missing COPY in Dockerfile

typo
this should work
2023-10-25 11:51:57 +02:00 · 2023-10-25 11:40:56 +02:00 · 2023-10-25 11:30:19 +02:00 · 2023-10-25 11:12:28 +02:00 · 2023-10-25 11:11:38 +02:00 · 2023-10-25 11:10:49 +02:00
968 changed files with 18594 additions and 12551 deletions
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
-    <method v="2">
-      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
-    <method v="2">
-      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -8,7 +8,243 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-# [v5.0.0]
+## Fixes
+
+- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
+  data with a size limited only by the size of `size_t`.
+- Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
+  number fields stored the actual length of the field instead of the length minus 1 like specified
+  in the CFDP standard.
+- PUS Health Service: Size check for set health command.
+  Perform operation completion for announce health command.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
+- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
+- Small tweak for version getter
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
+- Important bugfix for `LocalPool::delete` function, where an overflow could possibly lead to UB.
+
+## Added
+
+- add CFDP subsystem ID
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
+- New object ID for persistent TM store PUS 15
+- `EventManager`: Add function to print all listeners.
+
+## Changed
+
+- Bump ETL version to 20.35.14
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
+- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
+- Assert that `FixedArrayList` is larger than 0 at compile time.
+  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
+- `EventManager`: Queue depth is configurable now
+- `ActionHelper`: Allow execution of actions without additional data
+
+# [v6.0.0] 2023-02-10
+
+## Fixes
+
+- Mode Service: Add allowed subservice
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
+- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
+  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
+  subservice not working properly.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
+- Memory leak fixes for the TCP/IP TMTC bridge.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
+- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
+  seconds instead of uptime.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
+  only the X scaling factor was used.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
+- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
+- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
+  to false correctly because the `read` and `write` calls were missing.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
+- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
+  of the correct unsegmented flags (0b11) as specified in the standard.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
+- TC Scheduler Service 11: Add size and CRC check for contained TC.
+  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
+- Only delete health table entry in `HealthHelper` destructor if
+  health table was set.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
+- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
+  Also properly reset the reply size for successfull transfers and erroneous transfers.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
+- Bugfix for Serial Buffer Stream: Setting `doActive` to false now
+  actually fully disables printing.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
+- `TcpTmTcServer.cpp`: The server was actually not able to handle
+  CCSDS packets which were clumped together. This has been fixed now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
+- `CServiceHealthCommanding`: Add announce all health info implementation
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+- various fixes related to linux Unittests and memory leaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
+- small fix to allow teardown handling
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
+- fix compiler warning for fixed array list copy ctor
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
+- missing include
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
+- defaultconfig did not build anymore
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
+- hotfix
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
+- small fix for helper
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
+- missing retval conv
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
+- DHB Countdown Bug
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
+- doc corrections
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
+- better error printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
+- include correction
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
+- better warning for missing include paths
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
+- Service 11 regression
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
+
+## Added
+
+- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
+- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
+- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
+  option on the TCP server. CTOR prototype has changed and expects an explicit
+  TCP configuration struct to be passed.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
+- `DleParser` helper class to parse DLE encoded packets from a byte stream.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
+- `UioMapper` is able to resolve symlinks now.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
+- Add new `UnsignedByteField` class
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
+- publish documentation for development and master branch
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
+- Add Linux HAL options
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
+- Expand SerializeIF
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
+- PUS Service 11: Additional Safety Check
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
+- improvements for auto-formatter script
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
+- provide a weak print char impl
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
+
+## Removed
+
+- now that doc server is up, remove markdown files
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
+- remove bsp specific code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
+
+## Changes
+
+- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
+  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
+  `HealthServiceCfg` now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
+- Moved some container returnvalues to dedicated header and namespace
+  so they can be used without template specification.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
+- Remove default secondary header argument for
+  `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
+  `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
+- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
+  constants.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
+- Overhaul of the TMTC stack, including various changes and improvements
+  for other modules
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
+  which also includes a migration guide
+- Bump Catch2 dependency to regular version `v3.1.0`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
+- `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
+  API to expect `const uint8_t*` accordingly.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
+- Remove the following user includes from `fsfw/events/Event.h` and
+  `fsfw/returnvalues/returnvalue.h`:
+  - `#include "events/subsystemIdRanges.h"`
+  - `#include "returnvalues/classIds.h"`
+  The user has to include those themselves now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
+- `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
+  This allows finishing action commands immediately inside the function.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
+- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
+  a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
+- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
+  - Make functions `const` where it makes sense
+  - Add `const char* getName const` abstract function
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
+- Generic TMTC Bridge Update
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
+- comment tweak to event parser can read everything
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
+- CMakeLists file updates
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
+- improve srv20 error messages
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
+- I2C Linux: remove duplicate printout
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
+- printout handling improvements
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
+- vec getter, reset for content
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
+- updates for source sequence counter
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
+- SP reader getPacketData is const now
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
+- refactoring of serial drivers for linux
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
+- Local Pool Update Remove Add Data Ignore Fault Argument
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
+- Switch to new documentation server
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
+- Windows Tweaks
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
+- Refactor Local Pool API
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
+- group MGM data in local pool vectors
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
+
+
+## CFDP
+
+- Refactoring of CFDP stack which was done during implementation of the CFDP source and destination
+  handlers.
+   - New filesystem module, changes for filesystem abstraction `HasFileSystemIF` to better
+     fit requirements of CFDP
+   - New `HostFilesystem` implementation of the `HasFileSystemIF`
+   - New `cfdp::UserBase` class which is the abstraction for the CFDP user in an OBSW context.
+   - mib module for the CFDP stack
+   - PDU classes renamed from `...Serializer`/`...Deserializer` to `...Creator`/`...Reader`
+     respetively
+   - Renamed `TcDistributor` to `TcDistributorBase` to prevent confusion
+   - Refactored `TcDisitributorBase` to be more flexible and usable for CFDP distribution
+   - Renamed `CCSDSDistributor` to `CcsdsDistributor` and add feature which allows it
+     to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver
+     implementation without an extra component
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
+
+# [v5.0.0] 2022-07-25

 ## Changes

@@ -19,16 +255,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
  compiler supports it
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
+  Buffer and rejects such writeData calls with `returnvalue::FAILED`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
@@ -46,6 +279,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
  creation call. It allows passing context information and an arbitrary user argument into
  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
+  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653

 ### Task Module Refactoring

@@ -120,6 +356,8 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593

 ## Additions

+- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
+  This is also the new default constructor for scalar value with 0 as an initial value
 - Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
  whether it is running in CI/CD
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################

-set(FSFW_VERSION_IF_GIT_FAILS 4)
+set(FSFW_VERSION_IF_GIT_FAILS 6)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)

@@ -67,11 +67,12 @@ endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")

 set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LINK_TARGET etl::etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION
    20
    CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.36.0
    CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)

@@ -79,7 +80,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
    3
    CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.3.2
    CACHE STRING "Catch2 library exact version requirement")

 # Keep this off by default for now. See PR:
@@ -103,20 +104,27 @@ if(FSFW_GENERATE_SECTIONS)
  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()

-option(FSFW_BUILD_UNITTESTS
-       "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_TESTS
+       "Build unittest binary in addition to static library. Requires Catch2"
+       OFF)
 option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()

 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
-option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)

+if(UNIX)
+  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
+         OFF)
+  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
+  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
+endif()
+
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@@ -139,18 +147,18 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                TRUE)
 endif()

-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
  message(
    STATUS
      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
  )
  # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
    message(
      STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
    )
    include(FetchContent)

@@ -162,10 +170,9 @@ if(FSFW_BUILD_UNITTESTS)
    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
  endif()

-  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
-                 tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH unittests/testcfg)
+  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)

  project(${FSFW_TEST_TGT} CXX C)
  add_executable(${FSFW_TEST_TGT})
@@ -183,7 +190,10 @@ if(FSFW_BUILD_UNITTESTS)
  endif()
 endif()

-message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
+message(
+  STATUS
+    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
+)

 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -191,8 +201,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  message(
    STATUS
-      "No ETL installation was found with find_package. Installing and providing "
-      "etl with FindPackage")
+      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
+  )
  include(FetchContent)

  FetchContent_Declare(
@@ -281,16 +291,15 @@ message(
 )

 add_subdirectory(src)
-add_subdirectory(tests)
-if(FSFW_ADD_HAL)
-  add_subdirectory(hal)
-endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_TESTS)
+  add_subdirectory(unittests)
+endif()
 if(FSFW_BUILD_DOCS)
  add_subdirectory(docs)
 endif()

-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
  if(FSFW_TESTS_GEN_COV)
    if(CMAKE_COMPILER_IS_GNUCXX)
      include(CodeCoverage)
@@ -318,7 +327,8 @@ if(FSFW_BUILD_UNITTESTS)
            "/usr/local/include/*"
            "*/fsfw_tests/*"
            "*/catch2-src/*"
-            "*/fsfw_hal/*")
+            "*/fsfw_hal/*"
+            "unittests/*")
      endif()

      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@@ -336,8 +346,15 @@ if(FSFW_BUILD_UNITTESTS)
          DEPENDENCIES ${FSFW_TEST_TGT})
      else()
        setup_target_for_coverage_lcov(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
+          NAME
+          ${FSFW_TEST_TGT}_coverage
+          EXECUTABLE
+          ${FSFW_TEST_TGT}
+          DEPENDENCIES
+          ${FSFW_TEST_TGT}
+          GENHTML_ARGS
+          --html-epilog
+          ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
      endif()
    endif()
  endif()
@@ -352,7 +369,8 @@ if(NOT FSFW_CONFIG_PATH)
  if(NOT FSFW_BUILD_DOCS)
    message(
      WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
+    )
    message(
      WARNING
        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
@@ -447,8 +465,8 @@ target_include_directories(
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                ${COMPILER_FLAGS})

-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-                                               ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})

 string(
  CONCAT
@@ -132,14 +132,14 @@ You can use the following commands inside the `fsfw` folder to set up the build

 ```sh
 mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```

 You can also use `-DFSFW_OSAL=linux` on Linux systems.

 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generare the coverage data in this format,
+To build the unittests, run them and then generate the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up

 ```sh
@@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using

 ```sh
-cmake --build . -j
+cmake --build . -- Sphinx -j
 ```

 You can find the generated documentation inside the `docs/sphinx` folder inside the build
@@ -188,7 +188,10 @@ and open the documentation conveniently. Try `helper.py -h for more information.

 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `apply-clang-format.sh` helper script to format all source files consistently.
+can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
+````sh
+sudo pip install cmakelang
+````

 ## Index

@@ -5,16 +5,28 @@ RUN apt-get --yes upgrade

 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz rsync
+
+# This should also install Sphinx
+COPY docs/requirements.txt .
+RUN python3 -m pip install -r docs/requirements.txt
+RUN python3 -m pip install breathe

 RUN git clone https://github.com/catchorg/Catch2.git && \
-	cd Catch2 && \
-	git checkout v3.0.0-preview5 && \
-	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-	cmake --build build/ --target install
+        cd Catch2 && \
+        git checkout v3.1.0 && \
+        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+        cmake --build build/ --target install

 RUN git clone https://github.com/ETLCPP/etl.git && \
-	cd etl && \
-	git checkout 20.28.0 && \
-	cmake -B build . && \
-	cmake --install build/
+        cd etl && \
+        git checkout 20.28.0 && \
+        cmake -B build . && \
+        cmake --install build/
+
+#ssh needs a valid user to work
+RUN adduser --uid 114 jenkins
+
+#add documentation server to known hosts
+RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
@@ -1,41 +1,131 @@
 pipeline {
    environment {
-        BUILDDIR = 'build-tests'
+        BUILDDIR_HOST = 'cmake-build-tests-host'
+        BUILDDIR_LINUX = 'cmake-build-tests-linux'
+        DOCDDIR = 'cmake-build-documentation'
    }
    agent {
-        docker { image 'fsfw-ci:d2'}
+        docker { 
+            image 'fsfw-ci:d6'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
+        }
    }
    stages {
-        stage('Clean') {
-            steps {
-                sh 'rm -rf $BUILDDIR'
-            }
-        }
-        stage('Configure') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
+        stage('Host') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_HOST'
+                    }
+                }
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
+                }
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
                }
            }
        }
-        stage('Build') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -j4'
+        stage('Linux') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_LINUX'
+                    }
+                }
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
+                }
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
                }
            }
        }
-        stage('Unittests') {
+        stage('Documentation') {
+            when {
+              anyOf {
+                branch 'development';
+                branch pattern: 'development-doc-deployment*'
+              }
+            }
            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/development'
+                    }
+                }
+                dir(BUILDDIR_LINUX) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/coverage/development'
+                    }
                }
            }
        }
-        stage('Valgrind') {
+        stage('Master Documentation') {
+            when {
+              anyOf {
+                branch 'master';
+                branch pattern: 'master-doc-deployment*'
+              }
+            }
            steps {
-                dir(BUILDDIR) {
-                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                dir(DOCDDIR) {
+                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
+                    sh 'make Sphinx'
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/master'
+                    }
+                }
+                dir(BUILDDIR_LINUX) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/projects/fsfw/coverage/master'
+                    }
                }
            }
        }
@@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
 find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
 find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
 find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
-find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
+find_program( GCOVR_PATH gcovr )
 find_program( CPPFILT_PATH NAMES c++filt )

