Merge branch 'service_11_bugfixes' into mueller/new-cfdp-update-with-handlers

CMakeLists.txt

@@ -174,27 +174,6 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
-  if(FSFW_OSAL MATCHES "freertos")
-    message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
-    include(FetchContent)
-
-    set(FreeRTOS_PORT posix)
-
-    FetchContent_Declare(
-      FreeRTOS
-      GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
-      GIT_TAG develop
-      GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
-
-    FetchContent_MakeAvailable(FreeRTOS)
-
-    set(LIB_OS_NAME FreeRTOS)
-    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
-    set(THREADS_PREFER_PTHREAD_FLAG ON)
-    find_package(Threads REQUIRED)
-    target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
-  endif()
-
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@@ -247,7 +226,6 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
-
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -382,9 +360,6 @@ if(FSFW_BUILD_TESTS)
   endif()
   target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                  ${LIB_FSFW_NAME})
-  if(FSFW_OSAL MATCHES "freertos")
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
-  endif()
 endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If

automation/Jenkinsfile

@@ -1,50 +1,45 @@
 pipeline {
     environment {
-        BUILDDIR_HOST = 'cmake-build-tests-host'
-        BUILDDIR_LINUX = 'cmake-build-tests-linux'
-        BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
+        BUILDDIR = 'cmake-build-tests'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
         docker { 
             image 'fsfw-ci:d6'
-            args '--network host --sysctl fs.mqueue.msg_max=100'
+            args '--network host'
         }
     }
     stages {
-        stage('Host') {
+        stage('Clean') {
             steps {
-                sh 'rm -rf $BUILDDIR_HOST'
-
-                dir(BUILDDIR_HOST) {
+                sh 'rm -rf $BUILDDIR'
+            }
+        }
+        stage('Configure') {
+            steps {
+                dir(BUILDDIR) {
                     sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                    sh 'cmake --build . -j4'
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
-        stage('Linux') {
+        stage('Build') {
             steps {
-                sh 'rm -rf $BUILDDIR_LINUX'
-
-                dir(BUILDDIR_LINUX) {
-                    sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                dir(BUILDDIR) {
                     sh 'cmake --build . -j4'
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }
-        stage('FreeRTOS') {
+        stage('Unittests') {
             steps {
-                sh 'rm -rf $BUILDDIR_FREERTOS'
-
-                dir(BUILDDIR_FREERTOS) {
-                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                    sh 'cmake --build . -j4'
+                dir(BUILDDIR) {
                     sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+        stage('Valgrind') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
             }
         }

src/fsfw/cfdp.h

@@ -2,7 +2,10 @@
 #define FSFW_CFDP_H
 
 #include "cfdp/definitions.h"
+#include "cfdp/handler/CfdpHandler.h"
+#include "cfdp/handler/DestHandler.h"
 #include "cfdp/handler/FaultHandlerBase.h"
+#include "cfdp/helpers.h"
 #include "cfdp/tlv/Lv.h"
 #include "cfdp/tlv/StringLv.h"
 #include "cfdp/tlv/Tlv.h"

src/fsfw/cfdp/handler/CMakeLists.txt

@@ -1 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE FaultHandlerBase.cpp UserBase.cpp)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
+                           FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp)

src/fsfw/cfdp/handler/CfdpHandler.cpp

@@ -0,0 +1,134 @@
+#include "CfdpHandler.h"
+
+#include "fsfw/cfdp/pdu/AckPduReader.h"
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+using namespace returnvalue;
+using namespace cfdp;
+
+CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
+    : SystemObject(fsfwParams.objectId),
+      msgQueue(fsfwParams.msgQueue),
+      destHandler(
+          DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
+                            cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
+                            cfdpCfg.lostSegmentsList),
+          FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
+                     fsfwParams.tmStore)) {
+  destHandler.setMsgQueue(msgQueue);
+}
+
+[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
+
+[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
+  return destHandler.getDestHandlerParams().cfg.localId.getValue();
+}
+
+[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
+
+ReturnValue_t CfdpHandler::initialize() {
+  ReturnValue_t result = destHandler.initialize();
+  if (result != OK) {
+    return result;
+  }
+  tcStore = destHandler.getTcStore();
+  tmStore = destHandler.getTmStore();
+
+  return SystemObject::initialize();
+}
+
+ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
+  // TODO: Receive TC packets and route them to source and dest handler, depending on which is
+  //       correct or more appropriate
+  ReturnValue_t status;
+  ReturnValue_t result = OK;
+  TmTcMessage tmtcMsg;
+  for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
+       status = msgQueue.receiveMessage(&tmtcMsg)) {
+    result = handleCfdpPacket(tmtcMsg);
+    if (result != OK) {
+      status = result;
+    }
+  }
+  auto& fsmRes = destHandler.performStateMachine();
+  // TODO: Error handling?
+  while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
+    destHandler.performStateMachine();
+    // TODO: Error handling?
+  }
+  return status;
+}
+
+ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
+  auto accessorPair = tcStore->getData(msg.getStorageId());
+  if (accessorPair.first != OK) {
+    return accessorPair.first;
+  }
+  PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
+  ReturnValue_t result = reader.parseData();
+  if (result != returnvalue::OK) {
+    return INVALID_PDU_FORMAT;
+  }
+  // The CFDP distributor should have taken care of ensuring the destination ID is correct
+  PduType type = reader.getPduType();
+  // Only the destination handler can process these PDUs
+  if (type == PduType::FILE_DATA) {
+    // Disable auto-deletion of packet
+    accessorPair.second.release();
+    PacketInfo info(type, msg.getStorageId());
+    result = destHandler.passPacket(info);
+  } else {
+    // Route depending on PDU type and directive type if applicable. It retrieves directive type
+    // from the raw stream for better performance (with sanity and directive code check).
+    // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
+    // procedure.
+
+    // PDU header only. Invalid supplied data. A directive packet should have a valid data field
+    // with at least one byte being the directive code
+    const uint8_t* pduDataField = reader.getPduDataField();
+    if (pduDataField == nullptr) {
+      return INVALID_PDU_FORMAT;
+    }
+    if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
+      return INVALID_DIRECTIVE_FIELD;
+    }
+    auto directive = static_cast<FileDirective>(pduDataField[0]);
+
+    auto passToDestHandler = [&]() {
+      accessorPair.second.release();
+      PacketInfo info(type, msg.getStorageId(), directive);
+      result = destHandler.passPacket(info);
+    };
+    auto passToSourceHandler = [&]() {
+
+    };
+    if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
+        directive == FileDirective::PROMPT) {
+      // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
+      // the destination handler
+      passToDestHandler();
+    } else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
+               directive == FileDirective::KEEP_ALIVE) {
+      // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
+      // the source handler
+      passToSourceHandler();
+    } else if (directive == FileDirective::ACK) {
+      // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
+      // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
+      // the source handler, for a Finished PDU, it is passed to the destination handler.
+      FileDirective ackedDirective;
+      if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
+        return INVALID_ACK_DIRECTIVE_FIELDS;
+      }
+      if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
+        passToSourceHandler();
+      } else if (ackedDirective == FileDirective::FINISH) {
+        passToDestHandler();
+      }
+    }
+  }
+  return result;
+}

src/fsfw/cfdp/handler/CfdpHandler.h

@@ -0,0 +1,71 @@
+#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+
+#include <utility>
+
+#include "fsfw/cfdp/handler/DestHandler.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+struct FsfwHandlerParams {
+  FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
+                    StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
+      : objectId(objectId),
+        vfs(vfs),
+        packetDest(packetDest),
+        tcStore(tcStore),
+        tmStore(tmStore),
+        msgQueue(msgQueue) {}
+  object_id_t objectId{};
+  HasFileSystemIF& vfs;
+  AcceptsTelemetryIF& packetDest;
+  StorageManagerIF& tcStore;
+  StorageManagerIF& tmStore;
+  MessageQueueIF& msgQueue;
+};
+
+struct CfdpHandlerCfg {
+  CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
+                 cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
+                 cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
+                 cfdp::RemoteConfigTableIF& remoteCfgProvider)
+      : id(std::move(localId)),
+        indicCfg(indicationCfg),
+        packetInfoList(packetInfo),
+        lostSegmentsList(lostSegmentsList),
+        remoteCfgProvider(remoteCfgProvider),
+        userHandler(userHandler),
+        faultHandler(userFaultHandler) {}
+
+  cfdp::EntityId id;
+  cfdp::IndicationCfg indicCfg;
+  cfdp::PacketInfoListBase& packetInfoList;
+  cfdp::LostSegmentsListBase& lostSegmentsList;
+  cfdp::RemoteConfigTableIF& remoteCfgProvider;
+  cfdp::UserBase& userHandler;
+  cfdp::FaultHandlerBase& faultHandler;
+};
+
+class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
+ public:
+  explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
+
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] uint32_t getIdentifier() const override;
+  [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+
+ private:
+  MessageQueueIF& msgQueue;
+  cfdp::DestHandler destHandler;
+  StorageManagerIF* tcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H

