+	 * 						Application Data Field
+	 * @param size			The amount of data to be copied.
+	 * @param headerData 	The header Data of the Application field,
+	 * 						 will be copied in front of data
+	 * @param headerSize	The size of the headerDataF
+	 */
+	TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter = 0, const uint8_t* data = nullptr,
+			uint32_t size = 0, const uint8_t* headerData = nullptr,
+			uint32_t headerSize = 0);
+	/**
+	 * Another ctor to directly pass structured content and header data to the
+	 * packet to avoid additional buffers.
+	 */
+	TmPacketStoredPusA( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter, SerializeIF* content,
+			SerializeIF* header = nullptr);
+
+    uint8_t* getAllTmData() override;
+    void setDataPointer(const uint8_t* newPointer) override;
+
+};
+
+
+#endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTORED_PUSA_H_ */

tmtcpacket/pus/TmPacketStoredPusC.cpp

@@ -0,0 +1,80 @@
+#include "TmPacketStoredPusC.h"
+
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../tmtcservices/TmTcMessage.h"
+
+#include <cstring>
+
+TmPacketStoredPusC::TmPacketStoredPusC(store_address_t setAddress) :
+        TmPacketStoredBase(setAddress), TmPacketPusC(nullptr){
+}
+
+TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
+        uint8_t subservice, uint16_t packetSubcounter, const uint8_t *data,
+        uint32_t size, const uint8_t *headerData, uint32_t headerSize, uint16_t destinationId,
+        uint8_t timeRefField) :
+        TmPacketPusC(nullptr) {
+    storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    if (not TmPacketStoredBase::checkAndSetStore()) {
+        return;
+    }
+    uint8_t *pData = nullptr;
+    ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+            (getPacketMinimumSize() + size + headerSize), &pData);
+
+    if (returnValue != store->RETURN_OK) {
+        TmPacketStoredBase::checkAndReportLostTm();
+        return;
+    }
+    setData(pData);
+    initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
+    memcpy(getSourceData(), headerData, headerSize);
+    memcpy(getSourceData() + headerSize, data, size);
+    setPacketDataLength(
+            size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
+}
+
+TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
+        uint8_t subservice, uint16_t packetSubcounter, SerializeIF *content,
+        SerializeIF *header, uint16_t destinationId, uint8_t timeRefField) :
+        TmPacketPusC(nullptr) {
+    storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    if (not TmPacketStoredBase::checkAndSetStore()) {
+        return;
+    }
+    size_t sourceDataSize = 0;
+    if (content != NULL) {
+        sourceDataSize += content->getSerializedSize();
+    }
+    if (header != NULL) {
+        sourceDataSize += header->getSerializedSize();
+    }
+    uint8_t *p_data = NULL;
+    ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
+            (getPacketMinimumSize() + sourceDataSize), &p_data);
+    if (returnValue != store->RETURN_OK) {
+        TmPacketStoredBase::checkAndReportLostTm();
+    }
+    setData(p_data);
+    initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
+    uint8_t *putDataHere = getSourceData();
+    size_t size = 0;
+    if (header != NULL) {
+        header->serialize(&putDataHere, &size, sourceDataSize,
+                SerializeIF::Endianness::BIG);
+    }
+    if (content != NULL) {
+        content->serialize(&putDataHere, &size, sourceDataSize,
+                SerializeIF::Endianness::BIG);
+    }
+    setPacketDataLength(
+            sourceDataSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
+}
+
+uint8_t* TmPacketStoredPusC::getAllTmData() {
+    return getWholeData();
+}
+
+void TmPacketStoredPusC::setDataPointer(const uint8_t *newPointer) {
+    setData(newPointer);
+}