 if(NOT GCOV_PATH)
@@ -1,40 +0,0 @@
-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. 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
-
-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:
-
-``` c++
-namespace fsfwconfig {
-//! Configure the allocated pool sizes for the event manager.
-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;
-}
-```
-
@@ -1 +0,0 @@
-## Controllers
@@ -1,55 +0,0 @@
-## FSFW Core Modules
-
-These core modules provide the most important functionalities of the 
-Flight Software Framework
-
-### Clock
-
- * This is a class of static functions that can be used at anytime
- * Leap Seconds must be set if any time conversions from UTC to other times is used
-
-### ObjectManager
-
-* Must be created during program startup
-* The component which handles all references. All SystemObjects register at this component. 
-* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
-* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
-A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
-
-```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. By calling objectManager->initialize() the produce function will be
-  called and all SystemObjects will be initialized afterwards.
-
-### Event Manager
-
-* Component which allows routing of events
-* Other objects can subscribe to specific events, ranges of events or all events of an object.
-* Subscriptions can be done during runtime but should be done during initialization
-* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
-
-### Health Table
-
-* A component which holds every health state 
-* Provides a thread safe way to access all health states without the need of message exchanges
-
-### Stores
-
-* The message based communication can only exchange a few bytes of information inside the message
-  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
-  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.
- * 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
-
@@ -1 +0,0 @@
-## Device Handlers
@@ -1,135 +0,0 @@
-High-level overview
-======
-
-# 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 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. The fsfw uses run-time type information but exceptions are not allowed.
-
-# Failure Handling
-
-Functions should return a defined `ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
-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
-
-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.
-
-# 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
-2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
-   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
-
-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`
- inside the function `Factory::setStaticFrameworkObjectIds()`.
-
-# Events
-
-Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
-This works analog to the returnvalues. Every object that needs own EventIds has to get a
-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.
-
-# Internal Communication
-
-Components communicate mostly via Messages through Queues. 
-Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
-will create `MessageQueue` instances for the used OSAL.
-
-# 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.
-
-## TMTC Communication
-
-The FSFW provides some components to facilitate TMTC handling via the PUS commands.
-For example, a UDP or TCP PUS server socket can be opened on a specific port using the
-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.
-
-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. By separating the underlying Communication Interface with 
-`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
-The DH has mechanisms to monitor the communication with the physical device which allow
-for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
-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 and Health
-
-The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
-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. 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. The definitions contain transition and target tables which contain the DH,
-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.
-
-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 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)
@@ -1,174 +0,0 @@
-## Local Data Pools Developer Information
-
-The following text is targeted towards mission software developers which would like
-to use the local data pools provided by the FSFW to store data like sensor values so they can be 
-used by other software objects like controllers as well. If a custom class should have a local 
-pool which  can be used by other software objects as well, following steps have to be performed:
-
-1. Create a `LocalDataPoolManager` member object in the custom class
-2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
-and the class owning the local pool.
-
-The local data pool manager is also able to process housekeeping service requests in form
-of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
-variables and datasets and process notifications and snapshots coming from other objects.
-The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
-while the later two are related to data consumers like controllers only acting on data change 
-detected by the data creator instead of checking the data manually each cycle. Two important 
-framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
-shown above so the steps required are altered slightly.
-
-### Storing and Accessing pool data 
-
-The pool manager is responsible for thread-safe access of the pool data, but the actual
-access to the pool data from the point of view of a mission software developer happens via proxy
-classes like pool variable classes. These classes store a copy
-of the pool variable with the matching datatype and copy the actual data from the local pool
-on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
-The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
-and data consumers. Generally, a user will create a dataset class which in turn groups all 
-cohesive pool variables. These sets simply iterator over the list of variables and call the 
-`read` and `commit` functions of each variable. The following diagram shows the
-high-level architecture of the local data pools.
-
-.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
-   :alt: FSFW Logo
-
-
-An example is shown for using the local data pools with a Gyroscope.
-For example, the following code shows an implementation to access data from a Gyroscope taken
-from the SOURCE CubeSat project:
-
-```cpp
-class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
-public:
-    /**
-     * Constructor for data users
-     * @param gyroId
-     */
-    GyroPrimaryDataset(object_id_t gyroId):
-            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
-        setAllVariablesReadOnly();
-    }
-
-    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_X, this);
-    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_Y, this);
-    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
-            gyrodefs::ANGULAR_VELOCITY_Z, this);
-private:
-
-    friend class GyroHandler;
-    /**
-     * Constructor for data creator
-     * @param hkOwner
-     */
-    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
-};
-```
-
-There is a public constructor for users which sets all variables to read-only and there is a
-constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
-as a friend class. Both the atittude controller and the `GyroHandler` can now
-use the same class definition to access the pool variables with `read` and `commit` semantics
-in a thread-safe way. Generally, each class requiring access will have the set class as a member
-class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
-steps are necessary to expose the set for housekeeping purposes.
-
-### Using the local data pools in a `DeviceHandlerBase` subclass
-
-It is very common to store data generated by devices like a sensor into a pool which can 
-then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
-local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
-as a member:
-
-```cpp
-class GyroHandler: ... {
-
-public:
-	...
-private:
-	...
-	GyroPrimaryDataset gyroData;
-	...
-};
-```
-
-The constructor used for the creators expects the owner class as a parameter, so we initialize
-the object in the `GyroHandler` constructor like this:
-
-```cpp
-GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
-        CookieIF *comCookie, uint8_t switchId):
-        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
-		gyroData(this) {}
-```
-
-We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
-The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
-`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
-generating update messages. We need to assign our custom set class in some way so that the local 
-pool manager can access the custom data sets as well.
-By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
-`DeviceHandlerBase` subclass will use the internal command map to retrieve 
-a handle to a dataset from a given reply ID. Therefore,
-we assign the set in the `fillCommandAndReplyMap` function:
-
-```cpp
-void GyroHandler::fillCommandAndReplyMap() {
-	...
-	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
-	...
-}
-```
-
-Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
-function. Here, we also immediately subscribe for periodic housekeeping packets 
-with an interval of 4 seconds. They are still disabled in this example and can be enabled 
-with a housekeeping service command.
-
-```cpp
-ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-		LocalDataPoolManager &poolManager) {
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
-			new PoolEntry<uint8_t>({0}));
-	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
-			new PoolEntry<uint8_t>({0}));
-
-	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-```
-
-Now, if we receive some sensor data and converted them into the right format, 
-we can write it into the pool like this, using a guard class to ensure the set is commited back 
-in any case:
-
-```cpp
-PoolReadGuard readHelper(&gyroData);
-if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-	if(not gyroData.isValid()) {
-		gyroData.setValidity(true, true);
-	}
-
-	gyroData.angVelocityX = angularVelocityX;
-	gyroData.angVelocityY = angularVelocityY;
-	gyroData.angVelocityZ = angularVelocityZ;
-}
-```
-
-The guard class will commit the changed data on destruction automatically.
-
-### Using the local data pools in a `ExtendedControllerBase` subclass
-
-Coming soon
-
-
@@ -1,32 +0,0 @@
-# Operating System Abstraction Layer (OSAL)
-
-Some specific information on the provided OSALs are provided.
-
-## Linux OSAL
-
-This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for 
-embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
-and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
-
-More information on how to set up a Linux system accordingly can be found in the 
-[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
-
-## Hosted OSAL
-
-This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
-
-## FreeRTOS OSAL
-
-FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
-
-When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
-
-## RTEMS OSAL
-
-The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
-
-## TCP/IP socket abstraction
-
-The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
-
-
@@ -1 +0,0 @@
-## PUS Services
@@ -4,6 +4,7 @@ API
 .. toctree::
   :maxdepth: 4

+   api/cfdp
   api/objectmanager
   api/task
   api/ipc
@@ -0,0 +1,8 @@
+CFDP API
+=================
+
+``UserBase``
+-----------------
+
+.. doxygenclass:: cfdp::UserBase
+	:members:
@@ -3,7 +3,7 @@
 Returnvalue API
 ==================

-.. doxygenfile:: HasReturnvaluesIF.h
+.. doxygenfile:: returnvalue.h

 .. _fwclassids:

@@ -17,12 +17,13 @@

 # -- Project information -----------------------------------------------------

-project = 'Flight Software Framework'
-copyright = '2021, Institute of Space Systems (IRS)'
-author = 'Institute of Space Systems (IRS)'
+project = "Flight Software Framework"
+copyright = "2021, Institute of Space Systems (IRS)"
+author = "Institute of Space Systems (IRS)"

+# TODO: Should try to read this from CMakeLists.txt automatically..
 # The full version, including alpha/beta/rc tags
-release = '2.0.1'
+release = "5.0.0"


 # -- General configuration ---------------------------------------------------
@@ -30,17 +31,17 @@ release = '2.0.1'
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = [ "breathe" ]
+extensions = ["breathe"]

 breathe_default_project = "fsfw"

 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]

 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]


 # -- Options for HTML output -------------------------------------------------
@@ -48,9 +49,14 @@ exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'alabaster'
+html_theme = "sphinx_rtd_theme"
+
+html_theme_options = {
+    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
+}
+

 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = []
+html_static_path = []
@@ -75,11 +75,11 @@ and the respective source file with sensible default return values:
 	void TestDeviceHandler::doShutDown() {}

 	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}

 	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}

 	void TestDeviceHandler::fillCommandAndReplyMap() {}
@@ -87,17 +87,17 @@ and the respective source file with sensible default return values:
 	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 	                                                         const uint8_t* commandData,
 	                                                         size_t commandDataLen) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}

 	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
 	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}

 	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 	                                                      const uint8_t* packet) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}

 	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
@@ -106,5 +106,5 @@ and the respective source file with sensible default return values:

 	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                                         LocalDataPoolManager& poolManager) {
-	  return HasReturnvaluesIF::RETURN_OK;
+	  return returnvalue::OK;
 	}
@@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console

   mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..


 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
@@ -6,19 +6,20 @@ High-level overview
 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 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. The fsfw uses run-time type information but exceptions are not allowed.
+The general structure is driven by the usage of interfaces provided by objects. 
+The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
+standard, even for micocontrollers.
+
+The FSFW might use dynamic allocation during program initialization but not during runtime.
+It offers pool objects, static containers and it also exposes the
+`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
+allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.

 Failure Handling
 -----------------

 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.
@@ -150,7 +150,7 @@ with a housekeeping service command.
 				new PoolEntry<uint8_t>({0}));

 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-		return HasReturnvaluesIF::RETURN_OK;
+		return returnvalue::OK;
 	}

 Now, if we receive some sensor data and converted them into the right format,
@@ -160,7 +160,7 @@ in any case:
 .. code-block:: cpp

 	PoolReadGuard readHelper(&gyroData);
-	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+	if(readHelper.getReadResult() == returnvalue::OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}
@@ -0,0 +1 @@
+sphinx-rtd-theme==1.3.0
@@ -1,48 +0,0 @@
-cmake_minimum_required(VERSION 3.13)
-
-# Can also be changed by upper CMakeLists.txt file
-find_library(LIB_FSFW_NAME fsfw REQUIRED)
-
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
-# On by default for now because I did not have an issue including and compiling those files
-# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
-# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
-# but CMake is able to determine whether this library is installed with find_library.
-option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
-option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
-
-option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
-option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
-option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
-
-set(LINUX_HAL_PATH_NAME linux)
-set(STM32H7_PATH_NAME stm32h7)
-
-add_subdirectory(src)
-
-foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
-    if(IS_ABSOLUTE ${INCLUDE_PATH})
-        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-    else()
-        get_filename_component(CURR_ABS_INC_PATH
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
-    endif()
-
-    if(CMAKE_VERBOSE)
-        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-    endif()
-
-    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
-endforeach()
-
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_ADD_INC_PATHS_ABS}
-)
-
-target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_DEFINES}
-)
-
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_LINK_LIBS}
-)
@@ -1,9 +0,0 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-add_subdirectory(fsfw_hal)
@@ -1 +0,0 @@
-add_subdirectory(gpio)
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GpioCookie.cpp
-)
@@ -1,5 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GyroL3GD20Handler.cpp
-    MgmRM3100Handler.cpp
-    MgmLIS3MDLHandler.cpp
-)
@@ -1 +0,0 @@
-
@@ -1,25 +0,0 @@
-if(FSFW_HAL_ADD_RASPBERRY_PI)
-    add_subdirectory(rpi)
-endif()
-
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	UnixFileGuard.cpp
-	CommandExecutor.cpp
-	utility.cpp
-)
-
-if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
-	add_subdirectory(gpio)
-endif()
-	add_subdirectory(uart)
-	# Adding those does not really make sense on Apple systems which
-	# are generally host systems. It won't even compile as the headers
-	# are missing
-	if(NOT APPLE)
-		add_subdirectory(i2c)
-		add_subdirectory(spi)
-	endif()
-endif()
-
-add_subdirectory(uio)
@@ -1,16 +0,0 @@
-# This abstraction layer requires the gpiod library. You can install this library
-# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
-# to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod)
-
-if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
-    message(STATUS "gpiod library not found, not linking against it")
-else()
-    target_sources(${LIB_FSFW_NAME} PRIVATE
-        LinuxLibgpioIF.cpp
-    )
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_GPIO}
-    )
-endif()
-
@@ -1,8 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-    I2cComIF.cpp
-    I2cCookie.cpp
-)
-
-
-
-
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GpioRPi.cpp
-)
@@ -1,8 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-    SpiComIF.cpp
-    SpiCookie.cpp
-)
-
-
-
-
@@ -1,4 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-	UartComIF.cpp
-	UartCookie.cpp
-)
@@ -1,51 +0,0 @@
-#include "UartCookie.h"
-
-#include <fsfw/serviceinterface.h>
-
-UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-                       UartBaudRate baudrate, size_t maxReplyLen)
-    : handlerId(handlerId),
-      deviceFile(deviceFile),
-      uartMode(uartMode),
-      baudrate(baudrate),
-      maxReplyLen(maxReplyLen) {}
-
-UartCookie::~UartCookie() {}
-
-UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
-
-size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
-
-std::string UartCookie::getDeviceFile() const { return deviceFile; }
-
-void UartCookie::setParityOdd() { parity = Parity::ODD; }
-
-void UartCookie::setParityEven() { parity = Parity::EVEN; }
-
-Parity UartCookie::getParity() const { return parity; }
-
-void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
-
-BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
-
-StopBits UartCookie::getStopBits() const { return stopBits; }
-
-void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
-
-void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
-
-UartModes UartCookie::getUartMode() const { return uartMode; }
-
-void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
-
-void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
-
-uint8_t UartCookie::getReadCycles() const { return readCycles; }
-
-bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
-
-object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
-
-void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
-
-bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-	UioMapper.cpp
-)
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GyroL3GD20H.cpp
-)
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    gpio.cpp
-)
@@ -1,2 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-)
@@ -1,9 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    spiCore.cpp
-    spiDefinitions.cpp
-    spiInterrupts.cpp
-    mspInit.cpp
-    SpiCookie.cpp
-    SpiComIF.cpp
-    stm32h743zi.cpp
-)
@@ -1,2 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-)
@@ -4,6 +4,10 @@
 #include <cstddef>
 #include <cstdint>