src/fsfw/cfdp/handler/DestHandler.cpp

@@ -0,0 +1,490 @@
+#include "DestHandler.h"
+
+#include <etl/crc32.h>
+
+#include <utility>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/cfdp/pdu/EofPduReader.h"
+#include "fsfw/cfdp/pdu/FileDataReader.h"
+#include "fsfw/cfdp/pdu/FinishedPduCreator.h"
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/objectmanager.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+using namespace returnvalue;
+
+cfdp::DestHandler::DestHandler(DestHandlerParams params, FsfwParams fsfwParams)
+    : tlvVec(params.maxTlvsInOnePdu),
+      userTlvVec(params.maxTlvsInOnePdu),
+      dp(std::move(params)),
+      fp(fsfwParams),
+      tp(params.maxFilenameLen) {
+  tp.pduConf.direction = cfdp::Direction::TOWARDS_SENDER;
+}
+
+const cfdp::DestHandler::FsmResult& cfdp::DestHandler::performStateMachine() {
+  ReturnValue_t result;
+  uint8_t errorIdx = 0;
+  fsmRes.resetOfIteration();
+  if (fsmRes.step == TransactionStep::IDLE) {
+    for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
+      if (infoIter->pduType == PduType::FILE_DIRECTIVE and
+          infoIter->directiveType == FileDirective::METADATA) {
+        result = handleMetadataPdu(*infoIter);
+        checkAndHandleError(result, errorIdx);
+        // Store data was deleted in PDU handler because a store guard is used
+        dp.packetListRef.erase(infoIter++);
+      } else {
+        infoIter++;
+      }
+    }
+    if (fsmRes.step == TransactionStep::IDLE) {
+      // To decrease the already high complexity of the software, all packets arriving before
+      // a metadata PDU are deleted.
+      for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
+        fp.tcStore->deleteData(infoIter->storeId);
+        infoIter++;
+      }
+      dp.packetListRef.clear();
+    }
+
+    if (fsmRes.step != TransactionStep::IDLE) {
+      fsmRes.callStatus = CallStatus::CALL_AGAIN;
+    }
+    return updateFsmRes(errorIdx);
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+    if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
+      for (auto infoIter = dp.packetListRef.begin(); infoIter != dp.packetListRef.end();) {
+        if (infoIter->pduType == PduType::FILE_DATA) {
+          result = handleFileDataPdu(*infoIter);
+          checkAndHandleError(result, errorIdx);
+          // Store data was deleted in PDU handler because a store guard is used
+          dp.packetListRef.erase(infoIter++);
+        } else if (infoIter->pduType == PduType::FILE_DIRECTIVE and
+                   infoIter->directiveType == FileDirective::EOF_DIRECTIVE) {
+          // TODO: Support for check timer missing
+          result = handleEofPdu(*infoIter);
+          checkAndHandleError(result, errorIdx);
+          // Store data was deleted in PDU handler because a store guard is used
+          dp.packetListRef.erase(infoIter++);
+        } else {
+          infoIter++;
+        }
+      }
+    }
+    if (fsmRes.step == TransactionStep::TRANSFER_COMPLETION) {
+      result = handleTransferCompletion();
+      checkAndHandleError(result, errorIdx);
+    }
+    if (fsmRes.step == TransactionStep::SENDING_FINISHED_PDU) {
+      result = sendFinishedPdu();
+      checkAndHandleError(result, errorIdx);
+      finish();
+    }
+    return updateFsmRes(errorIdx);
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
+    // TODO: Will be implemented at a later stage
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CFDP state machine for acknowledged mode not implemented yet" << std::endl;
+#endif
+  }
+  return updateFsmRes(errorIdx);
+}
+
+ReturnValue_t cfdp::DestHandler::passPacket(PacketInfo packet) {
+  if (dp.packetListRef.full()) {
+    return FAILED;
+  }
+  dp.packetListRef.push_back(packet);
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::initialize() {
+  if (fp.tmStore == nullptr) {
+    fp.tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
+    if (fp.tmStore == nullptr) {
+      return FAILED;
+    }
+  }
+
+  if (fp.tcStore == nullptr) {
+    fp.tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+    if (fp.tcStore == nullptr) {
+      return FAILED;
+    }
+  }
+
+  if (fp.msgQueue == nullptr) {
+    return FAILED;
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::handleMetadataPdu(const PacketInfo& info) {
+  // Process metadata PDU
+  auto constAccessorPair = fp.tcStore->getData(info.storeId);
+  if (constAccessorPair.first != OK) {
+    // TODO: This is not a CFDP error. Event and/or warning?
+    return constAccessorPair.first;
+  }
+  cfdp::StringLv sourceFileName;
+  cfdp::StringLv destFileName;
+  MetadataInfo metadataInfo(tp.fileSize, sourceFileName, destFileName);
+  cfdp::Tlv* tlvArrayAsPtr = tlvVec.data();
+  metadataInfo.setOptionsArray(&tlvArrayAsPtr, std::nullopt, tlvVec.size());
+  MetadataPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(),
+                           metadataInfo);
+  ReturnValue_t result = reader.parseData();
+  // TODO: The standard does not really specify what happens if this kind of error happens
+  //       I think it might be a good idea to cache some sort of error code, which
+  //       is translated into a warning and/or event by an upper layer
+  if (result != OK) {
+    return handleMetadataParseError(result, constAccessorPair.second.data(),
+                                    constAccessorPair.second.size());
+  }
+  return startTransaction(reader, metadataInfo);
+}
+
+ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info) {
+  // Process file data PDU
+  auto constAccessorPair = fp.tcStore->getData(info.storeId);
+  if (constAccessorPair.first != OK) {
+    // TODO: This is not a CFDP error. Event and/or warning?
+    return constAccessorPair.first;
+  }
+  cfdp::FileSize offset;
+  FileDataInfo fdInfo(offset);
+  FileDataReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), fdInfo);
+  ReturnValue_t result = reader.parseData();
+  if (result != OK) {
+    return result;
+  }
+  size_t fileSegmentLen = 0;
+  const uint8_t* fileData = fdInfo.getFileData(&fileSegmentLen);
+  FileOpParams fileOpParams(tp.destName.data(), fileSegmentLen);
+  fileOpParams.offset = offset.value();
+  if (dp.cfg.indicCfg.fileSegmentRecvIndicRequired) {
+    FileSegmentRecvdParams segParams;
+    segParams.offset = offset.value();
+    segParams.id = tp.transactionId;
+    segParams.length = fileSegmentLen;
+    segParams.recContState = fdInfo.getRecordContinuationState();
+    size_t segmentMetadatLen = 0;
+    auto* segMetadata = fdInfo.getSegmentMetadata(&segmentMetadatLen);
+    segParams.segmentMetadata = {segMetadata, segmentMetadatLen};
+    dp.user.fileSegmentRecvdIndication(segParams);
+  }
+  result = dp.user.vfs.writeToFile(fileOpParams, fileData);
+  if (offset.value() + fileSegmentLen > tp.progress) {
+    tp.progress = offset.value() + fileSegmentLen;
+  }
+  if (result != returnvalue::OK) {
+    // TODO: Proper Error handling
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "File write error" << std::endl;
+#endif
+  } else {
+    tp.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
+  }
+  return result;
+}
+
+ReturnValue_t cfdp::DestHandler::handleEofPdu(const cfdp::PacketInfo& info) {
+  // Process EOF PDU
+  auto constAccessorPair = fp.tcStore->getData(info.storeId);
+  if (constAccessorPair.first != OK) {
+    // TODO: This is not a CFDP error. Event and/or warning?
+    return constAccessorPair.first;
+  }
+  EofInfo eofInfo(nullptr);
+  EofPduReader reader(constAccessorPair.second.data(), constAccessorPair.second.size(), eofInfo);
+  ReturnValue_t result = reader.parseData();
+  if (result != OK) {
+    return result;
+  }
+  // TODO: Error handling
+  if (eofInfo.getConditionCode() == ConditionCode::NO_ERROR) {
+    tp.crc = eofInfo.getChecksum();
+    uint64_t fileSizeFromEof = eofInfo.getFileSize().value();
+    // CFDP 4.6.1.2.9: Declare file size error if progress exceeds file size
+    if (fileSizeFromEof > tp.progress) {
+      // TODO: File size error
+    }
+    tp.fileSize.setFileSize(fileSizeFromEof, std::nullopt);
+  }
+  if (dp.cfg.indicCfg.eofRecvIndicRequired) {
+    dp.user.eofRecvIndication(getTransactionId());
+  }
+  if (fsmRes.step == TransactionStep::RECEIVING_FILE_DATA_PDUS) {
+    if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+      fsmRes.step = TransactionStep::TRANSFER_COMPLETION;
+    } else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
+      fsmRes.step = TransactionStep::SENDING_ACK_PDU;
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t cfdp::DestHandler::handleMetadataParseError(ReturnValue_t result,
+                                                          const uint8_t* rawData, size_t maxSize) {
+  // TODO: try to extract destination ID for error
+  // TODO: Invalid metadata PDU.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "Parsing Metadata PDU failed with code " << result << std::endl;
+#else
+#endif
+  PduHeaderReader headerReader(rawData, maxSize);