tmtcpacket/pus/TmPacketStoredPusC.h

@@ -0,0 +1,68 @@
+#ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTOREDPUSC_H_
+#define FSFW_TMTCPACKET_PUS_TMPACKETSTOREDPUSC_H_
+
+#include <fsfw/tmtcpacket/pus/TmPacketPusC.h>
+#include <fsfw/tmtcpacket/pus/TmPacketStoredBase.h>
+
+/**
+ *  This class generates a ECSS PUS C Telemetry packet within a given
+ *  intermediate storage.
+ *  As most packets are passed between tasks with the help of a storage
+ *  anyway, it seems logical to create a Packet-In-Storage access class
+ *  which saves the user almost all storage handling operation.
+ *  Packets can both be newly created with the class and be "linked" to
+ *  packets in a store with the help of a storeAddress.
+ *  @ingroup tmtcpackets
+ */
+class TmPacketStoredPusC:
+        public TmPacketStoredBase,
+        public TmPacketPusC {
+public:
+    /**
+     * This is a default constructor which does not set the data pointer.
+     * However, it does try to set the packet store.
+     */
+    TmPacketStoredPusC( store_address_t setAddress );
+    /**
+     * With this constructor, new space is allocated in the packet store and
+     * a new PUS Telemetry Packet is created there.
+     * Packet Application Data passed in data is copied into the packet.
+     * The Application data is passed in two parts, first a header, then a
+     * data field. This allows building a Telemetry Packet from two separate
+     * data sources.
+     * @param apid          Sets the packet's APID field.
+     * @param service       Sets the packet's Service ID field.
+     *      This specifies the source service.
+     * @param subservice    Sets the packet's Service Subtype field.
+     *      This specifies the source sub-service.
+     * @param packet_counter    Sets the Packet counter field of this packet
+     * @param data          The payload data to be copied to the
+     *                      Application Data Field
+     * @param size          The amount of data to be copied.
+     * @param headerData    The header Data of the Application field,
+     *                       will be copied in front of data
+     * @param headerSize    The size of the headerDataF
+     * @param destinationId Destination ID containing the application process ID as specified
+     *                      by PUS C
+     * @param timeRefField  4 bit time reference field as specified by PUS C
+     */
+    TmPacketStoredPusC( uint16_t apid, uint8_t service, uint8_t subservice,
+            uint16_t packetCounter = 0, const uint8_t* data = nullptr,
+            uint32_t size = 0, const uint8_t* headerData = nullptr,
+            uint32_t headerSize = 0, uint16_t destinationId = 0, uint8_t timeRefField = 0);
+    /**
+     * Another ctor to directly pass structured content and header data to the
+     * packet to avoid additional buffers.
+     */
+    TmPacketStoredPusC( uint16_t apid, uint8_t service, uint8_t subservice,
+            uint16_t packetCounter, SerializeIF* content,
+            SerializeIF* header = nullptr, uint16_t destinationId = 0, uint8_t timeRefField = 0);
+
+    uint8_t* getAllTmData() override;
+    void setDataPointer(const uint8_t* newPointer) override;
+
+};
+
+
+
+#endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTOREDPUSC_H_ */

tmtcservices/CommandingServiceBase.cpp

@@ -1,6 +1,7 @@
 #include "AcceptsTelemetryIF.h"
 #include "CommandingServiceBase.h"
 #include "TmTcMessage.h"
+#include <FSFWConfig.h>
 
 #include "../tcdistribution/PUSDistributorIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -293,8 +294,13 @@ void CommandingServiceBase::handleRequestQueue() {
 ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
 		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
 		size_t headerSize) {
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+	TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, headerData, headerSize);
+#else
+	TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, data, dataLen, headerData, headerSize);
+#endif
 	ReturnValue_t result = tmPacketStored.sendPacket(
 			requestQueue->getDefaultDestination(), requestQueue->getId());
 	if (result == HasReturnvaluesIF::RETURN_OK) {
@@ -311,8 +317,13 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
     size_t size = 0;
     SerializeAdapter::serialize(&objectId, &pBuffer, &size,
                 sizeof(object_id_t), SerializeIF::Endianness::BIG);
-    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+    TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
             this->tmPacketCounter, data, dataLen, buffer, size);
+#else
+    TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, data, dataLen, buffer, size);
+#endif
     ReturnValue_t result = tmPacketStored.sendPacket(
             requestQueue->getDefaultDestination(), requestQueue->getId());
     if (result == HasReturnvaluesIF::RETURN_OK) {
@@ -324,8 +335,13 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
 
 ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
         SerializeIF* content, SerializeIF* header) {
-    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+#if FSFW_USE_PUS_C_TELEMETRY == 0
+    TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
             this->tmPacketCounter, content, header);
+#else
+    TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, content, header);
+#endif
     ReturnValue_t result = tmPacketStored.sendPacket(
             requestQueue->getDefaultDestination(), requestQueue->getId());
     if (result == HasReturnvaluesIF::RETURN_OK) {

tmtcservices/TmTcBridge.cpp

@@ -183,8 +183,11 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 
 	if(tmFifo->full()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	    sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+	    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-	                    << "of stored packet IDs reached! " << std::endl;
+	            "of stored packet IDs reached!" << std::endl;
+#else
+	    sif::printWarning("TmTcBridge::storeDownlinkData: TM downlink max. number "
+                "of stored packet IDs reached!\n");
 #endif
 	    if(overwriteOld) {
 	        tmFifo->retrieve(&storeId);

tmtcservices/TmTcBridge.h

@@ -150,8 +150,7 @@ protected:
 	void printData(uint8_t * data, size_t dataLen);
 
 	/**
-	 * This fifo can be used to store downlink data
+	 * This FIFO can be used to store downlink data which can not be sent at the moment.
-	 * which can not be sent at the moment.
 	 */
 	DynamicFIFO<store_address_t>* tmFifo = nullptr;
     uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;

tmtcservices/TmTcMessage.cpp

@@ -21,7 +21,7 @@ TmTcMessage::TmTcMessage(store_address_t storeId) {
 	this->setStorageId(storeId);
 }
 
-size_t TmTcMessage::getMinimumMessageSize() {
+size_t TmTcMessage::getMinimumMessageSize() const {
 	return this->HEADER_SIZE + sizeof(store_address_t);
 }
 

tmtcservices/TmTcMessage.h

@@ -18,7 +18,7 @@ protected:
 	 * @brief	This call always returns the same fixed size of the message.
 	 * @return	Returns HEADER_SIZE + @c sizeof(store_address_t).
 	 */
-	size_t getMinimumMessageSize();
+	size_t getMinimumMessageSize() const override;
 public:
 	/**
 	 * @brief	In the default constructor, only the message_size is set.

unittest/tests/tmtcpacket/CMakeLists.txt

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

unittest/tests/tmtcpacket/PusTmTest.cpp

@@ -0,0 +1,3 @@
+
+
+

unittest/user/testcfg/objects/systemObjectList.h

@@ -15,8 +15,8 @@ namespace objects {
 		PUS_DISTRIBUTOR = 11,
 		TM_FUNNEL = 12,
 
-		UDP_BRIDGE = 15,
+		TCPIP_BRIDGE = 15,
-		UDP_POLLING_TASK = 16,
+		TCPIP_HELPER = 16,
 
 		TEST_ECHO_COM_IF = 20,
 		TEST_DEVICE = 21,

unittest/user/unittest/core/CatchFactory.cpp

@@ -1,6 +1,6 @@
+#include "CatchFactory.h"
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include "CatchFactory.h"
 
 #include <fsfw/events/EventManager.h>
 #include <fsfw/health/HealthTable.h>
@@ -74,7 +74,7 @@ void Factory::setStaticFrameworkObjectIds() {
 
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-	TmPacketStored::timeStamperId = objects::NO_OBJECT;
+	TmPacketBase::timeStamperId = objects::NO_OBJECT;
 }