+// It is assumed the user has a subsystem and class ID list in some user header files.
+// #include "events/subsystemIdRanges.h"
+// #include "returnvalues/classIds.h"
+
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
@@ -4,7 +4,6 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/events/EventManager.h>
 #include <fsfw/health/HealthTable.h>
-#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/internalerror/InternalErrorReporter.h>
@@ -35,19 +34,15 @@ void Factory::produceFsfwObjects(void) {
 }

 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::packetSource = objects::NO_OBJECT;
-	PusServiceBase::packetDestination = objects::NO_OBJECT;
+	PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
+	PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;

 	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
 	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;

-	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-
 	DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 	DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;

 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
-
-	TmPacketBase::timeStamperId = objects::NO_OBJECT;
 }

@@ -11,15 +11,15 @@ ReturnValue_t pst::pollingSequenceInitDefault(

 	/* Add polling sequence table here */

-	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
-		return HasReturnvaluesIF::RETURN_OK;
+	if (thisSequence->checkSequence() == returnvalue::OK) {
+		return returnvalue::OK;
 	}
 	else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
 		        << std::endl;
 #endif
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return returnvalue::FAILED;
 	}
 }

@@ -1,7 +1,7 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_

-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>

 class FixedTimeslotTaskIF;

@@ -3,11 +3,17 @@ if [[ ! -f README.md ]]; then
  cd ..
 fi

+folder_list=(
+  "./src"
+  "./unittests"
+)
+
 cmake_fmt="cmake-format"
 file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
  ${cmake_fmt} -i CMakeLists.txt
-  find ./src ${file_selectors} | xargs ${cmake_fmt}  -i
+  find ./src ${file_selectors} | xargs ${cmake_fmt} -i
+  find ./unittests ${file_selectors} | xargs ${cmake_fmt} -i
 else
  echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi
@@ -15,9 +21,10 @@ fi
 cpp_format="clang-format"
 file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
 if command -v ${cpp_format} &> /dev/null; then
-  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
-  find ./hal ${file_selectors} | xargs ${cpp_format} --style=file -i
-  find ./tests ${file_selectors} | xargs ${cpp_format} --style=file -i
+  for dir in ${folder_list[@]}; do
+    echo "Auto-formatting ${dir} recursively"
+    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
+  done
 else
  echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi
@@ -0,0 +1,110 @@
+#! /bin/python
+
+
+import argparse
+import json
+import urllib.request
+import re
+from pathlib import Path
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="List undocumented PRs"
+    )
+    parser.add_argument("-v", "--version", type=str, required=True)
+    args = parser.parse_args()
+    
+    match = re.search("([0-9]+\.[0-9]+\.[0-9]+)", args.version)
+    
+    if not match:
+        print("invalid version")
+        exit(1)
+    
+    version = "v" + match.group(1)
+    
+    print("looking for milestone for " + version + " ...")
+    
+    
+    with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/milestones?name=" + version) as milestone_json:
+        milestones = json.load(milestone_json)
+        if (len(milestones) == 0):
+            print("did not find any milestone")
+            exit(1)
+        if (len(milestones) > 1):
+            print("found multiple milestons")
+        milestone_title = milestones[0]['title']
+        milestone = str(milestones[0]['id'])
+        print("Using Milestone \""+ milestone_title + "\" with id " + milestone)
+    
+    milestone_prs = []
+    
+    page = 1
+    last_count = 1;
+    while last_count != 0:
+        with urllib.request.urlopen("https://egit.irs.uni-stuttgart.de/api/v1/repos/fsfw/fsfw/pulls?state=closed&milestone=" + str(milestone) + "&limit=100&page=" + str(page)) as pull_requests_json:
+            pull_requests = json.load(pull_requests_json)
+            for pr in pull_requests:
+                milestone_prs.append({'number': str(pr['number']), 'title' : pr['title']})
+            page += 1
+            last_count = len(pull_requests)
+    
+    print("Found " + str(len(milestone_prs)) + " closed PRs in Milestone")
+    
+    print("looking for CHANGELOG.md ...")
+    
+    path = Path(".")
+    
+    files = list(path.glob("CHANGELOG.md"))
+    
+    if (len(files) != 1):
+        files = list(path.glob("../CHANGELOG.md"))
+        
+    if (len(files) != 1):
+        print("did not find CHANGELOG.md. Run script in either root directory or scripts subfolder.")
+        exit(1)
+        
+    print("Scanning CHANGELOG.md ...")
+    
+    changelog_prs = []
+    
+    with open(files[0]) as changelog:
+        line = changelog.readline()
+        while (line):
+            #print("line: " + line)
+            match = re.search("\#.+(v[0-9]+\.[0-9]+\.[0-9]+)", line)
+            if (match):
+                if match.group(1) == version:
+                    #print("found version")
+                    line = changelog.readline()
+                    continue
+                else:
+                    #print("done with " + match.group(1))
+                    break
+            
+            match = re.search("PR: https://egit\.irs\.uni-stuttgart\.de/fsfw/fsfw/pulls/([0-9]+)", line)
+            if match:
+                changelog_prs.append(match.group(1))
+                
+            line = changelog.readline()
+    
+    print("Found " + str(len(changelog_prs)) + " PRs in CHANGELOG.md")
+    
+    print("")
+    
+    copy_array = changelog_prs.copy()
+    print("PRs in CHANGELOG.md that are not in Milestone:")
+    for pr in milestone_prs:
+        if pr['number'] in copy_array:
+            copy_array.remove(pr['number'])
+    for pr in copy_array:
+        print("https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr)
+
+    print("")
+
+    print("PRs in milestone that are not in CHANGELOG.md:")
+    
+    for pr in milestone_prs:
+        if pr['number'] not in changelog_prs:
+            print("- " + pr['title'] + "\n  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/" + pr['number'])
+
+main()
@@ -13,7 +13,7 @@ from shutil import which
 from typing import List


-UNITTEST_FOLDER_NAME = "build-tests"
+UNITTEST_FOLDER_NAME = "cmake-build-tests"
 DOCS_FOLDER_NAME = "build-docs"


@@ -48,6 +48,20 @@ def main():
        action="store_true",
        help="Run valgrind on generated test binary",
    )
+    parser.add_argument(
+        "-g",
+        "--generators",
+        default="Ninja",
+        action="store",
+        help="CMake generators",
+    )
+    parser.add_argument(
+        "-w",
+        "--windows",
+        default=False,
+        action="store_true",
+        help="Run on windows",
+    )

    args = parser.parse_args()
    if args.all:
@@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
    if args.create:
        if os.path.exists(UNITTEST_FOLDER_NAME):
            shutil.rmtree(UNITTEST_FOLDER_NAME)
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
        build_directory = UNITTEST_FOLDER_NAME
    elif len(build_dir_list) == 0:
        print(
            "No valid CMake tests build directory found. "
            "Trying to set up test build system"
        )
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
        build_directory = UNITTEST_FOLDER_NAME
    elif len(build_dir_list) == 1:
        build_directory = build_dir_list[0]
@@ -147,10 +161,23 @@ def handle_tests_type(args, build_dir_list: list):
        os.chdir("..")


-def create_tests_build_cfg():
+def create_tests_build_cfg(args):
    os.mkdir(UNITTEST_FOLDER_NAME)
    os.chdir(UNITTEST_FOLDER_NAME)
-    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    if args.windows:
+        cmake_cmd = (
+            'cmake -G "'
+            + args.generators
+            + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
+        -DGCOVR_PATH="py -m gcovr" ..'
+        )
+    else:
+        cmake_cmd = (
+            'cmake -G "'
+            + args.generators
+            + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
+        )
+    cmd_runner(cmake_cmd)
    os.chdir("..")


@@ -180,7 +207,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
 def perform_lcov_operation(directory: str, chdir: bool):
    if chdir:
        os.chdir(directory)
-    cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
+    cmd_runner("cmake --build . -j -- fsfw-tests_coverage")


 def determine_build_dir(build_dir_list: List[str]):
@@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
                           INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})

 add_subdirectory(fsfw)
+if(FSFW_ADD_HAL)
+  add_subdirectory(fsfw_hal)
+endif()
+
+add_subdirectory(fsfw_tests)
@@ -31,6 +31,7 @@ add_subdirectory(thermal)
 add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
 add_subdirectory(tmtcservices)
+add_subdirectory(filesystem)

 # Optional

@@ -6,13 +6,13 @@
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
    : owner(setOwner), queueToUse(useThisQueue) {}

-ActionHelper::~ActionHelper() {}
+ActionHelper::~ActionHelper() = default;

 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
  if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
    ActionId_t currentAction = ActionMessage::getActionId(command);
    prepareExecution(command->getSender(), currentAction, ActionMessage::getStoreId(command));
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::OK;
  } else {
    return CommandMessage::UNKNOWN_COMMAND;
  }
@@ -21,7 +21,7 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
  if (ipcStore == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  if (queueToUse_ != nullptr) {
    setQueueToUse(queueToUse_);
@@ -35,10 +35,10 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
    sif::printWarning("ActionHelper::initialize: No queue set\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }

-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
@@ -59,23 +59,30 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }

 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                    store_address_t dataAddress) {
-  const uint8_t* dataPtr = NULL;
+  bool hasAdditionalData = false;
+  const uint8_t* dataPtr = nullptr;
  size_t size = 0;
-  ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    CommandMessage reply;
-    ActionMessage::setStepReply(&reply, actionId, 0, result);
-    queueToUse->sendMessage(commandedBy, &reply);
-    return;
+  ReturnValue_t result;
+  if (dataAddress != store_address_t::invalid()) {
+    hasAdditionalData = true;
+    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+    if (result != returnvalue::OK) {
+      CommandMessage reply;
+      ActionMessage::setStepReply(&reply, actionId, 0, result);
+      queueToUse->sendMessage(commandedBy, &reply);
+      return;
+    }
  }
  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-  ipcStore->deleteData(dataAddress);
+  if (hasAdditionalData) {
+    ipcStore->deleteData(dataAddress);
+  }
  if (result == HasActionsIF::EXECUTION_FINISHED) {
    CommandMessage reply;
    ActionMessage::setCompletionReply(&reply, actionId, true, result);
    queueToUse->sendMessage(commandedBy, &reply);
  }
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    CommandMessage reply;
    ActionMessage::setStepReply(&reply, actionId, 0, result);
    queueToUse->sendMessage(commandedBy, &reply);
@@ -91,11 +98,11 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
  size_t maxSize = data->getSerializedSize();
  if (maxSize == 0) {
    /* No error, there's simply nothing to report. */
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::OK;
  }
  size_t size = 0;
  ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
                 << std::endl;
@@ -107,7 +114,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
    return result;
  }
  result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    ipcStore->deleteData(storeAddress);
    return result;
  }
@@ -124,7 +131,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
    result = queueToUse->sendMessage(reportTo, &reply);
  }

-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    ipcStore->deleteData(storeAddress);
  }
  return result;
@@ -137,7 +144,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
  CommandMessage reply;
  store_address_t storeAddress;
  ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
 #else
@@ -158,7 +165,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
    result = queueToUse->sendMessage(reportTo, &reply);
  }

-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    ipcStore->deleteData(storeAddress);
  }
  return result;
@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_