+  result = headerReader.parseData();
+  if (result != OK) {
+    // TODO: Now this really should not happen. Warning or error,
+    //       yield or cache appropriate returnvalue
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "Parsing Header failed" << std::endl;
+#else
+#endif
+    // TODO: Trigger appropriate event
+    return result;
+  }
+  cfdp::EntityId destId;
+  headerReader.getDestId(destId);
+  RemoteEntityCfg* remoteCfg;
+  if (not dp.remoteCfgTable.getRemoteCfg(destId, &remoteCfg)) {
+// TODO: No remote config for dest ID. I consider this a configuration error, which is not
+//       covered by the standard.
+//       Warning or error, yield or cache appropriate returnvalue
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "No remote config exists for destination ID" << std::endl;
+#else
+#endif
+    // TODO: Trigger appropriate event
+  }
+  // TODO: Appropriate returnvalue?
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, MetadataInfo& info) {
+  if (fsmRes.state != CfdpStates::IDLE) {
+    // According to standard, discard metadata PDU if we are busy
+    return OK;
+  }
+  ReturnValue_t result = OK;
+  fsmRes.step = TransactionStep::TRANSACTION_START;
+  if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
+  } else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
+    fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
+  }
+  tp.checksumType = info.getChecksumType();
+  tp.closureRequested = info.isClosureRequested();
+  size_t sourceNameSize = 0;
+  const uint8_t* sourceNamePtr = info.getSourceFileName().getValue(&sourceNameSize);
+  if (sourceNameSize > tp.sourceName.size()) {
+    // TODO: Warning, event etc.
+    return FAILED;
+  }
+  std::memcpy(tp.sourceName.data(), sourceNamePtr, sourceNameSize);
+  tp.sourceName[sourceNameSize] = '\0';
+  size_t destNameSize = 0;
+  const uint8_t* destNamePtr = info.getDestFileName().getValue(&destNameSize);
+  if (destNameSize > tp.destName.size()) {
+    // TODO: Warning, event etc.
+    return FAILED;
+  }
+  std::memcpy(tp.destName.data(), destNamePtr, destNameSize);
+  tp.destName[destNameSize] = '\0';
+  reader.fillConfig(tp.pduConf);
+  tp.pduConf.direction = Direction::TOWARDS_SENDER;
+  tp.transactionId.entityId = tp.pduConf.sourceId;
+  tp.transactionId.seqNum = tp.pduConf.seqNum;
+  if (not dp.remoteCfgTable.getRemoteCfg(tp.pduConf.sourceId, &tp.remoteCfg)) {
+    // TODO: Warning, event etc.
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler" << __func__
+                 << ": No remote configuration found for destination ID "
+                 << tp.pduConf.sourceId.getValue() << std::endl;
+#endif
+    return FAILED;
+  }
+  // If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
+  // so there is no need to create a file or truncate an existing file
+  if (destNameSize > 0 and sourceNameSize > 0) {
+    FilesystemParams fparams(tp.destName.data());
+    // TODO: Filesystem errors?
+    if (dp.user.vfs.fileExists(fparams)) {
+      dp.user.vfs.truncateFile(fparams);
+    } else {
+      result = dp.user.vfs.createFile(fparams);
+      if (result != OK) {
+        // TODO: Handle FS error. This is probably a case for the filestore rejection mechanism of
+        // CFDP.
+        //       In any case, it does not really make sense to continue here
+      }
+    }
+  }
+  fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
+  MetadataRecvdParams params(tp.transactionId, tp.pduConf.sourceId);
+  params.fileSize = tp.fileSize.getSize();
+  params.destFileName = tp.destName.data();
+  params.sourceFileName = tp.sourceName.data();
+  params.msgsToUserArray = dynamic_cast<MessageToUserTlv*>(userTlvVec.data());
+  params.msgsToUserLen = info.getOptionsLen();
+  dp.user.metadataRecvdIndication(params);
+  return result;
+}
+
+cfdp::CfdpStates cfdp::DestHandler::getCfdpState() const { return fsmRes.state; }
+
+ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
+  ReturnValue_t result;
+  if (tp.checksumType != ChecksumType::NULL_CHECKSUM) {
+    result = checksumVerification();
+    if (result != OK) {
+      // TODO: Warning / error handling?
+    }
+  } else {
+    tp.conditionCode = ConditionCode::NO_ERROR;
+  }
+  result = noticeOfCompletion();
+  if (result != OK) {
+  }
+  if (fsmRes.state == CfdpStates::BUSY_CLASS_1_NACKED) {
+    if (tp.closureRequested) {
+      fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
+    } else {
+      finish();
+    }
+  } else if (fsmRes.state == CfdpStates::BUSY_CLASS_2_ACKED) {
+    fsmRes.step = TransactionStep::SENDING_FINISHED_PDU;
+  }
+  return OK;
+}
+
+void cfdp::DestHandler::finish() {
+  tp.reset();
+  dp.packetListRef.clear();
+  fsmRes.state = CfdpStates::IDLE;
+  fsmRes.step = TransactionStep::IDLE;
+}
+
+ReturnValue_t cfdp::DestHandler::checksumVerification() {
+  std::array<uint8_t, 1024> buf{};
+  // TODO: Checksum verification and notice of completion
+  etl::crc32 crcCalc;
+  uint64_t currentOffset = 0;
+  FileOpParams params(tp.destName.data(), tp.fileSize.value());
+  while (currentOffset < tp.fileSize.value()) {
+    uint64_t readLen;
+    if (currentOffset + buf.size() > tp.fileSize.value()) {
+      readLen = tp.fileSize.value() - currentOffset;
+    } else {
+      readLen = buf.size();
+    }
+    if (readLen > 0) {
+      params.offset = currentOffset;
+      params.size = readLen;
+      auto result = dp.user.vfs.readFromFile(params, buf.data(), buf.size());
+      if (result != OK) {
+        // TODO: I think this is a case for a filestore rejection, but it might sense to print
+        //       a warning or trigger an event because this should generally not happen
+        return FAILED;
+      }
+      crcCalc.add(buf.begin(), buf.begin() + readLen);
+    }
+    currentOffset += readLen;
+  }
+
+  uint32_t value = crcCalc.value();
+  if (value == tp.crc) {
+    tp.conditionCode = ConditionCode::NO_ERROR;
+    tp.deliveryCode = FileDeliveryCode::DATA_COMPLETE;
+  } else {
+    // TODO: Proper error handling
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "CRC check for file " << tp.destName.data() << " failed" << std::endl;
+#endif
+    tp.conditionCode = ConditionCode::FILE_CHECKSUM_FAILURE;
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::noticeOfCompletion() {
+  if (dp.cfg.indicCfg.transactionFinishedIndicRequired) {
+    TransactionFinishedParams params(tp.transactionId, tp.conditionCode, tp.deliveryCode,
+                                     tp.deliveryStatus);
+    dp.user.transactionFinishedIndication(params);
+  }
+  return OK;
+}
+
+ReturnValue_t cfdp::DestHandler::sendFinishedPdu() {
+  FinishedInfo info(tp.conditionCode, tp.deliveryCode, tp.deliveryStatus);
+  FinishPduCreator finishedPdu(tp.pduConf, info);
+  store_address_t storeId;
+  uint8_t* dataPtr = nullptr;
+  ReturnValue_t result =
+      fp.tmStore->getFreeElement(&storeId, finishedPdu.getSerializedSize(), &dataPtr);
+  if (result != OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler:sendFinishedPdu: Getting store slot failed" << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::STORE_ERROR, result, 0);
+    return result;
+  }
+  size_t serLen = 0;
+  result = finishedPdu.serialize(dataPtr, serLen, finishedPdu.getSerializedSize());
+  if (result != OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Serializing Finished PDU failed"
+                 << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::SERIALIZATION_ERROR, result, 0);
+    return result;
+  }
+  TmTcMessage msg(storeId);
+  result = fp.msgQueue->sendMessage(fp.packetDest.getReportReceptionQueue(), &msg);
+  if (result != OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "cfdp::DestHandler::sendFinishedPdu: Sending PDU failed" << std::endl;
+#endif
+    fp.eventReporter->forwardEvent(events::MSG_QUEUE_ERROR, result, 0);
+    return result;
+  }
+  fsmRes.packetsSent++;
+  return OK;
+}
+
+cfdp::DestHandler::TransactionStep cfdp::DestHandler::getTransactionStep() const {
+  return fsmRes.step;
+}
+
+const cfdp::DestHandler::FsmResult& cfdp::DestHandler::updateFsmRes(uint8_t errors) {
+  fsmRes.errors = errors;
+  fsmRes.result = OK;
+  if (fsmRes.errors > 0) {
+    fsmRes.result = FAILED;
+  }
+  return fsmRes;
+}
+
+const cfdp::TransactionId& cfdp::DestHandler::getTransactionId() const { return tp.transactionId; }
+
+void cfdp::DestHandler::checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx) {
+  if (result != OK and errorIdx < 3) {
+    fsmRes.errorCodes[errorIdx] = result;
+    errorIdx++;
+  }
+}
+
+void cfdp::DestHandler::setMsgQueue(MessageQueueIF& queue) { fp.msgQueue = &queue; }
+
+void cfdp::DestHandler::setEventReporter(EventReportingProxyIF& reporter) {
+  fp.eventReporter = &reporter;
+}
+
+const cfdp::DestHandlerParams& cfdp::DestHandler::getDestHandlerParams() const { return dp; }
+
+StorageManagerIF* cfdp::DestHandler::getTmStore() const { return fp.tmStore; }
+StorageManagerIF* cfdp::DestHandler::getTcStore() const { return fp.tcStore; }

src/fsfw/cfdp/handler/DestHandler.h

@@ -0,0 +1,202 @@
+#ifndef FSFW_CFDP_CFDPDESTHANDLER_H
+#define FSFW_CFDP_CFDPDESTHANDLER_H
+
+#include <etl/list.h>
+#include <etl/set.h>
+
+#include <optional>
+#include <utility>
+
+#include "RemoteConfigTableIF.h"
+#include "UserBase.h"
+#include "defs.h"
+#include "fsfw/cfdp/handler/mib.h"
+#include "fsfw/cfdp/pdu/MetadataPduReader.h"
+#include "fsfw/cfdp/pdu/PduConfig.h"
+#include "fsfw/container/DynamicFIFO.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/storagemanager/storeAddress.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+
+namespace cfdp {
+
+struct PacketInfo {
+  PacketInfo(PduType type, store_address_t storeId,
+             std::optional<FileDirective> directive = std::nullopt)
+      : pduType(type), directiveType(directive), storeId(storeId) {}
+
+  PduType pduType = PduType::FILE_DATA;
+  std::optional<FileDirective> directiveType = FileDirective::INVALID_DIRECTIVE;
+  store_address_t storeId = store_address_t::invalid();
+  PacketInfo() = default;
+};
+
+template <size_t SIZE>
+using LostSegmentsList = etl::set<etl::pair<uint64_t, uint64_t>, SIZE>;
+template <size_t SIZE>
+using PacketInfoList = etl::list<PacketInfo, SIZE>;
+using LostSegmentsListBase = etl::iset<etl::pair<uint64_t, uint64_t>>;
+using PacketInfoListBase = etl::ilist<PacketInfo>;
+
+struct DestHandlerParams {
+  DestHandlerParams(LocalEntityCfg cfg, UserBase& user, RemoteConfigTableIF& remoteCfgTable,
+                    PacketInfoListBase& packetList,
+                    // TODO: This container can potentially take tons of space. For a better
+                    //       memory efficient implementation, an additional abstraction could be
+                    //       be used so users can use uint32_t as the pair type
+                    LostSegmentsListBase& lostSegmentsContainer)
+      : cfg(std::move(cfg)),
+        user(user),
+        remoteCfgTable(remoteCfgTable),
+        packetListRef(packetList),
+        lostSegmentsContainer(lostSegmentsContainer) {}
+
+  LocalEntityCfg cfg;
+  UserBase& user;
+  RemoteConfigTableIF& remoteCfgTable;
+
+  PacketInfoListBase& packetListRef;
+  LostSegmentsListBase& lostSegmentsContainer;
+  uint8_t maxTlvsInOnePdu = 10;
+  size_t maxFilenameLen = 255;
+};
+
+struct FsfwParams {
+  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
+             EventReportingProxyIF* eventReporter, StorageManagerIF& tcStore,
+             StorageManagerIF& tmStore)
+      : FsfwParams(packetDest, msgQueue, eventReporter) {
+    this->tcStore = &tcStore;
+    this->tmStore = &tmStore;
+  }
+
+  FsfwParams(AcceptsTelemetryIF& packetDest, MessageQueueIF* msgQueue,
+             EventReportingProxyIF* eventReporter)
+      : packetDest(packetDest), msgQueue(msgQueue), eventReporter(eventReporter) {}
+  AcceptsTelemetryIF& packetDest;
+  MessageQueueIF* msgQueue;
+  EventReportingProxyIF* eventReporter = nullptr;
+  StorageManagerIF* tcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+};
+
+enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
+
+class DestHandler {
+ public:
+  enum class TransactionStep {
+    IDLE = 0,
+    TRANSACTION_START = 1,
+    RECEIVING_FILE_DATA_PDUS = 2,
+    SENDING_ACK_PDU = 3,
+    TRANSFER_COMPLETION = 4,
+    SENDING_FINISHED_PDU = 5
+  };
+
+  struct FsmResult {
+   public:
+    ReturnValue_t result = returnvalue::OK;
+    CallStatus callStatus = CallStatus::CALL_AFTER_DELAY;
+    TransactionStep step = TransactionStep::IDLE;
+    CfdpStates state = CfdpStates::IDLE;
+    uint32_t packetsSent = 0;
+    uint8_t errors = 0;
+    std::array<ReturnValue_t, 3> errorCodes = {};
+    void resetOfIteration() {
+      result = returnvalue::OK;
+      callStatus = CallStatus::CALL_AFTER_DELAY;
+      packetsSent = 0;
+      errors = 0;
+      errorCodes.fill(returnvalue::OK);
+    }
+  };
+  /**
+   * Will be returned if it is advisable to call the state machine operation call again
+   */
+  ReturnValue_t PARTIAL_SUCCESS = returnvalue::makeCode(0, 2);
+  ReturnValue_t FAILURE = returnvalue::makeCode(0, 3);
+  explicit DestHandler(DestHandlerParams handlerParams, FsfwParams fsfwParams);
+
+  /**
+   *
+   * @return
+   *  - @c returnvalue::OK  State machine OK for this execution cycle
+   *  - @c CALL_FSM_AGAIN   State machine should be called again.
+   */
+  const FsmResult& performStateMachine();
+  void setMsgQueue(MessageQueueIF& queue);
+  void setEventReporter(EventReportingProxyIF& reporter);
+
+  ReturnValue_t passPacket(PacketInfo packet);
+
+  ReturnValue_t initialize();
+
+  [[nodiscard]] CfdpStates getCfdpState() const;
+  [[nodiscard]] TransactionStep getTransactionStep() const;
+  [[nodiscard]] const TransactionId& getTransactionId() const;
+  [[nodiscard]] const DestHandlerParams& getDestHandlerParams() const;
+  [[nodiscard]] StorageManagerIF* getTcStore() const;
+  [[nodiscard]] StorageManagerIF* getTmStore() const;
+
+ private:
+  struct TransactionParams {
+    // Initialize char vectors with length + 1 for 0 termination
+    explicit TransactionParams(size_t maxFileNameLen)
+        : sourceName(maxFileNameLen + 1), destName(maxFileNameLen + 1) {}
+
+    void reset() {
+      pduConf = PduConfig();
+      transactionId = TransactionId();
+      std::fill(sourceName.begin(), sourceName.end(), '\0');
+      std::fill(destName.begin(), destName.end(), '\0');
+      fileSize.setFileSize(0, false);
+      conditionCode = ConditionCode::NO_ERROR;
+      deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
+      deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
+      crc = 0;
+      progress = 0;
+      remoteCfg = nullptr;
+      closureRequested = false;
+      checksumType = ChecksumType::NULL_CHECKSUM;
+    }
+
+    ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
+    bool closureRequested = false;
+    std::vector<char> sourceName;
+    std::vector<char> destName;
+    cfdp::FileSize fileSize;
+    TransactionId transactionId;
+    PduConfig pduConf;
+    ConditionCode conditionCode = ConditionCode::NO_ERROR;
+    FileDeliveryCode deliveryCode = FileDeliveryCode::DATA_INCOMPLETE;
+    FileDeliveryStatus deliveryStatus = FileDeliveryStatus::DISCARDED_DELIBERATELY;
+    uint32_t crc = 0;
+    uint64_t progress = 0;
+    RemoteEntityCfg* remoteCfg = nullptr;
+  };
+
+  std::vector<cfdp::Tlv> tlvVec;
+  std::vector<cfdp::Tlv> userTlvVec;
+  DestHandlerParams dp;
+  FsfwParams fp;
+  TransactionParams tp;
+  FsmResult fsmRes;
+
+  ReturnValue_t startTransaction(MetadataPduReader& reader, MetadataInfo& info);
+  ReturnValue_t handleMetadataPdu(const PacketInfo& info);
+  ReturnValue_t handleFileDataPdu(const PacketInfo& info);
+  ReturnValue_t handleEofPdu(const PacketInfo& info);
+  ReturnValue_t handleMetadataParseError(ReturnValue_t result, const uint8_t* rawData,
+                                         size_t maxSize);
+  ReturnValue_t handleTransferCompletion();
+  ReturnValue_t sendFinishedPdu();
+  ReturnValue_t noticeOfCompletion();
+  ReturnValue_t checksumVerification();
+  const FsmResult& updateFsmRes(uint8_t errors);
+  void checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx);
+  void finish();
+};
+
+}  // namespace cfdp
+
+#endif  // FSFW_CFDP_CFDPDESTHANDLER_H

src/fsfw/cfdp/handler/SourceHandler.cpp

@@ -0,0 +1 @@
+#include "SourceHandler.h"

src/fsfw/cfdp/handler/SourceHandler.h

@@ -0,0 +1,6 @@
+#ifndef FSFW_CFDP_CFDPSOURCEHANDLER_H
+#define FSFW_CFDP_CFDPSOURCEHANDLER_H
+
+class SourceHandler {};
+
+#endif  // FSFW_CFDP_CFDPSOURCEHANDLER_H

src/fsfw/cfdp/handler/defs.h

@@ -5,5 +5,15 @@ namespace cfdp {
 
 enum class CfdpStates { IDLE, BUSY_CLASS_1_NACKED, BUSY_CLASS_2_ACKED, SUSPENDED };
 