-#include "../ipc/MessageQueueIF.h"
-#include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 /**
 * @brief Action Helper is a helper class which handles action messages
 *
@@ -36,7 +36,7 @@ class ActionHelper {
   * send to the sender of the message automatically.
   *
   * @param command Pointer to a command message received by the owner
-   * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
+   * @return returnvalue::OK if the message is a action message,
   *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
   */
  ReturnValue_t handleActionMessage(CommandMessage* command);
@@ -45,7 +45,7 @@ class ActionHelper {
   * helper function
   * @param queueToUse_   Pointer to the messageQueue to be used, optional
   *                      if queue was set in constructor
-   * @return Returns RETURN_OK if successful
+   * @return Returns returnvalue::OK if successful
   */
  ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
  /**
@@ -58,7 +58,7 @@ class ActionHelper {
   * @param result Result of the execution
   */
  void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
-            ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+            ReturnValue_t result = returnvalue::OK);
  /**
   * Function to be called by the owner to send a action completion message
   * @param success   Specify whether action was completed successfully or not.
@@ -67,7 +67,7 @@ class ActionHelper {
   * @param result Result of the execution
   */
  void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
-              ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+              ReturnValue_t result = returnvalue::OK);
  /**
   * Function to be called by the owner if an action does report data.
   * Takes a SerializeIF* pointer and serializes it into the IPC store.
@@ -75,7 +75,7 @@ class ActionHelper {
   *                  message to
   * @param replyId ID of the executed command
   * @param data Pointer to the data
-   * @return Returns RETURN_OK if successful, otherwise failure code
+   * @return Returns returnvalue::OK if successful, otherwise failure code
   */
  ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data,
                           bool hideSender = false);
@@ -86,7 +86,7 @@ class ActionHelper {
   *                  message to
   * @param replyId ID of the executed command
   * @param data Pointer to the data
-   * @return Returns RETURN_OK if successful, otherwise failure code
+   * @return Returns returnvalue::OK if successful, otherwise failure code
   */
  ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data,
                           size_t dataSize, bool hideSender = false);
@@ -2,9 +2,9 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"

-ActionMessage::ActionMessage() {}
+ActionMessage::ActionMessage() = default;

-ActionMessage::~ActionMessage() {}
+ActionMessage::~ActionMessage() = default;

 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
                               store_address_t parameters) {
@@ -25,7 +25,7 @@ store_address_t ActionMessage::getStoreId(const CommandMessage* message) {

 void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
                                 ReturnValue_t result) {
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    message->setCommand(STEP_SUCCESS);
  } else {
    message->setCommand(STEP_FAILED);
@@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
  switch (message->getCommand()) {
    case EXECUTE_ACTION:
    case DATA_REPLY: {
-      StorageManagerIF* ipcStore =
-          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-      if (ipcStore != NULL) {
+      auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+      if (ipcStore != nullptr) {
        ipcStore->deleteData(getStoreId(message));
      }
      break;
@@ -33,12 +33,12 @@ class ActionMessage {
  static store_address_t getStoreId(const CommandMessage* message);

  static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
-                           ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+                           ReturnValue_t result = returnvalue::OK);
  static uint8_t getStep(const CommandMessage* message);
  static ReturnValue_t getReturnCode(const CommandMessage* message);
  static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
  static void setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
-                                 ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+                                 ReturnValue_t result = returnvalue::OK);

  static void clear(CommandMessage* message);
 };
@@ -2,26 +2,26 @@
 #include "fsfw/objectmanager/ObjectManager.h"

 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
+    : owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}

-CommandActionHelper::~CommandActionHelper() {}
+CommandActionHelper::~CommandActionHelper() = default;

 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                 SerializeIF *data) {
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
    return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
  }
  store_address_t storeId;
  uint8_t *storePointer;
  size_t maxSize = data->getSerializedSize();
  ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  size_t size = 0;
  result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  return sendCommand(receiver->getCommandQueue(), actionId, storeId);
@@ -29,16 +29,13 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId

 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                 const uint8_t *data, uint32_t size) {
-  //    if (commandCount != 0) {
-  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
-  //    }
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
    return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
  }
  store_address_t storeId;
  ReturnValue_t result = ipcStore->addData(&storeId, data, size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  return sendCommand(receiver->getCommandQueue(), actionId, storeId);
@@ -49,7 +46,7 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
  CommandMessage command;
  ActionMessage::setCommand(&command, actionId, storeId);
  ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    ipcStore->deleteData(storeId);
  }
  lastTarget = queueId;
@@ -59,55 +56,55 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI

 ReturnValue_t CommandActionHelper::initialize() {
  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (ipcStore == NULL) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+  if (ipcStore == nullptr) {
+    return returnvalue::FAILED;
  }

  queueToUse = owner->getCommandQueuePtr();
-  if (queueToUse == NULL) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+  if (queueToUse == nullptr) {
+    return returnvalue::FAILED;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
  if (reply->getSender() != lastTarget) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  switch (reply->getCommand()) {
    case ActionMessage::COMPLETION_SUCCESS:
      commandCount--;
      owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    case ActionMessage::COMPLETION_FAILED:
      commandCount--;
      owner->completionFailedReceived(ActionMessage::getActionId(reply),
                                      ActionMessage::getReturnCode(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    case ActionMessage::STEP_SUCCESS:
      owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
                                    ActionMessage::getStep(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    case ActionMessage::STEP_FAILED:
      commandCount--;
      owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
                                ActionMessage::getReturnCode(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    case ActionMessage::DATA_REPLY:
      extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    default:
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
  }
 }

 uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }

 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-  const uint8_t *data = NULL;
+  const uint8_t *data = nullptr;
  size_t size = 0;
  ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return;
  }
  owner->dataReceived(actionId, data, size);
@@ -4,7 +4,7 @@
 #include "ActionMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"

@@ -14,14 +14,14 @@ class CommandActionHelper {
  friend class CommandsActionsIF;

 public:
-  CommandActionHelper(CommandsActionsIF* owner);
+  explicit CommandActionHelper(CommandsActionsIF* owner);
  virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
-                              uint32_t size);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
+                              const uint8_t* data = nullptr, uint32_t size = 0);
  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
  ReturnValue_t initialize();
  ReturnValue_t handleReply(CommandMessage* reply);
-  uint8_t getCommandCount() const;
+  [[nodiscard]] uint8_t getCommandCount() const;

 private:
  CommandsActionsIF* owner;
@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_

-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "CommandActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/returnvalue.h"

 /**
 * Interface to separate commanding actions of other objects.
@@ -21,7 +21,7 @@ class CommandsActionsIF {
  static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
  static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
  static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-  virtual ~CommandsActionsIF() {}
+  virtual ~CommandsActionsIF() = default;
  virtual MessageQueueIF* getCommandQueuePtr() = 0;

 protected:
@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_

-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/returnvalue.h"

 /**
 * @brief
@@ -40,12 +40,12 @@ class HasActionsIF {
  static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
  static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
  static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-  virtual ~HasActionsIF() {}
+  virtual ~HasActionsIF() = default;
  /**
   * Function to get the MessageQueueId_t of the implementing object
   * @return MessageQueueId_t of the object
   */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
  /**
   * Execute or initialize the execution of a certain function.
   * The ActionHelpers will execute this function and behave differently
@@ -53,7 +53,7 @@ class HasActionsIF {
   *
   * @return
   * -@c EXECUTION_FINISHED Finish reply will be generated
-   * -@c Not RETURN_OK Step failure reply will be generated
+   * -@c Not returnvalue::OK Step failure reply will be generated
   */
  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                      const uint8_t* data, size_t size) = 0;
@@ -3,13 +3,13 @@
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
    : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}

-SimpleActionHelper::~SimpleActionHelper() {}
+SimpleActionHelper::~SimpleActionHelper() = default;

 void SimpleActionHelper::step(ReturnValue_t result) {
  // STEP_OFFESET is subtracted to compensate for adding offset in base
  // method, which is not necessary here.
  ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    resetHelper();
  }
 }
@@ -38,10 +38,10 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
    queueToUse->sendMessage(commandedBy, &reply);
  }
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
  size_t size = 0;
  ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    ActionMessage::setStepReply(&reply, actionId, 0, result);
    queueToUse->sendMessage(commandedBy, &reply);
    return;
@@ -51,12 +51,12 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
  ipcStore->deleteData(dataAddress);
  switch (result) {
-    case HasReturnvaluesIF::RETURN_OK:
+    case returnvalue::OK:
      isExecuting = true;
      stepCount++;
      break;
    case HasActionsIF::EXECUTION_FINISHED:
-      ActionMessage::setCompletionReply(&reply, actionId, true, HasReturnvaluesIF::RETURN_OK);
+      ActionMessage::setCompletionReply(&reply, actionId, true, returnvalue::OK);
      queueToUse->sendMessage(commandedBy, &reply);
      break;
    default:
@@ -11,15 +11,15 @@
 class SimpleActionHelper : public ActionHelper {
 public:
  SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-  virtual ~SimpleActionHelper();
-  void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-  void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+  ~SimpleActionHelper() override;
+  void step(ReturnValue_t result = returnvalue::OK);
+  void finish(ReturnValue_t result = returnvalue::OK);
  ReturnValue_t reportData(SerializeIF* data);

 protected:
  void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                        store_address_t dataAddress);
-  virtual void resetHelper();
+                        store_address_t dataAddress) override;
+  void resetHelper() override;

 private:
  bool isExecuting;
@@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
  uint8_t stepCount = 0;
 };

-#endif /* SIMPLEACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */
@@ -0,0 +1,10 @@
+#ifndef FSFW_CFDP_H
+#define FSFW_CFDP_H
+
+#include "cfdp/definitions.h"
+#include "cfdp/handler/FaultHandlerBase.h"
+#include "cfdp/tlv/Lv.h"
+#include "cfdp/tlv/StringLv.h"
+#include "cfdp/tlv/Tlv.h"
+
+#endif  // FSFW_CFDP_H
@@ -1,57 +0,0 @@
-#include "fsfw/cfdp/CFDPHandler.h"
-
-#include "fsfw/cfdp/CFDPMessage.h"
-#include "fsfw/ipc/CommandMessage.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/storagemanager/storeAddress.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-
-object_id_t CFDPHandler::packetSource = 0;
-object_id_t CFDPHandler::packetDestination = 0;
-
-CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
-    : SystemObject(setObjectId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
-  distributor = dist;
-}
-
-CFDPHandler::~CFDPHandler() {}
-
-ReturnValue_t CFDPHandler::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != RETURN_OK) {
-    return result;
-  }
-  this->distributor->registerHandler(this);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "CFDPHandler::handleRequest" << std::endl;
-#else
-  sif::printDebug("CFDPHandler::handleRequest\n");
-#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif
-
-  // TODO read out packet from store using storeId
-
-  return RETURN_OK;
-}
-
-ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
-  ReturnValue_t status = RETURN_OK;
-  CommandMessage currentMessage;
-  for (status = this->requestQueue->receiveMessage(&currentMessage); status == RETURN_OK;
-       status = this->requestQueue->receiveMessage(&currentMessage)) {
-    store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
-    this->handleRequest(storeId);
-  }
-  return RETURN_OK;
-}
-
-uint16_t CFDPHandler::getIdentifier() { return 0; }
-
-MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }
@@ -1,63 +0,0 @@
-#ifndef FSFW_CFDP_CFDPHANDLER_H_
-#define FSFW_CFDP_CFDPHANDLER_H_
-
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tcdistribution/CFDPDistributor.h"
-#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
-
-namespace Factory {
-void setStaticFrameworkObjectIds();
-}
-
-class CFDPHandler : public ExecutableObjectIF,
-                    public AcceptsTelecommandsIF,
-                    public SystemObject,
-                    public HasReturnvaluesIF {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
- public:
-  CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
-  /**
-   * The destructor is empty.
-   */
-  virtual ~CFDPHandler();
-
-  virtual ReturnValue_t handleRequest(store_address_t storeId);
-
-  virtual ReturnValue_t initialize() override;
-  virtual uint16_t getIdentifier() override;
-  MessageQueueId_t getRequestQueue() override;
-  ReturnValue_t performOperation(uint8_t opCode) override;
-
- protected:
-  /**
-   * This is a complete instance of the telecommand reception queue
-   * of the class. It is initialized on construction of the class.
-   */
-  MessageQueueIF* requestQueue = nullptr;
-
-  CFDPDistributor* distributor = nullptr;
-
-  /**
-   * The current CFDP packet to be processed.
-   * It is deleted after handleRequest was executed.
-   */
-  CFDPPacketStored currentPacket;
-
-  static object_id_t packetSource;
-
-  static object_id_t packetDestination;
-
- private:
-  /**
-   * This constant sets the maximum number of packets accepted per call.
-   * Remember that one packet must be completely handled in one
-   * #handleRequest call.
-   */
-  static const uint8_t CFDP_HANDLER_MAX_RECEPTION = 100;
-};
-
-#endif /* FSFW_CFDP_CFDPHANDLER_H_ */
@@ -1,17 +0,0 @@
-#include "CFDPMessage.h"
-
-CFDPMessage::CFDPMessage() {}
-
-CFDPMessage::~CFDPMessage() {}
-
-void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
-  message->setParameter(cfdpPacket.raw);
-}
-
-store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
-  store_address_t storeAddressCFDPPacket;
-  storeAddressCFDPPacket = message->getParameter();
-  return storeAddressCFDPPacket;
-}
-
-void CFDPMessage::clear(CommandMessage *message) {}
@@ -1,4 +1,6 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE CfdpMessage.cpp CfdpDistributor.cpp
+                                        VarLenFields.cpp helpers.cpp)