-}
+static constexpr uint8_t SSID = SUBSYSTEM_ID::CFDP;
+
+namespace events {
+
+static constexpr Event STORE_ERROR = event::makeEvent(SSID, 0, severity::LOW);
+static constexpr Event MSG_QUEUE_ERROR = event::makeEvent(SSID, 1, severity::LOW);
+static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
+
+}  // namespace events
+
+}  // namespace cfdp
 #endif  // FSFW_CFDP_HANDLER_DEFS_H

src/fsfw/events/EventManager.cpp

@@ -23,7 +23,6 @@ EventManager::EventManager(object_id_t setObjectId)
 }
 
 EventManager::~EventManager() {
-  listenerList.clear();
   QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
   MutexFactory::instance()->deleteMutex(mutex);
 }
@@ -62,14 +61,9 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
   if (!result.second) {
     return returnvalue::FAILED;
   }
-
   return returnvalue::OK;
 }
 
-ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
-  return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
-}
-
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
   return subscribeToEventRange(listener, event);
 }

src/fsfw/events/EventManager.h

@@ -31,7 +31,6 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
   MessageQueueId_t getEventReportQueue();
 
   ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
-  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
   ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
   ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,

src/fsfw/events/EventManagerIF.h

@@ -18,7 +18,6 @@ class EventManagerIF {
 
   virtual ReturnValue_t registerListener(MessageQueueId_t listener,
                                          bool forwardAllButSelected = false) = 0;
-  virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;

src/fsfw/events/fwSubsystemIdRanges.h

@@ -33,6 +33,7 @@ enum : uint8_t {
   PUS_SERVICE_23 = 103,
   MGM_LIS3MDL = 106,
   MGM_RM3100 = 107,
+  CFDP = 108,
 
   FW_SUBSYSTEM_ID_RANGE
 };

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
     return;
   }
-  manager->unregisterListener(eventQueue->getId());
+  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 

src/fsfw/globalfunctions/matching/MatchTree.h

@@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
   MatchTree(iterator root, uint8_t maxDepth = -1)
       : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
   MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
-  virtual ~MatchTree() { clear(); }
+  virtual ~MatchTree() {}
   virtual bool match(T number) override { return matchesTree(number); }
   bool matchesTree(T number) {
     iterator iter = this->begin();
@@ -176,45 +176,6 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
     return cleanUpElement(position);
   }
 
-  void clear() {
-    Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
-
-    if (localRoot == nullptr) {
-      return;
-    }
-
-    Node* node = localRoot->left;
-
-    while (true) {
-      if (node->left != nullptr) {
-        node = node->left;
-        continue;
-      }
-      if (node->right != nullptr) {
-        node = node->right;
-        continue;
-      }
-      if (node->parent == nullptr) {
-        // this is the root node with no children
-        if (node->value != nullptr) {
-          cleanUpElement(iterator(node));
-        }
-        return;
-      }
-      // leaf
-      {
-        Node* parent = node->parent;
-        if (parent->left == node) {
-          parent->left = nullptr;
-        } else {
-          parent->right = nullptr;
-        }
-        cleanUpElement(iterator(node));
-        node = parent;
-      }
-    }
-  }
-
   virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
 
   bool matchSubtree(iterator iter, T number) {

src/fsfw/health/HealthTable.cpp

@@ -6,6 +6,8 @@
 
 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
   mutex = MutexFactory::instance()->createMutex();
+  ;
+
   mapIterator = healthMap.begin();
 }
 

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -14,10 +14,7 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
   mutex = MutexFactory::instance()->createMutex();
 }
 
-InternalErrorReporter::~InternalErrorReporter() {
-  MutexFactory::instance()->deleteMutex(mutex);
-  QueueFactory::instance()->deleteMessageQueue(commandQueue);
-}
+InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
 
 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
   this->diagnosticPrintout = enable;

src/fsfw/objectmanager/ObjectManager.cpp

@@ -23,17 +23,9 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
 
 ObjectManager::ObjectManager() = default;
 
-void ObjectManager::clear() {
-  if (objManagerInstance != nullptr) {
-    delete objManagerInstance;
-    objManagerInstance = nullptr;
-  }
-}
-
 ObjectManager::~ObjectManager() {
-  teardown = true;
-  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
-    delete iter->second;
+  for (auto const& iter : objectList) {
+    delete iter.second;
   }
 }
 
@@ -61,12 +53,6 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }
 
 ReturnValue_t ObjectManager::remove(object_id_t id) {
-  // this function is called during destruction of System Objects
-  // disabeld for teardown to avoid iterator invalidation and
-  // double free
-  if (teardown) {
-    return returnvalue::OK;
-  }
   if (this->getSystemObject(id) != nullptr) {
     this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1

src/fsfw/objectmanager/ObjectManager.h

@@ -24,17 +24,12 @@ class ObjectManager : public ObjectManagerIF {
   using produce_function_t = void (*)(void* args);
 
   /**
-   * Returns the single instance of ObjectManager.
+   * Returns the single instance of TaskFactory.
    * The implementation of #instance is found in its subclasses.
    * Thus, we choose link-time variability of the  instance.
    */
   static ObjectManager* instance();
 
-  /**
-   * Deletes the single instance of ObjectManager
-   */
-  static void clear();
-
   void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
 
   template <typename T>
@@ -71,9 +66,6 @@ class ObjectManager : public ObjectManagerIF {
    */
   std::map<object_id_t, SystemObjectIF*> objectList;
   static ObjectManager* objManagerInstance;
-  // used when the OM itself is deleted to modify behaviour of remove()
-  // to avoid iterator invalidation and double free
-  bool teardown = false;
 };
 
 // Documentation can be found in the class method declaration above

src/fsfw/osal/CMakeLists.txt

@@ -1,13 +1,10 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
   add_subdirectory(freertos)
-  set(FSFW_OSAL_FREERTOS 1)
 elseif(FSFW_OSAL MATCHES "rtems")
   add_subdirectory(rtems)
-  set(FSFW_OSAL_RTEMS 1)
 elseif(FSFW_OSAL MATCHES "linux")
   add_subdirectory(linux)
-  set(FSFW_OSAL_LINUX 1)
 elseif(FSFW_OSAL MATCHES "host")
   add_subdirectory(host)
   if(WIN32)
@@ -16,17 +13,16 @@ elseif(FSFW_OSAL MATCHES "host")
     # We still need to pull in some Linux specific sources
     target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
   endif()
-  set(FSFW_OSAL_HOST 1)
+
 else()
+
   message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)
     add_subdirectory(windows)
-    set(FSFW_OSAL_HOST 1)
   elseif(UNIX)
     add_subdirectory(linux)
-    set(FSFW_OSAL_LINUX 1)
   else()
     # MacOS or other OSes have not been tested yet / are not supported.
     message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@@ -35,5 +31,3 @@ else()
 endif()
 
 add_subdirectory(common)
-
-configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

src/fsfw/osal/freertos/BinSemaphUsingTask.h

@@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
   void refreshTaskHandle();
 
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = 0) override;
+                        uint32_t timeoutMs = portMAX_DELAY) override;
   ReturnValue_t release() override;
   uint8_t getSemaphoreCounter() const override;
   static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);

src/fsfw/osal/freertos/BinarySemaphore.h

@@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = 0) override;
+                        uint32_t timeoutMs = portMAX_DELAY) override;
 
   /**
    * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.

src/fsfw/osal/freertos/Clock.cpp

@@ -110,13 +110,11 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   time_tm.tm_min = from->minute;
   time_tm.tm_sec = from->second;
 
-  time_tm.tm_isdst = 0;
-
-  time_t seconds = timegm(&time_tm);
+  time_t seconds = mktime(&time_tm);
 
   to->tv_sec = seconds;
   to->tv_usec = from->usecond;
-
+  // Fails in 2038..
   return returnvalue::OK;
 }
 

src/fsfw/osal/freertos/CountingSemaphUsingTask.h

@@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = 0) override;
+                        uint32_t timeoutMs = portMAX_DELAY) override;
 
   /**
    * Release a semaphore, increasing the number of available counting

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -56,9 +56,7 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   // start time for the first entry.
   auto slotListIter = pollingSeqTable.current;
 
-  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
-  // Ignore returnvalue for now
-  static_cast<void>(result);
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;

src/fsfw/osal/freertos/Mutex.cpp

@@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
     return MutexIF::MUTEX_NOT_FOUND;
   }
   // If the timeout type is BLOCKING, this will be the correct value.
-  TickType_t timeout = portMAX_DELAY;
+  uint32_t timeout = portMAX_DELAY;
   if (timeoutType == TimeoutType::POLLING) {
     timeout = 0;
   } else if (timeoutType == TimeoutType::WAITING) {

src/fsfw/osal/freertos/TaskManagement.cpp

@@ -3,16 +3,16 @@
 void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
 
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
-  //   if (callContext == CallContext::ISR) {
-  //     // This function depends on the partmacro.h definition for the specific device
-  //     vRequestContextSwitchFromISR();
-  //   } else {
-  vRequestContextSwitchFromTask();
-  //   }
+  if (callContext == CallContext::ISR) {
+    // This function depends on the partmacro.h definition for the specific device
+    vRequestContextSwitchFromISR();
+  } else {
+    vRequestContextSwitchFromTask();
+  }
 }
 
 TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
 
-// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
-//   return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-// }
+size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
+  return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}

src/fsfw/osal/freertos/TaskManagement.h

@@ -11,7 +11,7 @@
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-// extern "C" void vRequestContextSwitchFromISR();
+extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
@@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
  * @return Smallest value of stack remaining since the task was started in
  * 		   words.
  */
-// size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
+size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
 };  // namespace TaskManagement
 

src/fsfw/osal/linux/MessageQueue.cpp

@@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
   attributes.mq_msgsize = maxMessageSize;
   attributes.mq_flags = 0;  // Flags are ignored on Linux during mq_open
   // Set the name of the queue. The slash is mandatory!
-  sprintf(name, "/FSFW_MQ%u", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
 
   // Create a nonblocking queue if the name is available (the queue is read
   // and writable for the owner as well as the group)

src/fsfw/osal/osal.h.in

@@ -1,36 +0,0 @@
-#pragma once
-
-namespace osal {
-    enum osalTarget{
-        HOST,
-        LINUX,
-        WINDOWS,
-        FREERTOS,
-        RTEMS,
-    };
-
-#cmakedefine FSFW_OSAL_HOST
-#cmakedefine FSFW_OSAL_LINUX
-#cmakedefine FSFW_OSAL_WINDOWS
-#cmakedefine FSFW_OSAL_FREERTOS
-#cmakedefine FSFW_OSAL_RTEMS
-
-
-    constexpr osalTarget getTarget() {
-#ifdef FSFW_OSAL_HOST
-  return HOST;
-#endif
-#ifdef FSFW_OSAL_LINUX
-  return LINUX;
-#endif
-#ifdef FSFW_OSAL_WINDOWS
-  return WINDOWS;
-#endif
-#ifdef FSFW_OSAL_FREERTOS
-  return FREERTOS;
-#endif
-#ifdef FSFW_OSAL_RTEMS
-  return RTEMS;
-#endif
-    }
-};

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,12 +2,12 @@
 
 #include <cstddef>
 
-#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
-#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
+#include "fsfw/globalfunctions/CRC.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
@@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   if (CRC::crc16ccitt(data, size) != 0) {
     return CONTAINED_TC_CRC_MISSMATCH;
   }
-
+  
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

src/fsfw/timemanager/CCSDSTime.cpp

@@ -552,7 +552,10 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short*
   if (to == nullptr or from == nullptr) {
     return returnvalue::FAILED;
   }
-  int32_t days = (from->dayMSB << 8) + from->dayLSB;
+  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
+  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
+    return INVALID_TIME_FORMAT;
+  }
   days -= DAYS_CCSDS_TO_UNIX_EPOCH;
   to->tv_sec = days * SECONDS_PER_DAY;
   uint32_t msDay =

unittests/CatchRunner.cpp

@@ -10,60 +10,16 @@
 
 #define CATCH_CONFIG_COLOUR_WINDOWS
 
-#include <fsfw/osal/osal.h>
-
 #include <catch2/catch_session.hpp>
 
-#ifdef FSFW_OSAL_FREERTOS
-#include <FreeRTOS.h>
-
-#include "task.h"
-#endif
-
 extern int customSetup();
 extern int customTeardown();
 
-#ifdef FSFW_OSAL_FREERTOS
-struct Taskparameters {
-  int argc;
-  char** argv;
-  TaskHandle_t catchTask;
-} taskParameters;
-
-void unittestTaskFunction(void* pvParameters) {
-  Taskparameters* parameters = (Taskparameters*)pvParameters;
-
-  int result = Catch::Session().run(parameters->argc, parameters->argv);
-
-  vTaskDelay(pdMS_TO_TICKS(10));
-  vTaskSuspendAll();
-  vTaskDelete(parameters->catchTask);
-  customTeardown();
-  exit(result);
-}
-#endif
-
 int main(int argc, char* argv[]) {
   customSetup();
 
-  int result = 0;
-
-#ifdef FSFW_OSAL_FREERTOS
-  xTaskCreate(
-      unittestTaskFunction, /* The function that implements the task. */
-      "Unittests", /* The text name assigned to the task - for debug only as it is not used by the
-                      kernel. */
-      configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
-      &taskParameters, /* The parameter passed to the task - not used in this simple case. */
-      1,               /* The priority assigned to the task. */
-      &taskParameters.catchTask); /* The task handle is not required, so NULL is passed. */
-  taskParameters.argc = argc;
-  taskParameters.argv = argv;
-  vTaskStartScheduler();
-#else
   // Catch internal function call
-  result = Catch::Session().run(argc, argv);
-#endif
+  int result = Catch::Session().run(argc, argv);
 
   // global clean-up
   customTeardown();

unittests/CatchSetup.cpp

@@ -31,7 +31,4 @@ int customSetup() {
   return 0;
 }
 
-int customTeardown() {
-  ObjectManager::clear();
-  return 0;
-}
+int customTeardown() { return 0; }

unittests/cfdp/handler/CMakeLists.txt

@@ -1,2 +1,3 @@
-target_sources(${FSFW_TEST_TGT} PRIVATE testDistributor.cpp
-                                        testFaultHandler.cpp)
+target_sources(
+  ${FSFW_TEST_TGT} PRIVATE testDistributor.cpp testDestHandler.cpp
+                           testSourceHandler.cpp testFaultHandler.cpp)