 add_subdirectory(pdu)
 add_subdirectory(tlv)
+add_subdirectory(handler)
@@ -0,0 +1,55 @@
+#include "CfdpDistributor.h"
+
+#include "fsfw/tcdistribution/definitions.h"
+
+CfdpDistributor::CfdpDistributor(CfdpDistribCfg cfg)
+    : TcDistributorBase(cfg.objectId, cfg.tcQueue), cfg(cfg) {}
+
+ReturnValue_t CfdpDistributor::registerTcDestination(const cfdp::EntityId& address,
+                                                     AcceptsTelecommandsIF& tcDest) {
+  for (const auto& dest : tcDestinations) {
+    if (dest.id == address) {
+      return returnvalue::FAILED;
+    }
+  }
+  tcDestinations.emplace_back(address, tcDest.getName(), tcDest.getRequestQueue());
+  return returnvalue::OK;
+}
+
+ReturnValue_t CfdpDistributor::selectDestination(MessageQueueId_t& destId) {
+  auto accessorPair = cfg.tcStore.getData(currentMessage.getStorageId());
+  if (accessorPair.first != returnvalue::OK) {
+    return accessorPair.first;
+  }
+  ReturnValue_t result =
+      pduReader.setReadOnlyData(accessorPair.second.data(), accessorPair.second.size());
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = pduReader.parseData();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  cfdp::EntityId foundId;
+  pduReader.getDestId(foundId);
+  bool destFound = false;
+  for (const auto& dest : tcDestinations) {
+    if (dest.id == foundId) {
+      destId = dest.queueId;
+      destFound = true;
+    }
+  }
+  if (not destFound) {
+    // TODO: Warning and event?
+    return tmtcdistrib::NO_DESTINATION_FOUND;
+  }
+  // Packet was forwarded successfully, so do not delete it.
+  accessorPair.second.release();
+  return returnvalue::OK;
+}
+
+const char* CfdpDistributor::getName() const { return "CFDP Distributor"; }
+
+uint32_t CfdpDistributor::getIdentifier() const { return 0; }
+
+MessageQueueId_t CfdpDistributor::getRequestQueue() const { return tcQueue->getId(); }
@@ -0,0 +1,76 @@
+#ifndef FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
+#define FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
+
+#include <utility>
+#include <vector>
+
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/tcdistribution/CfdpPacketChecker.h"
+#include "fsfw/tcdistribution/TcDistributorBase.h"
+#include "fsfw/tmtcpacket/cfdp/CfdpPacketStored.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcservices/VerificationReporter.h"
+
+struct CfdpDistribCfg {
+  CfdpDistribCfg(object_id_t objectId, StorageManagerIF& tcStore, MessageQueueIF* tcQueue)
+      : objectId(objectId), tcStore(tcStore), tcQueue(tcQueue) {}
+
+  object_id_t objectId;
+  StorageManagerIF& tcStore;
+  MessageQueueIF* tcQueue;
+};
+
+/**
+ * This will be the primary component to perform PDU forwading procedures. This includes forwarding
+ * CFDP TC packets to registered source or destination handlers, and forwarding all telemetry
+ * generated by them to registered TM sinks.
+ * @ingroup tc_distribution
+ */
+class CfdpDistributor : public TcDistributorBase, public AcceptsTelecommandsIF {
+ public:
+  /**
+   * The ctor passes @c set_apid to the checker class and calls the
+   * TcDistribution ctor with a certain object id.
+   * @param setApid The APID of this receiving Application.
+   * @param setObjectId Object ID of the distributor itself
+   * @param setPacketSource Object ID of the source of TC packets.
+   * Must implement CcsdsDistributorIF.
+   */
+  explicit CfdpDistributor(CfdpDistribCfg cfg);
+
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] uint32_t getIdentifier() const override;
+  [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
+
+  /**
+   * Register a new CFDP entity which can receive PDUs.
+   * @param address
+   * @param tcDest
+   * @return
+   *  - @c RETURN_FAILED: Entry already exists for the given address
+   */
+  ReturnValue_t registerTcDestination(const cfdp::EntityId& address, AcceptsTelecommandsIF& tcDest);
+
+ protected:
+  struct EntityInfo {
+    EntityInfo(cfdp::EntityId id, const char* name, MessageQueueId_t queueId)
+        : id(std::move(id)), name(name), queueId(queueId) {}
+    cfdp::EntityId id;
+    const char* name;
+    MessageQueueId_t queueId;
+  };
+  PduHeaderReader pduReader;
+  ReturnValue_t lastTcError = returnvalue::OK;
+  ReturnValue_t lastTmError = returnvalue::OK;
+  // I don't think a regular OBSW will have more than 1 or 2 of these destinations, so I think
+  // it is okay to accept the overhead here
+  std::vector<EntityInfo> tcDestinations;
+  CfdpDistribCfg cfg;
+
+  ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
+
+ private:
+};
+
+#endif /* FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_ */
@@ -0,0 +1,17 @@
+#include "CfdpMessage.h"
+
+CfdpMessage::CfdpMessage() = default;
+
+CfdpMessage::~CfdpMessage() = default;
+
+void CfdpMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
+  message->setParameter(cfdpPacket.raw);
+}
+
+store_address_t CfdpMessage::getStoreId(const CommandMessage *message) {
+  store_address_t storeId;
+  storeId = static_cast<store_address_t>(message->getParameter());
+  return storeId;
+}
+
+void CfdpMessage::clear(CommandMessage *message) {}
@@ -5,14 +5,14 @@
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"

-class CFDPMessage {
+class CfdpMessage {
 private:
-  CFDPMessage();
+  CfdpMessage();

 public:
  static const uint8_t MESSAGE_ID = messagetypes::CFDP;

-  virtual ~CFDPMessage();
+  virtual ~CfdpMessage();
  static void setCommand(CommandMessage* message, store_address_t cfdpPacket);

  static store_address_t getStoreId(const CommandMessage* message);
@@ -1,5 +1,7 @@
-#ifndef FSFW_SRC_FSFW_CFDP_FILESIZE_H_
-#define FSFW_SRC_FSFW_CFDP_FILESIZE_H_
+#ifndef FSFW_CFDP_FILESIZE_H_
+#define FSFW_CFDP_FILESIZE_H_
+
+#include <optional>

 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serialize/SerializeIF.h"
@@ -8,9 +10,11 @@ namespace cfdp {

 struct FileSize : public SerializeIF {
 public:
-  FileSize() : largeFile(false){};
+  FileSize() = default;

-  FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
+  explicit FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
+
+  [[nodiscard]] uint64_t value() const { return fileSize; }

  ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size, size_t maxSize,
                          Endianness streamEndianness) {
@@ -27,7 +31,7 @@ struct FileSize : public SerializeIF {
    return SerializeAdapter::serialize(&fileSize, buffer, size, maxSize, streamEndianness);
  }

-  size_t getSerializedSize() const override {
+  [[nodiscard]] size_t getSerializedSize() const override {
    if (largeFile) {
      return 8;
    } else {
@@ -43,27 +47,29 @@ struct FileSize : public SerializeIF {
      uint32_t sizeTmp = 0;
      ReturnValue_t result =
          SerializeAdapter::deSerialize(&sizeTmp, buffer, size, streamEndianness);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
+      if (result == returnvalue::OK) {
        fileSize = sizeTmp;
      }
      return result;
    }
  }

-  ReturnValue_t setFileSize(uint64_t fileSize, bool largeFile) {
+  ReturnValue_t setFileSize(uint64_t fileSize_, std::optional<bool> largeFile_) {
+    if (largeFile_) {
+      largeFile = largeFile_.value();
+    }
    if (not largeFile and fileSize > UINT32_MAX) {
      // TODO: emit warning here
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
    }
-    this->fileSize = fileSize;
-    this->largeFile = largeFile;
-    return HasReturnvaluesIF::RETURN_OK;
+    this->fileSize = fileSize_;
+    return returnvalue::OK;
  }

-  bool isLargeFile() const { return largeFile; }
-  uint64_t getSize(bool *largeFile = nullptr) const {
-    if (largeFile != nullptr) {
-      *largeFile = this->largeFile;
+  [[nodiscard]] bool isLargeFile() const { return largeFile; }
+  uint64_t getSize(bool *largeFile_ = nullptr) const {
+    if (largeFile_ != nullptr) {
+      *largeFile_ = this->largeFile;
    }
    return fileSize;
  }
@@ -75,4 +81,4 @@ struct FileSize : public SerializeIF {

 }  // namespace cfdp

-#endif /* FSFW_SRC_FSFW_CFDP_FILESIZE_H_ */
+#endif /* FSFW_CFDP_FILESIZE_H_ */
@@ -1,12 +1,11 @@
-#include "VarLenField.h"
+#include "VarLenFields.h"

-#include "fsfw/FSFW.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"

 cfdp::VarLenField::VarLenField(cfdp::WidthInBytes width, size_t value) : VarLenField() {
  ReturnValue_t result = this->setValue(width, value);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
 #if FSFW_DISABLE_PRINTOUT == 0
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "cfdp::VarLenField: Setting value failed" << std::endl;
@@ -21,27 +20,27 @@ cfdp::VarLenField::VarLenField() : width(cfdp::WidthInBytes::ONE_BYTE) { value.o

 cfdp::WidthInBytes cfdp::VarLenField::getWidth() const { return width; }

-ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value) {
+ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_t value_) {
  switch (widthInBytes) {
    case (cfdp::WidthInBytes::ONE_BYTE): {
-      if (value > UINT8_MAX) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      if (value_ > UINT8_MAX) {
+        return returnvalue::FAILED;
      }
-      this->value.oneByte = value;
+      this->value.oneByte = value_;
      break;
    }
    case (cfdp::WidthInBytes::TWO_BYTES): {
-      if (value > UINT16_MAX) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      if (value_ > UINT16_MAX) {
+        return returnvalue::FAILED;
      }
-      this->value.twoBytes = value;
+      this->value.twoBytes = value_;
      break;
    }
    case (cfdp::WidthInBytes::FOUR_BYTES): {
-      if (value > UINT32_MAX) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      if (value_ > UINT32_MAX) {
+        return returnvalue::FAILED;
      }
-      this->value.fourBytes = value;
+      this->value.fourBytes = value_;
      break;
    }
    default: {
@@ -49,7 +48,7 @@ ReturnValue_t cfdp::VarLenField::setValue(cfdp::WidthInBytes widthInBytes, size_
    }
  }
  this->width = widthInBytes;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 size_t cfdp::VarLenField::getValue() const {
@@ -77,7 +76,7 @@ ReturnValue_t cfdp::VarLenField::serialize(uint8_t **buffer, size_t *size, size_
      **buffer = value.oneByte;
      *size += 1;
      *buffer += 1;
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    }
    case (cfdp::WidthInBytes::TWO_BYTES): {
      return SerializeAdapter::serialize(&value.twoBytes, buffer, size, maxSize, streamEndianness);
@@ -86,16 +85,16 @@ ReturnValue_t cfdp::VarLenField::serialize(uint8_t **buffer, size_t *size, size_
      return SerializeAdapter::serialize(&value.fourBytes, buffer, size, maxSize, streamEndianness);
    }
    default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
    }
  }
 }

 size_t cfdp::VarLenField::getSerializedSize() const { return width; }

-ReturnValue_t cfdp::VarLenField::deSerialize(cfdp::WidthInBytes width, const uint8_t **buffer,
+ReturnValue_t cfdp::VarLenField::deSerialize(cfdp::WidthInBytes width_, const uint8_t **buffer,
                                             size_t *size, Endianness streamEndianness) {
-  this->width = width;
+  this->width = width_;
  return deSerialize(buffer, size, streamEndianness);
 }