unittests/cfdp/handler/testDestHandler.cpp

@@ -0,0 +1,244 @@
+#include <etl/crc32.h>
+
+#include <catch2/catch_test_macros.hpp>
+#include <random>
+#include <utility>
+
+#include "fsfw/cfdp.h"
+#include "fsfw/cfdp/pdu/EofPduCreator.h"
+#include "fsfw/cfdp/pdu/FileDataCreator.h"
+#include "fsfw/cfdp/pdu/MetadataPduCreator.h"
+#include "mocks/AcceptsTmMock.h"
+#include "mocks/EventReportingProxyMock.h"
+#include "mocks/FilesystemMock.h"
+#include "mocks/MessageQueueMock.h"
+#include "mocks/StorageManagerMock.h"
+#include "mocks/cfdp/FaultHandlerMock.h"
+#include "mocks/cfdp/RemoteConfigTableMock.h"
+#include "mocks/cfdp/UserMock.h"
+
+TEST_CASE("CFDP Dest Handler", "[cfdp]") {
+  using namespace cfdp;
+  using namespace returnvalue;
+  MessageQueueId_t destQueueId = 2;
+  AcceptsTmMock tmReceiver(destQueueId);
+  MessageQueueMock mqMock(destQueueId);
+  EntityId localId = EntityId(UnsignedByteField<uint16_t>(2));
+  EntityId remoteId = EntityId(UnsignedByteField<uint16_t>(3));
+  FaultHandlerMock fhMock;
+  LocalEntityCfg localEntityCfg(localId, IndicationCfg(), fhMock);
+  FilesystemMock fsMock;
+  UserMock userMock(fsMock);
+  RemoteConfigTableMock remoteCfgTableMock;
+  PacketInfoList<64> packetInfoList;
+  LostSegmentsList<128> lostSegmentsList;
+  DestHandlerParams dp(localEntityCfg, userMock, remoteCfgTableMock, packetInfoList,
+                       lostSegmentsList);
+  EventReportingProxyMock eventReporterMock;
+  LocalPool::LocalPoolConfig storeCfg = {{10, 32}, {10, 64}, {10, 128}, {10, 1024}};
+  StorageManagerMock tcStore(2, storeCfg);
+  StorageManagerMock tmStore(3, storeCfg);
+  FsfwParams fp(tmReceiver, &mqMock, &eventReporterMock);
+  RemoteEntityCfg cfg(remoteId);
+  remoteCfgTableMock.addRemoteConfig(cfg);
+  fp.tcStore = &tcStore;
+  fp.tmStore = &tmStore;
+  uint8_t* buf = nullptr;
+  size_t serLen = 0;
+  store_address_t storeId;
+  PduConfig conf;
+  auto destHandler = DestHandler(dp, fp);
+  CHECK(destHandler.initialize() == OK);
+
+  auto metadataPreparation = [&](FileSize cfdpFileSize, ChecksumType checksumType) {
+    std::string srcNameString = "hello.txt";
+    std::string destNameString = "hello-cpy.txt";
+    StringLv srcName(srcNameString);
+    StringLv destName(destNameString);
+    MetadataInfo info(false, checksumType, cfdpFileSize, srcName, destName);
+    TransactionSeqNum seqNum(UnsignedByteField<uint16_t>(1));
+    conf.sourceId = remoteId;
+    conf.destId = localId;
+    conf.mode = TransmissionMode::UNACKNOWLEDGED;
+    conf.seqNum = seqNum;
+    MetadataPduCreator metadataCreator(conf, info);
+    REQUIRE(tcStore.getFreeElement(&storeId, metadataCreator.getSerializedSize(), &buf) == OK);
+    REQUIRE(metadataCreator.serialize(buf, serLen, metadataCreator.getSerializedSize()) == OK);
+    PacketInfo packetInfo(metadataCreator.getPduType(), storeId,
+                          metadataCreator.getDirectiveCode());
+    packetInfoList.push_back(packetInfo);
+  };
+
+  auto metadataCheck = [&](const cfdp::DestHandler::FsmResult& res, const char* sourceName,
+                           const char* destName, size_t fileLen) {
+    REQUIRE(res.result == OK);
+    REQUIRE(res.callStatus == CallStatus::CALL_AGAIN);
+    REQUIRE(res.errors == 0);
+    // Assert that the packet was deleted after handling
+    REQUIRE(not tcStore.hasDataAtId(storeId));
+    REQUIRE(packetInfoList.empty());
+    REQUIRE(userMock.metadataRecvd.size() == 1);
+    auto& idMetadataPair = userMock.metadataRecvd.back();
+    REQUIRE(idMetadataPair.first == destHandler.getTransactionId());
+    REQUIRE(idMetadataPair.second.sourceId.getValue() == 3);
+    REQUIRE(idMetadataPair.second.fileSize == fileLen);
+    REQUIRE(strcmp(idMetadataPair.second.destFileName, destName) == 0);
+    REQUIRE(strcmp(idMetadataPair.second.sourceFileName, sourceName) == 0);
+    userMock.metadataRecvd.pop();
+    REQUIRE(fsMock.fileMap.find(destName) != fsMock.fileMap.end());
+    REQUIRE(res.result == OK);
+    REQUIRE(res.state == CfdpStates::BUSY_CLASS_1_NACKED);
+    REQUIRE(res.step == DestHandler::TransactionStep::RECEIVING_FILE_DATA_PDUS);
+  };
+
+  auto eofPreparation = [&](FileSize cfdpFileSize, uint32_t crc) {
+    EofInfo eofInfo(cfdp::ConditionCode::NO_ERROR, crc, std::move(cfdpFileSize));
+    EofPduCreator eofCreator(conf, eofInfo);
+    REQUIRE(tcStore.getFreeElement(&storeId, eofCreator.getSerializedSize(), &buf) == OK);
+    REQUIRE(eofCreator.serialize(buf, serLen, eofCreator.getSerializedSize()) == OK);
+    PacketInfo packetInfo(eofCreator.getPduType(), storeId, eofCreator.getDirectiveCode());
+    packetInfoList.push_back(packetInfo);
+  };
+
+  auto eofCheck = [&](const cfdp::DestHandler::FsmResult& res, const TransactionId& id) {
+    REQUIRE(res.result == OK);
+    REQUIRE(res.state == CfdpStates::IDLE);
+    REQUIRE(res.errors == 0);
+    REQUIRE(res.step == DestHandler::TransactionStep::IDLE);
+    // Assert that the packet was deleted after handling
+    REQUIRE(not tcStore.hasDataAtId(storeId));
+    REQUIRE(packetInfoList.empty());
+    REQUIRE(userMock.eofsRevd.size() == 1);
+    auto& eofId = userMock.eofsRevd.back();
+    CHECK(eofId == id);
+    REQUIRE(userMock.finishedRecvd.size() == 1);
+    auto& idParamPair = userMock.finishedRecvd.back();
+    CHECK(idParamPair.first == id);
+    CHECK(idParamPair.second.condCode == ConditionCode::NO_ERROR);
+  };
+
+  auto fileDataPduCheck = [&](const cfdp::DestHandler::FsmResult& res,
+                              const std::vector<store_address_t>& idsToCheck) {
+    REQUIRE(res.result == OK);
+    REQUIRE(res.state == CfdpStates::BUSY_CLASS_1_NACKED);
+    REQUIRE(res.step == DestHandler::TransactionStep::RECEIVING_FILE_DATA_PDUS);
+    for (const auto id : idsToCheck) {
+      REQUIRE(not tcStore.hasDataAtId(id));
+    }
+    REQUIRE(packetInfoList.empty());
+  };
+
+  SECTION("State") {
+    CHECK(destHandler.getCfdpState() == CfdpStates::IDLE);
+    CHECK(destHandler.getTransactionStep() == DestHandler::TransactionStep::IDLE);
+  }
+
+  SECTION("Idle State Machine Iteration") {
+    auto res = destHandler.performStateMachine();
+    CHECK(res.result == OK);
+    CHECK(res.callStatus == CallStatus::CALL_AFTER_DELAY);
+    CHECK(res.errors == 0);
+    CHECK(destHandler.getCfdpState() == CfdpStates::IDLE);
+    CHECK(destHandler.getTransactionStep() == DestHandler::TransactionStep::IDLE);
+  }
+
+  SECTION("Empty File Transfer") {
+    const DestHandler::FsmResult& res = destHandler.performStateMachine();
+    CHECK(res.result == OK);
+    FileSize cfdpFileSize(0);
+    metadataPreparation(cfdpFileSize, ChecksumType::NULL_CHECKSUM);
+    destHandler.performStateMachine();
+    metadataCheck(res, "hello.txt", "hello-cpy.txt", 0);
+    destHandler.performStateMachine();
+    REQUIRE(res.callStatus == CallStatus::CALL_AFTER_DELAY);
+    auto transactionId = destHandler.getTransactionId();
+    eofPreparation(cfdpFileSize, 0);
+    // After EOF, operation is done because no closure was requested
+    destHandler.performStateMachine();
+    eofCheck(res, transactionId);
+  }
+
+  SECTION("Small File Transfer") {
+    const DestHandler::FsmResult& res = destHandler.performStateMachine();
+    CHECK(res.result == OK);
+    std::string fileData = "hello test data";
+    etl::crc32 crcCalc;
+    crcCalc.add(fileData.begin(), fileData.end());
+    uint32_t crc32 = crcCalc.value();
+    FileSize cfdpFileSize(fileData.size());
+    metadataPreparation(cfdpFileSize, ChecksumType::CRC_32);
+    destHandler.performStateMachine();
+    metadataCheck(res, "hello.txt", "hello-cpy.txt", fileData.size());
+    destHandler.performStateMachine();
+    REQUIRE(res.callStatus == CallStatus::CALL_AFTER_DELAY);
+    auto transactionId = destHandler.getTransactionId();
+    FileSize offset(0);
+    FileDataInfo fdPduInfo(offset, reinterpret_cast<const uint8_t*>(fileData.data()),
+                           fileData.size());
+    FileDataCreator fdPduCreator(conf, fdPduInfo);
+    REQUIRE(tcStore.getFreeElement(&storeId, fdPduCreator.getSerializedSize(), &buf) == OK);
+    REQUIRE(fdPduCreator.serialize(buf, serLen, fdPduCreator.getSerializedSize()) == OK);
+    PacketInfo packetInfo(fdPduCreator.getPduType(), storeId, std::nullopt);
+    packetInfoList.push_back(packetInfo);
+    destHandler.performStateMachine();
+    fileDataPduCheck(res, {storeId});
+    eofPreparation(cfdpFileSize, crc32);
+    // After EOF, operation is done because no closure was requested
+    destHandler.performStateMachine();
+    eofCheck(res, transactionId);
+  }
+
+  SECTION("Segmented File Transfer") {
+    const DestHandler::FsmResult& res = destHandler.performStateMachine();
+    CHECK(res.result == OK);
+    std::random_device dev;
+    std::mt19937 rng(dev());
+    std::uniform_int_distribution<std::mt19937::result_type> distU8(0, 255);
+    std::array<uint8_t, 1024> largerFileData{};
+    for (auto& val : largerFileData) {
+      val = distU8(rng);
+    }
+    etl::crc32 crcCalc;
+    crcCalc.add(largerFileData.begin(), largerFileData.end());
+    uint32_t crc32 = crcCalc.value();
+    FileSize cfdpFileSize(largerFileData.size());
+    metadataPreparation(cfdpFileSize, ChecksumType::CRC_32);
+    destHandler.performStateMachine();
+    metadataCheck(res, "hello.txt", "hello-cpy.txt", largerFileData.size());
+    destHandler.performStateMachine();
+    REQUIRE(res.callStatus == CallStatus::CALL_AFTER_DELAY);
+    auto transactionId = destHandler.getTransactionId();
+
+    std::vector<store_address_t> idsToCheck;
+    {
+      FileSize offset(0);
+      FileDataInfo fdPduInfo(offset, reinterpret_cast<const uint8_t*>(largerFileData.data()),
+                             largerFileData.size() / 2);
+      FileDataCreator fdPduCreator(conf, fdPduInfo);
+      REQUIRE(tcStore.getFreeElement(&storeId, fdPduCreator.getSerializedSize(), &buf) == OK);
+      REQUIRE(fdPduCreator.serialize(buf, serLen, fdPduCreator.getSerializedSize()) == OK);
+      PacketInfo packetInfo(fdPduCreator.getPduType(), storeId, std::nullopt);
+      idsToCheck.push_back(storeId);
+      packetInfoList.push_back(packetInfo);
+    }
+
+    {
+      FileSize offset(512);
+      FileDataInfo fdPduInfo(offset, reinterpret_cast<const uint8_t*>(largerFileData.data() + 512),
+                             largerFileData.size() / 2);
+      FileDataCreator fdPduCreator(conf, fdPduInfo);
+      REQUIRE(tcStore.getFreeElement(&storeId, fdPduCreator.getSerializedSize(), &buf) == OK);
+      REQUIRE(fdPduCreator.serialize(buf, serLen, fdPduCreator.getSerializedSize()) == OK);
+      PacketInfo packetInfo(fdPduCreator.getPduType(), storeId, std::nullopt);
+      idsToCheck.push_back(storeId);
+      packetInfoList.push_back(packetInfo);
+    }
+
+    destHandler.performStateMachine();
+    fileDataPduCheck(res, idsToCheck);
+    eofPreparation(cfdpFileSize, crc32);
+    // After EOF, operation is done because no closure was requested
+    destHandler.performStateMachine();
+    eofCheck(res, transactionId);
+  }
+}

unittests/cfdp/handler/testSourceHandler.cpp

@@ -0,0 +1,3 @@
+#include <catch2/catch_test_macros.hpp>
+
+TEST_CASE("CFDP Source Handler", "[cfdp]") {}

unittests/devicehandler/DeviceHandlerCommander.cpp

@@ -9,9 +9,7 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
       QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-DeviceHandlerCommander::~DeviceHandlerCommander() {
-  QueueFactory::instance()->deleteMessageQueue(commandQueue);
-}
+DeviceHandlerCommander::~DeviceHandlerCommander() {}
 
 ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
   readCommandQueue();

unittests/osal/TestClock.cpp

@@ -1,6 +1,5 @@
 #include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/timemanager/Clock.h>
-#include <stdio.h>
 
 #include <array>
 #include <catch2/catch_approx.hpp>

unittests/osal/TestSemaphore.cpp

@@ -1,38 +1,46 @@
-#include <fsfw/osal/osal.h>
+
+#ifdef LINUX
+
+/*
 #include <fsfw/tasks/SemaphoreFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
-#include <catch2/catch_test_macros.hpp>
+#include "catch.hpp"
+#include "core/CatchDefinitions.h"
 
-// binary semaphores currently only supported on linux
-#if defined(FSFW_OSAL_LINUX) || defined(FSFW_OSAL_FREERTOS)
-
-TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
-  // perform set-up here
-  SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore();
-  REQUIRE(binSemaph != nullptr);
-  SECTION("Simple Test") {
-    // set-up is run for each section
-    REQUIRE(binSemaph->getSemaphoreCounter() == 1);
-    REQUIRE(binSemaph->release() == static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
-    REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK);
-    {
-      // not precise enough on linux.. should use clock instead..
-      // Stopwatch stopwatch(false);
-      // REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
-      //		SemaphoreIF::SEMAPHORE_TIMEOUT);
-      // dur_millis_t time = stopwatch.stop();
-      // CHECK(time == 5);
-    }
-    REQUIRE(binSemaph->getSemaphoreCounter() == 0);
-    REQUIRE(binSemaph->release() == returnvalue::OK);
-  }
-  SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
-  // perform tear-down here
+TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") {
+        //perform set-up here
+        SemaphoreIF* binSemaph = SemaphoreFactory::instance()->
+                        createBinarySemaphore();
+        REQUIRE(binSemaph != nullptr);
+        SECTION("Simple Test") {
+                // set-up is run for each section
+                REQUIRE(binSemaph->getSemaphoreCounter() == 1);
+                REQUIRE(binSemaph->release() ==
+                                static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
+                REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) ==
+                                result::OK);
+                {
+                        // not precise enough on linux.. should use clock instead..
+                        //Stopwatch stopwatch(false);
+                        //REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
+                        //		SemaphoreIF::SEMAPHORE_TIMEOUT);
+                        //dur_millis_t time = stopwatch.stop();
+                        //CHECK(time == 5);
+                }
+                REQUIRE(binSemaph->getSemaphoreCounter() == 0);
+                REQUIRE(binSemaph->release() == result::OK);
+        }
+        SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
+        // perform tear-down here
 }
 
-TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") {
-  SECTION("Simple Test") {}
-}
 
-#endif
+TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") {
+        SECTION("Simple Test") {
+
+        }
+}
+*/
+
+#endif

unittests/testcfg/freertos/FreeRTOSConfig.h

@@ -1,102 +0,0 @@
-#ifndef FREERTOS_CONFIG_H
-#define FREERTOS_CONFIG_H
-
-#define configUSE_PREEMPTION 1
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
-#define configUSE_TICKLESS_IDLE 0
-#define configTICK_RATE_HZ 1000
-#define configMAX_PRIORITIES 5
-#define configMINIMAL_STACK_SIZE ((unsigned short)PTHREAD_STACK_MIN)
-#define configMAX_TASK_NAME_LEN 16
-#define configUSE_16_BIT_TICKS 0
-#define configIDLE_SHOULD_YIELD 1
-#define configUSE_TASK_NOTIFICATIONS 1
-#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
-#define configUSE_MUTEXES 1
-#define configUSE_RECURSIVE_MUTEXES 0
-#define configUSE_COUNTING_SEMAPHORES 1
-#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
-#define configQUEUE_REGISTRY_SIZE 20
-#define configUSE_QUEUE_SETS 0
-#define configUSE_TIME_SLICING 0
-#define configUSE_NEWLIB_REENTRANT 0
-#define configENABLE_BACKWARD_COMPATIBILITY 1
-#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
-#define configUSE_MINI_LIST_ITEM 1
-#define configSTACK_DEPTH_TYPE uint16_t
-#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
-#define configHEAP_CLEAR_MEMORY_ON_FREE 1
-
-/* Memory allocation related definitions. */
-#define configSUPPORT_STATIC_ALLOCATION 0
-#define configSUPPORT_DYNAMIC_ALLOCATION 1
-#define configTOTAL_HEAP_SIZE ((size_t)(1024 * 1024))
-#define configAPPLICATION_ALLOCATED_HEAP 1
-#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
-
-/* Hook function related definitions. */
-#define configUSE_IDLE_HOOK 0
-#define configUSE_TICK_HOOK 0
-#define configCHECK_FOR_STACK_OVERFLOW 0
-#define configUSE_MALLOC_FAILED_HOOK 0
-#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
-#define configUSE_SB_COMPLETED_CALLBACK 0
-
-/* Run time and task stats gathering related definitions. */
-#define configGENERATE_RUN_TIME_STATS 0
-#define configUSE_TRACE_FACILITY 0
-#define configUSE_STATS_FORMATTING_FUNCTIONS 0
-
-/* Co-routine related definitions. */
-#define configUSE_CO_ROUTINES 0
-#define configMAX_CO_ROUTINE_PRIORITIES 1
-
-/* Software timer related definitions. */
-#define configUSE_TIMERS 1
-#define configTIMER_TASK_PRIORITY 3
-#define configTIMER_QUEUE_LENGTH 10
-#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
-
-/* Interrupt nesting behaviour configuration. */
-#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
-#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
-#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
-
-/* Define to trap errors during development. */
-//#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
-
-/* FreeRTOS MPU specific definitions. */
-#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
-#define configTOTAL_MPU_REGIONS 8    /* Default value. */
-#define configTEX_S_C_B_FLASH 0x07UL /* Default value. */
-#define configTEX_S_C_B_SRAM 0x07UL  /* Default value. */
-#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
-#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
-#define configENABLE_ERRATA_837070_WORKAROUND 1
-
-/* ARMv8-M secure side port related definitions. */
-#define secureconfigMAX_SECURE_CONTEXTS 5
-
-/* Optional functions - most linkers will remove unused functions anyway. */
-#define INCLUDE_vTaskPrioritySet 1
-#define INCLUDE_uxTaskPriorityGet 1
-#define INCLUDE_vTaskDelete 1
-#define INCLUDE_vTaskSuspend 1
-#define INCLUDE_xResumeFromISR 1
-#define INCLUDE_vTaskDelayUntil 1
-#define INCLUDE_vTaskDelay 1
-#define INCLUDE_xTaskGetSchedulerState 1
-#define INCLUDE_xTaskGetCurrentTaskHandle 1
-#define INCLUDE_uxTaskGetStackHighWaterMark 0
-#define INCLUDE_uxTaskGetStackHighWaterMark2 0
-#define INCLUDE_xTaskGetIdleTaskHandle 0
-#define INCLUDE_eTaskGetState 0
-#define INCLUDE_xEventGroupSetBitFromISR 1
-#define INCLUDE_xTimerPendFunctionCall 0
-#define INCLUDE_xTaskAbortDelay 0
-#define INCLUDE_xTaskGetHandle 0
-#define INCLUDE_xTaskResumeFromISR 1
-
-/* A header file that defines trace macro can be included here. */
-
-#endif /* FREERTOS_CONFIG_H */