@@ -105,7 +104,7 @@ ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *siz
    case (cfdp::WidthInBytes::ONE_BYTE): {
      value.oneByte = **buffer;
      *size += 1;
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    }
    case (cfdp::WidthInBytes::TWO_BYTES): {
      return SerializeAdapter::deSerialize(&value.twoBytes, buffer, size, streamEndianness);
@@ -114,7 +113,25 @@ ReturnValue_t cfdp::VarLenField::deSerialize(const uint8_t **buffer, size_t *siz
      return SerializeAdapter::deSerialize(&value.fourBytes, buffer, size, streamEndianness);
    }
    default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
    }
  }
 }
+
+bool cfdp::VarLenField::operator<(const cfdp::VarLenField &other) const {
+  if (getWidth() < other.getWidth()) {
+    return true;
+  } else if (getWidth() == other.getWidth()) {
+    return getValue() < other.getValue();
+  } else {
+    return false;
+  }
+}
+
+bool cfdp::VarLenField::operator==(const cfdp::VarLenField &other) const {
+  return getWidth() == other.getWidth() and getValue() == other.getValue();
+}
+
+bool cfdp::VarLenField::operator!=(const cfdp::VarLenField &other) const {
+  return not(*this == other);
+}
@@ -0,0 +1,108 @@
+#ifndef FSFW_CFDP_PDU_VARLENFIELD_H_
+#define FSFW_CFDP_PDU_VARLENFIELD_H_
+
+#include <cstddef>
+#include <cstdint>
+#include <utility>
+
+#include "fsfw/cfdp/definitions.h"
+#include "fsfw/serialize/SerializeIF.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw/util/UnsignedByteField.h"
+
+namespace cfdp {
+
+class VarLenField : public SerializeIF {
+ public:
+  union LengthFieldLen {
+    uint8_t oneByte;
+    uint16_t twoBytes;
+    uint32_t fourBytes;
+    uint64_t eightBytes;
+  };
+
+  VarLenField();
+  template <typename T>
+  explicit VarLenField(UnsignedByteField<T> byteField);
+
+  VarLenField(cfdp::WidthInBytes width, size_t value);
+
+  bool operator==(const VarLenField &other) const;
+  bool operator!=(const VarLenField &other) const;
+  bool operator<(const VarLenField &other) const;
+
+  ReturnValue_t setValue(cfdp::WidthInBytes, size_t value);
+
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) const override;
+
+  [[nodiscard]] size_t getSerializedSize() const override;
+
+  ReturnValue_t deSerialize(cfdp::WidthInBytes width, const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness);
+
+  [[nodiscard]] cfdp::WidthInBytes getWidth() const;
+  [[nodiscard]] size_t getValue() const;
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  friend std::ostream &operator<<(std::ostream &os, const VarLenField &id) {
+    os << "dec: " << id.getValue() << ", hex: " << std::hex << std::setw(id.getWidth())
+       << std::setfill('0') << id.getValue() << std::dec << std::setfill('0');
+    return os;
+  }
+#endif
+ private:
+  using SerializeIF::deSerialize;  // we overloaded above, so this is needed to uncofuse the
+                                   // compiler
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override;
+
+  cfdp::WidthInBytes width;
+  LengthFieldLen value{};
+};
+
+template <typename T>
+cfdp::VarLenField::VarLenField(UnsignedByteField<T> byteField)
+    : width(static_cast<cfdp::WidthInBytes>(sizeof(T))) {
+  static_assert((sizeof(T) % 2) == 0);
+  setValue(width, byteField.getValue());
+}
+
+struct EntityId : public VarLenField {
+ public:
+  EntityId() : VarLenField() {}
+  template <typename T>
+  explicit EntityId(UnsignedByteField<T> byteField) : VarLenField(byteField) {}
+  EntityId(cfdp::WidthInBytes width, size_t entityId) : VarLenField(width, entityId) {}
+};
+
+struct TransactionSeqNum : public VarLenField {
+ public:
+  TransactionSeqNum() : VarLenField() {}
+  template <typename T>
+  explicit TransactionSeqNum(UnsignedByteField<T> byteField) : VarLenField(byteField) {}
+  TransactionSeqNum(cfdp::WidthInBytes width, size_t seqNum) : VarLenField(width, seqNum) {}
+};
+
+struct TransactionId {
+  TransactionId() = default;
+  TransactionId(EntityId entityId, TransactionSeqNum seqNum)
+      : entityId(std::move(entityId)), seqNum(std::move(seqNum)) {}
+
+  bool operator==(const TransactionId &other) const {
+    return entityId == other.entityId and seqNum == other.seqNum;
+  }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  friend std::ostream &operator<<(std::ostream &os, const TransactionId &id) {
+    os << "Source ID { " << id.entityId << " }, Sequence Number " << id.seqNum.getValue();
+    return os;
+  }
+#endif
+  EntityId entityId;
+  TransactionSeqNum seqNum;
+};
+
+}  // namespace cfdp
+
+#endif /* FSFW_CFDP_PDU_VARLENFIELD_H_ */
@@ -7,36 +7,37 @@
 #include <cstdint>

 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"

 namespace cfdp {

-static constexpr uint8_t VERSION_BITS = 0b00100000;
+static constexpr char CFDP_VERSION_2_NAME[] = "CCSDS 727.0-B-5";
+
+// Second version of the protocol, only this one is supported here
+static constexpr uint8_t CFDP_VERSION_2 = 0b001;
+static constexpr uint8_t VERSION_BITS = CFDP_VERSION_2 << 5;

 static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;

-static constexpr ReturnValue_t INVALID_TLV_TYPE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 1);
-static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 2);
-static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 3);
+static constexpr ReturnValue_t INVALID_TLV_TYPE = returnvalue::makeCode(CFDP_CLASS_ID, 1);
+static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELD = returnvalue::makeCode(CFDP_CLASS_ID, 2);
+static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN = returnvalue::makeCode(CFDP_CLASS_ID, 3);
 static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 4);
+    returnvalue::makeCode(CFDP_CLASS_ID, 4);
 //! Can not parse options. This can also occur because there are options
 //! available but the user did not pass a valid options array
 static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 5);
-static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
+    returnvalue::makeCode(CFDP_CLASS_ID, 5);
+static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS = returnvalue::makeCode(CFDP_CLASS_ID, 6);
 static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
+    returnvalue::makeCode(CFDP_CLASS_ID, 7);
 static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 8);
+    returnvalue::makeCode(CFDP_CLASS_ID, 8);
 //! Can not parse filestore response because user did not pass a valid instance
 //! or remaining size is invalid
 static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 9);
+    returnvalue::makeCode(CFDP_CLASS_ID, 9);
+static constexpr ReturnValue_t INVALID_PDU_FORMAT = returnvalue::makeCode(CFDP_CLASS_ID, 10);

 //! Checksum types according to the SANA Checksum Types registry
 //! https://sanaregistry.org/r/checksum_identifiers/
@@ -49,17 +50,17 @@ enum ChecksumType {
  NULL_CHECKSUM = 15
 };

-enum PduType : bool { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
+enum PduType : uint8_t { FILE_DIRECTIVE = 0, FILE_DATA = 1 };

-enum TransmissionModes : bool { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
+enum TransmissionMode : uint8_t { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };

-enum SegmentMetadataFlag : bool { NOT_PRESENT = 0, PRESENT = 1 };
+enum SegmentMetadataFlag : bool { NOT_PRESENT = false, PRESENT = true };

-enum Direction : bool { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
+enum Direction : uint8_t { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };

 enum SegmentationControl : bool {
-  NO_RECORD_BOUNDARIES_PRESERVATION = 0,
-  RECORD_BOUNDARIES_PRESERVATION = 1
+  NO_RECORD_BOUNDARIES_PRESERVATION = false,
+  RECORD_BOUNDARIES_PRESERVATION = true
 };

 enum WidthInBytes : uint8_t {
@@ -69,8 +70,9 @@ enum WidthInBytes : uint8_t {
  FOUR_BYTES = 4,
 };

-enum FileDirectives : uint8_t {
+enum FileDirective : uint8_t {
  INVALID_DIRECTIVE = 0x0f,
+  // The _DIRECTIVE suffix is mandatory here because of some nameclash!
  EOF_DIRECTIVE = 0x04,
  FINISH = 0x05,
  ACK = 0x06,
@@ -97,6 +99,14 @@ enum ConditionCode : uint8_t {
  CANCEL_REQUEST_RECEIVED = 0b1111
 };

+enum FaultHandlerCode {
+  RESERVED = 0b0000,
+  NOTICE_OF_CANCELLATION = 0b0001,
+  NOTICE_OF_SUSPENSION = 0b0010,
+  IGNORE_ERROR = 0b0011,
+  ABANDON_TRANSACTION = 0b0100
+};
+
 enum AckTransactionStatus {
  UNDEFINED = 0b00,
  ACTIVE = 0b01,
@@ -104,18 +114,18 @@ enum AckTransactionStatus {
  UNRECOGNIZED = 0b11
 };

-enum FinishedDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
+enum FileDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };

-enum FinishedFileStatus {
+enum FileDeliveryStatus {
  DISCARDED_DELIBERATELY = 0,
  DISCARDED_FILESTORE_REJECTION = 1,
  RETAINED_IN_FILESTORE = 2,
  FILE_STATUS_UNREPORTED = 3
 };

-enum PromptResponseRequired : bool { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
+enum PromptResponseRequired : uint8_t { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };

-enum TlvTypes : uint8_t {
+enum TlvType : uint8_t {
  FILESTORE_REQUEST = 0x00,
  FILESTORE_RESPONSE = 0x01,
  MSG_TO_USER = 0x02,
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE FaultHandlerBase.cpp UserBase.cpp)
@@ -0,0 +1,51 @@
+#include "FaultHandlerBase.h"
+
+namespace cfdp {
+
+FaultHandlerBase::FaultHandlerBase() = default;
+FaultHandlerBase::~FaultHandlerBase() = default;
+
+bool FaultHandlerBase::getFaultHandler(cfdp::ConditionCode code,
+                                       cfdp::FaultHandlerCode& handler) const {
+  auto iter = faultHandlerMap.find(code);
+  if (iter == faultHandlerMap.end()) {
+    return false;
+  }
+  handler = iter->second;
+  return true;
+}
+
+bool FaultHandlerBase::setFaultHandler(cfdp::ConditionCode code, cfdp::FaultHandlerCode handler) {
+  if (not faultHandlerMap.contains(code)) {
+    return false;
+  }
+  if (handler != FaultHandlerCode::NOTICE_OF_SUSPENSION and
+      handler != FaultHandlerCode::ABANDON_TRANSACTION and
+      handler != FaultHandlerCode::NOTICE_OF_CANCELLATION and
+      handler != FaultHandlerCode::IGNORE_ERROR) {
+    return false;
+  }
+  faultHandlerMap[code] = handler;
+  return true;
+}
+
+bool FaultHandlerBase::reportFault(cfdp::TransactionId& id, cfdp::ConditionCode code) {
+  if (not faultHandlerMap.contains(code)) {
+    return false;
+  }
+  cfdp::FaultHandlerCode fh = faultHandlerMap[code];
+  if (fh == cfdp::FaultHandlerCode::IGNORE_ERROR) {
+    ignoreCb(id, code);
+  } else if (fh == cfdp::FaultHandlerCode::ABANDON_TRANSACTION) {
+    abandonCb(id, code);
+  } else if (fh == cfdp::FaultHandlerCode::NOTICE_OF_CANCELLATION) {
+    noticeOfCancellationCb(id, code);
+  } else if (fh == cfdp::FaultHandlerCode::NOTICE_OF_SUSPENSION) {
+    noticeOfSuspensionCb(id, code);
+  } else {
+    // Should never happen, but use defensive programming
+    return false;
+  }
+  return true;
+}
+}  // namespace cfdp
@@ -0,0 +1,77 @@
+#ifndef FSFW_CFDP_FAULTHANDLERBASE_H
+#define FSFW_CFDP_FAULTHANDLERBASE_H
+
+#include <etl/flat_map.h>
+
+#include "fsfw/cfdp/VarLenFields.h"
+#include "fsfw/cfdp/definitions.h"
+
+namespace cfdp {
+
+/**
+ * @brief Provides a way to implement the fault handling procedures as specified
+ * in chapter 4.8 of the CFDP standard.
+ *
+ * @details
+ * It is passed into the CFDP handlers as part of the local entity configuration and provides
+ * a way to specify custom user error handlers.
+ *
+ * It does so by mapping each applicable CFDP condition code to a fault handler which
+ * is denoted by the four @cfdp::FaultHandlerCodes. This code is used to dispatch
+ * to a user-provided callback function:
+ *
+ * 1. @FaultHandlerCodes::IGNORE_ERROR -> @ignore_cb
+ * 2. @FaultHandlerCodes::NOTICE_OF_CANCELLATION` -> @notice_of_cancellation_cb
+ * 3. @FaultHandlerCodes::NOTICE_OF_SUSPENSION` -> @notice_of_suspension_cb
+ * 4. @FaultHandlerCodes::ABANDON_TRANSACTION` -> @abandon_transaction_cb
+ *
+ * For each error reported by @reportError, the appropriate fault handler callback
+ * will be called. The user provides the callbacks by providing a custom class which implements
+ * these base class and all abstract fault handler callbacks.
+ */
+class FaultHandlerBase {
+ public:
+  virtual ~FaultHandlerBase();
+  FaultHandlerBase();
+
+  /**
+   * Get the fault handler code for the given condition code
+   * @param code
+   * @param handler [out] Will be set to the approrpiate handler for the condition code if
+   *    it is valid
+   * @return
+   *  - true if the condition code is valid
+   *  - false otherwise
+   */
+  bool getFaultHandler(cfdp::ConditionCode code, cfdp::FaultHandlerCode& handler) const;
+
+  bool setFaultHandler(cfdp::ConditionCode code, cfdp::FaultHandlerCode handler);
+
+  bool reportFault(cfdp::TransactionId& id, cfdp::ConditionCode code);
+
+  virtual void noticeOfSuspensionCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+  virtual void noticeOfCancellationCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+  virtual void abandonCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+  virtual void ignoreCb(cfdp::TransactionId& id, cfdp::ConditionCode code) = 0;
+
+ private:
+  etl::flat_map<cfdp::ConditionCode, cfdp::FaultHandlerCode, 10> faultHandlerMap = {
+      etl::pair{cfdp::ConditionCode::POSITIVE_ACK_LIMIT_REACHED,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::KEEP_ALIVE_LIMIT_REACHED,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::INVALID_TRANSMISSION_MODE,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::FILE_CHECKSUM_FAILURE, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::FILE_SIZE_ERROR, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::NAK_LIMIT_REACHED, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::INACTIVITY_DETECTED, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::UNSUPPORTED_CHECKSUM_TYPE,
+                cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::FILESTORE_REJECTION, cfdp::FaultHandlerCode::IGNORE_ERROR},
+      etl::pair{cfdp::ConditionCode::CHECK_LIMIT_REACHED, cfdp::FaultHandlerCode::IGNORE_ERROR}};
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_FAULTHANDLERBASE_H
@@ -0,0 +1,35 @@
+#ifndef FSFW_CFDP_HANDLER_REMOTECONFIGTABLEIF_H
+#define FSFW_CFDP_HANDLER_REMOTECONFIGTABLEIF_H
+
+#include "fsfw/cfdp/handler/mib.h"
+
+namespace cfdp {
+
+class RemoteConfigTableIF {
+ public:
+  virtual ~RemoteConfigTableIF() = default;
+  virtual bool getRemoteCfg(const cfdp::EntityId& remoteId, cfdp::RemoteEntityCfg** cfg) = 0;
+};
+
+/**
+ * Helper class for the common case that there is exactly one remote entity
+ */
+class OneRemoteConfigProvider : public RemoteConfigTableIF {
+ public:
+  explicit OneRemoteConfigProvider(RemoteEntityCfg cfg) : cfg(std::move(cfg)) {}
+
+  bool getRemoteCfg(const EntityId& remoteId, cfdp::RemoteEntityCfg** cfg_) override {
+    if (remoteId != cfg.remoteId) {
+      return false;
+    }
+    *cfg_ = &cfg;
+    return true;
+  }
+
+ private:
+  RemoteEntityCfg cfg;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_HANDLER_REMOTECONFIGTABLEIF_H
@@ -0,0 +1,12 @@
+#ifndef FSFW_CFDP_HANDLER_STATUSREPORTIF_H
+#define FSFW_CFDP_HANDLER_STATUSREPORTIF_H
+
+namespace cfdp {
+
+class StatusReportIF {
+  virtual ~StatusReportIF() = default;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_HANDLER_STATUSREPORTIF_H
@@ -0,0 +1,3 @@
+#include "UserBase.h"
+
+cfdp::UserBase::UserBase(HasFileSystemIF& vfs) : vfs(vfs) {}
@@ -0,0 +1,101 @@
+#ifndef FSFW_CFDP_USERBASE_H
+#define FSFW_CFDP_USERBASE_H
+
+#include <optional>
+#include <utility>
+#include <vector>
+
+#include "StatusReportIF.h"
+#include "fsfw/cfdp/VarLenFields.h"
+#include "fsfw/cfdp/tlv/FilestoreResponseTlv.h"
+#include "fsfw/cfdp/tlv/MessageToUserTlv.h"
+#include "fsfw/filesystem/HasFileSystemIF.h"
+
+namespace cfdp {
+
+struct TransactionFinishedParams {
+  TransactionFinishedParams(const TransactionId& id, ConditionCode code, FileDeliveryCode delivCode,
+                            FileDeliveryStatus status)
+      : id(id), condCode(code), status(status), deliveryCode(delivCode) {}
+
+  const TransactionId& id;
+  ConditionCode condCode;
+  FileDeliveryStatus status;
+  FileDeliveryCode deliveryCode;
+  std::vector<FilestoreResponseTlv*> fsResponses;
+  StatusReportIF* statusReport = nullptr;
+};
+
+struct MetadataRecvdParams {
+  MetadataRecvdParams(const TransactionId& id, const EntityId& sourceId)
+      : id(id), sourceId(sourceId) {}
+  const TransactionId& id;
+  const EntityId& sourceId;
+  uint64_t fileSize = 0;
+  const char* sourceFileName = "";
+  const char* destFileName = "";
+  size_t msgsToUserLen = 0;
+  const MessageToUserTlv* msgsToUserArray = nullptr;
+};
+
+struct FileSegmentRecvdParams {
+  TransactionId id;
+  size_t offset;
+  size_t length;
+  std::optional<RecordContinuationState> recContState = std::nullopt;
+  std::pair<const uint8_t*, size_t> segmentMetadata;
+};
+
+/**
+ * @brief Base class which provides a user interface to interact with CFDP handlers.
+ *
+ * @details
+ * This class is also used to pass the Virtual Filestore (VFS) Implementation to the CFDP
+ * handlers so the filestore operations can be mapped to the underlying filestore.
+ *
+ * It is used by implementing it in a child class and then passing it to the CFDP
+ * handler objects. The base class provides default implementation for the user indication
+ * primitives specified in the CFDP standard. The user can override these implementations
+ * to provide custom indication handlers.
+ *
+ * Please note that for all indication callbacks, the passed transaction ID reference will
+ * become invalid shortly after the function has been executed. If the transaction ID is to be
+ * cached or used, create an own copy of it.
+ * @param vfs Virtual Filestore Object. Will be used for all file operations
+ */
+class UserBase {
+  friend class DestHandler;
+
+ public:
+  explicit UserBase(HasFileSystemIF& vfs);
+
+  virtual void transactionIndication(const TransactionId& id) = 0;
+  virtual void eofSentIndication(const TransactionId& id) = 0;
+  virtual void transactionFinishedIndication(const TransactionFinishedParams& params) = 0;
+  /**
+   * Will be called if metadata was received.
+   *
+   * IMPORTANT: The passed struct contains the messages to the user in form of a raw C array.
+   * The TLVs in these arrays are zero-copy types, which means that they point to the raw data
+   * inside the metadata packet directly. The metadata packet will be deleted from the TC store
+   * shortly after it was processed. If some of the data is to be cached and/or used after the
+   * function call, it needs to be copied into another user-provided buffer.
+   * @param params
+   */
+  virtual void metadataRecvdIndication(const MetadataRecvdParams& params) = 0;
+  virtual void fileSegmentRecvdIndication(const FileSegmentRecvdParams& params) = 0;
+  virtual void reportIndication(const TransactionId& id, StatusReportIF& report) = 0;
+  virtual void suspendedIndication(const TransactionId& id, ConditionCode code) = 0;
+  virtual void resumedIndication(const TransactionId& id, size_t progress) = 0;
+  virtual void faultIndication(const TransactionId& id, ConditionCode code, size_t progress) = 0;
+  virtual void abandonedIndication(const TransactionId& id, ConditionCode code,
+                                   size_t progress) = 0;
+  virtual void eofRecvIndication(const TransactionId& id) = 0;
+
+ private:
+  HasFileSystemIF& vfs;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_USERBASE_H
@@ -0,0 +1,9 @@
+#ifndef FSFW_CFDP_HANDLER_DEFS_H
+#define FSFW_CFDP_HANDLER_DEFS_H
+
+namespace cfdp {
+
+enum class CfdpStates { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
+
+}
+#endif  // FSFW_CFDP_HANDLER_DEFS_H
@@ -0,0 +1,42 @@
+#ifndef FSFW_CFDP_MIB_H
+#define FSFW_CFDP_MIB_H
+
+#include <utility>
+
+#include "FaultHandlerBase.h"
+#include "fsfw/cfdp/pdu/PduConfig.h"
+
+namespace cfdp {
+
+struct IndicationCfg {
+  bool eofSentIndicRequired = true;
+  bool eofRecvIndicRequired = true;
+  bool fileSegmentRecvIndicRequired = true;
+  bool transactionFinishedIndicRequired = true;
+  bool suspendedIndicRequired = true;
+  bool resumedIndicRequired = true;
+};
+
+struct LocalEntityCfg {
+  LocalEntityCfg(EntityId localId, IndicationCfg indicationCfg, FaultHandlerBase& fhBase)
+      : localId(std::move(localId)), indicCfg(indicationCfg), fhBase(fhBase) {}
+
+  EntityId localId;
+  IndicationCfg indicCfg;
+  FaultHandlerBase& fhBase;
+};
+
+struct RemoteEntityCfg {
+  explicit RemoteEntityCfg(EntityId id) : remoteId(std::move(id)) {}
+  EntityId remoteId;
+  size_t maxFileSegmentLen = 2048;
+  bool closureRequested = false;
+  bool crcOnTransmission = false;
+  TransmissionMode defaultTransmissionMode = TransmissionMode::UNACKNOWLEDGED;
+  ChecksumType defaultChecksum = ChecksumType::NULL_CHECKSUM;
+  const uint8_t version = CFDP_VERSION_2;
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_MIB_H
@@ -0,0 +1,50 @@
+#include "helpers.h"
+
+const char* COND_CODE_STRINGS[14] = {"Unknown",
+                                     "No Error",
+                                     "Positive ACK Limit Reached",
+                                     "Keep Alive Limit Reached",
+                                     "Invalid Transmission Mode",
+                                     "Filestore Rejection",
+                                     "File Checksum Failure",
+                                     "File Size Error",
+                                     "NAK limit reached",
+                                     "Inactivity Detected",
+                                     "Check Limit Reached",
+                                     "Unsupported Checksum Type",
+                                     "Suspend Request Received",
+                                     "Cancel Request Received"};
+
+const char* cfdp::getConditionCodeString(cfdp::ConditionCode code) {
+  switch (code) {
+    case NO_CONDITION_FIELD:
+      return COND_CODE_STRINGS[0];
+    case NO_ERROR:
+      return COND_CODE_STRINGS[1];
+    case POSITIVE_ACK_LIMIT_REACHED:
+      return COND_CODE_STRINGS[2];
+    case KEEP_ALIVE_LIMIT_REACHED:
+      return COND_CODE_STRINGS[3];
+    case INVALID_TRANSMISSION_MODE:
+      return COND_CODE_STRINGS[4];
+    case FILESTORE_REJECTION:
+      return COND_CODE_STRINGS[5];
+    case FILE_CHECKSUM_FAILURE:
+      return COND_CODE_STRINGS[6];
+    case FILE_SIZE_ERROR:
+      return COND_CODE_STRINGS[7];
+    case NAK_LIMIT_REACHED:
+      return COND_CODE_STRINGS[8];
+    case INACTIVITY_DETECTED:
+      return COND_CODE_STRINGS[9];
+    case CHECK_LIMIT_REACHED:
+      return COND_CODE_STRINGS[10];
+    case UNSUPPORTED_CHECKSUM_TYPE:
+      return COND_CODE_STRINGS[11];
+    case SUSPEND_REQUEST_RECEIVED:
+      return COND_CODE_STRINGS[12];
+    case CANCEL_REQUEST_RECEIVED:
+      return COND_CODE_STRINGS[13];
+  }
+  return "Unknown";
+}
@@ -0,0 +1,11 @@
+#ifndef FSFW_EXAMPLE_HOSTED_HELPER_H
+#define FSFW_EXAMPLE_HOSTED_HELPER_H
+
+#include "definitions.h"
+
+namespace cfdp {
+
+const char* getConditionCodeString(cfdp::ConditionCode code);
+
+}
+#endif  // FSFW_EXAMPLE_HOSTED_HELPER_H
@@ -1,12 +1,12 @@
 #include "AckInfo.h"

-AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
+AckInfo::AckInfo(cfdp::FileDirective ackedDirective, cfdp::ConditionCode ackedConditionCode,
                 cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode)
    : ackedDirective(ackedDirective),
      ackedConditionCode(ackedConditionCode),
      transactionStatus(transactionStatus),
      directiveSubtypeCode(directiveSubtypeCode) {
-  if (ackedDirective == cfdp::FileDirectives::FINISH) {
+  if (ackedDirective == cfdp::FileDirective::FINISH) {
    this->directiveSubtypeCode = 0b0001;
  } else {
    this->directiveSubtypeCode = 0b0000;
@@ -17,16 +17,16 @@ cfdp::ConditionCode AckInfo::getAckedConditionCode() const { return ackedConditi

 void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
  this->ackedConditionCode = ackedConditionCode;
-  if (ackedDirective == cfdp::FileDirectives::FINISH) {
+  if (ackedDirective == cfdp::FileDirective::FINISH) {
    this->directiveSubtypeCode = 0b0001;
  } else {
    this->directiveSubtypeCode = 0b0000;
  }
 }

-cfdp::FileDirectives AckInfo::getAckedDirective() const { return ackedDirective; }
+cfdp::FileDirective AckInfo::getAckedDirective() const { return ackedDirective; }

-void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective) {
+void AckInfo::setAckedDirective(cfdp::FileDirective ackedDirective) {
  this->ackedDirective = ackedDirective;
 }

@@ -6,14 +6,14 @@
 class AckInfo {
 public:
  AckInfo();
-  AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
+  AckInfo(cfdp::FileDirective ackedDirective, cfdp::ConditionCode ackedConditionCode,
          cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode = 0);

  cfdp::ConditionCode getAckedConditionCode() const;
  void setAckedConditionCode(cfdp::ConditionCode ackedConditionCode);

-  cfdp::FileDirectives getAckedDirective() const;
-  void setAckedDirective(cfdp::FileDirectives ackedDirective);
+  cfdp::FileDirective getAckedDirective() const;
+  void setAckedDirective(cfdp::FileDirective ackedDirective);

  uint8_t getDirectiveSubtypeCode() const;
  void setDirectiveSubtypeCode(uint8_t directiveSubtypeCode);
@@ -22,7 +22,7 @@ class AckInfo {
  void setTransactionStatus(cfdp::AckTransactionStatus transactionStatus);

 private:
-  cfdp::FileDirectives ackedDirective = cfdp::FileDirectives::INVALID_DIRECTIVE;
+  cfdp::FileDirective ackedDirective = cfdp::FileDirective::INVALID_DIRECTIVE;
  cfdp::ConditionCode ackedConditionCode = cfdp::ConditionCode::NO_CONDITION_FIELD;
  cfdp::AckTransactionStatus transactionStatus = cfdp::AckTransactionStatus::UNDEFINED;
  uint8_t directiveSubtypeCode = 0;
@@ -0,0 +1,33 @@
+#include "AckPduCreator.h"
+
+AckPduCreator::AckPduCreator(AckInfo &ackInfo, PduConfig &pduConf)
+    : FileDirectiveCreator(pduConf, cfdp::FileDirective::ACK, 2), ackInfo(ackInfo) {}
+
+size_t AckPduCreator::getSerializedSize() const { return FileDirectiveCreator::getWholePduSize(); }
+
+ReturnValue_t AckPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                       Endianness streamEndianness) const {
+  ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  cfdp::FileDirective ackedDirective = ackInfo.getAckedDirective();
+  uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
+  cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
+  cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
+  if (ackedDirective != cfdp::FileDirective::FINISH and
+      ackedDirective != cfdp::FileDirective::EOF_DIRECTIVE) {
+    // TODO: better returncode
+    return returnvalue::FAILED;
+  }
+  if (*size + 2 > maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  **buffer = ackedDirective << 4 | directiveSubtypeCode;
+  *buffer += 1;
+  *size += 1;
+  **buffer = ackedConditionCode << 4 | transactionStatus;
+  *buffer += 1;
+  *size += 1;
+  return returnvalue::OK;
+}
@@ -1,11 +1,11 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
+#ifndef FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
+#define FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_

 #include "AckInfo.h"
-#include "FileDirectiveDeserializer.h"
-#include "FileDirectiveSerializer.h"
+#include "FileDirectiveCreator.h"
+#include "FileDirectiveReader.h"

-class AckPduSerializer : public FileDirectiveSerializer {
+class AckPduCreator : public FileDirectiveCreator {
 public:
  /**
   * @brief   Serializer to pack ACK PDUs
@@ -16,9 +16,9 @@ class AckPduSerializer : public FileDirectiveSerializer {
   * @param transactionStatus
   * @param pduConf
   */
-  AckPduSerializer(AckInfo& ackInfo, PduConfig& pduConf);
+  AckPduCreator(AckInfo& ackInfo, PduConfig& pduConf);

-  size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;

  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                          Endianness streamEndianness) const override;
@@ -27,4 +27,4 @@ class AckPduSerializer : public FileDirectiveSerializer {
  AckInfo& ackInfo;
 };

-#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_ */
+#endif /* FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_ */
@@ -1,37 +0,0 @@
-#include "AckPduDeserializer.h"
-
-AckPduDeserializer::AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
-    : FileDirectiveDeserializer(pduBuf, maxSize), info(info) {}
-
-ReturnValue_t AckPduDeserializer::parseData() {
-  ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
-  if (currentIdx + 2 > this->maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  if (not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
-    return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-bool AckPduDeserializer::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
-  uint8_t ackedDirective = static_cast<cfdp::FileDirectives>(firstByte >> 4);
-
-  if (ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE and
-      ackedDirective != cfdp::FileDirectives::FINISH) {
-    return false;
-  }
-  this->info.setAckedDirective(static_cast<cfdp::FileDirectives>(ackedDirective));
-  uint8_t directiveSubtypeCode = firstByte & 0x0f;
-  if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
-    return false;
-  }
-  this->info.setDirectiveSubtypeCode(directiveSubtypeCode);
-  this->info.setAckedConditionCode(static_cast<cfdp::ConditionCode>(secondByte >> 4));
-  this->info.setTransactionStatus(static_cast<cfdp::AckTransactionStatus>(secondByte & 0x0f));
-  return true;
-}
@@ -0,0 +1,45 @@
+#include "AckPduReader.h"
+
+AckPduReader::AckPduReader(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
+    : FileDirectiveReader(pduBuf, maxSize), info(info) {}
+
+ReturnValue_t AckPduReader::parseData() {
+  ReturnValue_t result = FileDirectiveReader::parseData();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  size_t currentIdx = FileDirectiveReader::getHeaderSize();
+  if (currentIdx + 2 > this->maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  if (not checkAndSetCodes(pointers.rawPtr[currentIdx], pointers.rawPtr[currentIdx + 1])) {
+    return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
+  }
+  return returnvalue::OK;
+}
+
+bool AckPduReader::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
+  cfdp::FileDirective directive;
+  if (not checkAckedDirectiveField(firstByte, directive)) {
+    return false;
+  }
+  this->info.setAckedDirective(directive);
+  uint8_t directiveSubtypeCode = firstByte & 0x0f;
+  if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
+    return false;
+  }
+  this->info.setDirectiveSubtypeCode(directiveSubtypeCode);
+  this->info.setAckedConditionCode(static_cast<cfdp::ConditionCode>(secondByte >> 4));
+  this->info.setTransactionStatus(static_cast<cfdp::AckTransactionStatus>(secondByte & 0x0f));
+  return true;
+}
+bool AckPduReader::checkAckedDirectiveField(uint8_t firstPduDataByte,
+                                            cfdp::FileDirective& ackedDirective) {
+  uint8_t ackedDirectiveRaw = static_cast<cfdp::FileDirective>(firstPduDataByte >> 4);
+  if (ackedDirectiveRaw != cfdp::FileDirective::EOF_DIRECTIVE and
+      ackedDirectiveRaw != cfdp::FileDirective::FINISH) {
+    return false;
+  }
+  ackedDirective = (static_cast<cfdp::FileDirective>(ackedDirectiveRaw));
+  return true;
+}
@@ -2,18 +2,21 @@
 #define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_

 #include "AckInfo.h"
-#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
+#include "fsfw/cfdp/pdu/FileDirectiveReader.h"

-class AckPduDeserializer : public FileDirectiveDeserializer {
+class AckPduReader : public FileDirectiveReader {
 public:
-  AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);
+  AckPduReader(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);

  /**
   *
   * @return
   *  - cfdp::INVALID_DIRECTIVE_FIELDS: Invalid fields
   */
-  ReturnValue_t parseData();
+  ReturnValue_t parseData() override;
+
+  static bool checkAckedDirectiveField(uint8_t firstPduDataByte,
+                                       cfdp::FileDirective& ackedDirective);

 private:
  bool checkAndSetCodes(uint8_t rawAckedByte, uint8_t rawAckedConditionCode);
@@ -1,36 +0,0 @@
-#include "AckPduSerializer.h"
-
-AckPduSerializer::AckPduSerializer(AckInfo &ackInfo, PduConfig &pduConf)
-    : FileDirectiveSerializer(pduConf, cfdp::FileDirectives::ACK, 2), ackInfo(ackInfo) {}
-
-size_t AckPduSerializer::getSerializedSize() const {
-  return FileDirectiveSerializer::getWholePduSize();
-}
-
-ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                          Endianness streamEndianness) const {
-  ReturnValue_t result =
-      FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  cfdp::FileDirectives ackedDirective = ackInfo.getAckedDirective();
-  uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
-  cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
-  cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
-  if (ackedDirective != cfdp::FileDirectives::FINISH and
-      ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE) {
-    // TODO: better returncode
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  if (*size + 2 > maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  **buffer = ackedDirective << 4 | directiveSubtypeCode;
-  *buffer += 1;
-  *size += 1;
-  **buffer = ackedConditionCode << 4 | transactionStatus;
-  *buffer += 1;
-  *size += 1;
-  return HasReturnvaluesIF::RETURN_OK;
-}
@@ -1,30 +1,29 @@
 target_sources(
  ${LIB_FSFW_NAME}
  PRIVATE PduConfig.cpp
-          VarLenField.cpp
-          HeaderSerializer.cpp
-          HeaderDeserializer.cpp
-          FileDirectiveDeserializer.cpp
-          FileDirectiveSerializer.cpp
+          HeaderCreator.cpp
+          HeaderReader.cpp
+          FileDirectiveReader.cpp
+          FileDirectiveCreator.cpp
          AckInfo.cpp
-          AckPduSerializer.cpp
-          AckPduDeserializer.cpp
+          AckPduCreator.cpp
+          AckPduReader.cpp
          EofInfo.cpp
-          EofPduSerializer.cpp
-          EofPduDeserializer.cpp
+          EofPduCreator.cpp
+          EofPduReader.cpp
          NakInfo.cpp
-          NakPduSerializer.cpp
-          NakPduDeserializer.cpp
+          NakPduCreator.cpp
+          NakPduReader.cpp
          FinishedInfo.cpp
-          FinishedPduSerializer.cpp
-          FinishedPduDeserializer.cpp
+          FinishedPduCreator.cpp
+          FinishedPduReader.cpp
          MetadataInfo.cpp
-          MetadataPduSerializer.cpp
-          MetadataPduDeserializer.cpp
-          KeepAlivePduSerializer.cpp
-          KeepAlivePduDeserializer.cpp
-          PromptPduSerializer.cpp
-          PromptPduDeserializer.cpp
-          FileDataSerializer.cpp
-          FileDataDeserializer.cpp
+          MetadataPduCreator.cpp
+          MetadataPduReader.cpp
+          KeepAlivePduCreator.cpp
+          KeepAlivePduReader.cpp
+          PromptPduCreator.cpp
+          PromptPduReader.cpp
+          FileDataCreator.cpp
+          FileDataReader.cpp
          FileDataInfo.cpp)
@@ -7,16 +7,16 @@

 struct EofInfo {
 public:
-  EofInfo(EntityIdTlv* faultLoc = nullptr);
+  explicit EofInfo(EntityIdTlv* faultLoc = nullptr);
  EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
          EntityIdTlv* faultLoc = nullptr);

  size_t getSerializedSize(bool fssLarge = false);

-  uint32_t getChecksum() const;
-  cfdp::ConditionCode getConditionCode() const;
+  [[nodiscard]] uint32_t getChecksum() const;
+  [[nodiscard]] cfdp::ConditionCode getConditionCode() const;

-  EntityIdTlv* getFaultLoc() const;
+  [[nodiscard]] EntityIdTlv* getFaultLoc() const;
  cfdp::FileSize& getFileSize();
  void setChecksum(uint32_t checksum);
  void setConditionCode(cfdp::ConditionCode conditionCode);
@@ -1,22 +1,18 @@
-#include "EofPduSerializer.h"
+#include "EofPduCreator.h"

 #include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"

-EofPduSerializer::EofPduSerializer(PduConfig &conf, EofInfo &info)
-    : FileDirectiveSerializer(conf, cfdp::FileDirectives::EOF_DIRECTIVE, 9), info(info) {
-  setDirectiveDataFieldLen(info.getSerializedSize(getLargeFileFlag()));
+EofPduCreator::EofPduCreator(PduConfig &conf, EofInfo &info)
+    : FileDirectiveCreator(conf, cfdp::FileDirective::EOF_DIRECTIVE, 9), info(info) {
+  setDirectiveDataFieldLen(info.getSerializedSize(HeaderCreator::getLargeFileFlag()));
 }

-size_t EofPduSerializer::getSerializedSize() const {
-  return FileDirectiveSerializer::getWholePduSize();
-}
+size_t EofPduCreator::getSerializedSize() const { return FileDirectiveCreator::getWholePduSize(); }

-ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                          Endianness streamEndianness) const {
-  ReturnValue_t result =
-      FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+ReturnValue_t EofPduCreator::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                       Endianness streamEndianness) const {
+  ReturnValue_t result = FileDirectiveCreator::serialize(buffer, size, maxSize, streamEndianness);
+  if (result != returnvalue::OK) {
    return result;
  }
  if (*size + 1 > maxSize) {
@@ -27,7 +23,7 @@ ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
  *size += 1;
  uint32_t checksum = info.getChecksum();
  result = SerializeAdapter::serialize(&checksum, buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  if (info.getFileSize().isLargeFile()) {
@@ -2,18 +2,20 @@
 #define FSFW_SRC_FSFW_CFDP_PDU_EOFPDUSERIALIZER_H_

 #include "EofInfo.h"
-#include "fsfw/cfdp/pdu/FileDirectiveSerializer.h"
+#include "fsfw/cfdp/pdu/FileDirectiveCreator.h"
 #include "fsfw/cfdp/tlv/EntityIdTlv.h"

-class EofPduSerializer : public FileDirectiveSerializer {
+class EofPduCreator : public FileDirectiveCreator {
 public:
-  EofPduSerializer(PduConfig& conf, EofInfo& info);
+  EofPduCreator(PduConfig& conf, EofInfo& info);

-  size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;

  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                          Endianness streamEndianness) const override;

+  using FileDirectiveCreator::serialize;
+
 private:
  EofInfo& info;
 };
@@ -1,17 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
-
-#include "EofInfo.h"
-#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
-
-class EofPduDeserializer : public FileDirectiveDeserializer {
- public:
-  EofPduDeserializer(const uint8_t* pduBuf, size_t maxSize, EofInfo& eofInfo);
-
-  virtual ReturnValue_t parseData() override;
-
- private:
-  EofInfo& info;
-};
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_ */
--- a/Show More
+++ b/Show More
				`@@ -0,0 +1 @@`
				`target_sources(${LIB_FSFW_NAME} PRIVATE FaultHandlerBase.cpp UserBase.cpp)`